def ClientMain(mode):
# create fog effect
getSimContext().setFog()
# add a camera
camRotateSpeed = 100
camMoveSpeed = 3000
camZoomSpeed = 500
cam = getSimContext().addCamera(camRotateSpeed, camMoveSpeed, camZoomSpeed)
cam.setFarPlane(5000)
cam.setEdgeScroll(False)
recenter_cam = recenter(
cam) # create a closure to avoid having a global variable
recenter_cam() # call the recenter function
# load the background
addObject("data/terrain/Sea.xml",
Vector3f(-3000 + NUDGE_X, -3000 + NUDGE_Y, -20))
addObject("data/terrain/IslandTerrain.xml",
Vector3f(-1100 + NUDGE_X, -2400 + NUDGE_Y, -17),
Vector3f(0, 0, -45))
addSkyBox("data/sky/irrlicht2")
# load the maze
getSimContext().addLightSource(Vector3f(-500, -500, 1000), 1500)
getMod().add_maze()
# load the GUI
CreateGui(getGuiManager(), mode)
# create the key binding
ioMap = createInputMapping()
ioMap.BindKey("KEY_SPACE", "onPress", recenter_cam)
getSimContext().setInputMapping(ioMap)
def ClientMain():
# create fog effect
getSimContext().setFog()
# add a camera
camRotateSpeed = 100
camMoveSpeed = 3000
camZoomSpeed = 500
cam = getSimContext().addCamera(camRotateSpeed, camMoveSpeed, camZoomSpeed)
cam.setFarPlane(5000)
cam.setEdgeScroll(False)
recenter_cam = recenter(cam) # create a closure to avoid having a global variable
recenter_cam() # call the recenter function
# load the background
addObject("data/terrain/Sea.xml", Vector3f(-3000 + NUDGE_X,-3000 + NUDGE_Y,-20))
addObject("data/terrain/IslandTerrain.xml", Vector3f(-1100 + NUDGE_X, -2400 + NUDGE_Y, -17), Vector3f(0,0,-45))
addSkyBox("data/sky/irrlicht2")
# load the maze
getSimContext().addLightSource(Vector3f(-500,-500,1000), 1500)
getMod().add_maze()
# load the GUI
CreateGui(getGuiManager())
# create the key binding
ioMap = createInputMapping()
ioMap.BindKey( "KEY_SPACE", "onPress", recenter_cam )
getSimContext().setInputMapping(ioMap)
def closure():
"""starts or stops the agent"""
if ui.startAgentButton.text == 'Start':
i = ui.agentComboBox.getSelected()
(agent_name, agent_function, ee_enabled) = AGENTS[i]
if ee_enabled:
ui.epsilonScroll.enabled = True
ui.epsilonValue.visible = True
ui.epsilonLabel.visible = True
ui.epsilonScroll.visible = True
print 'Starting', agent_name
agent_function()
ui.pauseAgentButton.text = 'Pause'
ui.pauseAgentButton.enabled = True
ui.startAgentButton.text = 'Reset'
ui.agentComboBox.enabled = False
else:
getMod().stop_maze()
disable_ai()
ui.epsilonScroll.enabled = False
ui.epsilonValue.visible = False
ui.epsilonLabel.visible = False
ui.epsilonScroll.visible = False
get_environment().cleanup()
ui.startAgentButton.text = 'Start'
ui.pauseAgentButton.text = 'Pause'
ui.pauseAgentButton.enabled = False
ui.agentComboBox.enabled = True
def closure():
"""starts or stops the agent"""
if ui.startAgentButton.text == 'Start':
i = ui.agentComboBox.getSelected()
(agent_name, agent_function, ee_enabled) = AGENTS[i]
if ee_enabled:
ui.epsilonScroll.enabled = True
ui.epsilonValue.visible = True
ui.epsilonLabel.visible = True
ui.epsilonScroll.visible = True
print 'Starting', agent_name
agent_function()
ui.pauseAgentButton.text = 'Pause'
ui.pauseAgentButton.enabled = True
ui.startAgentButton.text = 'Reset'
ui.agentComboBox.enabled = False
else:
getMod().stop_maze()
disable_ai()
ui.epsilonScroll.enabled = False
ui.epsilonValue.visible = False
ui.epsilonLabel.visible = False
ui.epsilonScroll.visible = False
get_environment().cleanup()
ui.startAgentButton.text = 'Start'
