Ejemplo n.º 1
0
  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();
  }
Ejemplo n.º 2
0
  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;
    }
  }