static void StopNReturn(IDMotorExperiment experiment)
{
_ea.RequestTerminateAndWait();
// Save performance data
IGenomeDecoder <NeatGenome, IBlackBox> deco = experiment.CreateGenomeDecoder();
IBlackBox nn = deco.Decode(_ea.CurrentChampGenome);
SavePerformance(nn);
SaveValidation(nn);
// Save genome to xml file.
XmlWriterSettings xwSettings = new XmlWriterSettings();
xwSettings.Indent = true;
using (XmlWriter xw = XmlWriter.Create(GenomeFolder + NameFile + "_" + MaxTMin + "m" + ".gnm.xml", xwSettings))
{
experiment.SavePopulation(xw, new NeatGenome[] { _ea.CurrentChampGenome });
}
Console.WriteLine(NameFile + "finished. Continuing to the next data set => \n");
}
static void Main(string[] args)
{
for (; ;)
{
string[] cmdArgs = Console.ReadLine().Split(' ');
ControlSignal = unpackControlSignal(csFile);
switch (cmdArgs[0])
{
case "Evolve":
{
if (cmdArgs.Length == 2)
{
safeNamesFile = cmdArgs[1];
}
SetSafeNames();
SetDataFiles();
for (i = 0; i < dataFiles.GetLength(0); i++)
{
SetCurrentNameFile();
// Initialise log4net (log to console).
XmlConfigurator.Configure(new FileInfo("log4net.properties"));
// Experiment classes encapsulate much of the nuts and bolts of setting up a NEAT search.
IDMotorExperiment experiment = new IDMotorExperiment();
//Set training datasets
IDMotorUtils.SetData(dataFiles[i]);
// Load config XML.
xmlConfig.Load("IDMotor.config.xml");
experiment.Initialize("IDMotor", xmlConfig.DocumentElement);
// Create a genome factory with our neat genome parameters object and the appropriate number of input and output neuron genes.
_genomeFactory = experiment.CreateGenomeFactory();
// Create an initial population of randomly generated genomes.
_genomeList = _genomeFactory.CreateGenomeList(1000, 0);
// Create evolution algorithm and attach update event.
_ea = experiment.CreateEvolutionAlgorithm(_genomeFactory, _genomeList);
_ea.UpdateEvent += new EventHandler(ea_UpdateEvent);
// Start algorithm (it will run on a background thread).
T0 = DateTime.Now;
now = T0;
next = false;
_ea.StartContinue();
while (!(((now - T0).Minutes >= MaxTMin)) || next)
{
now = DateTime.Now;
}
StopNReturn(experiment);
}
break;
}
case "Validate":
{
if (cmdArgs.Length == 2)
{
genomeNameFile = cmdArgs[1];
}
StreamReader gnmReader = new StreamReader(genomeNameFile);
string[] gnmfiles = gnmReader.ReadToEnd().Split('\n');
gnmReader.Close();
IDMotorExperiment _experiment = new IDMotorExperiment();
xmlConfig = new XmlDocument();
xmlConfig.Load("IDMotor.config.xml");
_experiment.Initialize("IDMotor", xmlConfig.DocumentElement);
for (i = 0; i < gnmfiles.GetLength(0); i++)
{
NameFile = gnmfiles[i].Replace(".gnm.xml", "").Replace("\r", "");
Console.WriteLine("Validating {0}...", NameFile);
XmlReader xr = XmlReader.Create(GenomeFolder + NameFile + ".gnm.xml");
_genomeList = _experiment.LoadPopulation(xr);
IGenomeDecoder <NeatGenome, IBlackBox> _genomeDecoder = _experiment.CreateGenomeDecoder();
IBlackBox nn = _genomeDecoder.Decode(_genomeList[0]);
SaveValidation(nn);
Console.WriteLine("Done.");
}
break;
}
default:
Console.WriteLine("Error, Evolve or Validate only.");
break;
}
// Hit return to quit.
Console.ReadLine();
}
}
private void btnStart_Click(object sender, EventArgs e)
{
try
{
#region NNInit
IDMotorExperiment _experiment = new IDMotorExperiment();
xmlConfig = new XmlDocument();
xmlConfig.Load("IDMotor.config.xml");
_experiment.Initialize("IDMotor", xmlConfig.DocumentElement);
_activationScheme = ExperimentUtils.CreateActivationScheme(xmlConfig.DocumentElement, "Activation");
XmlReader xr = XmlReader.Create(genomeFile);
List <NeatGenome> _genomeList = _experiment.LoadPopulation(xr);
_genomeDecoder = new NeatGenomeDecoder(_activationScheme);
neatGenome = _genomeList[0];
box = _genomeDecoder.Decode(neatGenome);
#endregion
if (chkMotor.Checked)
{
#region Encoder Init
digitalTask = new Task("digitalTask");
double zIndexValue = Convert.ToDouble(zIndexValueTextBox.Text);
int pulsePerRev = Convert.ToInt32(pulsePerRevTextBox.Text);
zIndexEnable = zIndexEnabledCheckBox.Checked;
switch (decodingTypeComboBox.SelectedIndex)
{
case 0: //X1
encoderType = CIEncoderDecodingType.X1;
break;
case 1: //X2
encoderType = CIEncoderDecodingType.X2;
break;
case 2: //X4
encoderType = CIEncoderDecodingType.X4;
break;
}
switch (zIndexPhaseComboBox.SelectedIndex)
{
case 0: //A High B High
encoderPhase = CIEncoderZIndexPhase.AHighBHigh;
break;
case 1: //A High B Low
encoderPhase = CIEncoderZIndexPhase.AHighBLow;
break;
case 2: //A Low B High
encoderPhase = CIEncoderZIndexPhase.ALowBHigh;
break;
case 3: //A Low B Low
encoderPhase = CIEncoderZIndexPhase.ALowBLow;
break;
}
digitalTask.CIChannels.CreateAngularEncoderChannel(counterComboBox.Text,
"", encoderType, zIndexEnable, zIndexValue, encoderPhase, pulsePerRev,
0.0, CIAngularEncoderUnits.Radians);
digitalTask.Control(TaskAction.Verify);
digitalReader = new CounterMultiChannelReader(digitalTask.Stream);
digitalTask.Start();
#endregion
#region Vout Init
waveTask = new Task("ControlVoltageTask");
waveTask.AOChannels.CreateVoltageChannel(physicalChannelComboBox.Text,
"",
Convert.ToDouble(minimumTextBox.Text),
Convert.ToDouble(maximumTextBox.Text),
AOVoltageUnits.Volts);
// verify the task before doing the waveform calculations
waveTask.Control(TaskAction.Verify);
writer = new AnalogSingleChannelWriter(waveTask.Stream);
waveTask.Start();
#endregion
}
box.ResetState();
actualPos = 0;
n = 0;
tmrRefresh.Enabled = true;
btnStart.Enabled = false;
btnStopDemo.Enabled = true;
motorPos = 0;
ti = DateTime.Now;
ta = ti;
if (csFile != null && ControlSignal == null)
{
ControlSignal = unpackControlSignal(csFile);
}
i = 0;
if (!chckBoxWarmUp.Checked)
{
csvWriter = new StreamWriter(dataFile);
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
