static int do_reset(int argc, const char* const* argv)
{
console_printf("Reverting to default env..");
env_reset();
console_printf(".DONE!\n");
return 0;
}
static struct closure *compile_code(struct global_state *gstate, clist b)
{
struct code *cc;
u8 nb_locals;
fncode top;
location topl;
struct string *afilename;
/* Code strings must be allocated before code (immutability restriction) */
afilename = make_filename(lexloc.filename);
GCPRO1(afilename);
erred = FALSE;
env_reset();
topl.filename = NULL;
topl.lineno = 0;
top = new_fncode(gstate, topl, TRUE, 0);
env_push(NULL, top); /* Environment must not be totally empty */
generate_clist(b, FALSE, top);
ins0(OPmreturn, top);
env_pop(&nb_locals);
cc = generate_fncode(top, nb_locals, NULL, NULL, afilename, 0);
delete_fncode(top);
GCPOP(1);
if (erred) return NULL;
else return alloc_closure0(cc);
}
void env_init(uint32_t flashaddr, uint32_t envsize)
{
current_env = os_malloc(envsize);
current_env_flash_addr = flashaddr;
current_env_size=envsize - sizeof(struct environment);
#if defined(CONFIG_ENABLE_BANNER)
console_printf("env: Environment @ %p size %d bytes (%d real) \n",
(void*)flashaddr, (int)envsize, (int)current_env_size);
#endif
spi_flash_read(flashaddr, (uint32*)current_env, envsize);
uint16_t crc = crc16((const unsigned char*)¤t_env->occupied, envsize - sizeof(uint16_t));
if ((current_env->occupied == 0) || (crc != current_env->crc)) {
console_printf("env: Bad CRC (%x vs %x) using defaults\n", crc, current_env->crc);
env_reset();
}
#if defined(CONFIG_ENABLE_BANNER)
env_dump();
#endif
}
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);
}
}
