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Add some MACRO in neuron_t and debug deepQlearning

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fanasina
2024-07-09 17:38:58 +02:00
parent 824396f901
commit 0c9813beca
8 changed files with 810 additions and 85 deletions
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deepQlearn_0/src/deepQlearning/vehicle.c
+55 -25
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@@ -7,7 +7,7 @@
//#define CENTER 1
//#define RIGHT 2
#define LIMIT_DISTANCE ((float)1)/50
#define LIMIT_DISTANCE ((float)((SUBDIVISION-1)/10))/SUBDIVISION
#define REWARD_STOP -1000
#define REWARD_CONTINUE 100
@@ -68,6 +68,12 @@ struct vehicle * create_vehicle(struct blocks *path){
ret_vehicle->coord = create_coordinate(2);
ret_vehicle->sensor = create_sensors(NB_SENSORS);
ret_vehicle->old_sensor = create_sensors(NB_SENSORS);
for(size_t i=0; i<NB_SENSORS;++i){
ret_vehicle->sensor->x[i]=0;
ret_vehicle->old_sensor->x[i]=0;
}
ret_vehicle->path = path;
ret_vehicle->status = create_game_status();
@@ -387,15 +393,15 @@ void print_vehicle_n_path(struct vehicle *v, float scale_x, float scale_y){
void move_vehicle(struct vehicle *v){
v->coord->x[0] += v->speed * cos(v->direction * M_PI / 180);
v->coord->x[1] += v->speed * sin(v->direction * M_PI / 180);
v->coord->x[1] -= v->speed * sin(v->direction * M_PI / 180);
}
float distance2_coordinate(coordinate *c0, coordinate *c1){
if(c0->dim->rank != c1->dim->rank) return 0;
if(c0->dim->rank != c1->dim->rank) return -1;
float d=0, tmp;
for(size_t i=0; i<c0->dim->rank; ++i){
tmp = (c0->x[i] - c1->x[i]);
d += tmp * tmp;
d += (tmp * tmp);
}
return sqrt(d);
}
@@ -404,19 +410,27 @@ float distance2_coordinate(coordinate *c0, coordinate *c1){
direction_radian = (v->direction + deviation) * M_PI / 180;\
while( is_in_blocks(v->path, diStep_sensor )){\
diStep_sensor->x[0] += step_sensor * cos(direction_radian);\
diStep_sensor->x[1] += step_sensor * sin(direction_radian);\
diStep_sensor->x[1] -= step_sensor * sin(direction_radian);\
}\
v->sensor->x[position] = (MIN(49,(distance2_coordinate(diStep_sensor, v->coord)/5))) ;\
dist = (distance2_coordinate(diStep_sensor, v->coord)/5);\
printf("| dist :%f | ",dist);\
v->sensor->x[position] = (float)(MIN((SUBDIVISION-1),(int)dist))/SUBDIVISION ;\
//v->sensor->x[position] = (MIN(49,(distance2_coordinate(diStep_sensor, v->coord)/5))) ;\
//v->sensor->x[position] = (MIN(49,(distance2_coordinate(diStep_sensor, v->coord)))) / 50;\
//v->sensor->x[position] = (MIN(49,(int)(distance2_coordinate(diStep_sensor, v->coord)/10))) / 50;\
void read_sensor(struct vehicle *v){
copy_tensor_TYPE_FLOAT(v->old_sensor, v->sensor);
float step_sensor = ((float)1)/SUBDIVISION;
float step_sensor = STEP; // /SUBDIVISION;
coordinate * diStep_sensor = create_coordinate(2);
copy_coordinate(diStep_sensor, v->coord->x);
float dist;
printf("\n");
// count the number of step until we go out of the path = distance
// center sensor
float direction_radian ;
@@ -424,11 +438,11 @@ void read_sensor(struct vehicle *v){
copy_coordinate(diStep_sensor, v->coord->x);
// right sensor
SENSOR_VALUE_CALCULATE(RIGHT,45);
SENSOR_VALUE_CALCULATE(RIGHT,-45);
