public override void Build()
{
if (save)
{
writerEnv = UIO.CreateStreamWriter(GeneratePath(task, true), "GeneSessionResults.csv", false);
UIO.WriteLine(writerEnv, "Generation;Angle Random Rotation;Wind");
}
Debug.Log("Build DroneSession");
signal = new ControlSignal();
tsignal = new ThrustSignal();
tmpBuildCustomWeights = new List <Matrix <float> >();
externalEvaluations = Vector <float> .Build.Dense(populationSize);
//Debug.Log(fromTask);
taskObject = (DroneTask)Activator.CreateInstance(Type.GetType("Lexmou.MachineLearning.Drone" + task), rndGenerator, fromTask);
//Debug.Log(taskObject.fromTask);
dronePopulation = new GameObject[populationSize];
droneRigid = new Rigidbody[populationSize];
targetPosition = new Vector3[populationSize];
mlpPopulation = new MultiLayerMathsNet[populationSize];
gene = new Genetic(seed, rndGenerator, populationSize, taskObject.individualSize, initialValueWeights, mutationRate, randomIndividualsRate, bestIndividualsRate, emptyRate, GeneratePath(task, false), save);
if (loadGeneration != 0)
{
float[,] floatArr = new float[taskObject.individualSize - taskObject.rowIndex, populationSize];
Debug.Log(taskObject.fromTask);
//Debug.Log(taskObject.individualSize);
gene.LoadGeneration(GeneratePath(taskObject.fromTask, true), loadGeneration, floatArr, taskObject.rowIndex);
gene.generation = loadGeneration;
}
}
/*void Start()
* {
* Debug.Log(inputSize);
* inputMLP = Vector<float>.Build.Dense(inputSize);
* }*/
public void SendThrustSignal(ThrustSignal signal)
{
//Debug.Log("SendThrustSignal");
resultThrust = signal;
foreach (Drone.Hardware.Component <ThrustSignal> component in ThrustSignalBus)
{
resultThrust = component.ProcessSignal(resultThrust);
}
}
public void SendThrustSignal(ThrustSignal signal)
{
ThrustSignal result = signal;
foreach (Drone.Hardware.Component <ThrustSignal> component in ThrustSignalBus)
{
result = component.ProcessSignal(result);
}
}
public override ControlSignal ProcessSignal(ControlSignal signal)
{
ThrustSignal thrust = new ThrustSignal();
// Throttle
if (signal.Throttle >= 0f)
{
float throttle = (signal.Throttle * ThrottleSensitivity);
thrust.FRThrust = throttle;
thrust.FLThrust = throttle;
thrust.RRThrust = throttle;
thrust.RLThrust = throttle;
}
// Rudder
if (signal.Rudder > 0f)
{
// turn right
float rudder = (signal.Rudder * RudderSensitivity) / 2;
thrust.FRThrust -= rudder;
thrust.FLThrust += rudder;
thrust.RRThrust += rudder;
thrust.RLThrust -= rudder;
}
else if (signal.Rudder < 0f)
{
// turn left
float rudder = (-signal.Rudder * RudderSensitivity) / 2;
thrust.FRThrust += rudder;
thrust.FLThrust -= rudder;
thrust.RRThrust -= rudder;
thrust.RLThrust += rudder;
}
// Elevator
if (signal.Elevator > 0f)
{
// go forward
float elevator = (signal.Elevator * ElevatorSensitivity) / 2;
thrust.FRThrust -= elevator;
thrust.FLThrust -= elevator;
thrust.RRThrust += elevator;
thrust.RLThrust += elevator;
}
else if (signal.Elevator < 0f)
{
// go backward
float elevator = (-signal.Elevator * ElevatorSensitivity) / 2;
thrust.FRThrust += elevator;
thrust.FLThrust += elevator;
thrust.RRThrust -= elevator;
thrust.RLThrust -= elevator;
}
// Aileron
if (signal.Aileron > 0f)
{
// go right
float aileron = (signal.Aileron * AileronSensitivity) / 2;
thrust.FRThrust -= aileron;
thrust.FLThrust += aileron;
thrust.RRThrust -= aileron;
thrust.RLThrust += aileron;
}
else if (signal.Aileron < 0f)
{
// go left
float aileron = (-signal.Aileron * AileronSensitivity) / 2;
thrust.FRThrust += aileron;
thrust.FLThrust -= aileron;
thrust.RRThrust += aileron;
thrust.RLThrust -= aileron;
}
MainBoard.SendThrustSignal(thrust);
return(signal);
}
