y_nnn : change learn_to_drive and add some bash print

deepQlearn_0/src/deepQlearning/learn_to_drive.c

@@ -130,6 +130,7 @@ struct print_params * create_print_params(float scale_x, float scale_y,  struct
   pprint->delay = delay;
   pprint->string_space = malloc(LOG_LENTH+1);
   pthread_mutex_init(&(pprint->mut_printed), NULL);
+  pprint->go_on = 1;
 
   int i;
   for( i=0; i<LOG_LENTH; ++i)  
@@ -204,6 +205,15 @@ void free_delay_params (struct delay_params *dly_p){
   free(dly_p);
 }
 
+int check_go_on_print_params(struct print_params *pprint){
+  int ret=0;
+  pthread_mutex_lock(&(pprint->mut_printed));
+  ret=pprint->go_on;
+  pthread_mutex_unlock(&(pprint->mut_printed));
+
+  return ret;
+}
+
 void free_print_params (struct print_params *pprint){
   free(pprint->string_space);
   pthread_mutex_destroy(&(pprint->mut_printed));
@@ -388,15 +398,15 @@ void learn_to_drive(struct RL_agent * rlAgent){
   //struct print_params * pprint = rlAgent->pprint;
   char msg[100];
   
-  pthread_t threadPrint;
-  pthread_create(&threadPrint, NULL, runPrint, (void*)rlAgent);
+  ////pthread_t threadPrint;
+  ////pthread_create(&threadPrint, NULL, runPrint, (void*)rlAgent);
   
  // while(true){
     for(size_t index_episode = 0; index_episode < qlParams->number_episodes; ++index_episode){
       reset(car);
       qlStatus->nb_training_after_updated_weight_in_target = 0;
       qlStatus->index_episode = index_episode;
-      while(true){
+      while(!is_ending(qlStatus) /*true*/){
         ++(qlStatus->nb_episodes);
         ++(qlStatus->nb_training_after_updated_weight_in_target);
         action = select_action(rlAgent);
@@ -435,6 +445,6 @@ void learn_to_drive(struct RL_agent * rlAgent){
 			pthread_mutex_unlock(qlStatus->mut_ending);
 //  }
 
-  pthread_join(threadPrint, NULL);
+  ////pthread_join(threadPrint, NULL);
 }
 

deepQlearn_0/src/deepQlearning/learn_to_drive.h

@@ -25,6 +25,7 @@
 
 //float d_reLU(float x);
 
+extern char *action_name[8];
 
 struct qlearning_params {
   float gamma;
@@ -67,8 +68,11 @@ struct print_params {
   float scale_y;
   struct delay_params *delay;
   char *string_space;//[LOG_LENTH];
+  int go_on;
 };
 
+int check_go_on_print_params(struct print_params *pprint);
+
 struct networks_qlearning {
   config_layers *config;
   neurons_TYPE_FLOAT *main_net;
@@ -136,5 +140,9 @@ void train_qlearning(struct RL_agent * rlAgent,
 //  long reward;
 
 void learn_to_drive(struct RL_agent * rlAgent);
+int is_ending(struct status_qlearning *qlStatus);
+
+///char *fileNameDateScore(char * pre, char* post,size_t score);
+///int select_action(struct RL_agent * rlAgent);
 
 #endif /* __LEARNING_VEHICLE__C_H____ */

deepQlearn_0/src/deepQlearning/vehicle.c

@@ -370,7 +370,8 @@ void goto_xy(int x, int y)
 }
 
 
-static struct winsize w;
+//static 
+struct winsize w;
 
 void init_win(){
   ioctl(1, TIOCGWINSZ, &w);

deepQlearn_0/src/deepQlearning/vehicle.h

@@ -130,4 +130,8 @@ float distance2_coordinate(coordinate *c0, coordinate *c1);
 void print2D_blocks(struct blocks *blk, float scale_x, float scale_y, char pad);
 void print2D_blocks_withPoint(struct blocks *blk, float scale_x, float scale_y, char pad, coordinate *coordPoint);
 
+extern struct winsize w;
+void init_win();
+struct blocks * block_neighbord_Point(coordinate *coord, float *radius );
+
 #endif /* __VEHICLE__C_H__  */

y_network_neural_network_/include/y_net_neur_net/y_nnn_manager.h

@@ -4,10 +4,26 @@
 
 #include <string.h>
 
+#include "learn_to_drive.h"
+
 #include "y_net_neur_net/y_nnn_screen_manager.h"
 
