def write_reward(newy, reward_success=True):
if GameLogic.Object['train_open'] or GameLogic.Object['file_open']:
time1 = time.time()
if GameLogic.Object['train_open']:
dt = time1 - GameLogic.Object['train_tstart']
else:
dt = time1 - GameLogic.Object['time0']
try:
GameLogic.Object['event_file'].write(
np.array([
dt,
], dtype=np.float32).tostring())
except ValueError:
sys.stderr.write(
"BLENDER: Error - writing to closed reward file\n")
return
if reward_success:
sys.stdout.write(
"%s Reward %d; position: %d\n" %
(gu.time2str(dt), GameLogic.Object['rewcount'], newy))
GameLogic.Object['event_file'].write(b'RE')
else:
sys.stdout.write(
"%s No reward %d; position: %d\n" %
(gu.time2str(dt), GameLogic.Object['rewfail'], newy))
GameLogic.Object['event_file'].write(b'RF')
GameLogic.Object['event_file'].flush()
def write_reward(newy, reward_success=True):
if GameLogic.Object['train_open'] or GameLogic.Object['file_open']:
time1 = time.time()
if GameLogic.Object['train_open']:
dt = time1 - GameLogic.Object['train_tstart']
else:
dt = time1 - GameLogic.Object['time0']
try:
GameLogic.Object['event_file'].write(np.array([dt,], dtype=np.float32).tostring())
except ValueError:
sys.stderr.write("BLENDER: Error - writing to closed reward file\n")
return
if reward_success:
sys.stdout.write("%s Reward %d; position: %d\n" % (gu.time2str(dt), GameLogic.Object['rewcount'], newy))
GameLogic.Object['event_file'].write(b'RE')
else:
sys.stdout.write("%s No reward %d; position: %d\n" % (gu.time2str(dt), GameLogic.Object['rewfail'], newy))
GameLogic.Object['event_file'].write(b'RF')
GameLogic.Object['event_file'].flush()
def write_training_file(move, xtranslate, ytranslate, zrotate):
# get controller
controller = GameLogic.getCurrentController()
own = controller.owner
has_fw = GameLogic.Object['has_fw']
if has_fw:
connfw = GameLogic.Object['fwconn']
else:
connfw = None
time1 = time.time()
dt = time1 - GameLogic.Object['train_tstart']
arduino = GameLogic.Object['arduino']
if GameLogic.Object['bcstatus']==False:
if arduino is not None:
gc.write_arduino_nonblocking(arduino, b'u')
if settings.has_comedi and ncl.has_comedi:
ncl.set_trig(GameLogic.Object['outfrch'], 1)
GameLogic.Object['bcstatus']=True
else:
if arduino is not None:
gc.write_arduino_nonblocking(arduino, b'd')
if settings.has_comedi and ncl.has_comedi:
ncl.set_trig(GameLogic.Object['outfrch'], 0)
GameLogic.Object['bcstatus']=False
if has_fw:
frametimefw = parse_frametimes(connfw)-GameLogic.Object['time0']
else:
frametimefw = np.array([0,])
sys.stdout.write("%s\r" % (gu.time2str(dt)))
GameLogic.Object['train_file'].write(np.array([dt,
len(move[0]), len(move[2])], dtype=np.float32).tostring())
# 0:x1, 1:y1, 2:x2, 3:y2, 4:t1, 5:t2, 6:dt1, 7:dt2
GameLogic.Object['train_file'].flush()
if len(move[0]):
GameLogic.Object['train_file'].write(np.array([
move[0].sum(), move[1].sum()], dtype=np.float32).tostring())
if len(move[2]):
GameLogic.Object['train_file'].write(np.array([
move[2].sum(), move[3].sum()], dtype=np.float32).tostring())
if len(move[0]) or len(move[2]):
GameLogic.Object['train_file'].flush()
GameLogic.Object['pos_file'].write(np.array([
xtranslate, ytranslate, zrotate,
own.position[0], own.position[1], own.position[2],
own.orientation[0][0], own.orientation[0][1], own.orientation[0][2],
own.orientation[1][0], own.orientation[1][1], own.orientation[1][2],
own.orientation[2][0], own.orientation[1][2], own.orientation[2][2],
], dtype=np.float64).tostring())
GameLogic.Object['pos_file'].flush()
def save_event(ev_code):
if GameLogic.Object['train_open'] or GameLogic.Object['file_open']:
time1 = time.time()
if GameLogic.Object['train_open']:
dt = time1 - GameLogic.Object['train_tstart']
else:
dt = time1 - GameLogic.Object['time0']
GameLogic.Object['event_file'].write(np.array([dt,], dtype=np.float32).tostring())
sys.stdout.write("%s Saved event %s\n" % (gu.time2str(dt),ev_code))
GameLogic.Object['event_file'].write(ev_code.encode('utf_8'))
