public static void Main()
{
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse( new StringVector( Environment.GetCommandLineArgs() ) );
}
catch( Exception ex )
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if( agentHost.receivedArgument("help") )
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
MissionSpec mission = new MissionSpec();
mission.timeLimitInSeconds(10);
mission.requestVideo( 320, 240 );
mission.rewardForReachingPosition(19.5f,0.0f,19.5f,100.0f,1.1f);
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
try
{
agentHost.startMission(mission, missionRecord);
}
catch (Exception ex)
{
Console.Error.WriteLine("Error starting mission: {0}", ex.Message);
Environment.Exit(1);
}
WorldState worldState;
Console.WriteLine("Waiting for the mission to start");
do
{
Console.Write(".");
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors) Console.Error.WriteLine("Error: {0}", error.text);
}
while (!worldState.is_mission_running);
Console.WriteLine();
Random rand = new Random();
// main loop:
do
{
agentHost.sendCommand("move 1");
agentHost.sendCommand(string.Format("turn {0}", rand.NextDouble()));
Thread.Sleep(500);
worldState = agentHost.getWorldState();
Console.WriteLine(
"video,observations,rewards received: {0}, {1}, {2}",
worldState.number_of_video_frames_since_last_state,
worldState.number_of_observations_since_last_state,
worldState.number_of_rewards_since_last_state);
foreach (TimestampedReward reward in worldState.rewards) Console.Error.WriteLine("Summed reward: {0}", reward.getValue());
foreach (TimestampedString error in worldState.errors) Console.Error.WriteLine("Error: {0}", error.text);
}
while (worldState.is_mission_running);
Console.WriteLine("Mission has stopped.");
}
private void runMission(MissionSpec mission)
{
string recordPath = "none";
MissionRecordSpec missionRecord;
if (string.IsNullOrEmpty(Settings.Default.OutputDir))
{
missionRecord = new MissionRecordSpec();
}
else
{
recordPath = Path.Combine(Settings.Default.OutputDir, Guid.NewGuid() + ".tar.gz");
missionRecord = new MissionRecordSpec(recordPath);
if (Settings.Default.RecordObservations)
{
missionRecord.recordObservations();
}
if (Settings.Default.RecordRewards)
{
missionRecord.recordRewards();
}
if (Settings.Default.RecordCommands)
{
missionRecord.recordCommands();
}
if (Settings.Default.RecordMP4)
{
missionRecord.recordMP4(Settings.Default.MP4FPS, (long)(Settings.Default.BitRate * 1024));
}
}
using (AgentHost agentHost = new AgentHost())
{
ClientPool clientPool = new ClientPool();
clientPool.add(new ClientInfo(Settings.Default.ClientIP, Settings.Default.ClientPort));
try
{
agentHost.startMission(mission, clientPool, missionRecord, 0, "hac");
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error Starting Mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
Dispatcher.Invoke(() =>
{
Activate();
VideoImage.Focus();
startB.Content = "Set";
Title = Settings.Default.Title + " : Waiting for mission start";
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.RecordPath = recordPath;
}
});
_isInSession = true;
try
{
WorldState worldState;
// wait for mission to start
do
{
Thread.Sleep(100);
worldState = agentHost.getWorldState();
if (worldState.errors.Any())
{
StringBuilder errors = new StringBuilder();
foreach (TimestampedString error in worldState.errors)
{
errors.AppendLine(error.text);
}
MessageBox.Show(errors.ToString(), "Error during mission initialization", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}
while (!worldState.is_mission_running && !_stopMission);
if (_stopMission)
{
return;
}
DateTime missionStartTime = DateTime.UtcNow;
_timeRemaining = _missionDuration;
Dispatcher.Invoke(() =>
{
startB.Content = "Go!";
Title = Settings.Default.Title + " : Recording";
});
// run mission
TimeSpan loopTime = TimeSpan.FromSeconds(1.0 / 20);
_pendingCommandsMutex.Wait();
try
{
_pendingCommandQueue = new Queue<Tuple<string, float>>();
}
finally
{
_pendingCommandsMutex.Release();
}
_pendingMessagesMutex.Wait();
try
{
_pendingMessages = new Queue<string>();
}
finally
{
_pendingMessagesMutex.Release();
}
bool failure = false;
Stopwatch loopTimer = new Stopwatch();
do
{
loopTimer.Reset();
loopTimer.Start();
worldState = agentHost.getWorldState();
TimestampedVideoFrame frame = worldState.video_frames.FirstOrDefault();
if (frame != null)
{
if (_missionDuration != TimeSpan.Zero)
{
TimeSpan elapsed = frame.timestamp - missionStartTime;
_timeRemaining = _missionDuration - elapsed;