ui.pauseAgentButton.text = 'Pause'
ui.pauseAgentButton.enabled = False
ui.agentComboBox.enabled = True
def epsilon_adjusted(ui):
""" generate a closure that will be called whenever the epsilon slider is adjusted """
ui.epsilonValue.text = str(ui.epsilonScroll.getPos())
getMod().set_epsilon(float(ui.epsilonScroll.getPos())/100)
def closure():
"""called whenever the epsilon slider is adjusted"""
ui.epsilonValue.text = str(ui.epsilonScroll.getPos())
getMod().set_epsilon(float(ui.epsilonScroll.getPos())/100)
return closure
def speedup_adjusted(ui):
"""generate a closure that will be called whenever the speedup slider is adjusted"""
ui.speedupValue.text = str(ui.speedupScroll.getPos())
getMod().set_speedup(float(ui.speedupScroll.getPos())/100)
def closure():
"""called whenever the speedup slider is adjusted"""
ui.speedupValue.text = str(ui.speedupScroll.getPos())
getMod().set_speedup(float(ui.speedupScroll.getPos())/100)
return closure
def ModMain():
agent_descs = [
('My Tabular RL Agent (Coarse)', start_my_tabular_agent, True, ""),
('My Tabular RL Agent (Fine)', start_my_tabular_agent_granular, True, ""),
('My Tiling RL Agent (Fine)', start_my_tiling_agent_granular, True, ""),
('My Nearest Neighbors RL Agent (Fine)', start_my_nearest_neighbors_agent_granular, True, ""),
]
getMod().AGENTS.extend(agent_descs)
Maze.main.ModMain()
def initdist_adjusted(ui):
""" generate a closure that will be called whenever the initdist slider is adjusted """
ui.initdistValue.text = str(ui.initdistScroll.getPos())
getMod().set_initdist(ui.initdistScroll.getPos())
def closure():
"""called whenever the initdist slider is adjusted"""
ui.initdistValue.text = str(ui.initdistScroll.getPos())
getMod().set_initdist(ui.initdistScroll.getPos())
return closure
def epsilon_adjusted(ui):
""" generate a closure that will be called whenever the epsilon slider is adjusted """
ui.epsilonValue.text = str(ui.epsilonScroll.getPos())
getMod().set_epsilon(float(ui.epsilonScroll.getPos()) / 100)
def closure():
"""called whenever the epsilon slider is adjusted"""
ui.epsilonValue.text = str(ui.epsilonScroll.getPos())
getMod().set_epsilon(float(ui.epsilonScroll.getPos()) / 100)
return closure
def speedup_adjusted(ui):
"""generate a closure that will be called whenever the speedup slider is adjusted"""
ui.speedupValue.text = str(ui.speedupScroll.getPos())
getMod().set_speedup(float(ui.speedupScroll.getPos()) / 100)
def closure():
"""called whenever the speedup slider is adjusted"""
ui.speedupValue.text = str(ui.speedupScroll.getPos())
getMod().set_speedup(float(ui.speedupScroll.getPos()) / 100)
return closure
def initdist_adjusted(ui):
""" generate a closure that will be called whenever the initdist slider is adjusted """
ui.initdistValue.text = str(ui.initdistScroll.getPos())
getMod().set_initdist(ui.initdistScroll.getPos())
def closure():
"""called whenever the initdist slider is adjusted"""
ui.initdistValue.text = str(ui.initdistScroll.getPos())
getMod().set_initdist(ui.initdistScroll.getPos())
return closure
def closure():
"""starts or stops the agent"""
if ui.startAgentButton.text == "Start":
i = ui.agentComboBox.getSelected()
(agent_name, agent_function, ee_enabled, agent_mode) = ui.active_agents[i]
if ee_enabled:
ui.epsilonScroll.enabled = True
ui.epsilonValue.visible = True
ui.epsilonLabel.visible = True
ui.epsilonScroll.visible = True
