def _functionObservableChanged(self, selectedFunctionObservable):
self.lock.acquire()
if self.functionObservable is not None:
# Disconnect from old function observable
self.functionObservable.removeObserver(
self.functionObservableCallback)
# Determine new observed function observable
self.selectedFunctionObservable = str(selectedFunctionObservable)
# Connect to new function observable
self.functionObservable = OBSERVABLES.getObservable(
self.selectedFunctionObservable, FunctionOverStateSpaceObservable)
if self.functionObservable is None: # Observing a StateActionValuesObservable
self.functionObservable = OBSERVABLES.getObservable(
self.selectedFunctionObservable, StateActionValuesObservable)
self.actions = None
def functionObservableCallback(evalFunction, actions):
# If we get new options to select from
if actions != self.actions:
# Update suboptionComboBox
self.actions = actions
self.suboptionComboBox.clear()
self.suboptionComboBox.addItems(
[str(action) for action in actions])
self._updateFunction(evalFunction)
self.functionObservableCallback = functionObservableCallback
self.functionObservable.addObserver(
self.functionObservableCallback)
else: # Observing a FunctionOverStateSpaceObservable
self.functionObservableCallback = \
lambda evalFunction: self._updateFunction(evalFunction)
self.functionObservable.addObserver(
self.functionObservableCallback)
self.lock.release()
def _policyObservableChanged(self, selectedPolicyObservable):
self.lock.acquire()
if self.policyObservable:
# Disconnect from old policy observable
self.policyObservable.removeObserver(self.policyObservableCallback)
# Determine new observed policy observable
self.selectedPolicyObservable = str(selectedPolicyObservable)
# Connect to new policy observable
self.policyObservable = OBSERVABLES.getObservable(self.selectedPolicyObservable,
FunctionOverStateSpaceObservable)
self.policyObservableCallback = \
lambda policyEvalFunction: self.updatePolicy(policyEvalFunction)
self.policyObservable.addObserver(self.policyObservableCallback)
self.actions = []
self.lock.release()
def _functionObservableChanged(self, selectedFunctionObservable):
self.lock.acquire()
if self.functionObservable is not None:
# Disconnect from old function observable
self.functionObservable.removeObserver(
self.functionObservableCallback)
# Determine new observed function observable
self.selectedFunctionObservable = str(selectedFunctionObservable)
# Connect to new function observable
self.functionObservable = OBSERVABLES.getObservable(
self.selectedFunctionObservable, FunctionOverStateSpaceObservable)
self.functionObservableCallback = \
lambda evalFunction: self._updateFunction(evalFunction)
self.functionObservable.addObserver(self.functionObservableCallback)
self.actions = []
self.lock.release()
def __init__(self, stateSpace):
super(MountainCarPolicyViewer, self).__init__()
self.stateSpace = stateSpace
self.actions = []
self.colors = ['r','g','b', 'c', 'y']
self.lock = threading.Lock()
# Add a combobox for selecting the policy observable
self.policyObservableLabel = QtGui.QLabel("Policy Observable")
self.policyObservableComboBox = QtGui.QComboBox(self)
policyObservables = \
OBSERVABLES.getAllObservablesOfType(FunctionOverStateSpaceObservable)
self.policyObservableComboBox.addItems([policyObservable.title
for policyObservable in policyObservables])
self.selectedPolicyObservable = None
if len(policyObservables) > 0:
self.selectedPolicyObservable = policyObservables[0].title
self.connect(self.policyObservableComboBox,
QtCore.SIGNAL('activated (const QString&)'),
self._policyObservableChanged)
# Automatically update policy observable combobox when new observables
# are created during runtime
def updatePolicyObservableBox(viewer, action):
self.policyObservableComboBox.clear()
policyObservables = OBSERVABLES.getAllObservablesOfType(FunctionOverStateSpaceObservable)
self.policyObservableComboBox.addItems([policyObservable.title
for policyObservable in policyObservables])
if len(policyObservables) > 0:
self.selectedPolicyObservable = policyObservables[0].title
