void collectDialog::on_buttonStart_clicked()
{
mp_predictor->moveToThread(&collectThread);
collectThread.start();
ui->buttonStart->setEnabled(false);
emit startTrain(portName, mb_replace);
}
void Trainer::time() {
startTrain();
trainerInternal_.getParameterUpdater()->startPass();
evaluator_->start();
DataBatch dataBatch;
int32_t batchSize = config_->getOptConfig().batch_size();
int32_t num = dataProvider_->getNextBatch(batchSize, &dataBatch);
CHECK_EQ(num, batchSize) << "The sample number is less than batch size "
<< num << " != " << batchSize;
CHECK(dataBatch.getSize()) << "No data from data provider";
std::vector<paddle::Argument> outputs;
// burning time
LOG(INFO) << "Burning time...";
for (int n = 0; n < 10; ++n) {
trainerInternal_.trainOneBatch(n, dataBatch, &outputs);
}
LOG(INFO) << "Burning time end.";
for (int n = 0; n < FLAGS_test_period; n++) {
if (FLAGS_feed_data) {
REGISTER_TIMER("GetData");
num = dataProvider_->getNextBatch(batchSize, &dataBatch);
}
if (num != batchSize) {
break;
}
{
REGISTER_TIMER("FwdBwd");
trainerInternal_.trainOneBatch(n, dataBatch, &outputs);
}
}
globalStat.setThreadInfo(true);
globalStat.printSegTimerStatus();
globalStat.reset();
finishTrain();
}
int main(int argc, char* argv[])
{
ExplorationShared shared;
EBehavior behavior(&shared);
EBWaitIdle waitStart("Start");
EBWaitIdle waitMotion1("ArmPositioning");
EBWaitIdle waitMotion2("Turn1");
EBWaitIdle waitMotion3("Turn2");
EBWaitIdle waitMotion4("Turn3");
EBWaitIdle waitMotion5("Turn4");
EBWaitIdle waitMotion6("Turn5");
EBWaitIdle waitMotion7("Final pos");
EBWaitIdle waitMotion8("Going back to rest");
EBWaitIdle endState1("end1");
EBWaitIdle endState2("end2");
EBWaitIdle stateInhibitHandTracking("Inhibit hand tracking");
EBWaitIdle stateEnableHandTracking("Enable hand tracking");
EBWaitIdle position1Wait("Position1 done");
EBWaitIdle position2Wait("Position2 done");
EBWaitIdle position3Wait("Position3 done");
EBWaitDeltaT position2Train(6);
EBWaitDeltaT position3Train(6);
EBWaitDeltaT position4Train(6);
EBWaitIdle position2("Waiting arm done");
EBWaitIdle position3("Waiting arm done");
EBWaitIdle position4("Waiting arm done");
EBWaitIdle waitArmAck("Wait armAck");
EBWaitDeltaT dT1(6);
EBWaitDeltaT dT2(0.2);
EBWaitDeltaT dT3OneSecond(3);
EBWaitDeltaT dTHandClosing(0.1);
EBWaitDeltaT waitArmSeemsToRest(5);
EBBehaviorOutput startTrain(YBVKFTrainStart);
EBBehaviorOutput startSequence(YBVKFStart);
EBBehaviorOutput stopTrain(YBVKFTrainStop);
EBBehaviorOutput stop(YBVKFStop);
EBSimpleOutput forceOpen(YBVGraspRflxForceOpen);
EBSimpleOutput parkArm(YBVArmForceRestingTrue);
// output: enable and disable hand tracking system
EBEnableTracker enableHandTracking;
EBInhibitTracker inhibitHandTracking;
EBOutputCommand cmd1(YBVArmForceNewCmd, YVector(_nJoints, pos1));
EBOutputCommand cmd2(YBVArmForceNewCmd, YVector(_nJoints, pos2));
EBOutputCommand cmd3(YBVArmForceNewCmd, YVector(_nJoints, pos3));
