All Downloads are FREE. Search and download functionalities are using the official Maven repository.
Many resources are needed to download a project. Please understand that we have to compensate our server costs. Thank you in advance.
Project price only 1 $
You can buy this project and download/modify it how often you want.
com.github.cschen1205.navigator.minefield.MineFieldSimulator Maven / Gradle / Ivy
package com.github.cschen1205.navigator.minefield;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.github.cschen1205.falcon.FalconConfig;
import com.github.cschen1205.navigator.minefield.agents.FalconNavAgent;
import com.github.cschen1205.navigator.minefield.agents.TDFalconNavAgent;
import com.github.cschen1205.navigator.minefield.env.MineField;
import com.github.cschen1205.navigator.utils.SimulatorReport;
import java.io.*;
import java.util.function.Consumer;
import java.util.logging.Logger;
/**
* Created by cschen1205 on 10/1/2015 0001.
*/
public abstract class MineFieldSimulator {
protected FalconNavAgent[] agents;
protected MineField mineField;
protected MineFieldSimulatorConfig config;
protected FalconConfig falconConfig;
protected boolean running = false;
protected String message;
public String getMessage() { return message; }
private static Logger logger = Logger.getLogger(String.valueOf(MineFieldSimulator.class));
public MineFieldSimulator(MineFieldSimulatorConfig config, FalconConfig falconConfig) {
this.config = config;
this.falconConfig = falconConfig;
mineField = new MineField(config.getMineFieldSize(), config.getNumMines(), config.getNumAgents());
int numAgents = config.getNumAgents();
agents = new FalconNavAgent[numAgents];
for (int i = 0; i < numAgents; ++i) {
agents[i] = createAgent(i);
}
}
protected void logInfo(String message) {
//logger.info(message);
}
protected void logWarning(String message) {
//logger.warning(message);
}
public FalconConfig getFalconConfig(){
return falconConfig;
}
public MineFieldSimulatorConfig getConfig(){
return config;
}
public boolean senseActSense(int agentId, boolean last, boolean provideImmediateReward) {
int action;
double r;
do {
double[] this_Sonar = mineField.getSonar(agentId);
double[] this_AVSonar = mineField.getAVSonar(agentId);
int this_bearing = (8 + mineField.getTargetBearing(agentId) - mineField.getCurrentBearing(agentId)) % 8;
double this_targetRange = mineField.getTargetRange(agentId);
agents[agentId].setState(this_Sonar, this_AVSonar, this_bearing, this_targetRange);
logInfo("Sense and Search for an Action:");
action = agents[agentId].selectValidAction(mineField);
if (action == -1) { // No valid action; deadend, backtrack
logWarning("*** No valid action, backtracking ***");
mineField.turn(agentId, 4);
}
} while (action == -1);
logInfo("Performing the Action:");
double v = mineField.move(agentId, action - 2); // actual movement, aco direction is from -2 to 2
if (v != -1) { // if valid move
if (last == true && provideImmediateReward == false) //run out of time (without immediate reward)
r = 0.0;
else
r = mineField.getReward(agentId, provideImmediateReward);
} else { // invalid move
r = 0.0;
System.out.println("*** Invalid action " + action + " taken *** ");
}
if (r == 1.0) logInfo("Success");
if (action != -1) {
double[] this_Sonar = mineField.getSonar(agentId);
double[] this_AVSonar = mineField.getAVSonar(agentId);
int this_bearing = (8 + mineField.getTargetBearing(agentId) - mineField.getCurrentBearing(agentId)) % 8;
double this_targetRange = mineField.getTargetRange(agentId);
agents[agentId].setNewState(this_Sonar, this_AVSonar, this_bearing, this_targetRange);
agents[agentId].setAction(action); // set action
agents[agentId].setReward(r);
return true;
}
return false;
