From 3a8acb6807af9a0741444d92bad5c8968983216e Mon Sep 17 00:00:00 2001
From: Niko <nikolaus.feith@unileoben.ac.at>
Date: Mon, 5 Jun 2023 14:56:14 +0200
Subject: [PATCH] debugging regular

---
 .../active_bo_ros/UserQuery/regular_query.py      | 15 +++++++--------
 .../active_bo_ros/active_bo_topic.py              |  4 ++--
 .../active_bo_ros/active_rl_topic.py              |  2 +-
 3 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/src/active_bo_ros/active_bo_ros/UserQuery/regular_query.py b/src/active_bo_ros/active_bo_ros/UserQuery/regular_query.py
index b8949e3..7349859 100644
--- a/src/active_bo_ros/active_bo_ros/UserQuery/regular_query.py
+++ b/src/active_bo_ros/active_bo_ros/UserQuery/regular_query.py
@@ -1,13 +1,12 @@
 class RegularQuery:
-    def __init__(self, regular):
-        self.regular = regular
-        self.counter = 0
+    def __init__(self, regular, episode):
+        self.regular = int(regular)
+        self.counter = episode
 
     def query(self):
-        if self.counter < self.regular:
-            self.counter += 1
-            return False
+
+        if self.counter % self.regular == 0 and self.counter != 0:
+            return True
 
         else:
-            self.counter = 0
-            return True
+            return False
diff --git a/src/active_bo_ros/active_bo_ros/active_bo_topic.py b/src/active_bo_ros/active_bo_ros/active_bo_topic.py
index b9e17dd..b9284ff 100644
--- a/src/active_bo_ros/active_bo_ros/active_bo_topic.py
+++ b/src/active_bo_ros/active_bo_ros/active_bo_topic.py
@@ -212,7 +212,7 @@ class ActiveBOTopic(Node):
                     home_dir = os.path.expanduser('~')
                     file_path = os.path.join(home_dir, 'Documents/IntRLResults')
                     filename = env + '-' + acq + '-' + self.bo_metric + '-' \
-                               + str(self.bo_metric_parameter) + '-' \
+                               + str(round(self.bo_metric_parameter, 2)) + '-' \
                                + str(self.bo_nr_weights) + '-' + str(time.time())
                     filename = filename.replace('.', '_') + '.csv'
                     path = os.path.join(file_path, filename)
@@ -251,7 +251,7 @@ class ActiveBOTopic(Node):
                             user_query = RandomQuery(self.bo_metric_parameter)
 
                         elif self.bo_metric == "regular":
-                            user_query = RegularQuery(self.bo_metric_parameter)
+                            user_query = RegularQuery(self.bo_metric_parameter, self.current_episode)
 
                         elif self.bo_metric == "max acquisition":
                             user_query = MaxAcqQuery(self.bo_metric_parameter,
diff --git a/src/active_bo_ros/active_bo_ros/active_rl_topic.py b/src/active_bo_ros/active_bo_ros/active_rl_topic.py
index 73c579a..9a5d56a 100644
--- a/src/active_bo_ros/active_bo_ros/active_rl_topic.py
+++ b/src/active_bo_ros/active_bo_ros/active_rl_topic.py
@@ -186,7 +186,7 @@ class ActiveRLService(Node):
 
                         if done:
                             rl_response = ActiveRLResponse()
-                            rl_response.weights = self.rl_weights
+                            rl_response.weights = self.eval_weights
                             rl_response.reward = self.rl_reward
                             rl_response.final_step = self.rl_step