else:
self.selectedPolicyObservable = None
OBSERVABLES.addObserver(updatePolicyObservableBox)
# Get trajectory observable which is required for informing about end of episode
self.trajectoryObservable = \
OBSERVABLES.getAllObservablesOfType(TrajectoryObservable)[0]
self.episodeTerminated = False
# Slider that controls the granularity of the plot-grid
self.gridNodesPerDim = 25
self.gridNodesSlider = QtGui.QSlider(QtCore.Qt.Horizontal, self)
self.gridNodesSlider.setValue(self.gridNodesPerDim)
self.gridNodesSlider.setMinimum(0)
self.gridNodesSlider.setMaximum(100)
self.gridNodesSlider.setTickInterval(10)
self.gridNodesSlider.setTickPosition(QtGui.QSlider.TicksBelow)
self.connect(self.gridNodesSlider, QtCore.SIGNAL('sliderReleased()'),
self._changeGridNodes)
self.gridNodesLabel = QtGui.QLabel("Grid Nodes Per Dimension: %s"
% self.gridNodesPerDim )
# Create matplotlib widgets
plotWidget = QtGui.QWidget(self)
plotWidget.setMinimumSize(600, 500)
plotWidget.setWindowTitle("Policy")
self.fig = Figure((6.0, 5.0), dpi=100)
self.axis = self.fig.gca()
self.canvas = FigureCanvas(self.fig)
self.canvas.setParent(plotWidget)
# Small text in plot legend
matplotlib.rcParams.update({'legend.fontsize': 6})
self.hlayout = QtGui.QHBoxLayout()
self.hlayout.addWidget(plotWidget)
self.vlayout = QtGui.QVBoxLayout()
self.vlayout.addWidget(self.policyObservableLabel)
self.vlayout.addWidget(self.policyObservableComboBox)
self.vlayout.addWidget(self.gridNodesLabel)
self.vlayout.addWidget(self.gridNodesSlider)
self.hlayout.addLayout(self.vlayout)
self.setLayout(self.hlayout)
# Connect to observer (has to be the last thing!!)
self.trajectoryObservableCallback = \
lambda *transition: self.updateSamples(*transition)
self.trajectoryObservable.addObserver(self.trajectoryObservableCallback)
self.policyObservable = None
if self.selectedPolicyObservable:
self.policyObservable = OBSERVABLES.getObservable(self.selectedPolicyObservable,
FunctionOverStateSpaceObservable)
self.policyObservableCallback = \
lambda policyEvalFunction: self.updatePolicy(policyEvalFunction)
self.policyObservable.addObserver(self.policyObservableCallback)
def __init__(self, pinballMazeEnv, stateSpace):
super(PinballMazeFunctionViewer, self).__init__()
self.pinballMazeEnv = pinballMazeEnv
self.stateSpace = stateSpace
self.actions = []
self.updateCounter = 0
self.updatePlotNow = False
self.evalFunction = None
self.lock = threading.Lock()
# Create matplotlib widgets
plotWidget = QtGui.QWidget(self)
plotWidget.setMinimumSize(600, 500)
plotWidget.setWindowTitle("Pinball Maze")
self.fig = Figure((6.0, 5.0), dpi=100)
self.axis = self.fig.gca()
self.pinballMazeEnv.plotStateSpaceStructure(self.axis)
self.canvas = FigureCanvas(self.fig)
self.canvas.setParent(plotWidget)
self.canvas.draw()
self.plottedPatches = []
# Add a combobox for selecting the function over state space that is observed
self.selectedFunctionObservable = None
self.functionObservableLabel = QtGui.QLabel(
"Function over State Space")
self.functionObservableComboBox = QtGui.QComboBox(self)
functionObservables = OBSERVABLES.getAllObservablesOfType(
FunctionOverStateSpaceObservable)
self.functionObservableComboBox.addItems([
functionObservable.title
for functionObservable in functionObservables
])
if len(functionObservables) > 0:
self.selectedFunctionObservable = functionObservables[0].title
self.connect(self.functionObservableComboBox,
QtCore.SIGNAL('activated (const QString&)'),
self._functionObservableChanged)
# Automatically update funtion observable combobox when new observables
# are created during runtime
def updateFunctionObservableBox(viewer, action):
self.functionObservableComboBox.clear()
functionObservables = \
OBSERVABLES.getAllObservablesOfType(FunctionOverStateSpaceObservable)
self.functionObservableComboBox.addItems([
functionObservable.title
for functionObservable in functionObservables
])
if len(functionObservables) > 0:
self.selectedFunctionObservable = functionObservables[0].title
OBSERVABLES.addObserver(updateFunctionObservableBox)