# ui.initdistScroll.enabled = True
# ui.initdistValue.visible = True
# ui.initdistLabel.visible = True
# ui.initdistScroll.visible = True
print "Starting", agent_name
agent_function()
ui.pauseAgentButton.text = "Pause"
ui.pauseAgentButton.enabled = True
ui.startAgentButton.text = "Reset"
ui.agentComboBox.enabled = False
else:
getMod().stop_maze()
disable_ai()
ui.epsilonScroll.enabled = False
ui.epsilonValue.visible = False
ui.epsilonLabel.visible = False
ui.epsilonScroll.visible = False
# ui.initdistScroll.enabled = False
# ui.initdistValue.visible = False
# ui.initdistLabel.visible = False
# ui.initdistScroll.visible = False
get_environment().cleanup()
ui.startAgentButton.text = "Start"
ui.pauseAgentButton.text = "Pause"
ui.pauseAgentButton.enabled = False
ui.agentComboBox.enabled = True
def closure():
# controller action
getMod().control_fps(command)
def CreateGui(guiMan, mode):
guiMan.setTransparency(1.0)
guiMan.setFont("data/gui/fonthaettenschweiler.bmp")
ui = UI()
window_width = 300 # width
control_height = 30 # height
# AGENT SELECTION BOX
x, y = 5, 2 * control_height + 5
w, h = window_width - 15, control_height - 10
ui.agentBoxLabel = gui.create_text(guiMan, "agentLabel", Pos2i(x, y), Pos2i(3 * w / 10, h), "Agent Type:")
ui.agentComboBox = gui.create_combo_box(guiMan, "agentComboBox", Pos2i(x + 5 + 3 * w / 10, y), Pos2i(7 * w / 10, h))
ui.active_agents = []
for agent_name, agent_function, ee_enabled, agent_mode in getMod().AGENTS:
if mode == agent_mode:
ui.active_agents.append((agent_name, agent_function, ee_enabled, agent_mode))
ui.agentComboBox.addItem(agent_name)
# EXPLORE/EXPLOIT TRADE-OFF SLIDER
x, y = 5, 5 * control_height + 5
w, h = window_width - 20, control_height - 5
epsilon_percent = int(INITIAL_EPSILON * 100)
ui.epsilonLabel = gui.create_text(guiMan, "epsilonLabel", Pos2i(x, y), Pos2i(3 * w / 10, h), "Explore-Exploit:")
ui.epsilonScroll = gui.create_scroll_bar(
guiMan, "epsilonScroll", Pos2i(x + 3 * w / 10 + 5, y), Pos2i(6 * w / 10, h - 5), True
)
ui.epsilonValue = gui.create_text(
guiMan, "epsilonEditBox", Pos2i(x + 9 * w / 10 + 10, y), Pos2i(w / 10, h), str(epsilon_percent)
)
ui.epsilonScroll.setMax(100)
ui.epsilonScroll.setLargeStep(10)
ui.epsilonScroll.setSmallStep(1)
ui.epsilonScroll.setPos(epsilon_percent)
ui.epsilonScroll.enabled = False
ui.epsilonValue.visible = False
ui.epsilonLabel.visible = False
ui.epsilonScroll.visible = False
getMod().set_epsilon(INITIAL_EPSILON)
ui.epsilonScroll.OnScrollBarChange = epsilon_adjusted(ui)
# INITIAL DISTANCE SLIDER
x, y = 5, 3 * control_height + 5
w, h = window_width - 20, control_height - 5
initdist = INITIAL_DIST
ui.initdistLabel = gui.create_text(guiMan, "initdistLabel", Pos2i(x, y), Pos2i(3 * w / 10, h), "Starting Offset:")
ui.initdistScroll = gui.create_scroll_bar(
guiMan, "initdistScroll", Pos2i(x + 3 * w / 10 + 5, y), Pos2i(6 * w / 10, h - 5), True
)
ui.initdistValue = gui.create_text(
guiMan, "initdistEditBox", Pos2i(x + 9 * w / 10 + 10, y), Pos2i(w / 10, h), str(initdist)
)
ui.initdistScroll.setMax(2 * ROWS - 3)
ui.initdistScroll.setLargeStep(2)
ui.initdistScroll.setSmallStep(1)
ui.initdistScroll.setPos(initdist)
# ui.initdistScroll.enabled = False
# ui.initdistValue.visible = False
# ui.initdistLabel.visible = False
# ui.initdistScroll.visible = False
ui.initdistScroll.enabled = True
ui.initdistValue.visible = True
ui.initdistLabel.visible = True
ui.initdistScroll.visible = True
getMod().set_initdist(INITIAL_DIST)