}
_pixelsMutex.Wait();
try
{
if (_pixels == null || _pixels.Length != frame.pixels.Count)
{
_pixels = new byte[frame.pixels.Count];
Dispatcher.Invoke(() =>
{
if (_bitmap.Width != frame.width || _bitmap.Height != frame.height)
{
_bitmap = new WriteableBitmap(frame.width, frame.height, 72, 72, PixelFormats.Rgb24, null);
VideoImage.Source = _bitmap;
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.FrameSource = _bitmap;
}
}
});
}
frame.pixels.CopyTo(_pixels);
}
finally
{
_pixelsMutex.Release();
}
}
_pendingMessagesMutex.Wait();
try
{
foreach (var reward in worldState.rewards)
{
_score += reward.getValue();
if (reward.getValue() < 0)
{
failure = true;
}
_pendingMessages.Enqueue(string.Format("{0}> score {1}", reward.timestamp.ToString("hh:mm:ss.fff"), reward.getValue()));
}
_score = Math.Max(_score, 0);
_score = Math.Min(_score, 99999);
foreach (var observation in worldState.observations)
{
int posStart = observation.text.IndexOf("\"XPos\"");
if (posStart < 0)
{
continue;
}
int posEnd = observation.text.IndexOf("\"ZPos\"");
posEnd = observation.text.IndexOf(',', posEnd);
string posSegment = observation.text.Substring(posStart, posEnd - posStart);
string[] pos = posSegment.Split(',');
float x = Convert.ToSingle(pos[0].Split(':')[1]);
float y = Convert.ToSingle(pos[1].Split(':')[1]);
float z = Convert.ToSingle(pos[2].Split(':')[1]);
_pendingMessages.Enqueue(string.Format("{0}> (x={1:0.00}, y={2:0.00}, z={3:0.00})", observation.timestamp.ToString("hh:mm:ss.fff"), x, y, z));
}
}
finally
{
_pendingMessagesMutex.Release();
}
CheckGamepad(agentHost);
_pendingCommandsMutex.Wait();
try
{
while (_pendingCommandQueue.Any())
{
var command = _pendingCommandQueue.Dequeue();
CheckAndSend(agentHost, command.Item1, command.Item2);
}
}
finally
{
_pendingCommandsMutex.Release();
}
loopTimer.Stop();
if (loopTimer.Elapsed < loopTime)
{
Thread.Sleep(loopTime - loopTimer.Elapsed);
}
} while (worldState.is_mission_running && !_stopMission);
if (_stopMission)
{
return;
}
if (!failure)
{
_score += _timeRemaining.TotalSeconds * 100;
}
_missionSuccess = !failure;
_pendingCommandsMutex.Wait();
try
{
_pendingCommandQueue = null;
}
finally
{
_pendingCommandsMutex.Release();
}
Dispatcher.Invoke(() =>
{
Title = Settings.Default.Title + " : Ready";
UpdateDisplayedMessages();
UpdateDisplayedReward();
});
_resetVerb = null;
var keys = _continuousCommandState.Keys.ToList();
foreach (var verb in keys)
{
_continuousCommandState[verb] = 0;
}
keys = _discreteCommandState.Keys.ToList();
foreach (var verb in keys)
{
_discreteCommandState[verb] = false;
}
if (worldState.errors.Any())
{
StringBuilder errors = new StringBuilder();
foreach (TimestampedString error in worldState.errors)
{
errors.AppendLine(error.text);
}
MessageBox.Show(errors.ToString(), "Error during mission initialization", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error during mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
finally
{
_isInSession = false;
}
}
}
public static void Main()
{
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if (agentHost.receivedArgument("help"))
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
MissionSpec mission = new MissionSpec();
mission.timeLimitInSeconds(10);
mission.requestVideo(320, 240);
mission.rewardForReachingPosition(19.5f, 0.0f, 19.5f, 100.0f, 1.1f);
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
try
{
agentHost.startMission(mission, missionRecord);
}
catch (Exception ex)
{
Console.Error.WriteLine("Error starting mission: {0}", ex.Message);
Environment.Exit(1);
}
WorldState worldState;
Console.WriteLine("Waiting for the mission to start");
do
{
Console.Write(".");
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (!worldState.has_mission_begun);
Console.WriteLine();
Random rand = new Random();
// main loop:
do
{
agentHost.sendCommand("move 1");
agentHost.sendCommand(string.Format("turn {0}", rand.NextDouble()));
Thread.Sleep(500);
worldState = agentHost.getWorldState();
Console.WriteLine(
"video,observations,rewards received: {0}, {1}, {2}",
worldState.number_of_video_frames_since_last_state,
worldState.number_of_observations_since_last_state,
worldState.number_of_rewards_since_last_state);
foreach (TimestampedReward reward in worldState.rewards)
{
Console.Error.WriteLine("Summed reward: {0}", reward.getValue());
}
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (worldState.is_mission_running);
Console.WriteLine("Mission has stopped.");
}