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)