2 // Written and (C) by Francois Fleuret
3 // Contact <francois.fleuret@idiap.ch> for comments & bug reports
18 #include "simple_window.h"
21 #include "manipulator.h"
22 #include "intelligence.h"
23 #include "canvas_cairo.h"
25 #include "xfig_tracer.h"
27 void generate_png(Universe *universe, scalar_t scale, FILE *file) {
28 CanvasCairo canvas(scale, universe->width(), universe->height());
29 universe->draw(&canvas);
30 canvas.write_png(file);
34 // ./main --task hit_shape.task 0 --action-mode=random --nb-ticks=5000 --proportion-for-training=0.5 --save-file=dump.mem --no-window
37 // ./main --task hit_shape.task 0 --action-mode=intelligent --load-file=dump.mem
39 //////////////////////////////////////////////////////////////////////
41 void check_opt(int argc, char **argv, int n_opt, int n, const char *help) {
42 if(n_opt + n >= argc) {
43 cerr << "Missing argument for " << argv[n_opt] << "." << endl;
44 cerr << "Expecting " << help << "." << endl;
49 void print_help_and_exit(int e) {
50 cout << "Arguments:" << endl;
51 cout << " --no-window" << endl;
52 cout << " --nb-ticks=<int: number of ticks>" << endl;
53 cout << " --nb-training-iterations=<int: number of training iterations>" << endl;
54 cout << " --load-file=<filename: dump file>" << endl;
55 cout << " --save-file=<filename: dump file>" << endl;
56 cout << " --proportion-for-training=<float: proportion of samples for training>" << endl;
57 cout << " --action-mode=<idle|random|intelligent>" << endl;
58 cout << " --task <filename: task to load> <int: degree>" << endl;
62 //////////////////////////////////////////////////////////////////////
64 int main(int argc, char **argv) {
66 const int buffer_size = 256;
67 char intelligence_load_file[buffer_size] = "", intelligence_save_file[buffer_size] = "";
73 int nb_training_iterations = 10;
74 scalar_t proportion_for_training = -1;
76 Polygon *grabbed_polygon = 0;
77 scalar_t relative_grab_x = 0, relative_grab_y = 0;
80 bool press_shift = false;
81 enum { IDLE, RANDOM, INTELLIGENT } action_mode = IDLE;
82 bool got_event = true;
83 int current_action = 0;
85 scalar_t last_hand_x = 0, last_hand_y = 0;
86 Polygon *last_grabbing = 0;
87 bool no_window = false;
89 //////////////////////////////////////////////////////////////////////
90 // Parsing the shell arguments
91 //////////////////////////////////////////////////////////////////////
95 if(argc == 1 || strcmp(argv[i], "--help") == 0) print_help_and_exit(0);
97 else if(strcmp(argv[i], "--test") == 0) {
102 else if(strcmp(argv[i], "--task") == 0) {
103 check_opt(argc, argv, i, 2, "<filename: task to load> <int: degree>");
105 cerr << "Can not load two tasks." << endl;
108 task = load_task(argv[i+1]);
109 task_degree = atoi(argv[i+2]);
112 } else if(strncmp(argv[i], "--", 2) == 0) {
113 char variable_name[buffer_size] = "", variable_value[buffer_size] = "";
114 char *o = argv[i]+2, *s = variable_name, *u = variable_value;
115 while(*o && *o != '=') *s++ = *o++;
118 while(*o) *u++ = *o++;
121 if(strcmp(variable_name, "nb-ticks") == 0)
122 nb_ticks = atoi(variable_value);
123 else if(strcmp(variable_name, "nb-training-iterations") == 0)
124 nb_training_iterations = atoi(variable_value);
125 else if(strcmp(variable_name, "proportion-for-training") == 0)
126 proportion_for_training = atof(variable_value);
127 else if(strcmp(variable_name, "no-window") == 0)
129 else if(strcmp(variable_name, "save-file") == 0)
130 strcpy(intelligence_save_file, variable_value);
131 else if(strcmp(variable_name, "load-file") == 0)
132 strcpy(intelligence_load_file, variable_value);
133 else if(strcmp(variable_name, "action-mode") == 0) {
134 if(strcmp(variable_value, "idle") == 0) action_mode = IDLE;
135 else if(strcmp(variable_value, "random") == 0) action_mode = RANDOM;
136 else if(strcmp(variable_value, "intelligent") == 0) action_mode = INTELLIGENT;
138 cerr << "The only known modes are idle, random and intelligent" << endl;
142 cerr << "Unknown option " << argv[i] << endl;
143 print_help_and_exit(1);
