main.cc

   1
   2 // Written and (C) by Francois Fleuret
   3 // Contact <francois.fleuret@idiap.ch> for comments & bug reports
   4
   5 #include <iostream>
   6 #include <fstream>
   7 #include <cmath>
   8 #include <stdio.h>
   9 #include <stdlib.h>
  10 #include <stdint.h>
  11 #include <errno.h>
  12 #include <string.h>
  13
  14 using namespace std;
  15
  16 #include "misc.h"
  17 #include "task.h"
  18 #include "simple_window.h"
  19 #include "universe.h"
  20 #include "plotter.h"
  21 #include "manipulator.h"
  22 #include "intelligence.h"
  23
  24 #include "canvas_cairo.h"
  25
  26 void generate_png(Universe *universe, scalar_t scale, FILE *file) {
  27   CanvasCairo canvas(scale, universe->width(), universe->height());
  28   universe->draw(&canvas);
  29   canvas.write_png(file);
  30 }
  31
  32 // To train
  33 // ./main --task hit_shape.task 0 --action-mode=random --nb-ticks=5000 --proportion-for-training=0.5 --save-file=dump.mem --no-window
  34
  35 // To test
  36 // ./main --task hit_shape.task 0 --action-mode=intelligent --load-file=dump.mem
  37
  38 //////////////////////////////////////////////////////////////////////
  39
  40 void check_opt(int argc, char **argv, int n_opt, int n, const char *help) {
  41   if(n_opt + n >= argc) {
  42     cerr << "Missing argument for " << argv[n_opt] << "." << endl;
  43     cerr << "Expecting " << help << "." << endl;
  44     exit(1);
  45   }
  46 }
  47
  48 void print_help_and_exit(int e) {
  49   cout << "Arguments:" << endl;
  50   cout << "  --no-window" << endl;
  51   cout << "  --nb-ticks=<int: number of ticks>" << endl;
  52   cout << "  --nb-training-iterations=<int: number of training iterations>" << endl;
  53   cout << "  --load-file=<filename: dump file>" << endl;
  54   cout << "  --save-file=<filename: dump file>" << endl;
  55   cout << "  --proportion-for-training=<float: proportion of samples for training>" << endl;
  56   cout << "  --action-mode=<idle|random|intelligent>" << endl;
  57   cout << "  --task <filename: task to load> <int: degree>" << endl;
  58   exit(e);
  59 }
  60
  61 //////////////////////////////////////////////////////////////////////
  62
  63 int main(int argc, char **argv) {
  64
  65   const int buffer_size = 256;
  66   char intelligence_load_file[buffer_size] = "", intelligence_save_file[buffer_size] = "";
  67
  68   Task *task = 0;
  69   int task_degree = 0;
  70
  71   int nb_ticks = 10000;
  72   int nb_training_iterations = 10;
  73   scalar_t proportion_for_training = -1;
  74
  75   Polygon *grabbed_polygon = 0;
  76   scalar_t relative_grab_x = 0, relative_grab_y = 0;
  77
  78   bool quit = false;
  79   bool press_shift = false;
  80   enum { IDLE, RANDOM, INTELLIGENT } action_mode = IDLE;
  81   bool got_event = true;
  82   int current_action = 0;
  83
  84   scalar_t last_hand_x = 0, last_hand_y = 0;
  85   Polygon *last_grabbing = 0;
  86   bool no_window = false;
  87
  88   //////////////////////////////////////////////////////////////////////
  89   //                    Parsing the shell arguments
  90   //////////////////////////////////////////////////////////////////////
  91
  92   int i = 1;
  93   while(i < argc) {
  94     if(argc == 1 || strcmp(argv[i], "--help") == 0) print_help_and_exit(0);
  95
  96     else if(strcmp(argv[i], "--test") == 0) {
  97       test_approximer();
  98       exit(0);
  99     }
 100
 101     else if(strcmp(argv[i], "--task") == 0) {
 102       check_opt(argc, argv, i, 2, "<filename: task to load> <int: degree>");
 103       if(task) {
 104         cerr << "Can not load two tasks." << endl;
 105         exit(1);
 106       }
 107       task = load_task(argv[i+1]);
 108       task_degree = atoi(argv[i+2]);
 109       i += 3;
 110
 111     } else if(strncmp(argv[i], "--", 2) == 0) {
 112       char variable_name[buffer_size] = "", variable_value[buffer_size] = "";
 113       char *o = argv[i]+2, *s = variable_name, *u = variable_value;
 114       while(*o && *o != '=') *s++ = *o++;
 115       if(*o) {
 116         o++;
 117         while(*o) *u++ = *o++;
 118       }
 119
 120       if(strcmp(variable_name, "nb-ticks") == 0) {
 121         nb_ticks = atoi(variable_value);
 122       } else if(strcmp(variable_name, "nb-training-iterations") == 0) {
 123         nb_training_iterations = atoi(variable_value);
 124       } else if(strcmp(variable_name, "proportion-for-training") == 0) {
 125         proportion_for_training = atof(variable_value);
 126       } else if(strcmp(variable_name, "no-window") == 0) {
 127         no_window = true;
