160 lines
4.1 KiB
C
160 lines
4.1 KiB
C
#ifndef __LEARNING_VEHICLE__C_H____
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#define __LEARNING_VEHICLE__C_H____
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#include <stdlib.h>
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#include <pthread.h>
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/* for Sleep : milliseconds */
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#ifdef WINDOWS
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#include <windows.h>
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//#ifdef LINUX
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#else
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#include <unistd.h>
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#define Sleep(x) usleep((x)*1000)
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#endif
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#include <errno.h>
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#include <sys/stat.h>
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#include "neuron_t/neuron_t.h"
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#include "neuron_t/nneuron_t_file.h"
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#include "list_t/list_t.h"
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#include "vehicle.h"
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//float reLU(float x);
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//float d_reLU(float x);
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// to debug symlink error!: have to instal libexplain-dev (apt install),
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// and add -lexplain in cflag (or in compile flag)
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//#include <libexplain/symlink.h>
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//#define target_symlink ".ff_target_.symlink"
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//#define main_symlink ".ff_main_.symlink"
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extern char *action_name[8];
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struct qlearning_params {
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float gamma;
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float learning_rate;
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float factor_update_learning_rate;
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// float epsilon;
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float minimum_threshold_learning_rate;
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float discount_factor;
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float exploration_factor;
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float factor_update_exploration_factor;
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float minimum_threshold_exploration_factor;
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long int nb_training_before_update_weight_in_target;
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size_t number_episodes;
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// size_t threshold_number_same_action;
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};
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struct status_qlearning {
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struct main_list_TYPE_L_INT * list_main_cumul;
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struct main_list_TYPE_L_INT * list_target_cumul;
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struct main_list_TYPE_L_INT * progress_best_cumul;
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long int nb_training_after_updated_weight_in_target;
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size_t nb_episodes;
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size_t index_episode;
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int action;
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int ending;
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pthread_mutex_t *mut_ending;
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// size_t count_last_action;
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};
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struct delay_params {
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size_t delay_between_episodes;
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size_t delay_between_games;
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};
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struct print_params {
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bool printed;
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pthread_mutex_t mut_printed;
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float scale_x;
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float scale_y;
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struct delay_params *delay;
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char *string_space;//[LOG_LENTH];
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int go_on;
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};
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int check_go_on_print_params(struct print_params *pprint);
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struct networks_qlearning {
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config_layers *config;
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neurons_TYPE_FLOAT *main_net;
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neurons_TYPE_FLOAT *target_net;
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neurons_TYPE_FLOAT *best_net;
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pthread_t *thread_learn;
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ssize_t nb_successive_action[COUNT_ACTION];
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};
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struct RL_agent {
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struct networks_qlearning * networks;
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struct vehicle * car;
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struct status_qlearning * status;
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struct print_params * pprint;
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struct qlearning_params *qlearnParams;
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};
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struct networks_qlearning * create_nework_qlearning(
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struct config_layers * config,
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bool randomize, float minR, float maxR, int randomRange,
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size_t nb_prod_thread,
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size_t nb_calc_thread,
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float learning_rate
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);
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struct status_qlearning * create_status_qlearning ();
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struct delay_params * create_delay_params (
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size_t delay_between_episodes,
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size_t delay_between_games
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);
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struct print_params * create_print_params(
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float scale_x, float scale_y,
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struct delay_params * dly_p
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);
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struct qlearning_params * create_qlearning_params (
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float gamma,
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float learning_rate,
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float discount_factor,
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float exploration_factor,
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long int nb_training_before_update_weight_in_target,
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size_t number_episodes
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);
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struct RL_agent * create_RL_agent (
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struct networks_qlearning * networks,
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struct vehicle * car,
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struct status_qlearning * status,
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struct print_params * pprint,
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struct qlearning_params *qlearnParams
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);
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void free_networks_qlearning (struct networks_qlearning * networks);
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void free_status_qlearning(struct status_qlearning *status_ql);
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void free_print_params (struct print_params *pprint);
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void free_delay_params (struct delay_params *dly_p);
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void free_qlearning_params(struct qlearning_params *q_params);
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void free_RL_agent(struct RL_agent *rlAgent);
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void copy_weight_in_networks_from_main_to_target(struct networks_qlearning * networks);
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void copy_weight_in_networks_from_main_to_best(struct networks_qlearning * networks);
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void train_qlearning(struct RL_agent * rlAgent,
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int action);
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// tensor_TYPE_FLOAT * new_state /*input*/,
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// tensor_TYPE_FLOAT * state /*input*/,
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// long reward;
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//void* learn_to_drive(struct RL_agent * rlAgent);
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void* learn_to_drive(void * rlAgent);
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int is_ending(struct status_qlearning *qlStatus);
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///char *fileNameDateScore(char * pre, char* post,size_t score);
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///int select_action(struct RL_agent * rlAgent);
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#endif /* __LEARNING_VEHICLE__C_H____ */
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