147 cerr << "Unknown option " << argv[i] << endl;
148 print_help_and_exit(1);
152 cout << "FlatLand, a toy universe for goal-planning experiments." << endl;
155 task = load_task("dummy.so");
159 cout << "Loaded task " << task->name()
160 << " with degree " << task_degree << "/" << task->nb_degrees()
163 if(task_degree < 0 || task_degree >= task->nb_degrees()) {
164 cout << "Invalid degree: " << task_degree << "." << endl;
168 //////////////////////////////////////////////////////////////////////
169 // Various initializations
170 //////////////////////////////////////////////////////////////////////
172 Universe universe(100, task->width(), task->height());
173 task->init(&universe, task_degree);
174 Retina retina(&universe);
175 Manipulator manipulator(task);
176 manipulator.force_move(task->width()/2, task->height()/2);
177 retina.set_location(manipulator.hand_x(), manipulator.hand_y());
179 SimpleWindow *window_main = 0, *window_brain = 0;
180 int window_main_fd = -1;
183 // cairo_t *window_main_cairo_cr = 0;
186 MapConcatener sensory_map(2);
187 sensory_map.add_map(&retina);
188 sensory_map.add_map(&manipulator);
191 MapExpander expanded_map(1000);
192 expanded_map.set_input(&sensory_map);
195 Intelligence intelligence(&expanded_map, &manipulator, nb_ticks + 1, nb_training_iterations);
196 intelligence.update(0, 0.0);
198 if(intelligence_load_file[0]) {
199 cout << "Loading from " << intelligence_load_file << " ... " ;
201 ifstream in(intelligence_load_file);
203 cerr << "error reading " << intelligence_load_file << "." << endl;
206 intelligence.load(in);
207 cout << "done." << endl ;
211 cout << "Started without windows." << endl;
213 window_main = new SimpleWindow("Universe (main window)", 4, 4, task->width(), task->height());
214 window_main_fd = window_main->file_descriptor();
217 // window_main_cairo_cr = window_main->get_cairo_context_resource();
219 cout << "When the main window has the focus, press `q' to quit and click and drag to move" << endl
220 << "objects." << endl;
221 window_brain = new SimpleWindow("Universe (brain)",
222 12 + task->width(), 4,
223 retina.width(), retina.height() + manipulator.parameter_height());
229 scalar_t sum_reward = 0;
231 //////////////////////////////////////////////////////////////////////
233 //////////////////////////////////////////////////////////////////////
235 while(!quit && tick != nb_ticks) {
244 FD_SET (window_main_fd, &fds);
246 tv.tv_usec = 5000; // 0.05s
247 r = select(window_main_fd + 1, &fds, 0, 0, &tv);
254 cout << tick << " " << sum_reward << " \r"; cout.flush();
257 if(r == 0) { // No window event, thus it's the clock tick
261 bool changed = got_event;
264 switch(action_mode) {
268 current_action = manipulator.random_action();
271 current_action = intelligence.best_action();
272 // if(drand48() < 0.5) current_action = intelligence.best_action();
273 // else current_action = manipulator.random_action();
277 manipulator.do_action(current_action);
279 scalar_t dt = 1.0/scalar_t(nb_it);
280 for(int k = 0; k < nb_it; k++) {
281 manipulator.update(dt, &universe);
282 task->update(dt, &universe, &manipulator);
283 changed |= universe.update(dt);
288 changed |= manipulator.hand_x() != last_hand_x ||
289 manipulator.hand_y() != last_hand_y ||
290 manipulator.grabbing() != last_grabbing;
292 scalar_t reward = task->reward(&universe, &manipulator);
293 sum_reward += abs(reward);
294 intelligence.update(current_action, reward);
295 expanded_map.update_map();
298 last_hand_x = manipulator.hand_x();
299 last_hand_y = manipulator.hand_y();
300 last_grabbing = manipulator.grabbing();
302 retina.set_location(manipulator.hand_x(),
303 manipulator.hand_y());
306 window_main->color(0.0, 0.0, 0.0);
307 window_main->color(1.0, 1.0, 1.0);
310 // #ifdef CAIRO_SUPPORT
312 // cc._context_resource = window_main_cairo_cr;
313 // universe.draw(&cc);
315 universe.draw(window_main);
318 task->draw(window_main);
319 manipulator.draw_on_universe(window_main);