 128       } else if(strcmp(variable_name, "save-file") == 0) {
 129         strcpy(intelligence_save_file, variable_value);
 130       } else if(strcmp(variable_name, "load-file") == 0) {
 131         strcpy(intelligence_load_file, variable_value);
 132       } else if(strcmp(variable_name, "action-mode") == 0) {
 133         if(strcmp(variable_value, "idle") == 0) {
 134           action_mode = IDLE;
 135         } else if(strcmp(variable_value, "random") == 0) {
 136           action_mode = RANDOM;
 137         } else if(strcmp(variable_value, "intelligent") == 0) {
 138           action_mode = INTELLIGENT;
 139         } else {
 140           cerr << "The only known modes are idle, random and intelligent" << endl;
 141           exit(1);
 142         }
 143       } else {
 144         cerr << "Unknown option " << argv[i] << endl;
 145         print_help_and_exit(1);
 146       }
 147       i++;
 148     } else {
 149       cerr << "Unknown option " << argv[i] << endl;
 150       print_help_and_exit(1);
 151     }
 152   }
 153
 154   cout << "FlatLand, a toy universe for goal-planning experiments." << endl;
 155
 156   if(!task) {
 157     task = load_task("dummy.so");
 158     task_degree = 0;
 159   }
 160
 161   cout << "Loaded task " << task->name()
 162        << " with degree " << task_degree << "/" << task->nb_degrees()
 163        << endl;
 164
 165   if(task_degree < 0 || task_degree >= task->nb_degrees()) {
 166     cout << "Invalid degree: " << task_degree << "." << endl;
 167     exit(1);
 168   }
 169
 170   //////////////////////////////////////////////////////////////////////
 171   //                      Various initializations
 172   //////////////////////////////////////////////////////////////////////
 173
 174   Universe universe(100, task->width(), task->height());
 175   task->init(&universe, task_degree);
 176   Manipulator manipulator(task);
 177   manipulator.force_move(task->width()/2, task->height()/2);
 178
 179   SimpleWindow *window_main = 0;
 180   int window_main_fd = -1;
 181
 182 #ifdef CAIRO_SUPPORT
 183   // cairo_t *window_main_cairo_cr = 0;
 184 #endif
 185
 186   MapConcatener sensory_map(2);
 187   sensory_map.add_map(&manipulator);
 188   sensory_map.init();
 189
 190   MapExpander expanded_map(1000);
 191   expanded_map.set_input(&sensory_map);
 192   expanded_map.init();
 193
 194   Intelligence intelligence(&expanded_map, &manipulator, nb_ticks + 1, nb_training_iterations);
 195   intelligence.update(0, 0.0);
 196
 197   if(intelligence_load_file[0]) {
 198     cout << "Loading from " << intelligence_load_file << " ... " ;
 199     cout.flush();
 200     ifstream in(intelligence_load_file);
 201     if(in.fail()) {
 202       cerr << "error reading " << intelligence_load_file << "." << endl;
 203       exit(1);
 204     }
 205     intelligence.load(in);
 206     cout << "done." << endl ;
 207   }
 208
 209   if(no_window) {
 210     cout << "Started without windows." << endl;
 211   } else {
 212     window_main = new SimpleWindow("Universe (main window)", 4, 4, task->width(), task->height());
 213     window_main_fd = window_main->file_descriptor();
 214     window_main->map();
 215 #ifdef CAIRO_SUPPORT
 216     // window_main_cairo_cr = window_main->get_cairo_context_resource();
 217 #endif
 218     cout << "When the main window has the focus, press `q' to quit and click and drag to move" << endl
 219          << "objects." << endl;
 220   }
 221
 222   int tick = 0;
 223   time_t last_t = 0;
 224   scalar_t sum_reward = 0;
 225
 226   //////////////////////////////////////////////////////////////////////
 227   //                         The main loop
 228   //////////////////////////////////////////////////////////////////////
 229
 230   while(!quit && tick != nb_ticks) {
 231
 232     int r;
 233     fd_set fds;
 234
 235 #ifdef CAIRO_SUPPORT
 236     if(tick < 100) {
 237       char buffer[1024];
 238       sprintf(buffer, "frame-%06d.png", tick);
 239       FILE *file = fopen(buffer, "w");
 240       generate_png(&universe, 0.25, file);
 241       cout << "Universe image saved in " << buffer << endl;
 242       fclose(file);
 243     }
 244 #endif
 245
 246     if(window_main) {
 247       struct timeval tv;
 248       FD_ZERO (&fds);
 249       FD_SET (window_main_fd, &fds);
 250       tv.tv_sec = 0;
 251       tv.tv_usec = 5000; // 0.05s
 252       r = select(window_main_fd + 1, &fds, 0, 0, &tv);
 253     } else r = 0;
 254
 255     time_t t = time(0);
 256
 257     if(t > last_t) {
 258       last_t = t;
 259       cout << tick << " " << sum_reward << "              \r"; cout.flush();