// EBOutputCommand cmd4(YBVArmForceNewCmd, YVector(_nJoints, pos4));
// EBOutputCommand cmd5(YBVArmForceNewCmd, YVector(_nJoints, pos5));
// EBOutputCommand cmd6(YBVArmForceNewCmd, YVector(_nJoints, pos6));
EBOutputCommand cmd7(YBVArmForceNewCmd, YVector(_nJoints, pos7));
EBOutputCommand cmd8(YBVArmForceNewCmd, YVector(_nJoints, pos8));
EBOutputCommand cmd9(YBVArmForceNewCmd, YVector(_nJoints, pos9));
EBOutputCommand cmd10(YBVArmForceNewCmd, YVector(_nJoints, pos10));
EBSimpleInput armDone(YBVArmDone);
EBSimpleInput handDone(YBVHandDone);
EBSimpleInput start(YBVKFExplorationStart);
EBSimpleInput start2(YBVGraspRflxClutch);
EBSimpleInput armAck(YBVArmIssuedCmd);
EBSimpleInput armNAck(YBVArmIsBusy);
behavior.setInitialState(&waitStart);
behavior.add(&start, &waitStart, &waitMotion1, &cmd1);
behavior.add(&start2, &waitStart, &dTHandClosing, &enableHandTracking);
behavior.add(NULL, &dTHandClosing, &waitArmAck, &cmd1);
behavior.add(&armAck, &waitArmAck, &stateEnableHandTracking, &startSequence);
behavior.add(&armNAck, &waitArmAck, &waitArmSeemsToRest, &inhibitHandTracking);
behavior.add(NULL, &waitArmSeemsToRest, &waitStart, &forceOpen);
behavior.add(NULL, &stateEnableHandTracking, &waitMotion1, &enableHandTracking);
behavior.add(&armDone, &waitMotion1, &dT3OneSecond);
// wait some extra time before issueing the startKF signal
behavior.add(NULL, &dT3OneSecond, &dT1, &startTrain);
// july 21/04
behavior.add(NULL, &dT1, &waitMotion6);
behavior.add(NULL, &waitMotion6, &position1Wait, &stopTrain);
// position2
behavior.add(NULL, &position1Wait, &position2, &cmd7);
behavior.add(&armDone, &position2, &position2Train, &startTrain);
behavior.add(NULL, &position2Train, &position2Wait, &stopTrain);
//position3
behavior.add(NULL, &position2Wait, &position3, &cmd8);
behavior.add(&armDone, &position3, &position3Train, &startTrain);
behavior.add(NULL, &position3Train, &position3Wait, &stopTrain);
//position 4
behavior.add(NULL, &position3Wait, &position4, &cmd9);
behavior.add(&armDone, &position4, &position4Train, &startTrain);
behavior.add(NULL, &position4Train, &stateInhibitHandTracking, &stopTrain);
behavior.add(NULL, &stateInhibitHandTracking, &dT2);
/*
behavior.add(NULL, &dT1, &waitMotion2, &cmd2);
// behavior.add(&armDone, &waitMotion1, &waitMotion2, &cmd2);
behavior.add(&armDone, &waitMotion2, &waitMotion3, &cmd3);
behavior.add(&armDone, &waitMotion3, &waitMotion4, &cmd4);
behavior.add(&armDone, &waitMotion4, &waitMotion5, &cmd5);
behavior.add(&armDone, &waitMotion5, &waitMotion6, &cmd6);
behavior.add(&armDone, &waitMotion6, &dT2, &stopKF);
*/
behavior.add(NULL, &dT2, &waitMotion7, &cmd10);
behavior.add(&armDone, &waitMotion7, &waitMotion8, &forceOpen);
behavior.add(&handDone, &waitMotion8, &endState1, &parkArm);
behavior.add(NULL, &endState1, &endState2, &inhibitHandTracking);
behavior.add(NULL, &endState2, &waitStart, &stop);
behavior.Begin();
behavior.loop();
return 0;
}
