def POST(self):
try:
webData = web.data()
print "Handle/POST: webdata is ", webData
#后台打日志
recMsg = receive.parse_xml(webData)
print "recMsg is ", recMsg
print "[Debug]recMsg.MsgType is ", recMsg.MsgType
if isinstance(recMsg,
receive.Msg) and recMsg.MsgType == 'text': #主要内容
IOCallBack, IOList = self.reReadIO() #IO操作在分支下独立操作，避免无效消息消耗IO
toUser = recMsg.FromUserName
fromUser = recMsg.ToUserName
content = recMsg.Content
print "[Process]push content"
recontent = controller.input(
toUser, content, IOList
) #用户信息，内容送入控制器，同时将其中一个系统IO变量送回控制器，同时为了适应多行输出，输出内容已改为列表数据
e = 0
print "[Conver]IOMsg"
IOrecontent = ""
# print IOCallBack
print "IOCallback: "
print recontent
for i in recontent: #支持多行输出，后面是为了计数，注意它是从0开始计数的
if e > 0:
IOrecontent = IOrecontent + '\n'
e = e + 1
if i in IOCallBack: #部分消息是自定义的，为了识别，先会和库的配置先匹配
IOrecontent = IOrecontent + IOCallBack[i].encode(
"utf-8") #中文信息必须要先被UTF-8编码，IOCallback不再送入控制器
else:
IOrecontent = IOrecontent + i.encode("utf-8")
replyMsg = reply.TextMsg(toUser, fromUser, IOrecontent)
# replayMsg = "测试状态"
return replyMsg.send()
if isinstance(
recMsg, receive.EventMsg
) and recMsg.MsgType == 'event' and recMsg.Event == 'subscribe': #订阅部分事件推送
IOCallBack, IOList = self.reReadIO()
toUser = recMsg.FromUserName
fromUser = recMsg.ToUserName
content = IOCallBack["Main.subscribe"].encode(
"utf-8") #这里唯一一次脱离控制器调用公共IO
replyMsg = reply.TextMsg(toUser, fromUser, content)
replytext = replyMsg.send()
print "Callback Data is ", replytext
return replytext
else:
print "[Msg PASS]"
return "success"
except Exception, Argment:
print "except: ", Argment
return Argment
def run():
engine.running = True
engine.start()
engine.world = world.host_or_connect(engine)
lt = time.time()
ticks = 0
fr = 0
engine.screen_refresh = 1
engine.next_screen = engine.screen_refresh
while engine.running:
engine.dt = engine.clock.tick(getattr(engine, "framerate", 30))
engine.dt = min(engine.dt * .001 * 60, 100.0)
engine.update()
engine.next_screen -= engine.dt
if engine.next_screen < 0:
engine.clear_screen()
engine.world.draw()
engine.draw_screen()
engine.next_screen = engine.screen_refresh
controller.input()
print "quit"
def run():
engine.running = True
engine.start()
engine.world = world.make_world(engine)
lt = time.time()
ticks = 0
fr = 0
engine.screen_refresh = 1
engine.next_screen = engine.screen_refresh
while engine.running:
engine.dt = engine.clock.tick(getattr(engine,"framerate",30))
engine.dt = min(engine.dt*.001*60,100.0)
engine.update()
engine.next_screen -= engine.dt
if engine.next_screen < 0:
engine.clear_screen()
engine.world.draw()
engine.draw_screen()
engine.next_screen = engine.screen_refresh
controller.input()
print "quit"
def env(chrom):
from osim.env import L2RunEnv as RunEnv
e = RunEnv(visualize=False)
e.reset()
T = 2
total_reward = 0
for t in range(500):
obs, reward, done, _ = e.step(
controller.input(chrom.allele, T, t * 0.01))
total_reward += reward
if done:
break
# print("HEADLESS: The reward is {}".format(total_reward))
# enables to calculate accumulated fitness
if total_reward < 0: total_reward = 0
del e
return total_reward
print("Current gen {}".format(num))
chrom = pool[0]
print("fitness of best chromosome {}".format(chrom.fitness))
print(len(best_chrom))
print([i.fitness for i in best_chrom])
T = 2
from osim.env import L2RunEnv as RunEnv
e = RunEnv(visualize=True)
# e = RunEnv(visualize=False)
e.reset()
total_reward = 0
total_reward_aux = 0
for t in range(700):
obs, reward, done, _ = e.step(controller.input(chrom.allele, T, t * 0.01))
total_reward += reward
if done:
print("Done, {} steps".format(t))
break
print(total_reward)
import matplotlib.pyplot as plt
# Best fitness
# print(best_fitness)
plt.plot(best_fitness)
plt.ylabel('Recompensa', fontsize='large')
plt.xlabel('Numero de generaciones', fontsize='large')
plt.title('Evolucion del mejor cromosoma')
plt.show()