void resetState() {
state.init(
nonFluents != null ? nonFluents._hmObjects : null,
instance._hmObjects,
domain._hmTypes,
domain._hmPVariables,
domain._hmCPF,
instance._alInitState,
nonFluents == null ? null : nonFluents._alNonFluents,
domain._alStateConstraints,
domain._exprReward,
instance._nNonDefActions);
if ((domain._bPartiallyObserved && state._alObservNames.size() == 0)
|| (!domain._bPartiallyObserved && state._alObservNames.size() > 0))
System.err.println(
"Domain '"
+ domain._sDomainName
+ "' partially observed flag and presence of observations mismatched.");
}
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();
}
public ArrayList<PVAR_INST_DEF> getActions(State s) throws EvalException {
ArrayList<PVAR_INST_DEF> actions = new ArrayList<PVAR_INST_DEF>();
ArrayList<PVAR_NAME> action_types = s._hmTypeMap.get("action-fluent");
boolean passed_constraints = false;
for (int j = 0; j < s._alActionNames.size(); j++) {
// Get a random action
PVAR_NAME p = s._alActionNames.get(j);
PVARIABLE_DEF pvar_def = s._hmPVariables.get(p);
// Get term instantations for that action and select *one*
ArrayList<ArrayList<LCONST>> inst = s.generateAtoms(p);
int[] index_permutation = Permutation.permute(inst.size(), _random);
for (int i = 0; i < index_permutation.length; i++) {
ArrayList<LCONST> terms = inst.get(index_permutation[i]);
// IMPORTANT: get random assignment that matches action type
Object value = null;
if (pvar_def._sRange.equals(RDDL.TYPE_NAME.BOOL_TYPE)) {
// bool
value = new Boolean(true);
} else if (pvar_def._sRange.equals(RDDL.TYPE_NAME.INT_TYPE)) {
// int
value = new Integer(_random.nextInt(MAX_INT_VALUE));
} else if (pvar_def._sRange.equals(RDDL.TYPE_NAME.REAL_TYPE)) {
// real
value = new Double(_random.nextDouble() * MAX_REAL_VALUE);
} else {
// enum: only other option for a range
ENUM_TYPE_DEF enum_type_def = (ENUM_TYPE_DEF) s._hmTypes.get(pvar_def._sRange);
int rand_index = _random.nextInt(enum_type_def._alPossibleValues.size());
value = enum_type_def._alPossibleValues.get(rand_index);
}
// Now set the action
actions.add(new PVAR_INST_DEF(p._sPVarName, value, terms));
passed_constraints = true;
try {
s.checkStateActionConstraints(actions);
} catch (EvalException e) {
// Got an eval exception, constraint violated
passed_constraints = false;
// System.out.println(actions + " : " + e);
// System.out.println(s);
// System.exit(1);
} catch (Exception e) {
// Got a real exception, something is wrong
System.out.println(
"\nERROR evaluating constraint on action set: "
+ actions
+ /*"\nConstraint: " +*/ e
+ "\n");
e.printStackTrace();
throw new EvalException(e.toString());
}
if (!passed_constraints) actions.remove(actions.size() - 1);
if (actions.size() == NUM_CONCURRENT_ACTIONS) break;
}
if (actions.size() == NUM_CONCURRENT_ACTIONS) break;
}
// Check if no single action passed constraint
if (!passed_constraints) {
// Try empty action
passed_constraints = true;
actions.clear();
try {
s.checkStateActionConstraints(actions);
} catch (EvalException e) {
passed_constraints = false;
System.out.println(actions + " : " + e);
throw new EvalException("No actions (even a) satisfied state constraints!");
}
}
// Return the action list
// System.out.println("**Action: " + actions);
return actions;
}
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;
}
}
public void run() {
DOMParser p = new DOMParser();
int numRounds = DEFAULT_NUM_ROUNDS;
double timeAllowed = DEFAULT_TIME_ALLOWED;
double timeUsed = 0;
try {
BufferedInputStream is = new BufferedInputStream(connection.getInputStream());
InputStreamReader isr = new InputStreamReader(is);
InputSource isrc = readOneMessage(isr);
requestedInstance = null;
processXMLSessionRequest(p, isrc, this);
System.out.println(requestedInstance);
if (!rddl._tmInstanceNodes.containsKey(requestedInstance)) {
System.out.println("Instance name '" + requestedInstance + "' not found.");
return;
}
BufferedOutputStream os = new BufferedOutputStream(connection.getOutputStream());
