class SimpleConnector(AgentConnector):
def __init__(self, agent):
AgentConnector.__init__(self, agent)
self.add_output_command("increase-number")
self.num = SoarWME("number", 0)
#self.target = SoarWME("target", 10)
def on_input_phase(self, input_link):
if not self.num.is_added():
self.num.add_to_wm(input_link)
else:
self.num.update_wm()
def on_init_soar(self):
self.num.remove_from_wm()
def on_output_event(self, command_name, root_id):
if command_name == "increase-number":
self.process_increase_command(root_id)
def process_increase_command(self, root_id):
number = root_id.GetChildInt("number")
if number:
self.num.set_value(self.num.val + number)
root_id.AddStatusComplete()
class GymConnector(AgentConnector):
"""Handle arbitrary Gym inputput and output data
Input:
- on_input_phase will be automatically called before each input phase
- adds observation vector to WMEs
Output:
- call add_output_command to add the name of an output-link command to look for
- on_output_event will then be called if such a command is added by the agent
- sends commands as actions
"""
def __init__(self, agent, motor, perception):
AgentConnector.__init__(self, agent)
self.motor = motor
self.perception = perception
self.waiting = False
#TODO: loop through obs and action space; for action in agent.actions[]:
# self.add_output_command("increase-number")
# self.num = SoarWME("number", 0)
# self.add_output_command("direction")
self.add_output_command("move-cart")
self.cart_pos = SoarWME("cart-position", 0.)
self.cart_vel = SoarWME("cart-velocity", 0.)
self.pole_pos = SoarWME("pole-angle", 0.)
self.pole_vel = SoarWME("pole-tip-velocity", 0.)
def on_input_phase(self, input_link):
"""update working memory, automatically called before each input phase """
print(f"on_input_phase()")
#cycle through WMEs, add if missing, and update.
#global input_wmes
#(cart_pos, cart_vel, pole_pos, pole_vel) = input_wmes
# if not self.waiting:
observation = self.perception.observation
self.cart_pos.set_value(observation[0])
self.cart_vel.set_value(observation[1])
self.pole_pos.set_value(observation[2])
self.pole_vel.set_value(observation[3])
# self.waiting = True
#TODO: loop through collection of WMEs
if not self.cart_pos.is_added():
self.cart_pos.add_to_wm(input_link)
else:
self.cart_pos.update_wm()
if not self.cart_vel.is_added():
self.cart_vel.add_to_wm(input_link)
else:
self.cart_vel.update_wm()
if not self.pole_pos.is_added():
self.pole_pos.add_to_wm(input_link)
else:
self.pole_pos.update_wm()
if not self.pole_vel.is_added():
self.pole_vel.add_to_wm(input_link)
else:
self.pole_vel.update_wm()
# if not self.num.is_added():
# self.num.add_to_wm(input_link)
# else:
# self.num.update_wm()
def on_init_soar(self):
"""handles an init-soar event (remove references to SML objects """
print(f"Connector:on_init_soar()")
# if self.current_observation != None:
# self.current_observation.remove_from_wm()
# if self.next_action != None:
# self.next_action.remove_from_wm()
if not self.cart_pos != None:
self.cart_pos.remove_from_wm()
if not self.cart_vel != None:
self.cart_vel.remove_from_wm()
if not self.pole_pos != None:
self.pole_pos.remove_from_wm()
if not self.pole_vel != None:
self.pole_vel.remove_from_wm()
# self.num.remove_from_wm()
def on_output_event(self, command_name, root_id):
"""handle output commands with the given name (added by add_output_command)
root_id is the root Identifier of the command (e.g. (<output-link> ^command_name <root_id>)
"""
print(f"**** OUTPUT : {command_name}")
# if command_name == "increase-number":
# self.process_increase_command(root_id)
if command_name == "move-cart":
self.process_move_direction(root_id)
def process_move_direction(self, root_id):
# next_action = root_id.GetChildString("direction")
next_action = root_id.GetChildInt("direction")
# print(f"MOVE DIRECTION: {next_action}")
if next_action:
# self.motor.next_action = next_action
print(f"MOVE DIRECTION: {next_action}")
self.motor.next_action = next_action
root_id.AddStatusComplete()