 260     }
 261
 262     if(r == 0) { // No window event, thus it's the clock tick
 263
 264         int nb_it = 10;
 265
 266         bool changed = got_event;
 267         got_event = false;
 268
 269         switch(action_mode) {
 270         case IDLE:
 271           break;
 272         case RANDOM:
 273           current_action = manipulator.random_action();
 274           break;
 275         case INTELLIGENT:
 276           current_action = intelligence.best_action();
 277           //           if(drand48() < 0.5) current_action = intelligence.best_action();
 278           //           else                current_action = manipulator.random_action();
 279           break;
 280         }
 281
 282         manipulator.do_action(current_action);
 283
 284         scalar_t dt = 1.0/scalar_t(nb_it);
 285         for(int k = 0; k < nb_it; k++) {
 286           manipulator.update(dt, &universe);
 287           task->update(dt, &universe, &manipulator);
 288           universe.apply_gravity(dt, 0.0, 2.0);
 289           changed |= universe.update(dt);
 290         }
 291
 292         tick++;
 293
 294         changed |= manipulator.hand_x() != last_hand_x ||
 295           manipulator.hand_y() != last_hand_y ||
 296           manipulator.grabbing() != last_grabbing;
 297
 298         scalar_t reward = task->reward(&universe, &manipulator);
 299         sum_reward += abs(reward);
 300         intelligence.update(current_action, reward);
 301         expanded_map.update_map();
 302
 303         if(changed) {
 304           last_hand_x = manipulator.hand_x();
 305           last_hand_y = manipulator.hand_y();
 306           last_grabbing = manipulator.grabbing();
 307
 308           if(window_main) {
 309             window_main->color(0.0, 0.0, 0.0);
 310             window_main->color(1.0, 1.0, 1.0);
 311             window_main->fill();
 312             universe.draw(window_main);
 313
 314             task->draw(window_main);
 315             manipulator.draw_on_universe(window_main);
 316
 317             if(grabbed_polygon) {
 318               int x, y, delta = 3;
 319               x = int(grabbed_polygon->absolute_x(relative_grab_x, relative_grab_y));
 320               y = int(grabbed_polygon->absolute_y(relative_grab_x, relative_grab_y));
 321               window_main->color(0.0, 0.0, 0.0);
 322               window_main->draw_line(x - delta, y, x + delta, y);
 323               window_main->draw_line(x, y - delta, x, y + delta);
 324             }
 325
 326             window_main->show();
 327           }
 328         }
 329
 330     } else if(r > 0) { // We got window events, let's process them
 331
 332       got_event = true;
 333
 334       if(FD_ISSET(window_main_fd, &fds)) {
 335
 336         SimpleEvent se;
 337
 338         do {
 339           se = window_main->event();
 340
 341           switch(se.type) {
 342
 343           case SimpleEvent::MOUSE_CLICK_PRESS:
 344             {
 345               switch(se.button) {
 346
 347               case 1:
 348                 if(press_shift) {
 349                   manipulator.force_move(se.x, se.y);
 350                   manipulator.do_action(Manipulator::ACTION_GRAB);
 351                 } else {
 352                   grabbed_polygon = universe.pick_polygon(se.x, se.y);
 353                   if(grabbed_polygon) {
 354                     relative_grab_x = grabbed_polygon->relative_x(se.x, se.y);
 355                     relative_grab_y = grabbed_polygon->relative_y(se.x, se.y);
 356                   }
 357                 }
 358                 break;
 359               case 4:
 360                 {
 361                   Polygon *g = universe.pick_polygon(se.x, se.y);
 362                   if(g) g->_theta += M_PI/32;
 363                 }
 364                 break;
 365               case 5:
 366                 {
 367                   Polygon *g = universe.pick_polygon(se.x, se.y);
 368                   if(g) g->_theta -= M_PI/32;
 369                 }
 370                 break;
 371               }
 372             }
 373             break;
 374
 375           case SimpleEvent::MOUSE_CLICK_RELEASE:
 376             switch(se.button) {
 377             case 1:
 378               if(press_shift) manipulator.do_action(Manipulator::ACTION_RELEASE);
 379               else            grabbed_polygon = 0;
 380               break;
 381             default:
 382               break;
 383             }
 384
 385           case SimpleEvent::MOUSE_MOTION:
 386             {
 387               if(press_shift) {