# Slider that controls the granularity of the plot-grid
self.gridNodesPerDim = 50
self.gridNodesSlider = QtGui.QSlider(QtCore.Qt.Horizontal, self)
self.gridNodesSlider.setValue(self.gridNodesPerDim)
self.gridNodesSlider.setMinimum(0)
self.gridNodesSlider.setMaximum(100)
self.gridNodesSlider.setTickInterval(10)
self.gridNodesSlider.setTickPosition(QtGui.QSlider.TicksBelow)
self.connect(self.gridNodesSlider, QtCore.SIGNAL('sliderReleased()'),
self._changeGridNodes)
self.gridNodesLabel = QtGui.QLabel("Grid Nodes Per Dimension: %s" %
self.gridNodesPerDim)
# Slider that controls the frequency of update the plot
self.updateFrequency = 0.0
self.updateFrequencySlider = QtGui.QSlider(QtCore.Qt.Horizontal, self)
self.updateFrequencySlider.setValue(int(self.updateFrequency * 100))
self.updateFrequencySlider.setMinimum(0)
self.updateFrequencySlider.setMaximum(100)
self.updateFrequencySlider.setTickInterval(0.1)
self.updateFrequencySlider.setTickPosition(QtGui.QSlider.TicksBelow)
self.connect(self.updateFrequencySlider,
QtCore.SIGNAL('sliderReleased()'),
self._changeUpdateFrequency)
self.updateFrequencyLabel = QtGui.QLabel("UpdateFrequency: %s" %
self.updateFrequency)
# Button to enforce update of plot
self.updatePlotButton = QtGui.QPushButton("Update Plot")
self.connect(self.updatePlotButton, QtCore.SIGNAL('clicked()'),
self._updatePlot)
# Chosen xvel and yvel values
self.xVel = 0.5
self.xVelSlider = QtGui.QSlider(QtCore.Qt.Horizontal, self)
self.xVelSlider.setValue(int(self.xVel * 10))
self.xVelSlider.setMinimum(0)
self.xVelSlider.setMaximum(10)
self.xVelSlider.setTickInterval(1)
self.xVelSlider.setTickPosition(QtGui.QSlider.TicksBelow)
self.connect(self.xVelSlider, QtCore.SIGNAL('sliderReleased()'),
self._changeXVel)
self.xVelLabel = QtGui.QLabel("xvel value: %s" % self.xVel)
self.yVel = 0.5
self.yVelSlider = QtGui.QSlider(QtCore.Qt.Horizontal, self)
self.yVelSlider.setValue(int(self.yVel * 10))
self.yVelSlider.setMinimum(0)
self.yVelSlider.setMaximum(10)
self.yVelSlider.setTickInterval(1)
self.yVelSlider.setTickPosition(QtGui.QSlider.TicksBelow)
self.connect(self.yVelSlider, QtCore.SIGNAL('sliderReleased()'),
self._changeYVel)
self.yVelLabel = QtGui.QLabel("yvel value: %s" % self.xVel)
# Legend of plot
self.legendLabel = QtGui.QLabel("Legend:")
self.legendWidget = QtGui.QListWidget(self)
self.hlayout = QtGui.QHBoxLayout()
self.hlayout.addWidget(plotWidget)
self.vlayout = QtGui.QVBoxLayout()
self.functionObservableLayout = QtGui.QHBoxLayout()
self.functionObservableLayout.addWidget(self.functionObservableLabel)
self.functionObservableLayout.addWidget(
self.functionObservableComboBox)
self.vlayout.addLayout(self.functionObservableLayout)
self.gridNodesLayout = QtGui.QHBoxLayout()
self.gridNodesLayout.addWidget(self.gridNodesLabel)
self.gridNodesLayout.addWidget(self.gridNodesSlider)
self.vlayout.addLayout(self.gridNodesLayout)
self.updateFrequencyLayout = QtGui.QHBoxLayout()
self.updateFrequencyLayout.addWidget(self.updateFrequencyLabel)
self.updateFrequencyLayout.addWidget(self.updateFrequencySlider)
self.vlayout.addLayout(self.updateFrequencyLayout)
self.vlayout.addWidget(self.updatePlotButton)
self.xVelLayout = QtGui.QHBoxLayout()
self.xVelLayout.addWidget(self.xVelLabel)
self.xVelLayout.addWidget(self.xVelSlider)
self.vlayout.addLayout(self.xVelLayout)
self.yVelLayout = QtGui.QHBoxLayout()
self.yVelLayout.addWidget(self.yVelLabel)
self.yVelLayout.addWidget(self.yVelSlider)
self.vlayout.addLayout(self.yVelLayout)
self.vlayout.addWidget(self.legendLabel)
self.vlayout.addWidget(self.legendWidget)
self.hlayout.addLayout(self.vlayout)
self.setLayout(self.hlayout)
# Connect to observer (has to be the last thing!!)
self.functionObservable = None
if self.selectedFunctionObservable:
self.functionObservable = \
OBSERVABLES.getObservable(self.selectedFunctionObservable,
FunctionOverStateSpaceObservable)
self.functionObservableCallback = \
lambda evalFunction: self._updateFunction(evalFunction)
self.functionObservable.addObserver(
self.functionObservableCallback)