/* Runs an entire episode. */
int performEpisode(int sd)
{
// Send the INIT command
int rc = sendTokenOnSocket(sd, CMD_START);
int terminal;
double* pStates = (double*)malloc(numStates * sizeof(double));
double* pActions = (double*)malloc(numActions * sizeof(double));
double reward = 0;
if(rc >= 0)
{
// Get terminality flag
rc = getFlagFromSocket(sd, &terminal);
}
if(rc >= 0)
{
// Get initial states
rc = getStatesFromSocket(sd, pStates);
}
if(rc >= 0)
{
if(terminal == 1)
{
// FIXME The reward here is still undefined...
rc = agent_end(reward);
}
else
{
// Tell agent to start processing states and query
// actions...
rc = agent_start(pStates, pActions);
while(terminal == 0 && rc >= 0)
{
// Send the step command with the new state
rc = sendTokenOnSocket(sd, CMD_STEP);
if(rc < 0) break;
rc = sendActionsOnSocket(sd, pActions);
if(rc < 0) break;
// Get the reward, terminality flag and new state of
// this step
rc = getDoubleFromSocket(sd, &reward);
if(rc < 0) break;
rc = getFlagFromSocket(sd, &terminal);
if(rc < 0) break;
rc = getStatesFromSocket(sd, pStates);
if(rc < 0) break;
// If we are not in a terminal state, tell agent to step
if(terminal == 0) rc = agent_step(pStates, reward, pActions);
}
if(rc >= 0)
{
// We have reached the terminal state (since there was
// no error to get us out of the loop)
rc = agent_end(reward);
}
}
}
return rc;
}
static void onAgentEnd(int theConnection) {
double theReward = 0;
/* Read the data in the buffer (data from server) */
rlBufferRead(&theBuffer, 0, &theReward, 1, sizeof(double));
/* Call RL method on the recv'd data */
agent_end(theReward);
/* Prepare the buffer for sending data back to the server */
rlBufferClear(&theBuffer);
}
void SimulationLoop()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
test->SetTextLine(30);
settings.hz = settingsHz;
////////////////////////////////////////////////////////////////////////////////////////////
if(start==0){
last_state_main = env_start();
last_action_main = agent_start(last_state_main);
start = 1;
}else{
env_step1(last_action_main);
test->Step(&settings);
ro_main=env_step2();
if(ro_main->terminal == 1){
agent_end(ro_main->reward);
start = 0;
env_reset();
if(ro_main->reward==100){
success++;
printf("success %d\tfail %d\tprob %lf\n",success,fail,(double)success/(double)(success+fail)*100);
}else{
fail++;
}
//test->Step(&settings);
}else{
last_action_main = agent_step(ro_main->reward, ro_main->observation);
}
}
////////////////////////////////////////////////////////////////////////////////////////////
/*test->Step(&settings);*/
////////////////////////////////////////////////////////////////////////////////////////////
/*ro = env_step2();
this_reward = ro->reward;
last_state = ro->observation;
roa.reward = ro->reward;
roa.observation = ro->observation;
roa.terminal = ro->terminal;*/
////////////////////////////////////////////////////////////////////////////////////////////
test->DrawTitle(5, 15, entry->name);
glutSwapBuffers();
if (testSelection != testIndex)
{
testIndex = testSelection;
delete test;
entry = g_testEntries + testIndex;
test = entry->createFcn();
viewZoom = 1.0f;
viewCenter.Set(0.0f, 20.0f);
Resize(width, height);
}
}