 388                 manipulator.force_move(se.x, se.y);
 389               } else if(grabbed_polygon) {
 390                 scalar_t xf, yf, force_x, force_y, f, fmax = 100;
 391                 xf = grabbed_polygon->absolute_x(relative_grab_x, relative_grab_y);
 392                 yf = grabbed_polygon->absolute_y(relative_grab_x, relative_grab_y);
 393                 force_x = se.x - xf;
 394                 force_y = se.y - yf;
 395                 f = sqrt(sq(force_x) + sq(force_y));
 396                 if(f > fmax) { force_x = (force_x * fmax)/f; force_y = (force_y * fmax)/f; }
 397                 grabbed_polygon->apply_force(0.1, xf, yf, force_x, force_y);
 398               }
 399               break;
 400             }
 401             break;
 402
 403           case SimpleEvent::KEY_PRESS:
 404             {
 405               if(strcmp(se.key, "q") == 0) {
 406                 quit = true;
 407               }
 408
 409               else if(strcmp(se.key, "s") == 0) {
 410
 411                 {
 412                   Plotter plotter(int(universe.width()), int(universe.height()), 4);
 413                   plotter.save_as_ppm(&universe, "/tmp/plotter.ppm", 16);
 414                 }
 415
 416 #ifdef CAIRO_SUPPORT
 417                 {
 418                   FILE *file = fopen("/tmp/screenshot.png", "w");
 419                   generate_png(&universe, 0.25, file);
 420                   cout << "Universe image saved in /tmp/screenshot.png" << endl;
 421                   fclose(file);
 422                 }
 423 #endif
 424
 425               }
 426
 427               else if(strcmp(se.key, "Shift_L") == 0 || strcmp(se.key, "Shift_R") == 0) {
 428                 press_shift = true;
 429               }
 430
 431               else if(strcmp(se.key, "Up") == 0) {
 432                 manipulator.do_action(Manipulator::ACTION_MOVE_UP);
 433               }
 434
 435               else if(strcmp(se.key, "Right") == 0) {
 436                 manipulator.do_action(Manipulator::ACTION_MOVE_RIGHT);
 437               }
 438
 439               else if(strcmp(se.key, "Down") == 0) {
 440                 manipulator.do_action(Manipulator::ACTION_MOVE_DOWN);
 441               }
 442
 443               else if(strcmp(se.key, "Left") == 0) {
 444                 manipulator.do_action(Manipulator::ACTION_MOVE_LEFT);
 445               }
 446
 447               else if(strcmp(se.key, "g") == 0) {
 448                 manipulator.do_action(Manipulator::ACTION_GRAB);
 449               }
 450
 451               else if(strcmp(se.key, "r") == 0) {
 452                 manipulator.do_action(Manipulator::ACTION_RELEASE);
 453               }
 454
 455               else if(strcmp(se.key, "space") == 0) {
 456                 switch(action_mode) {
 457                 case IDLE:
 458                   action_mode = RANDOM;
 459                   cout << "Switched to random mode" << endl;
 460                   break;
 461                 case RANDOM:
 462                   action_mode = INTELLIGENT;
 463                   cout << "Switched to intelligent mode" << endl;
 464                   break;
 465                 case INTELLIGENT:
 466                   cout << "Switched to idle mode" << endl;
 467                   action_mode = IDLE;
 468                   break;
 469                 }
 470               }
 471
 472               else cout << "Undefined key " << se.key << endl;
 473             }
 474             break;
 475
 476           case SimpleEvent::KEY_RELEASE:
 477             {
 478               if(strcmp(se.key, "Shift_L") == 0 || strcmp(se.key, "Shift_R") == 0) press_shift = false;
 479             }
 480             break;
 481
 482           default:
 483             break;
 484
 485           }
 486         } while(se.type != SimpleEvent::NO_EVENT);
 487       } else {
 488         cerr << "Error on select: " << strerror(errno) << endl;
 489         exit(1);
 490       }
 491     }
 492   }
 493
 494   if(proportion_for_training > 0) {
 495     cout << "Learning ... "; cout.flush();
 496     intelligence.learn(proportion_for_training);
 497     cout << "done." << endl;
 498   }
 499
 500   if(intelligence_save_file[0]) {
 501     cout << "Saving to " << intelligence_save_file << endl; cout.flush();
 502     ofstream os(intelligence_save_file);
 503     if(os.fail()) {
 504       cerr << "error writing " << intelligence_save_file << "." << endl;
 505       exit(1);
 506     }
 507     cout << "done." << endl;
 508     intelligence.save(os);
 509   }
 510
 511   delete window_main;
 512
 513 }