ui.initdistScroll.OnScrollBarChange = initdist_adjusted(ui)
# START/RESET AND PAUSE/CONTINUE AGENT BUTTONS
x, y = 5, 1 * control_height + 5
w, h = (window_width - 15) / 2, control_height - 5
ui.startAgentButton = gui.create_button(guiMan, "startAgentButton", Pos2i(x, y), Pos2i(w, h), "")
ui.pauseAgentButton = gui.create_button(guiMan, "pauseAgentButton", Pos2i(x + w + 5, y), Pos2i(w, h), "")
ui.startAgentButton.text = "Start"
ui.pauseAgentButton.text = "Pause"
ui.pauseAgentButton.enabled = False
ui.startAgentButton.OnMouseLeftClick = startAgent(ui)
ui.pauseAgentButton.OnMouseLeftClick = pauseAgent(ui)
# HELP BUTTON
w, h = (window_width - 20) / 3, control_height - 5
x, y = 5, 0 * control_height + 5
ui.helpButton = gui.create_button(guiMan, "helpButton", Pos2i(x, y), Pos2i(w, h), "")
ui.helpButton.text = "Help"
ui.helpButton.OnMouseLeftClick = openWiki("MazeMod")
# NEW MAZE BUTTON
x = 10 + w
ui.newMazeButton = gui.create_button(guiMan, "newMazeButton", Pos2i(x, y), Pos2i(w, h), "")
ui.newMazeButton.text = "New Maze"
ui.newMazeButton.OnMouseLeftClick = lambda: getMod().generate_new_maze()
# EXIT BUTTON
x = 15 + w * 2
ui.exitButton = gui.create_button(guiMan, "exitButton", Pos2i(x, y), Pos2i(w, h), "")
ui.exitButton.text = "Exit"
ui.exitButton.OnMouseLeftClick = lambda: switchToHub()
# SPEEDUP SLIDER
x, y = 5, 4 * control_height + 5
w, h = window_width - 20, control_height - 5
ui.speedupLabel = gui.create_text(guiMan, "speedupLabel", Pos2i(x, y), Pos2i(3 * w / 10, h), "Speedup:")
ui.speedupScroll = gui.create_scroll_bar(
guiMan, "speedupScroll", Pos2i(x + 5 + 3 * w / 10, y), Pos2i(3 * w / 5, h - 5), True
)
ui.speedupValue = gui.create_text(guiMan, "speedupEditBox", Pos2i(x + 10 + 9 * w / 10, y), Pos2i(w / 10, h), str(0))
ui.speedupScroll.setMax(100)
ui.speedupScroll.setLargeStep(10)
ui.speedupScroll.setSmallStep(1)
ui.speedupScroll.setPos(0)
getMod().set_speedup(0)
ui.speedupScroll.OnScrollBarChange = speedup_adjusted(ui)
# THE WINDOW THAT HOLDS ALL THE CONTROLS ABOVE
ui.agentWindow = gui.create_window(
guiMan, "agentWindow", Pos2i(10, 10), Pos2i(window_width, 6 * control_height + 30), "Agent"
)
ui.agentWindow.addChild(ui.agentBoxLabel)
ui.agentWindow.addChild(ui.agentComboBox)
ui.agentWindow.addChild(ui.newMazeButton)
ui.agentWindow.addChild(ui.exitButton)
ui.agentWindow.addChild(ui.startAgentButton)
ui.agentWindow.addChild(ui.pauseAgentButton)
ui.agentWindow.addChild(ui.helpButton)
ui.agentWindow.addChild(ui.epsilonLabel)
ui.agentWindow.addChild(ui.epsilonScroll)
ui.agentWindow.addChild(ui.epsilonValue)
ui.agentWindow.addChild(ui.initdistLabel)
ui.agentWindow.addChild(ui.initdistScroll)
ui.agentWindow.addChild(ui.initdistValue)
ui.agentWindow.addChild(ui.speedupLabel)
ui.agentWindow.addChild(ui.speedupScroll)
ui.agentWindow.addChild(ui.speedupValue)
def closure():
"""called whenever the speedup slider is adjusted"""
ui.speedupValue.text = str(ui.speedupScroll.getPos())
getMod().set_speedup(float(ui.speedupScroll.getPos())/100)
def closure():
"""called whenever the epsilon slider is adjusted"""
ui.epsilonValue.text = str(ui.epsilonScroll.getPos())
getMod().set_epsilon(float(ui.epsilonScroll.getPos()) / 100)
def closure():
"""called whenever the epsilon slider is adjusted"""
ui.epsilonValue.text = str(ui.epsilonScroll.getPos())
getMod().set_epsilon(float(ui.epsilonScroll.getPos())/100)
def start_my_tabular_agent_granular():
""" start my tabular RL agent in the fine-grained maze """