 #include "y_socket_t/y_socket_t.h"
 
 void y_nnn_manager_handle_input(char * buf, int len_buf, void *arg);
 
+struct arg_run_qlearn_bprint{
+  struct arg_bash *bash_arg;
+  struct RL_agent *rlAgent;
+};
+
+struct arg_run_qlearn_bprint * create_arg_run_qlearn_bprint(
+  struct arg_bash *bash_arg,
+  struct RL_agent *rlAgent
+);
+
+void free_arg_run_qlearn_bprint(struct arg_run_qlearn_bprint *arg);
+
+void* runBashPrint(void *arg);
+
 #endif /* Y_NETWORK_NEURAL_NETWORK__MANAGER__H_C */

y_network_neural_network_/include/y_net_neur_net/y_nnn_screen_manager.h

@@ -16,6 +16,8 @@
 
 #include "list_t/list_t.h"
 
+#include "vehicle.h"
+
 GENERATE_LIST_ALL(pid_t)
 
 #define SIZE_LOCAL_BUF 300
@@ -23,6 +25,16 @@ GENERATE_LIST_ALL(pid_t)
 #define GOTO_TOP_LEFT "\x1B[0;0f"
 #define LEN_GOTO_TOP_LEFT 6
 
+#define BASH_WRITE_IF_EXIST(bash,buf,len_buf) \
+  do{\
+    if(bash_arg->fd_new_bash_pid>0){\
+      write(bash_arg->fd_new_bash_pid, buf, len_buf);\
+    }\
+    if(bash_arg->fd_current_bash_pid>0){\
+      write(bash_arg->fd_current_bash_pid, buf, len_buf);\
+    }\
+  } while(0);
+
 //#include "y_socket_t/y_list_var_tool.h"
 
 pid_t pidof(char *target, struct main_list_pid_t *m_pid_t);
@@ -56,6 +68,7 @@ void free_arg_bash(struct arg_bash *arg);
 
 int write_duplicate_bash(int fd, char *content, size_t size_content);
 
+int new_bash_exist(struct arg_bash *bash_arg);
 
 void* run_newbash(void *arg);
 void* wait_newbash(void *arg);
@@ -69,4 +82,8 @@ void* launch_new_bash(void *arg);
 void* launch_wait_bash(void *arg);
 void* launch_sleep_wait_bash(void *arg);
 
+void bash_print_vehicle_n_path(struct vehicle *v, float scale_x, float scale_y, struct arg_bash *bash_arg);
+void bash_print2D_blocks_indexOne_withPoint(struct blocks *blk, float scale_x, float scale_y, coordinate *coordPoint, struct arg_bash *bash_arg);
+
+
 #endif /* Y_NETWORK_NEURAL_NETWORK__SCREEN_MANAGER__H_C */

y_network_neural_network_/src/y_net_neur_net/y_nnn_manager.c

@@ -2,18 +2,36 @@
 
 #include "y_net_neur_net/y_nnn_manager.h"
 
+struct arg_run_qlearn_bprint * create_arg_run_qlearn_bprint(
+  struct arg_bash *bash_arg,
+  struct RL_agent *rlAgent
+){
+  struct arg_run_qlearn_bprint *r_arg=malloc(sizeof(struct arg_run_qlearn_bprint));
+  r_arg->bash_arg = bash_arg;
+  r_arg->rlAgent = rlAgent;
+
+  return r_arg;
+}
+
+void free_arg_run_qlearn_bprint(struct arg_run_qlearn_bprint *arg){
+  free_RL_agent(arg->rlAgent);
+  free_arg_bash(arg->bash_arg);
+  free(arg);
+}
+
 void y_nnn_manager_handle_input(char * buf, int len_buf, void *arg){
-  //struct arg_bash *bash_arg=(struct arg_bash*)arg;
+  struct arg_run_qlearn_bprint *run_arg=(struct arg_run_bash_print*)arg;
+  struct arg_bash *bash_arg=run_arg->bash_arg;
   
   if(arg && (len_buf>0)){
     
-    printf("debug: %s #%d (%d)\n",buf,len_buf,((struct arg_bash*)arg)->old_bash_pid);
+    printf("debug: %s #%d (%d)\n",buf,len_buf,(bash_arg)->old_bash_pid);
     if(strncmp(buf,"newbash",7)==0){
-      run_newbash(arg);
+      run_newbash(bash_arg);
     }else if(strncmp(buf,"waitbash",8)==0){
-      launch_sleep_wait_bash(arg);
+      launch_sleep_wait_bash(bash_arg);
     }else if(strncmp(buf,"killbash",8)==0){
-      kill_all_bash(arg);
+      kill_all_bash(bash_arg);
     }else{
       printf("debug: %s is not handle\n",buf);
     }
@@ -22,3 +40,69 @@ void y_nnn_manager_handle_input(char * buf, int len_buf, void *arg){
 }
 