copy_coordinate(diStep_sensor, v->coord->x);
// left sensor
SENSOR_VALUE_CALCULATE(LEFT, -45);
SENSOR_VALUE_CALCULATE(LEFT, 45);
free_coordinate(diStep_sensor);
@@ -482,8 +496,8 @@ void add_string_log(struct game_status *status, char *str ){
void step_vehicle(struct vehicle *v, int action){
//float action_x[NB_ACTION]={-3,0,3}; // [LEFT, CENTER, RIGHT]
float action_x[NB_ACTION]={-3,0,3}; // [LEFT, CENTER, RIGHT]
v->direction = v->direction + action_x[action % 3];
v->speed = ((float)1)/5;
v->direction = (float)((int)(v->direction + action_x[action % 3]) % 360) ;
v->speed = SPEED; // /5;
move_vehicle(v);
read_sensor(v);
struct game_status *status = v->status;
@@ -495,22 +509,24 @@ void step_vehicle(struct vehicle *v, int action){
struct blocks * path = v->path;
//printf(" center : %f vs %f direction: %f\n",v->sensor->x[CENTER], LIMIT_DISTANCE, v->direction);
if( v->sensor->x[CENTER]<= LIMIT_DISTANCE ){
//if( MAX_ARRAY_TYPE_FLOAT(v->sensor->x,v->sensor->dim->rank)<= LIMIT_DISTANCE ){
status->reward = REWARD_STOP;
status->done = true;
}
else{
bool broken = false;
long prec, next;
long pprec, prec, next;
char msg[48];
for(long i=0; i< path->nb_blocks; ++i){
//prec = (i-1)%(path->nb_blocks);
pprec = (i + path->nb_blocks - 2 )%(path->nb_blocks);
prec = (i + path->nb_blocks - 1 )%(path->nb_blocks);
next = (i + 1)%(path->nb_blocks);
//printf("i:%ld, prec:%ld, next:%ld: maker %d, prec marker %d\n",i,prec,next, path->marker[i], path->marker[prec]);
if(is_in_block_index(path, i, v->coord)){
if(path->marker[i] == false && path->marker[prec] == true){
path->marker[i]=true;
path->marker[prec]=false;
path->marker[pprec]=false;
status->reward = REWARD_CONTINUE;
status->done = false;
sprintf(msg," %ld,",i);
@@ -536,9 +552,10 @@ void step_vehicle(struct vehicle *v, int action){
}
#define RANDOM 1
void reset(struct vehicle *v){
//static bool init = true;
struct blocks * path = v->path;
long int i;
for(i=0; i<(path->nb_blocks -1); ++i)
@@ -547,19 +564,32 @@ void reset(struct vehicle *v){
v->status->cumulative_reward = 0;
sprintf(v->status->log,"\n");
v->status->cur_log = 0;
srand(time(NULL));
//if(init){
srand(time(NULL));
// init = false;
//}
int random;
int diff;
diff = path->upper_bound_block[0]->x[0] - path->lower_bound_block[0]->x[0];
random = rand() % diff;
//v->coord->x[0] = path->lower_bound_block[0]->x[0] + random;
v->coord->x[0] = path->lower_bound_block[0]->x[0] + diff/2;
random = rand() % (diff/2) ;
#if RANDOM
v->coord->x[0] = path->lower_bound_block[0]->x[0] + random;
#else
v->coord->x[0] = path->lower_bound_block[0]->x[0] + diff/2;
#endif
diff = path->upper_bound_block[0]->x[1] - path->lower_bound_block[0]->x[1];
random = rand() % diff;
//v->coord->x[1] = path->lower_bound_block[0]->x[1] + random;
v->coord->x[1] = path->lower_bound_block[0]->x[1] + diff/2;
random = rand() % (diff/2);
#if RANDOM
v->coord->x[1] = path->lower_bound_block[0]->x[1] + random;
#else
v->coord->x[1] = path->lower_bound_block[0]->x[1] + diff/2;
#endif
random = rand() % 50;
//v->direction = random - 25;
v->direction = -90;
v->speed = 1;
#if RANDOM
v->direction = random - 25;
#else
v->direction = -90;
#endif
v->speed = SPEED;
read_sensor(v);
}