GameLogic.Object['event_file'].flush()
def write_puff():
if GameLogic.Object['train_open'] or GameLogic.Object['file_open']:
time1 = time.time()
if GameLogic.Object['train_open']:
dt = time1 - GameLogic.Object['train_tstart']
else:
dt = time1 - GameLogic.Object['time0']
GameLogic.Object['event_file'].write(np.array([dt,], dtype=np.float32).tostring())
sys.stdout.write("%s Airpuff %d\n" % (gu.time2str(dt), GameLogic.Object['puffcount']))
GameLogic.Object['event_file'].write(b'AP')
GameLogic.Object['event_file'].flush()
def save_event(ev_code):
if GameLogic.Object['train_open'] or GameLogic.Object['file_open']:
time1 = time.time()
if GameLogic.Object['train_open']:
dt = time1 - GameLogic.Object['train_tstart']
else:
dt = time1 - GameLogic.Object['time0']
GameLogic.Object['event_file'].write(np.array([dt,], dtype=np.float32).tostring())
sys.stdout.write("%s Saved event %s\n" % (gu.time2str(dt),ev_code))
GameLogic.Object['event_file'].write(ev_code.encode('utf_8'))
GameLogic.Object['event_file'].flush()
def write_puff():
if GameLogic.Object['train_open'] or GameLogic.Object['file_open']:
time1 = time.time()
if GameLogic.Object['train_open']:
dt = time1 - GameLogic.Object['train_tstart']
else:
dt = time1 - GameLogic.Object['time0']
GameLogic.Object['event_file'].write(np.array([dt,], dtype=np.float32).tostring())
sys.stdout.write("%s Airpuff %d\n" % (gu.time2str(dt), GameLogic.Object['puffcount']))
GameLogic.Object['event_file'].write(b'AP')
GameLogic.Object['event_file'].flush()
def write_licks(licks):
if GameLogic.Object['train_open'] or GameLogic.Object['file_open']:
for nlick in range(licks.shape[0]):
if licks[nlick, 1] > 0:
time1 = licks[nlick, 0]
if GameLogic.Object['train_open']:
dt = time1 - GameLogic.Object['train_tstart']
else:
dt = time1 - GameLogic.Object['time0']
for nl in range(int(np.round(licks[nlick, 1]))):
GameLogic.Object['event_file'].write(np.array([dt,], dtype=np.float32).tostring())
sys.stdout.write("%s lick\n" % (gu.time2str(dt)))
GameLogic.Object['event_file'].write(b'LI')
GameLogic.Object['event_file'].flush()
def write_licks(licks):
if GameLogic.Object['train_open'] or GameLogic.Object['file_open']:
for nlick in range(licks.shape[0]):
if licks[nlick, 1] > 0:
time1 = licks[nlick, 0]
if GameLogic.Object['train_open']:
dt = time1 - GameLogic.Object['train_tstart']
else:
dt = time1 - GameLogic.Object['time0']
for nl in range(int(np.round(licks[nlick, 1]))):
GameLogic.Object['event_file'].write(np.array([dt,], dtype=np.float32).tostring())
sys.stdout.write("%s lick\n" % (gu.time2str(dt)))
GameLogic.Object['event_file'].write(b'LI')
GameLogic.Object['event_file'].flush()
def stop_training_file():
GameLogic.Object['train_file'].close()
GameLogic.Object['event_file'].close()
GameLogic.Object['pos_file'].close()
if settings.looming:
GameLogic.Object['current_loomfile'].close()
GameLogic.Object['loomcounter'] = 0
GameLogic.Object['loom_first_trial'] = 0
if settings.has_licksensor_piezo:
GameLogic.Object['current_lickfile'].close()
train_tend = time.time()-GameLogic.Object['train_tstart']
sys.stdout.write("BLENDER: Closing file; recorded %s of training\n" % (gu.time2str(train_tend)))
GameLogic.Object['train_open'] = False
if GameLogic.Object['has_fw']:
gc.safe_send(GameLogic.Object['fwconn'], 'stop', '')
arduino = GameLogic.Object['arduino']
if arduino is not None:
gc.write_arduino_nonblocking(arduino, b'd')
GameLogic.Object['bcstatus']=False
def valve_command(arduino, cmd, kb=None):
if arduino is None:
return
if kb is not None:
run_code = kb.positive
else:
run_code = True
if run_code:
time1 = time.time()
if GameLogic.Object['train_open']:
dt = time1 - GameLogic.Object['train_tstart']
else:
dt = time1 - GameLogic.Object['time0']
print("%ss " % (gu.time2str(dt))+ str(kb))
executed = False
while not executed:
try:
arduino.write(cmd)
executed = True
gio.write_valve(cmd)
except BlockingIOError:
