class ConsoleRunner(object):
def __init__(self, debug, max_steps, name, angular_position):
self.set_pendulum_model(angular_position)
self.simulation = Simulation(self.pendulumModel, self.__create_controller(name), sleeping_mode=False)
self.observer = ExecutionMonitor(debug, max_steps, self.simulation)
self.pendulumModel.register_observer(self.observer)
def learn(self, iterations):
self.simulation.controller.learn(iterations)
def run(self, speed_multiplier, dt):
self.simulation.run(speed_multiplier, dt)
def set_pendulum_model(self, angular_position):
self.pendulumModel = InvertedPendulumModel(
pendulum_length=PENDULUM_LENGTH, pendulum_mass=PENDULUM_MASS, cart_mass=CART_MASS
)
self.pendulumModel.set_state(
angular_position=angular_position,
angular_velocity=ANGULAR_VELOCITY,
cart_position=CART_POSITION,
cart_velocity=CART_VELOCITY,
)
def __create_controller(self, name):
return ControllersUtil.get_controller(name)(PENDULUM_LENGTH, PENDULUM_MASS, CART_MASS)
def results(self):
return self.observer.results()
def __init__(self, debug, max_steps, name, angular_position):
self.set_pendulum_model(angular_position)
self.simulation = Simulation(self.pendulumModel,
self.__create_controller(name),
sleeping_mode=False)
self.observer = ExecutionMonitor(debug, max_steps, self.simulation)
self.pendulumModel.register_observer(self.observer)
class ConsoleRunner(object):
def __init__(self, debug, max_steps, name, angular_position):
self.set_pendulum_model(angular_position)
self.simulation = Simulation(self.pendulumModel,
self.__create_controller(name),
sleeping_mode=False)
self.observer = ExecutionMonitor(debug, max_steps, self.simulation)
self.pendulumModel.register_observer(self.observer)
def learn(self, iterations):
self.simulation.controller.learn(iterations)
def run(self, speed_multiplier, dt):
self.simulation.run(speed_multiplier, dt)
def set_pendulum_model(self, angular_position):
self.pendulumModel = InvertedPendulumModel(
pendulum_length=PENDULUM_LENGTH,
pendulum_mass=PENDULUM_MASS,
cart_mass=CART_MASS)
self.pendulumModel.set_state(angular_position=angular_position,
angular_velocity=ANGULAR_VELOCITY,
cart_position=CART_POSITION,
cart_velocity=CART_VELOCITY)
def __create_controller(self, name):
return ControllersUtil.get_controller(name)(PENDULUM_LENGTH,
PENDULUM_MASS, CART_MASS)
def results(self):
return self.observer.results()
def on_learn_clicked(self):
self.ui.run.setEnabled(True)
self.__create_scene()
self.simulation = Simulation(self.pendulumModel, self.__create_controller())
self.simulation.controller.learn(int(self.ui.iterations.text()))
class MainWindow(QMainWindow):
def __init__(self):
QMainWindow.__init__(self)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
self.ui.view.setRenderHint(QPainter.Antialiasing)
self.__setup_ui()
self.__create_scene()
@pyqtSlot()
def on_run_clicked(self):
self.__set_widget_state(running=True)
self.set_pendulum_model()
self.simulation.run(int(self.ui.speedMultiplier.text()),float(self.ui.dt.text()))
@pyqtSlot()
def on_learn_clicked(self):
self.ui.run.setEnabled(True)
self.__create_scene()
self.simulation = Simulation(self.pendulumModel, self.__create_controller())
self.simulation.controller.learn(int(self.ui.iterations.text()))
@pyqtSlot()
def on_stop_clicked(self):
self.simulation.stop()
self.__set_widget_state(running=False)
@pyqtSlot()
def on_visibility_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumLength_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumMass_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumAngle_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_cartPosition_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_updateButton_clicked(self):
self.__create_scene()
def set_pendulum_model(self):
self.pendulumModel.set_state(
angular_position=float(self.ui.pendulumAngle.text()) * pi / 180.0,
angular_velocity=float(self.ui.angularVelocity.text()),
cart_position=float(self.ui.cartPosition.text()),
cart_velocity=float(self.ui.cartSpeed.text())
)
def __create_scene(self):
self.pendulumView = PendulumView(
self.width(),
self.height(),
visible_meters=float(self.ui.visibility.text()),
length=float(self.ui.pendulumLength.text()),
mass=float(self.ui.pendulumMass.text())
)
self.ui.view.setScene(self.pendulumView)
self.pendulumModel = InvertedPendulumModel(