getMod().start_agent("data/shapes/character/MyTabularRLRobot.xml", GranularMazeEnvironment)
# add the key and mouse bindings
from inputConfig import createInputMapping
from common import *
import common.gui as gui
from common.module import openWiki
from Maze.module import getMod, delMod
from Maze.constants import *
from Maze.environment import EgocentricMazeEnvironment, GranularMazeEnvironment
# Agents and the functions that start them
AGENTS = [
('Depth First Search', lambda: getMod().start_dfs(), False),
('Breadth First Search', lambda: getMod().start_bfs(), False),
('A* Search', lambda: getMod().start_astar(), False),
('A* Search with Teleporting', lambda: getMod().start_astar2(), False),
('A* Search with Front', lambda: getMod().start_astar3(), False),
('IDA* Search', lambda:getMod().start_IDAstar(), False),
# ('Random Actions', lambda: getMod().start_random(), False),
# ('Sarsa RL', lambda: getMod().start_sarsa(), True),
# ('Q-Learning RL', lambda: getMod().start_qlearning(), True),
# ('Q-Learning RL (more continuous)', lambda: getMod().start_qlearning(GranularMazeEnvironment), True),
('Q-Learning (Coarse)', lambda: getMod().start_customrl(), True),
('Q-Learning (Fine)', lambda: getMod().start_customrl(GranularMazeEnvironment), True),
('First Person (Coarse)', lambda: getMod().start_fps(), False),
('First Person (Fine)', lambda: getMod().start_fps_granular(), False),
]
def ModMain():
agent_desc = ('IDA* Search', start_idastar, False, "")
getMod().AGENTS.append(agent_desc)
Maze.main.ModMain()
def closure():
"""called whenever the initdist slider is adjusted"""
ui.initdistValue.text = str(ui.initdistScroll.getPos())
getMod().set_initdist(ui.initdistScroll.getPos())
def start_idastar():
""" start the IDA* search demo """
getMod().start_agent("data/shapes/character/SydneyIDAStar.xml",
MazeEnvironment)
def closure():
"""called whenever the initdist slider is adjusted"""
ui.initdistValue.text = str(ui.initdistScroll.getPos())
getMod().set_initdist(ui.initdistScroll.getPos())
def CreateGui(guiMan):
guiMan.setTransparency(1.0)
guiMan.setFont("data/gui/fonthaettenschweiler.bmp")
ui = UI()
window_width = 300 # width
control_height = 30 # height
# AGENT SELECTION BOX
x, y = 5, 4 * control_height + 5
w, h = window_width - 15, control_height - 10
ui.agentBoxLabel = gui.create_text(guiMan, 'agentLabel', Pos2i(x,y), Pos2i(3*w/10,h), 'Agent Type:')
ui.agentComboBox = gui.create_combo_box(guiMan, "agentComboBox", Pos2i(x + 5 + 3*w/10, y), Pos2i(7*w/10, h))
for agent_name, agent_function, ee_enabled in AGENTS:
ui.agentComboBox.addItem(agent_name)
# EXPLORE/EXPLOIT TRADE-OFF SLIDER
x, y = 5, 0 * control_height + 5
w, h = window_width - 20, control_height - 5
epsilon_percent = int(INITIAL_EPSILON * 100)
ui.epsilonLabel = gui.create_text(guiMan, 'epsilonLabel', Pos2i(x, y), Pos2i(3*w/10, h), 'Exploit-Explore:')
ui.epsilonScroll = gui.create_scroll_bar(guiMan, 'epsilonScroll', Pos2i(x + 3*w/10 + 5, y), Pos2i(6*w/10, h - 5), True)
ui.epsilonValue = gui.create_text(guiMan, 'epsilonEditBox', Pos2i(x + 9*w/10 + 10, y), Pos2i(w/10, h), str(epsilon_percent))
ui.epsilonScroll.setMax(100)
ui.epsilonScroll.setLargeStep(10)
ui.epsilonScroll.setSmallStep(1)
ui.epsilonScroll.setPos(epsilon_percent)
ui.epsilonScroll.enabled = False
ui.epsilonValue.visible = False
ui.epsilonLabel.visible = False
ui.epsilonScroll.visible = False
getMod().set_epsilon(INITIAL_EPSILON)