sys.stderr.write("GNOOMUTILS: Couldn't write to arduino\n")
def valve_command(arduino, cmd, kb=None):
if arduino is None:
return
if kb is not None:
run_code = kb.positive
else:
run_code = True
if run_code:
time1 = time.time()
if GameLogic.Object['train_open']:
dt = time1 - GameLogic.Object['train_tstart']
else:
dt = time1 - GameLogic.Object['time0']
print("%ss " % (gu.time2str(dt))+ str(kb))
executed = False
while not executed:
try:
arduino.write(cmd)
executed = True
gio.write_valve(cmd)
except BlockingIOError:
sys.stderr.write("GNOOMUTILS: Couldn't write to arduino\n")
def stop_training_file():
GameLogic.Object['train_file'].close()
GameLogic.Object['event_file'].close()
GameLogic.Object['pos_file'].close()
if settings.looming:
GameLogic.Object['current_loomfile'].close()
GameLogic.Object['loomcounter'] = 0
GameLogic.Object['loom_first_trial'] = 0
if settings.has_licksensor_piezo:
GameLogic.Object['current_lickfile'].close()
train_tend = time.time()-GameLogic.Object['train_tstart']
sys.stdout.write("BLENDER: Closing file; recorded %s of training\n" % (gu.time2str(train_tend)))
GameLogic.Object['train_open'] = False
if GameLogic.Object['has_fw']:
gc.safe_send(GameLogic.Object['fwconn'], 'stop', '')
if GameLogic.Object['has_usb3']:
gc.safe_send(GameLogic.Object['usb3conn'], 'stop', '')
if 'usb3conn2' in GameLogic.Object.keys():
gc.safe_send(GameLogic.Object['usb3conn2'], 'stop', '')
arduino = GameLogic.Object['arduino']
if arduino is not None:
gc.write_arduino_nonblocking(arduino, b'd')
GameLogic.Object['bcstatus']=False
def write_training_file(move, xtranslate, ytranslate, zrotate):
# get controller
controller = GameLogic.getCurrentController()
own = controller.owner
has_fw = GameLogic.Object['has_fw']
if has_fw:
connfw = GameLogic.Object['fwconn']
else:
connfw = None
has_usb3 = GameLogic.Object['has_usb3']
if has_usb3:
connusb3 = GameLogic.Object['usb3conn']
if 'usb3conn2' in GameLogic.Object.keys():
conn2usb3 = GameLogic.Object['usb3conn2']
else:
conn2usb3 = None
else:
connusb3 = None
conn2usb3 = None
time1 = time.time()
dt = time1 - GameLogic.Object['train_tstart']
arduino = GameLogic.Object['arduino']
if GameLogic.Object['bcstatus']==False:
if arduino is not None:
gc.write_arduino_nonblocking(arduino, b'u')
if settings.has_comedi and ncl.has_comedi:
ncl.set_trig(GameLogic.Object['outfrch'], 1)
GameLogic.Object['bcstatus']=True
else:
if arduino is not None:
gc.write_arduino_nonblocking(arduino, b'd')
if settings.has_comedi and ncl.has_comedi:
ncl.set_trig(GameLogic.Object['outfrch'], 0)
GameLogic.Object['bcstatus']=False
if has_fw:
frametimefw = gc.parse_frametimes(connfw)-GameLogic.Object['time0']
elif has_usb3:
frametimefw = gc.parse_frametimes(connusb3)-GameLogic.Object['time0']
if conn2usb3 is not None:
frametimefw2 = gc.parse_frametimes(conn2usb3)-GameLogic.Object['time0']
frametimefw2 = -frametimefw2-10
frametimefw = np.concatenate((frametimefw, frametimefw2))
else:
frametimefw = np.array([0,])
sys.stdout.write("%s\r" % (gu.time2str(dt)))
GameLogic.Object['train_file'].write(np.array([dt,
len(move[0]), len(move[2])], dtype=np.float32).tostring())
# 0:x1, 1:y1, 2:x2, 3:y2, 4:t1, 5:t2, 6:dt1, 7:dt2
GameLogic.Object['train_file'].flush()
if len(move[0]):
GameLogic.Object['train_file'].write(np.array([
move[0].sum(), move[1].sum()], dtype=np.float32).tostring())
if len(move[2]):
GameLogic.Object['train_file'].write(np.array([
move[2].sum(), move[3].sum()], dtype=np.float32).tostring())
if len(move[0]) or len(move[2]):
GameLogic.Object['train_file'].flush()
GameLogic.Object['pos_file'].write(np.array([
xtranslate, ytranslate, zrotate,
own.position[0], own.position[1], own.position[2],
own.orientation[0][0], own.orientation[0][1], own.orientation[0][2],
own.orientation[1][0], own.orientation[1][1], own.orientation[1][2],
own.orientation[2][0], own.orientation[1][2], own.orientation[2][2],
], dtype=np.float64).tostring())
GameLogic.Object['pos_file'].flush()