 
+
+
+void* runBashPrint(void *arg){
+  struct arg_run_bash_print *arg_run=(struct arg_run_bash_print*)arg;
+  struct RL_agent *rlAgent = arg_run->rlAgent;
+  struct arg_bash *bash_arg = arg_run->bash_arg;
+
+  struct status_qlearning *qlStatus = rlAgent->status;
+  struct print_params * pprint = rlAgent->pprint;
+  struct vehicle *car = rlAgent->car;
+  size_t count_print = 0;
+  char buf[SIZE_LOCAL_BUF];
+  int len_buf;
+  while((new_bash_exist(bash_arg)) && check_go_on_print_params(pprint) && !is_ending(qlStatus)){
+    if(/*(qlStatus->nb_episodes %125 == 0)  &&*/  pprint->printed){
+          //pthread_mutex_lock(&(pprint->mut_printed));
+          pthread_mutex_lock(&(car->mut_coord));
+          bash_print_vehicle_n_path(car, pprint->scale_x, pprint->scale_y,bash_arg);
+          pthread_mutex_unlock(&(car->mut_coord));
+          //pthread_mutex_unlock(&(pprint->mut_printed));
+          ////printf("%s ",pprint->string_space);
+          len_buf=sprintf(buf,"%s ",pprint->string_space);
+          BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
+
+          ////printf("ep: %ld\n",qlStatus->index_episode);
+          len_buf=sprintf(buf,"ep: %ld\n",qlStatus->index_episode);
+          BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
+          neurons_TYPE_FLOAT * net_main = rlAgent->networks->main_net;
+          neurons_TYPE_FLOAT * net_target = rlAgent->networks->target_net;
+          for(size_t i=0; (i<net_main->output->dim->rank) && (new_bash_exist(bash_arg)); ++i) {
+            ////printf("{sensro[%s]:%f "" vs oldsens[%s]: %f}\n",action_name[i%COUNT_ACTION],net_target->output->x[i],
+            len_buf = sprintf(buf,"{sensro[%s]:%f "" vs oldsens[%s]: %f}\n",action_name[i%COUNT_ACTION],net_target->output->x[i],action_name[i%COUNT_ACTION],net_main->output->x[i]);
+            BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
+
+          }
+          ////printf("\n< %5.2f > ( %s  ) \n", car->direction, action_name[qlStatus->action % COUNT_ACTION]);
+          len_buf=sprintf(buf,"\n< %5.2f > ( %s  ) \n", car->direction, action_name[qlStatus->action % COUNT_ACTION]);
+          BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
+          //print_weight_in_neurons_TYPE_FLOAT(net_main, "net_main_wei");
+          //PRINT_ATTRIBUTE_TENS_IN_ALL_LAYERS(TYPE_FLOAT, net_main, weight_in, "net_main_we_in");
+          ///PRINT_ATTRIBUTE_TENS_IN_ALL_LAYERS(TYPE_FLOAT, net_main, output, "net_main_out");
+          //PRINT_ATTRIBUTE_TENS_IN_ALL_LAYERS(TYPE_FLOAT, net_target, output, "net_target_out");
+          //PRINT_ATTRIBUTE_TENS_IN_ALL_LAYERS(TYPE_FLOAT, net_main, input, "net_main_input");
+          ////printf(" action : %d , factor : %f nb_episodes : %ld \n",qlStatus->action,rlAgent->qlearnParams->exploration_factor, rlAgent->status->nb_episodes);
+          len_buf=sprintf(buf," action : %d , factor : %f nb_episodes : %ld \n",qlStatus->action,rlAgent->qlearnParams->exploration_factor, rlAgent->status->nb_episodes);
+          BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
+
+          FOR_LIST_FORM_BEGIN(TYPE_L_INT, qlStatus->progress_best_cumul){
+            ////printf(" | %ld |,",(qlStatus->progress_best_cumul)->current_list->value);
+            len_buf=sprintf(buf," | %ld |,",(qlStatus->progress_best_cumul)->current_list->value);
+            BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
+          }
+          ////printf("[%ld] %s ", rlAgent->car->status->cumulative_reward, pprint->string_space);
+          len_buf=sprintf(buf,"[%ld] %s ", rlAgent->car->status->cumulative_reward, pprint->string_space);
+          BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
+
+    }
+          Sleep(pprint->delay->delay_between_games);
+          ++count_print;
+          if(count_print > 20){
+            count_print = 0;
+            clear_screen();
+          }
+  }
+  return NULL;
+}