ui.epsilonScroll.OnScrollBarChange = epsilon_adjusted(ui)
# START/RESET AND PAUSE/CONTINUE AGENT BUTTONS
x, y = 5, 3 * control_height
w, h = (window_width - 15) / 2, control_height - 5
ui.startAgentButton = gui.create_button(guiMan, 'startAgentButton', Pos2i(x, y), Pos2i(w, h), '')
ui.pauseAgentButton = gui.create_button(guiMan, 'pauseAgentButton', Pos2i(x + w + 5, y), Pos2i(w, h), '')
ui.startAgentButton.text = 'Start'
ui.pauseAgentButton.text = 'Pause'
ui.pauseAgentButton.enabled = False
ui.startAgentButton.OnMouseLeftClick = startAgent(ui)
ui.pauseAgentButton.OnMouseLeftClick = pauseAgent(ui)
# HELP BUTTON
w, h = (window_width - 15) / 2, control_height - 5
x, y = 5, 2 * control_height
ui.helpButton = gui.create_button(guiMan, 'helpButton', Pos2i(x, y), Pos2i(w, h), '')
ui.helpButton.text = 'Help'
ui.helpButton.OnMouseLeftClick = openWiki('MazeMod')
# NEW MAZE BUTTON
x = 10 + w
ui.newMazeButton = gui.create_button(guiMan, 'newMazeButton', Pos2i(x, y), Pos2i(w, h), '')
ui.newMazeButton.text = 'New Maze'
ui.newMazeButton.OnMouseLeftClick = lambda: getMod().generate_new_maze()
# SPEEDUP SLIDER
x, y = 5, 1 * control_height
w, h = window_width - 20, control_height - 5
ui.speedupLabel = gui.create_text(guiMan, 'speedupLabel', Pos2i(x, y), Pos2i(3*w/10, h), 'Speedup:')
ui.speedupScroll = gui.create_scroll_bar(guiMan, 'speedupScroll', Pos2i(x + 5 + 3*w/10, y), Pos2i(3*w/5, h-5), True)
ui.speedupValue = gui.create_text(guiMan, 'speedupEditBox', Pos2i(x + 10 + 9*w/10, y), Pos2i(w/10, h), str(0))
ui.speedupScroll.setMax(100)
ui.speedupScroll.setLargeStep(10)
ui.speedupScroll.setSmallStep(1)
ui.speedupScroll.setPos(0)
getMod().set_speedup(0)
ui.speedupScroll.OnScrollBarChange = speedup_adjusted(ui)
# THE WINDOW THAT HOLDS ALL THE CONTROLS ABOVE
ui.agentWindow = gui.create_window(guiMan, 'agentWindow', Pos2i(10, 10), Pos2i(window_width, 5*control_height+25), 'Agent')
ui.agentWindow.addChild(ui.agentBoxLabel)
ui.agentWindow.addChild(ui.agentComboBox)
ui.agentWindow.addChild(ui.newMazeButton)
ui.agentWindow.addChild(ui.startAgentButton)
ui.agentWindow.addChild(ui.pauseAgentButton)
ui.agentWindow.addChild(ui.helpButton)
ui.agentWindow.addChild(ui.epsilonLabel)
ui.agentWindow.addChild(ui.epsilonScroll)
ui.agentWindow.addChild(ui.epsilonValue)
ui.agentWindow.addChild(ui.speedupLabel)
ui.agentWindow.addChild(ui.speedupScroll)
ui.agentWindow.addChild(ui.speedupValue)
def closure():
"""called whenever the speedup slider is adjusted"""
ui.speedupValue.text = str(ui.speedupScroll.getPos())
getMod().set_speedup(float(ui.speedupScroll.getPos()) / 100)
def CreateGui(guiMan, mode):
guiMan.setTransparency(1.0)
guiMan.setFont("data/gui/fonthaettenschweiler.bmp")
ui = UI()
window_width = 300 # width
control_height = 30 # height
# AGENT SELECTION BOX
x, y = 5, 2 * control_height + 5
w, h = window_width - 15, control_height - 10
ui.agentBoxLabel = gui.create_text(guiMan, 'agentLabel', Pos2i(x, y),
Pos2i(3 * w / 10, h), 'Agent Type:')
ui.agentComboBox = gui.create_combo_box(guiMan, "agentComboBox",
Pos2i(x + 5 + 3 * w / 10, y),
Pos2i(7 * w / 10, h))
ui.active_agents = []
for agent_name, agent_function, ee_enabled, agent_mode in getMod().AGENTS:
if mode == agent_mode:
ui.active_agents.append(
(agent_name, agent_function, ee_enabled, agent_mode))
ui.agentComboBox.addItem(agent_name)
# EXPLORE/EXPLOIT TRADE-OFF SLIDER
x, y = 5, 5 * control_height + 5
w, h = window_width - 20, control_height - 5
