/// <summary>
/// Signal all peripherals
/// </summary>
/// <param name="signal"></param>
public void Signal(ControlSignal signal)
{
foreach (var peripheral in _peripherals)
{
peripheral.Signal(signal);
}
}
void Awake()
{
signalControl = new ControlSignal();
path = "Save/DroneSession/" + "Task-" + task + "/Seed-" + fromSeed + "/";
rndGenerator = new SystemRandomSource(fromSeed);
taskObject = (DroneTask)Activator.CreateInstance(Type.GetType("Lexmou.MachineLearning.Drone" + task), rndGenerator, task);
mlp = new MultiLayerMathsNet(fromSeed, null, taskObject.shapes, 1, 0);
float[] floatArr = new float[taskObject.individualSize];
//float[] floatArr = new float[] {0,-0.33f,0,0,-0.33f,0,0,0,0,0,0.5f,0,0,-1,0,0,-1,0,0,0.5f,0,1,0,0,0,0,0,0,0,0,0,-1,0,0,0,0,0,0,0,0.5f};
Genetic.LoadBest(path, fromGeneration, floatArr);
BuildCustomWeights(mlp.weights, taskObject.shapes, Vector <float> .Build.DenseOfArray(floatArr));
//Debug.Log(mlp.weights[0]);
/*if (stabilizationGeneration != 0)
* {
* Debug.Log("Gene Move");
* gene = new Genetic(stabilizationSeed, null, 100, 40, 1.0f, 0.1f, 0.1f, 0.1f, 0.1f, "Save/DroneSession/Task-stabilization/", false);
* }
* if (moveGeneration != 0)
* {
* Debug.Log("Gene Move");
* gene = new Genetic(moveSeed, null, 100, 52, 1.0f, 0.1f, 0.1f, 0.1f, 0.1f, "Save/DroneSession/Task-move/", false);
* }
* deltaDistribution = new ContinuousUniform(-2, 2);
* tmpBuildCustomWeights = new List<Matrix<float>>();*/
Restart();
}
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;
}
}
public void SendControlSignal(ControlSignal signal)
{
resultControl = signal;
foreach (Drone.Hardware.Component <ControlSignal> component in ControlSignalBus)
{
resultControl = component.ProcessSignal(resultControl);
}
}
public void SendControlSignal(ControlSignal signal)
{
ControlSignal result = signal;
foreach (Drone.Hardware.Component<ControlSignal> component in ControlSignalBus)
{
result = component.ProcessSignal (result);
}
}
private ControlSignalViewModel CreateControlSignalViewModelViewModel(
ControlSignal controlSignal, string groupName)
{
var res = new ControlSignalViewModel();
res.Id = controlSignal.Id;
res.Header = controlSignal.Name.ToUpper();
res.GroupName = groupName;
return(res);
}
void FixedUpdate()
{
ControlSignal signal = new ControlSignal ();
signal.Throttle = Input.GetAxis ("LeftY");
signal.Rudder = Input.GetAxis ("LeftX");
signal.Elevator = Input.GetAxis ("RightY");
signal.Aileron = Input.GetAxis ("RightX");
MainBoard.SendControlSignal (signal);
}
void FixedUpdate()
{
ControlSignal signal = new ControlSignal();
signal.Throttle = Input.GetAxis("LeftY");
signal.Rudder = Input.GetAxis("LeftX");
signal.Elevator = Input.GetAxis("RightY");
signal.Aileron = Input.GetAxis("RightX");
MainBoard.SendControlSignal(signal);
}
void FixedUpdate()
{
if (constant)
{
ControlSignal signal = new ControlSignal();
signal.Throttle = constantThrottle;
signal.Rudder = constantRudder;
signal.Elevator = constantElevator;
signal.Aileron = constantAileron;
MainBoard.SendControlSignal(signal);
}
else
{
if (manual)
{
ControlSignal signal = new ControlSignal();
if (stabilization || move)
{
Rigidbody rigid = this.gameObject.GetComponentInChildren <Rigidbody>();
if (stabilization)
{
Debug.Log("Stable !");
MainBoard.inputMLP = Vector <float> .Build.DenseOfArray(new float[] { UAngle.SteerAngle(rigid.transform.eulerAngles.x), UAngle.SteerAngle(rigid.transform.eulerAngles.y), UAngle.SteerAngle(rigid.transform.eulerAngles.z), rigid.angularVelocity.x, rigid.angularVelocity.y, rigid.angularVelocity.z, rigid.velocity.x, rigid.velocity.y, rigid.velocity.z });
}
else
{
Debug.Log("Move !");
MainBoard.inputMLP = Vector <float> .Build.DenseOfArray(new float[] { MainBoard.deltaPosition.x, MainBoard.deltaPosition.y, MainBoard.deltaPosition.z, UAngle.SteerAngle(rigid.transform.eulerAngles.x), UAngle.SteerAngle(rigid.transform.eulerAngles.y), UAngle.SteerAngle(rigid.transform.eulerAngles.z), rigid.angularVelocity.x, rigid.angularVelocity.y, rigid.angularVelocity.z, rigid.velocity.x, rigid.velocity.y, rigid.velocity.z });
}
signal.Throttle = MainBoard.mlp.layers[MainBoard.mlp.shapesSize - 1][3, 0];
signal.Rudder = MainBoard.mlp.layers[MainBoard.mlp.shapesSize - 1][0, 0];
signal.Elevator = MainBoard.mlp.layers[MainBoard.mlp.shapesSize - 1][1, 0];
signal.Aileron = MainBoard.mlp.layers[MainBoard.mlp.shapesSize - 1][2, 0];
}
else
{
signal.Throttle = Input.GetAxis("LeftY");
signal.Rudder = Input.GetAxis("LeftX");
signal.Elevator = Input.GetAxis("RightY");
signal.Aileron = Input.GetAxis("RightX");
}
MainBoard.SendControlSignal(signal);
}
}
}
/// <summary>
/// Sends the specified signal to the peripheral.
/// </summary>
/// <param name="signal">The signal.</param>
/// <exception cref="System.ArgumentOutOfRangeException">null</exception>
public void Signal(ControlSignal signal)
{
switch (signal)
{
case ControlSignal.Halt:
Gpu.Halt();
break;
case ControlSignal.Resume:
Gpu.Resume();
break;
default:
throw new ArgumentOutOfRangeException(nameof(signal), signal, null);
}
}
public void SendSignalWithMLP(Vector <float> input)
{
MainBoard.inputMLP = input;
ControlSignal signal = new ControlSignal();
signal.Throttle = MainBoard.mlp.layers[MainBoard.mlp.shapesSize - 1]
[3, 0];
signal.Rudder = MainBoard.mlp.layers[MainBoard.mlp.shapesSize - 1]
[0, 0];
signal.Elevator = MainBoard.mlp.layers[MainBoard.mlp.shapesSize - 1]
[1, 0];
signal.Aileron = MainBoard.mlp.layers[MainBoard.mlp.shapesSize - 1]
[2, 0];
MainBoard.SendControlSignal(signal);
}
/// <summary>
/// Sends the specified signal to the peripheral.
/// </summary>
/// <param name="signal">The signal.</param>
public void Signal(ControlSignal signal)
{
// Don't listen.
}
public void AddControl(ControlSignal controlSignal, Behavior behavior)
{
mBehaviors.Add(new KeyValuePair<ControlSignal, Behavior>(controlSignal, behavior));
}