320 retina.draw_on_universe(window_main);
322 if(grabbed_polygon) {
324 x = int(grabbed_polygon->absolute_x(relative_grab_x, relative_grab_y));
325 y = int(grabbed_polygon->absolute_y(relative_grab_x, relative_grab_y));
326 window_main->color(0.0, 0.0, 0.0);
327 window_main->draw_line(x - delta, y, x + delta, y);
328 window_main->draw_line(x, y - delta, x, y + delta);
334 retina.draw_parameters(0, 0, window_brain);
335 manipulator.draw_parameters(0, retina.height() + 1, window_brain);
336 window_brain->show();
341 } else if(r > 0) { // We got window events, let's process them
345 if(FD_ISSET(window_main_fd, &fds)) {
350 se = window_main->event();
354 case SimpleEvent::MOUSE_CLICK_PRESS:
360 manipulator.force_move(se.x, se.y);
361 manipulator.do_action(Manipulator::ACTION_GRAB);
363 grabbed_polygon = universe.pick_polygon(se.x, se.y);
364 if(grabbed_polygon) {
365 relative_grab_x = grabbed_polygon->relative_x(se.x, se.y);
366 relative_grab_y = grabbed_polygon->relative_y(se.x, se.y);
372 Polygon *g = universe.pick_polygon(se.x, se.y);
373 if(g) g->_theta += M_PI/32;
378 Polygon *g = universe.pick_polygon(se.x, se.y);
379 if(g) g->_theta -= M_PI/32;
386 case SimpleEvent::MOUSE_CLICK_RELEASE:
389 if(press_shift) manipulator.do_action(Manipulator::ACTION_RELEASE);
390 else grabbed_polygon = 0;
396 case SimpleEvent::MOUSE_MOTION:
399 manipulator.force_move(se.x, se.y);
400 } else if(grabbed_polygon) {
401 scalar_t xf, yf, force_x, force_y, f, fmax = 100;
402 xf = grabbed_polygon->absolute_x(relative_grab_x, relative_grab_y);
403 yf = grabbed_polygon->absolute_y(relative_grab_x, relative_grab_y);
406 f = sqrt(sq(force_x) + sq(force_y));
407 if(f > fmax) { force_x = (force_x * fmax)/f; force_y = (force_y * fmax)/f; }
408 grabbed_polygon->apply_force(0.1, xf, yf, force_x, force_y);
414 case SimpleEvent::KEY_PRESS:
416 if(strcmp(se.key, "q") == 0) {
420 else if(strcmp(se.key, "s") == 0) {
422 retina.save_as_ppm("/tmp/retina.ppm");
423 cout << "Retina screen shot saved in /tmp/retina.ppm" << endl;
426 XFigTracer tracer("/tmp/universe.fig");
427 universe.print_xfig(&tracer);
432 FILE *file = fopen("/tmp/universe.png", "w");
433 generate_png(&universe, 0.25, file);
434 // generate_png(task->width(), task->height(), &universe, "/tmp/universe.png");
435 cout << "Universe image saved in /tmp/universe.png" << endl;
441 else if(strcmp(se.key, "Shift_L") == 0 || strcmp(se.key, "Shift_R") == 0) {
445 else if(strcmp(se.key, "Up") == 0) {
446 manipulator.do_action(Manipulator::ACTION_MOVE_UP);
449 else if(strcmp(se.key, "Right") == 0) {
450 manipulator.do_action(Manipulator::ACTION_MOVE_RIGHT);
453 else if(strcmp(se.key, "Down") == 0) {
454 manipulator.do_action(Manipulator::ACTION_MOVE_DOWN);
457 else if(strcmp(se.key, "Left") == 0) {
458 manipulator.do_action(Manipulator::ACTION_MOVE_LEFT);
461 else if(strcmp(se.key, "g") == 0) {
462 manipulator.do_action(Manipulator::ACTION_GRAB);
465 else if(strcmp(se.key, "r") == 0) {
466 manipulator.do_action(Manipulator::ACTION_RELEASE);
469 else if(strcmp(se.key, "space") == 0) {
470 switch(action_mode) {
472 action_mode = RANDOM;
473 cout << "Switched to random mode" << endl;
476 action_mode = INTELLIGENT;
477 cout << "Switched to intelligent mode" << endl;
480 cout << "Switched to idle mode" << endl;
486 else cout << "Undefined key " << se.key << endl;
490 case SimpleEvent::KEY_RELEASE:
492 if(strcmp(se.key, "Shift_L") == 0 || strcmp(se.key, "Shift_R") == 0) press_shift = false;
500 } while(se.type != SimpleEvent::NO_EVENT);
502 cerr << "Error on select: " << strerror(errno) << endl;
508 if(proportion_for_training > 0) {
509 cout << "Learning ... "; cout.flush();
510 intelligence.learn(proportion_for_training);
511 cout << "done." << endl;
514 if(intelligence_save_file[0]) {
515 cout << "Saving to " << intelligence_save_file << endl; cout.flush();
516 ofstream os(intelligence_save_file);
518 cerr << "error writing " << intelligence_save_file << "." << endl;
521 cout << "done." << endl;
522 intelligence.save(os);