epsilon_percent = int(INITIAL_EPSILON * 100)
ui.epsilonLabel = gui.create_text(guiMan, 'epsilonLabel', Pos2i(x, y),
Pos2i(3 * w / 10, h), 'Explore-Exploit:')
ui.epsilonScroll = gui.create_scroll_bar(guiMan, 'epsilonScroll',
Pos2i(x + 3 * w / 10 + 5, y),
Pos2i(6 * w / 10, h - 5), True)
ui.epsilonValue = gui.create_text(guiMan, 'epsilonEditBox',
Pos2i(x + 9 * w / 10 + 10, y),
Pos2i(w / 10, h), str(epsilon_percent))
ui.epsilonScroll.setMax(100)
ui.epsilonScroll.setLargeStep(10)
ui.epsilonScroll.setSmallStep(1)
ui.epsilonScroll.setPos(epsilon_percent)
ui.epsilonScroll.enabled = False
ui.epsilonValue.visible = False
ui.epsilonLabel.visible = False
ui.epsilonScroll.visible = False
getMod().set_epsilon(INITIAL_EPSILON)
ui.epsilonScroll.OnScrollBarChange = epsilon_adjusted(ui)
# INITIAL DISTANCE SLIDER
x, y = 5, 3 * control_height + 5
w, h = window_width - 20, control_height - 5
initdist = INITIAL_DIST
ui.initdistLabel = gui.create_text(guiMan, 'initdistLabel', Pos2i(x, y),
Pos2i(3 * w / 10, h),
'Starting Offset:')
ui.initdistScroll = gui.create_scroll_bar(guiMan, 'initdistScroll',
Pos2i(x + 3 * w / 10 + 5, y),
Pos2i(6 * w / 10, h - 5), True)
ui.initdistValue = gui.create_text(guiMan, 'initdistEditBox',
Pos2i(x + 9 * w / 10 + 10, y),
Pos2i(w / 10, h), str(initdist))
ui.initdistScroll.setMax(2 * ROWS - 3)
ui.initdistScroll.setLargeStep(2)
ui.initdistScroll.setSmallStep(1)
ui.initdistScroll.setPos(initdist)
# ui.initdistScroll.enabled = False
# ui.initdistValue.visible = False
# ui.initdistLabel.visible = False
# ui.initdistScroll.visible = False
ui.initdistScroll.enabled = True
ui.initdistValue.visible = True
ui.initdistLabel.visible = True
ui.initdistScroll.visible = True
getMod().set_initdist(INITIAL_DIST)
ui.initdistScroll.OnScrollBarChange = initdist_adjusted(ui)
# START/RESET AND PAUSE/CONTINUE AGENT BUTTONS
x, y = 5, 1 * control_height + 5
w, h = (window_width - 15) / 2, control_height - 5
ui.startAgentButton = gui.create_button(guiMan, 'startAgentButton',
Pos2i(x, y), Pos2i(w, h), '')
ui.pauseAgentButton = gui.create_button(guiMan, 'pauseAgentButton',
Pos2i(x + w + 5, y), Pos2i(w, h),
'')
ui.startAgentButton.text = 'Start'
ui.pauseAgentButton.text = 'Pause'
ui.pauseAgentButton.enabled = False
ui.startAgentButton.OnMouseLeftClick = startAgent(ui)
ui.pauseAgentButton.OnMouseLeftClick = pauseAgent(ui)
# HELP BUTTON
w, h = (window_width - 20) / 3, control_height - 5
x, y = 5, 0 * control_height + 5
ui.helpButton = gui.create_button(guiMan, 'helpButton', Pos2i(x, y),
Pos2i(w, h), '')
ui.helpButton.text = 'Help'
ui.helpButton.OnMouseLeftClick = openWiki('MazeMod')
# NEW MAZE BUTTON
x = 10 + w
ui.newMazeButton = gui.create_button(guiMan, 'newMazeButton', Pos2i(x, y),
Pos2i(w, h), '')
ui.newMazeButton.text = 'New Maze'
ui.newMazeButton.OnMouseLeftClick = lambda: getMod().generate_new_maze()
# EXIT BUTTON
x = 15 + w * 2
ui.exitButton = gui.create_button(guiMan, 'exitButton', Pos2i(x, y),
Pos2i(w, h), '')
ui.exitButton.text = 'Exit'
ui.exitButton.OnMouseLeftClick = lambda: switchToHub()
# SPEEDUP SLIDER
x, y = 5, 4 * control_height + 5
w, h = window_width - 20, control_height - 5
ui.speedupLabel = gui.create_text(guiMan, 'speedupLabel', Pos2i(x, y),
Pos2i(3 * w / 10, h), 'Speedup:')
ui.speedupScroll = gui.create_scroll_bar(guiMan, 'speedupScroll',
Pos2i(x + 5 + 3 * w / 10, y),
Pos2i(3 * w / 5, h - 5), True)
ui.speedupValue = gui.create_text(guiMan, 'speedupEditBox',