y_network_neural_network_/src/y_net_neur_net/y_nnn_screen_manager.c

@@ -133,6 +133,10 @@ void free_arg_bash(struct arg_bash *arg){
   free(arg);
 }
 
+int new_bash_exist(struct arg_bash *bash_arg){
+  return ((bash_arg->fd_new_bash_pid>0) || (bash_arg->fd_current_bash_pid));
+}
+
 /* run new bash terminal graphic, can be called directly or in a thread */
 void* run_newbash(void* argg){
   struct arg_bash *arg=(struct arg_bash*)argg;
@@ -339,4 +343,89 @@ void* launch_wait_bash(void *b_arg){
   return NULL;
 }
 
+#define __BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)\
+            if(bash_arg->fd_new_bash_pid>0){\
+              write(bash_arg->fd_new_bash_pid, buf , len_buf);\
+            }\
+            if(bash_arg->fd_current_bash_pid>0){\
+              write(bash_arg->fd_current_bash_pid, buf, len_buf);\
+            }\
+  
+
+void bash_print_vehicle_n_path(struct vehicle *v, float scale_x, float scale_y, struct arg_bash *bash_arg){
+  static bool first = true;
+  if(first){
+    first = false;
+    init_win();
+    char pad[w.ws_col+1];
+    int i=0;
+    for(i=0; i<w.ws_col+1; ++i) pad[i]=' ';
+    pad[i]='\0';
+    for(i=0; i<w.ws_row / 2 ; ++i) printf("%s\n",pad);;
+
+  }
+    //goto_xy(0,w.ws_row - lines);
+  ////goto_xy(0,0);
+  BASH_WRITE_IF_EXIST(bash_arg, GOTO_TOP_LEFT, LEN_GOTO_TOP_LEFT);
+    //printf("lines : %d , row : %d : diff: %d\n",lines, w.ws_row , w.ws_row - lines);
+  bash_print2D_blocks_indexOne_withPoint(v->path, scale_x, scale_y,  v->coord, bash_arg);
+  //printf("lines print : %d\n",lines);
+  char loggg[SIZE_LOCAL_BUF];
+  int len_loggg=sprintf(loggg,"\nlog : %s \n",v->status->log);
+  BASH_WRITE_IF_EXIST(bash_arg, loggg, len_loggg);
+}
+
+
+void bash_print2D_blocks_indexOne_withPoint(struct blocks *blk, float scale_x, float scale_y, coordinate *coordPoint, struct arg_bash *bash_arg){
+  if(blk->dimension_size == 2){
+    update_bounds_limits_blocks(blk);
+    coordinate ** bounds_coord = blk->bounds_all_blocks;
+
+    coordinate * coord = create_coordinate(2);
+
+    float *radius = malloc(2 * sizeof(float));
+    radius[0]=scale_x;
+    radius[1]=scale_y;
+    char buf[SIZE_LOCAL_BUF];
+    int len_buf;
+    struct blocks * blk_point = block_neighbord_Point(coordPoint, radius);
+    for(coord->x[1] = bounds_coord[1]->x[1]; coord->x[1] > bounds_coord[0]->x[1]; coord->x[1]-=scale_y ){
+      for(coord->x[0] = bounds_coord[0]->x[0]; coord->x[0] < bounds_coord[1]->x[0]; coord->x[0]+=scale_x ){
+        if(is_in_blocks(blk_point, coord)){
+          ////printf("\033[0;31m"); // red
+            BASH_WRITE_IF_EXIST(bash_arg, "\033[0;31m", 7);
+        }
+        int in = is_in_blocks(blk,coord);
+        if(in){
+          if(in>9){
+            int div=in%10;
+            ////printf("%d",div);
+            len_buf=sprintf(buf,"%d",div);
+            BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf);
+          }else{
+            ////printf("%d",in);
+            len_buf=sprintf(buf,"%d",in);
+            BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf);
+          }
+        }else{
+          ////printf("."); //printf(" ");
+          BASH_WRITE_IF_EXIST(bash_arg, ".", 1);
+        }
+
+        ////printf("\033[0;37m"); // white
+        BASH_WRITE_IF_EXIST(bash_arg, "\033[0;37m", 7); // white
+      }
+      ///printf("\n");
+      BASH_WRITE_IF_EXIST(bash_arg,"\n",1);
+    }
+
+
+    free_coordinate(coord);
+
+    free_blocks(blk_point);
+    free(radius);
+  }
+
+}
+
 

