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first try qdeep learning

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fanasina
2024-06-21 00:28:50 +02:00
parent e96304bee7
commit 582d7a6a70
7 changed files with 401 additions and 70 deletions
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deepQlearn_0/src/deepQlearning/vehicle.c
+18 -11
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@@ -67,6 +67,7 @@ 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);
ret_vehicle->path = path;
ret_vehicle->status = create_game_status();
@@ -113,6 +114,7 @@ void free_vehicle(struct vehicle * vhcl){
free_coordinate(vhcl->coord);
free_blocks(vhcl->path);
free_sensors(vhcl->sensor);
free_sensors(vhcl->old_sensor);
free_game_status(vhcl->status);
free(vhcl);
@@ -404,11 +406,13 @@ float distance2_coordinate(coordinate *c0, coordinate *c1){
diStep_sensor->x[0] += step_sensor * cos(direction_radian);\
diStep_sensor->x[1] += step_sensor * sin(direction_radian);\
}\
v->sensor->x[position] = (MIN(49,(distance2_coordinate(diStep_sensor, v->coord)))) / 50;\
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;
coordinate * diStep_sensor = create_coordinate(2);
copy_coordinate(diStep_sensor, v->coord->x);
@@ -475,10 +479,11 @@ void add_string_log(struct game_status *status, char *str ){
}
void step(struct vehicle *v, int action){
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)/2;
v->speed = ((float)1)/5;
move_vehicle(v);
read_sensor(v);
struct game_status *status = v->status;
@@ -494,14 +499,14 @@ void step(struct vehicle *v, int action){
status->done = true;
}
else{
bool breaked = false;
bool broken = false;
long prec, next;
char msg[48];
for(long i=0; i< path->nb_blocks; ++i){
//prec = (i-1)%(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]);
//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;
@@ -516,11 +521,11 @@ void step(struct vehicle *v, int action){
status->done = true;
add_string_log(status, "| reverse |");
}
breaked = true;
broken = true;
break;
}
}
if(breaked == false){
if(broken == false){
if(status->cumulative_reward > THRESHOLD_REWARD){
status->reward = REWARD_CONTINUE;
status->done = true;
@@ -547,12 +552,14 @@ void reset(struct vehicle *v){
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] + random;
v->coord->x[0] = path->lower_bound_block[0]->x[0] + diff/2;
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] + random;
v->coord->x[1] = path->lower_bound_block[0]->x[1] + diff/2;
random = rand() % 50;
v->direction = random - 25;
//v->direction = 15;
//v->direction = random - 25;
v->direction = -90;
v->speed = 1;
}