Pos2i(x + 10 + 9 * w / 10, y),
Pos2i(w / 10, h), str(0))
ui.speedupScroll.setMax(100)
ui.speedupScroll.setLargeStep(10)
ui.speedupScroll.setSmallStep(1)
ui.speedupScroll.setPos(0)
getMod().set_speedup(0)
ui.speedupScroll.OnScrollBarChange = speedup_adjusted(ui)
# THE WINDOW THAT HOLDS ALL THE CONTROLS ABOVE
ui.agentWindow = gui.create_window(
guiMan, 'agentWindow', Pos2i(10, 10),
Pos2i(window_width, 6 * control_height + 30), 'Agent')
ui.agentWindow.addChild(ui.agentBoxLabel)
ui.agentWindow.addChild(ui.agentComboBox)
ui.agentWindow.addChild(ui.newMazeButton)
ui.agentWindow.addChild(ui.exitButton)
ui.agentWindow.addChild(ui.startAgentButton)
ui.agentWindow.addChild(ui.pauseAgentButton)
ui.agentWindow.addChild(ui.helpButton)
ui.agentWindow.addChild(ui.epsilonLabel)
ui.agentWindow.addChild(ui.epsilonScroll)
ui.agentWindow.addChild(ui.epsilonValue)
ui.agentWindow.addChild(ui.initdistLabel)
ui.agentWindow.addChild(ui.initdistScroll)
ui.agentWindow.addChild(ui.initdistValue)
ui.agentWindow.addChild(ui.speedupLabel)
ui.agentWindow.addChild(ui.speedupScroll)
ui.agentWindow.addChild(ui.speedupValue)
def StartMe():
from Maze.module import getMod
getMod().set_speedup(1.0) # full speed ahead
getMod().start_sarsa() # start an algorithm for headless mode
def StartMe():
from Maze.module import getMod
getMod().set_speedup(1.0) # full speed ahead
getMod().start_sarsa() # start an algorithm for headless mode
def ModMain():
agent_desc = ('IDA* Search', start_idastar, False, "")
getMod().AGENTS.append(agent_desc)
Maze.main.ModMain()
def start_my_nearest_neighbors_agent_granular():
""" start my nearest neighbors RL agent in the fine-grained maze """
getMod().start_agent("data/shapes/character/MyNearestNeighborsRLRobot.xml", GranularMazeEnvironment)
def start_idastar():
""" start the IDA* search demo """
getMod().start_agent("data/shapes/character/SydneyIDAStar.xml", MazeEnvironment)
def start_my_tabular_agent():
""" start my tabular RL agent """
getMod().start_agent("data/shapes/character/MyTabularRLRobot.xml", MazeEnvironment)
def closure():
# controller action
getMod().control_fps(command)
# add the key and mouse bindings
from inputConfig import createInputMapping
from common import *
import common.gui as gui
from common.module import openWiki
from Maze.module import getMod, delMod
from Maze.constants import *
from Maze.environment import EgocentricMazeEnvironment, GranularMazeEnvironment
# Agents and the functions that start them
AGENTS = [
('Depth First Search', lambda: getMod().start_dfs(), False),
('Breadth First Search', lambda: getMod().start_bfs(), False),
('A* Search', lambda: getMod().start_astar(), False),
('A* Search with Teleporting', lambda: getMod().start_astar2(), False),
('A* Search with Front', lambda: getMod().start_astar3(), False),
('IDA* Search', lambda: getMod().start_IDAstar(), False),
# ('Random Actions', lambda: getMod().start_random(), False),
# ('Sarsa RL', lambda: getMod().start_sarsa(), True),
# ('Q-Learning RL', lambda: getMod().start_qlearning(), True),
# ('Q-Learning RL (more continuous)', lambda: getMod().start_qlearning(GranularMazeEnvironment), True),
('Q-Learning (Coarse)', lambda: getMod().start_customrl(), True),
('Q-Learning (Fine)',
lambda: getMod().start_customrl(GranularMazeEnvironment), True),
('First Person (Coarse)', lambda: getMod().start_fps(), False),
('First Person (Fine)', lambda: getMod().start_fps_granular(), False),
]
