public String getStateDescription(State s) throws EvalException {
StringBuilder sb = new StringBuilder();
TYPE_NAME xpos_type = new TYPE_NAME("xpos");
ArrayList<LCONST> list_xpos = s._hmObject2Consts.get(xpos_type);
TYPE_NAME ypos_type = new TYPE_NAME("ypos");
ArrayList<LCONST> list_ypos = s._hmObject2Consts.get(ypos_type);
PVAR_NAME GOAL = new PVAR_NAME("GOAL");
PVAR_NAME robot_at = new PVAR_NAME("robot-at");
PVAR_NAME P = new PVAR_NAME("P");
if (_bd == null) {
IS_OBFUSCATED = !list_xpos.get(0).toString().equals("x1");
int max_row = list_ypos.size() - 1;
int max_col = list_xpos.size();
_bd =
new BlockDisplay(
"RDDL Navigation Simulation", "RDDL Navigation Simulation", max_row + 2, max_col + 2);
}
// Set up an arity-1 parameter list
ArrayList<LCONST> params = new ArrayList<LCONST>(2);
params.add(null);
params.add(null);
_bd.clearAllCells();
_bd.clearAllLines();
for (LCONST xpos : list_xpos) {
for (LCONST ypos : list_ypos) {
int col = new Integer(xpos.toString().substring(2, xpos.toString().length()));
int row = new Integer(ypos.toString().substring(2, ypos.toString().length()));
if (IS_OBFUSCATED) {
row = (int) Math.sqrt(row - 11);
col = (int) Math.sqrt(col - 5);
}
row = row - 1;
params.set(0, xpos);
params.set(1, ypos);
boolean is_goal = (Boolean) s.getPVariableAssign(GOAL, params);
boolean robot = (Boolean) s.getPVariableAssign(robot_at, params);
float prob = 1f - ((Number) s.getPVariableAssign(P, params)).floatValue();
if (robot && is_goal) _bd.setCell(row, col, Color.red, "G!");
else if (is_goal) _bd.setCell(row, col, Color.cyan, "G");
else if (robot) _bd.setCell(row, col, Color.blue, null);
else {
Color cell_color = new Color(prob, prob, prob);
_bd.setCell(row, col, cell_color, null);
}
}
}
_bd.repaint();
// Sleep so the animation can be viewed at a frame rate of 1000/_nTimeDelay per second
try {
Thread.currentThread().sleep(_nTimeDelay);
} catch (InterruptedException e) {
System.err.println(e);
e.printStackTrace(System.err);
}
return sb.toString();
}
static String createXMLTurn(
State state,
int turn,
DOMAIN domain,
HashMap<PVAR_NAME, HashMap<ArrayList<LCONST>, Object>> observStore)
throws Exception {
DocumentBuilderFactory dbf = DocumentBuilderFactory.newInstance();
try {
DocumentBuilder db = dbf.newDocumentBuilder();
Document dom = db.newDocument();
Element rootEle = dom.createElement(TURN);
dom.appendChild(rootEle);
Element turnNum = dom.createElement(TURN_NUM);
Text textTurnNum = dom.createTextNode(turn + "");
turnNum.appendChild(textTurnNum);
rootEle.appendChild(turnNum);
// System.out.println("PO: " + domain._bPartiallyObserved);
if (!domain._bPartiallyObserved || observStore != null) {
for (PVAR_NAME pn :
(domain._bPartiallyObserved ? observStore.keySet() : state._state.keySet())) {
// System.out.println(turn + " check2 Partial Observ " + pn +" : "+
// domain._bPartiallyObserved);
// No problem to overwrite observations, only ever read from
if (domain._bPartiallyObserved && observStore != null)
state._observ.put(pn, observStore.get(pn));
ArrayList<ArrayList<LCONST>> gfluents = state.generateAtoms(pn);
for (ArrayList<LCONST> gfluent : gfluents) {
// for ( Map.Entry<ArrayList<LCONST>,Object> gfluent :
// (domain._bPartiallyObserved
// ? observStore.get(pn).entrySet()
// : state._state.get(pn).entrySet())) {
Element ofEle = dom.createElement(OBSERVED_FLUENT);
rootEle.appendChild(ofEle);
Element pName = dom.createElement(FLUENT_NAME);
Text pTextName = dom.createTextNode(pn.toString());
pName.appendChild(pTextName);
ofEle.appendChild(pName);
for (LCONST lc : gfluent) {
Element pArg = dom.createElement(FLUENT_ARG);
Text pTextArg = dom.createTextNode(lc.toString());
pArg.appendChild(pTextArg);
ofEle.appendChild(pArg);
}
Element pValue = dom.createElement(FLUENT_VALUE);
Object value = state.getPVariableAssign(pn, gfluent);
if (value == null) {
System.out.println("STATE:\n" + state);
throw new Exception("ERROR: Could not retrieve value for " + pn + gfluent.toString());
}
Text pTextValue = dom.createTextNode(value.toString());
pValue.appendChild(pTextValue);
ofEle.appendChild(pValue);
}
}
} else {
// No observations (first turn of POMDP)
Element ofEle = dom.createElement(NULL_OBSERVATIONS);
rootEle.appendChild(ofEle);
}
if (SHOW_XML) {
printXMLNode(dom);
System.out.println();
System.out.flush();
}
return (Client.serialize(dom));
} catch (Exception e) {
System.out.println("FATAL SERVER EXCEPTION: " + e);
e.printStackTrace();
throw e;
// System.exit(1);
// return null;
}
}