y_network_neural_network_/test/is_good.c

@@ -215,6 +215,7 @@ void *func_bash(void* b_arg){
   return NULL;
 }
 
+#if 0
 TEST(try_y_socket_manager){
   struct arg_bash *bash_arg= create_arg_bash();
   struct arg_var_ * var = create_arg_var_(y_nnn_manager_handle_input, bash_arg);
@@ -239,6 +240,7 @@ TEST(try_y_socket_manager){
   free_arg_bash(bash_arg);
 
 }
+#endif
 
 int main(int argc, char **argv){
   

y_socket_t/include/y_socket_t/y_socket_t.h

@@ -55,11 +55,11 @@ struct arg_var_{
   struct main_list_y_ptr_HEADER_T *m_ok_head_l_t;
   pthread_mutex_t *mut_var;
   pthread_cond_t *cond_var;
-  void* bash_arg;
+  void* extern_arg;
   void (*extern_socket_handler)(char*,int, void*);
 };
 
-struct arg_var_ * create_arg_var_(void (*extern_socket_handler)(char*,int, void*), void* bash_arg);
+struct arg_var_ * create_arg_var_(void (*extern_socket_handler)(char*,int, void*), void* extern_arg);
 void set_up_arg_var_init_(struct arg_var_ *var, struct y_socket_t * argSock, struct main_list_TYPE_PTR * list_arg, struct argExecTasQ *argx , struct main_list_y_ptr_HEADER_T *m_ok_head_l_t);
 void free_arg_var_(struct arg_var_ *var);
 void wait_var_set_up_value_not_equal(struct arg_var_ *var, int value_set_up);

y_socket_t/src/y_socket_t/y_socket_t.c

@@ -12,7 +12,7 @@ void handle_input_cmd(char * buf, int buf_len, struct arg_var_ *var);
 //struct y_socket_t * argSock, struct main_list_TYPE_PTR * list_arg, struct argExecTasQ *argx , struct main_list_y_ptr_HEADER_T *m_ok_head_l_t);
 
 
-struct arg_var_ * create_arg_var_(void (*extern_socket_handler)(char*,int, void*), void *bash_arg){
+struct arg_var_ * create_arg_var_(void (*extern_socket_handler)(char*,int, void*), void *extern_arg){
   struct arg_var_ * new_var=malloc(sizeof(struct arg_var_));
   new_var->set_up = 0;
   new_var->mut_var = malloc(sizeof(pthread_mutex_t));
@@ -26,7 +26,7 @@ struct arg_var_ * create_arg_var_(void (*extern_socket_handler)(char*,int, void*
   new_var->m_ok_head_l_t = NULL;
 
   new_var->extern_socket_handler = extern_socket_handler;
-  new_var->bash_arg=bash_arg;
+  new_var->extern_arg=extern_arg;
   
   return new_var; 
 }
@@ -602,7 +602,7 @@ if(buf_len>6){
 			}else{
           printf("debug: call 1 extern_socket_handler\n");
         if(var->extern_socket_handler){
-          var->extern_socket_handler(buf,buf_len,var->bash_arg);
+          var->extern_socket_handler(buf,buf_len,var->extern_arg);
         }else{
           printf("debug: No extern_socket_handler in var\n");
         }
@@ -616,7 +616,7 @@ if(buf_len>6){
     }else{
           printf("debug: call 2 extern_socket_handler\n");
         if(var->extern_socket_handler){
-          var->extern_socket_handler(buf,buf_len,var->bash_arg);
+          var->extern_socket_handler(buf,buf_len,var->extern_arg);
         }else{
           printf("debug: No extern_socket_handler in var\n");
         }