OutputStreamWriter osw = new OutputStreamWriter(os, "US-ASCII");
String msg = createXMLSessionInit(numRounds, timeAllowed, this);
sendOneMessage(osw, msg);
initializeState(rddl, requestedInstance);
// System.out.println("STATE:\n" + state);
double accum_total_reward = 0;
ArrayList<Double> rewards = new ArrayList<Double>(DEFAULT_NUM_ROUNDS * instance._nHorizon);
int r = 0;
for (; r < numRounds; r++) {
isrc = readOneMessage(isr);
if (!processXMLRoundRequest(p, isrc)) {
break;
}
resetState();
msg = createXMLRoundInit(r + 1, numRounds, timeUsed, timeAllowed);
sendOneMessage(osw, msg);
System.out.println("Round " + (r + 1) + " / " + numRounds);
if (SHOW_MEMORY_USAGE)
System.out.print(
"[ Memory usage: "
+ _df.format((RUNTIME.totalMemory() - RUNTIME.freeMemory()) / 1e6d)
+ "Mb / "
+ _df.format(RUNTIME.totalMemory() / 1e6d)
+ "Mb"
+ " = "
+ _df.format(
((double) (RUNTIME.totalMemory() - RUNTIME.freeMemory())
/ (double) RUNTIME.totalMemory()))
+ " ]\n");
double accum_reward = 0.0d;
double cur_discount = 1.0d;
int h = 0;
HashMap<PVAR_NAME, HashMap<ArrayList<LCONST>, Object>> observStore = null;
for (; h < instance._nHorizon; h++) {
// if ( observStore != null) {
// for ( PVAR_NAME pn : observStore.keySet() ) {
// System.out.println("check3 " + pn);
// for( ArrayList<LCONST> aa : observStore.get(pn).keySet()) {
// System.out.println("check3 :" + aa + ": " + observStore.get(pn).get(aa));
// }
// }
// }
msg = createXMLTurn(state, h + 1, domain, observStore);
if (SHOW_MSG) System.out.println("Sending msg:\n" + msg);
sendOneMessage(osw, msg);
isrc = readOneMessage(isr);
if (isrc == null) throw new Exception("FATAL SERVER EXCEPTION: EMPTY CLIENT MESSAGE");
ArrayList<PVAR_INST_DEF> ds = processXMLAction(p, isrc, state);
if (ds == null) {
break;
}
// Sungwook: this is not required. -Scott
// if ( h== 0 && domain._bPartiallyObserved && ds.size() != 0) {
// System.err.println("the first action for partial observable domain should be noop");
// }
if (SHOW_ACTIONS) System.out.println("** Actions received: " + ds);
try {
state.computeNextState(ds, 0, rand);
} catch (Exception ee) {
System.out.println("FATAL SERVER EXCEPTION:\n" + ee);
// ee.printStackTrace();
throw ee;
// System.exit(1);
}
// for ( PVAR_NAME pn : state._observ.keySet() ) {
// System.out.println("check1 " + pn);
// for( ArrayList<LCONST> aa : state._observ.get(pn).keySet()) {
// System.out.println("check1 :" + aa + ": " + state._observ.get(pn).get(aa));
// }
// }
if (domain._bPartiallyObserved) observStore = copyObserv(state._observ);
// Calculate reward / objective and store
double reward =
((Number)
domain._exprReward.sample(
new HashMap<LVAR, LCONST>(), state, rand, new BooleanPair()))
.doubleValue();
rewards.add(reward);
accum_reward += cur_discount * reward;
// System.out.println("Accum reward: " + accum_reward + ", instance._dDiscount: " +
// instance._dDiscount +
// " / " + (cur_discount * reward) + " / " + reward);
cur_discount *= instance._dDiscount;
stateViz.display(state, h);
state.advanceNextState();
}
accum_total_reward += accum_reward;
msg = createXMLRoundEnd(r, accum_reward, h, 0);
if (SHOW_MSG) System.out.println("Sending msg:\n" + msg);
sendOneMessage(osw, msg);
}
msg = createXMLSessionEnd(accum_total_reward, r, 0, this.clientName, this.id);
if (SHOW_MSG) System.out.println("Sending msg:\n" + msg);
sendOneMessage(osw, msg);
BufferedWriter bw = new BufferedWriter(new FileWriter(LOG_FILE, true));
bw.write(msg);
bw.newLine();
bw.flush();
// need to wait 10 seconds to pretend that we're processing something
// try {
// Thread.sleep(10000);
// }
// catch (Exception e){}
// TimeStamp = new java.util.Date().toString();
// String returnCode = "MultipleSocketServer repsonded at "+ TimeStamp + (char) 3;
} catch (Exception e) {
e.printStackTrace();
System.out.println("\n>> TERMINATING TRIAL.");
} finally {
try {
connection.close();
} catch (IOException e) {
}
}
}