}
public SimulatorReport[] runSims(){
return runSims(null);
}
public SimulatorReport[] runSims(Consumer progressChanged) {
running = true;
message = "Simulation Started";
SimulatorReport[] reports = new SimulatorReport[config.getNumRuns()];
for (int runIndex = 0; runIndex < config.getNumRuns(); runIndex++) {
int run = runIndex + config.getStartRun();
if(!running) break;
SimulatorReport rpt = runSim(run, progressChanged);
String dirpath = "/tmp";
File dir = new File(dirpath);
if(!dir.exists()){
dir.mkdirs();
}
String filepath = dirpath+"/"+String.format("%02d", run)+".json";
System.out.println("Persisting: "+filepath);
String json = JSON.toJSONString(rpt, SerializerFeature.BrowserCompatible);
try {
BufferedWriter writer = new BufferedWriter(new OutputStreamWriter(new FileOutputStream(filepath)));
writer.write(json);
writer.flush();
writer.close();
} catch (FileNotFoundException e) {
e.printStackTrace();
} catch (IOException e) {
e.printStackTrace();
}
reports[runIndex] = rpt;
}
return reports;
}
private boolean doStep(int step){
//!aco.endState(Target_Moving)
// the code below is required for the RFALCON to behave correctly
for(int agt = 0; agt < config.getNumAgents(); ++agt) {
agents[agt].setPrevReward(mineField.getReward(agt, config.isImmediateRewardProvided()));
}
boolean lastFlag = step == (config.getMaxStep() - 1);
int activeAgentCount = 0;
for (int agt = 0; agt < config.getNumAgents(); agt++) {
if(!running) break;
if (!mineField.isActive(agt))
continue;
if(config.targetMoving) mineField.moveTarget();
doStep(agt, lastFlag);
activeAgentCount++;
}
if(activeAgentCount == 0) return false;
for(int agt = 0; agt < config.getNumAgents(); ++agt) {
mineField.checkConflict(agt);
}
afterStep();
return true;
}
protected void afterStep(){
}
public void doStep(int agentId, boolean last) {
boolean acted = senseActSense(agentId, last, config.isImmediateRewardProvided());
if(acted) {
agents[agentId].learn(mineField);
}
}
protected abstract FalconNavAgent createAgent(int agentId);
private SimulatorReport runSim(int run, Consumer progressChanged){
SimulatorReport report = new SimulatorReport(config, run, "MineField-TD-FALCON");
int numAgents = config.getNumAgents();
agents = new FalconNavAgent[numAgents];
for (int i = 0; i < numAgents; ++i) {
agents[i] = createAgent(i);
}
for (int trial = 1; trial <= config.getMaxTrial(); ++trial) {
if(!running) break;
mineField.refreshMaze(config.getMineFieldSize(), config.getNumMines(), config.getNumAgents());
for (int i = 0; i < config.getNumAgents(); ++i) {
agents[i].setPrevReward(0);
}
int step = 0;
for(; step < config.getMaxStep(); ++step) {
if(!running) break;
if(!doStep(step)) break;
if(progressChanged != null){
MineFieldSimulatorProgress progress = new MineFieldSimulatorProgress(run, trial, step, mineField);
progressChanged.accept(progress);
try{
Thread.sleep(config.getUiInterval());
}catch(InterruptedException ie){
}
}
}
int step_final = step;
message = report.recordTrial(trial, step_final, (rpt)->{
FalconNavAgent[] agents = this.agents;
MineField maze = this.mineField;
for (int agt = 0; agt < numAgents; agt++) {
rpt.numCode[agt] = agents[agt].getNodeCount();
if (maze.isHitTarget(agt)) {
rpt.success++;
rpt.total_step += step_final;
rpt.total_min_step += maze.getMinStep(agt);
} else if (step_final == config.getMaxStep())
rpt.time_out++;
else if (maze.isConflicting(agt))
rpt.conflict++;
else
rpt.failure++;
}
});
for (int i=0; i < numAgents; ++i){
if(agents[i] instanceof TDFalconNavAgent) {
((TDFalconNavAgent)agents[i]).decayQEpsilon();
}
}
}
return report;
}
public void stop(){
running = false;
}
public int getNumAgents() {
return config.getNumAgents();
}
public MineField getMineField(){
return mineField;
}
}