pendulum_length=float(self.ui.pendulumLength.text()),
pendulum_mass=float(self.ui.pendulumMass.text()),
cart_mass=float(self.ui.cartMass.text())
)
self.pendulumModel.register_observer(self.pendulumView)
self.set_pendulum_model()
def __create_controller(self):
return ControllersUtil.get_controller(str(self.ui.controller.currentText()))(
float(self.ui.pendulumLength.text()),
float(self.ui.pendulumMass.text()),
float(self.ui.cartMass.text())
)
def __set_widget_state(self, running):
self.ui.allSettings.setEnabled(not running)
self.ui.stop.setEnabled(running)
self.ui.run.setEnabled(not running)
def __setup_ui(self):
self.ui.controller.addItems(ControllersUtil.registered_controllers())
self.ui.controller.setCurrentIndex(self.ui.controller.findText(ControllersUtil.default_controller()))
def resizeEvent(self, QResizeEvent):
self.ui.view.fitInView(self.pendulumView.sceneRect(), Qt.KeepAspectRatio)
def show(self):
QMainWindow.show(self)
self.resizeEvent(None)
def closeEvent(self, QCloseEvent):
sys.exit(0)
def __init__(self, debug, max_steps, name, angular_position):
self.set_pendulum_model(angular_position)
self.simulation = Simulation(self.pendulumModel, self.__create_controller(name), sleeping_mode=False)
self.observer = ExecutionMonitor(debug, max_steps, self.simulation)
self.pendulumModel.register_observer(self.observer)
def on_learn_clicked(self):
self.ui.run.setEnabled(True)
self.__create_scene()
self.simulation = Simulation(self.pendulumModel,
self.__create_controller())
self.simulation.controller.learn(int(self.ui.iterations.text()))
class MainWindow(QMainWindow):
def __init__(self):
QMainWindow.__init__(self)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
self.ui.view.setRenderHint(QPainter.Antialiasing)
self.__setup_ui()
self.__create_scene()
@pyqtSlot()
def on_run_clicked(self):
self.__set_widget_state(running=True)
self.set_pendulum_model()
self.simulation.run(int(self.ui.speedMultiplier.text()),
float(self.ui.dt.text()))
@pyqtSlot()
def on_learn_clicked(self):
self.ui.run.setEnabled(True)
self.__create_scene()
self.simulation = Simulation(self.pendulumModel,
self.__create_controller())
self.simulation.controller.learn(int(self.ui.iterations.text()))
@pyqtSlot()
def on_stop_clicked(self):
self.simulation.stop()
self.__set_widget_state(running=False)
@pyqtSlot()
def on_visibility_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumLength_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumMass_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumAngle_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_cartPosition_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_updateButton_clicked(self):
self.__create_scene()
def set_pendulum_model(self):
self.pendulumModel.set_state(
angular_position=float(self.ui.pendulumAngle.text()) * pi / 180.0,
angular_velocity=float(self.ui.angularVelocity.text()),
cart_position=float(self.ui.cartPosition.text()),
cart_velocity=float(self.ui.cartSpeed.text()))
def __create_scene(self):
self.pendulumView = PendulumView(
self.width(),
self.height(),
visible_meters=float(self.ui.visibility.text()),
length=float(self.ui.pendulumLength.text()),
mass=float(self.ui.pendulumMass.text()))
self.ui.view.setScene(self.pendulumView)
self.pendulumModel = InvertedPendulumModel(
pendulum_length=float(self.ui.pendulumLength.text()),
pendulum_mass=float(self.ui.pendulumMass.text()),
cart_mass=float(self.ui.cartMass.text()))
self.pendulumModel.register_observer(self.pendulumView)
self.set_pendulum_model()
def __create_controller(self):
return ControllersUtil.get_controller(
str(self.ui.controller.currentText()))(
float(self.ui.pendulumLength.text()),
float(self.ui.pendulumMass.text()),
float(self.ui.cartMass.text()))
def __set_widget_state(self, running):
self.ui.allSettings.setEnabled(not running)
self.ui.stop.setEnabled(running)
self.ui.run.setEnabled(not running)
def __setup_ui(self):
self.ui.controller.addItems(ControllersUtil.registered_controllers())
self.ui.controller.setCurrentIndex(
self.ui.controller.findText(ControllersUtil.default_controller()))
def resizeEvent(self, QResizeEvent):
self.ui.view.fitInView(self.pendulumView.sceneRect(),
Qt.KeepAspectRatio)
def show(self):
QMainWindow.show(self)
self.resizeEvent(None)
def closeEvent(self, QCloseEvent):
sys.exit(0)