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compare: Niko:98a8748b155f43357f5bb0baad92dc2ea7bcf7ba
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2 changed files with 108 additions and 112 deletions
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199
ActiveBOWeb/src/components/RosBar.vue
View File

@ -108,11 +108,11 @@ watch(stateCounter.value, (newValue) => {
}); });
// Policy Service // Policy Service
const policy_service = new ROSLIB.Service({ // const policy_service = new ROSLIB.Service({
ros: ros, // ros: ros,
name: "/policy_srv", // name: "/policy_srv",
serviceType: "active_bo_msgs/srv/WeightToPolicy", // serviceType: "active_bo_msgs/srv/WeightToPolicy",
}); // });
// RL Service + Feedback Suscriber // RL Service + Feedback Suscriber
const rl_feedback_subscriber = new ROSLIB.Topic({ const rl_feedback_subscriber = new ROSLIB.Topic({
@ -126,66 +126,99 @@ rl_feedback_subscriber.subscribe((msg) => {
mcstore.setRgbArrays(msg.red, msg.green, msg.blue); mcstore.setRgbArrays(msg.red, msg.green, msg.blue);
}); });
const active_rl_eval_sub = new ROSLIB.Topic({ // const active_rl_eval_sub = new ROSLIB.Topic({
ros: ros_eval, // ros: ros_eval,
name: "/active_rl_eval_request", // name: "/active_rl_eval_request",
messageType: "active_bo_msgs/msg/ActiveRL", // messageType: "active_bo_msgs/msg/ActiveRLEval",
}); // });
//
const pendingRequest = ref(false); // const pendingRequest = ref(false);
active_rl_eval_sub.subscribe((msg) => { // active_rl_eval_sub.subscribe((msg) => {
pstore.setPolicy(msg.policy); // pstore.setPolicy(msg.policy);
pstore.setWeights(msg.weights); // pstore.setWeights(msg.weights);
pendingRequest.value = true; // pendingRequest.value = true;
}); // });
//
const active_rl_eval_pub = new ROSLIB.Topic({ // const active_rl_eval_pub = new ROSLIB.Topic({
ros: ros_eval, // ros: ros_eval,
name: "/active_rl_eval_response", // name: "/active_rl_eval_response",
messageType: "active_bo_msgs/msg/ActiveRL", // messageType: "active_bo_msgs/msg/ActiveRLEval",
});
// const active_eval_response_first = new ROSLIB.Message({
// policy: pstore.policy,
// weights: pstore.weights,
// }); // });
// console.log(active_eval_response_first);
// active_rl_eval_pub.publish(active_eval_response_first);
// function sleep(ms) { // Active RL Eval Service
// return new Promise((resolve) => setTimeout(resolve, ms)); let active_rl_eval_srv = new ROSLIB.Service({
// } ros: ros,
name: "/active_rl_eval_srv",
serviceType: "active_bo_msgs/srv/ActiveRLEval",
});
let currentResponse = null;
let currentServiceId = null;
const pendingRequest = ref(false);
active_rl_eval_srv.advertise(function (request, response) {
currentResponse = response;
currentServiceId = this.id;
pendingRequest.value = true;
pstore.setPolicy(request["old_policy"]);
pstore.setWeights(request["old_weights"]);
console.log(request);
return false;
});
watch( watch(
() => cstore.getSendWeights, () => cstore.getSendWeights,
() => { () => {
const usr_mode = cstore.getUserMode; const usr_mode = cstore.getUserMode;
if (usr_mode === "manually") { // if (usr_mode === "manually") {
const policy_request = new ROSLIB.ServiceRequest({ // const policy_request = new ROSLIB.ServiceRequest({
weights: pstore.policy, // weights: pstore.policy,
nr_steps: pstore.weights, // nr_steps: pstore.weights,
}); // });
//
policy_service.callService(policy_request, function (result) { // policy_service.callService(policy_request, function (result) {
pstore.setPolicy(result.policy); // pstore.setPolicy(result.policy);
}); // });
} else if (usr_mode === "active BO") { // } else
if (usr_mode === "active BO") {
if (!pendingRequest.value) { if (!pendingRequest.value) {
return; return;
} }
console.log("Button pressed!"); console.log("Button pressed!");
const active_eval_response = new ROSLIB.Message({ // const active_eval_response = new ROSLIB.Message({
policy: pstore.policy, // policy: pstore.policy,
weights: pstore.weights, // weights: pstore.weights,
// });
//
// console.log(active_eval_response);
//
// active_rl_eval_pub.publish(active_eval_response);
// // await sleep(1000);
// console.log("New Policy/ Weights published");
// pendingRequest.value = false;
currentResponse["new_policy"] = pstore.getPolicy;
currentResponse["new_weights"] = pstore.getWeights;
console.log(currentResponse);
active_rl_eval_srv.ros.callOnConnection({
op: "service_response",
service: active_rl_eval_srv.name,
values: currentResponse,
id: currentServiceId,
result: true,
}); });
console.log(active_eval_response); console.log("Service Responded!");
active_rl_eval_pub.publish(active_eval_response); // pendingRequest.value = false;
// await sleep(1000); // currentResponse = null;
console.log("New Policy/ Weights published"); // currentServiceId = null;
pendingRequest.value = false;
} }
} }
); );
@ -202,31 +235,10 @@ const bo_service = new ROSLIB.Service({
serviceType: "active_bo_msgs/srv/BO", serviceType: "active_bo_msgs/srv/BO",
}); });
// const active_bo_service = new ROSLIB.Service({ const active_bo_service = new ROSLIB.Service({
// ros: ros,
// name: "/active_bo_srv",
// serviceType: "active_bo_msgs/srv/ActiveBO",
// });
const active_bo_pending = ref(false);
const active_bo_request = new ROSLIB.Topic({
ros: ros, ros: ros,
name: "/active_bo_request", name: "/active_bo_srv",
messageType: "active_bo_msgs/msg/ActiveBORequest", serviceType: "active_bo_msgs/srv/ActiveBO",
});
const active_bo_response = new ROSLIB.Topic({
ros: ros,
name: "/active_bo_response",
messageType: "active_bo_msgs/msg/ActiveBOResponse",
});
active_bo_response.subscribe((msg) => {
pstore.setPolicy(msg.best_policy);
pstore.setWeights(msg.best_weights);
rstore.setMean(msg.reward_mean);
rstore.setStd(msg.reward_std);
active_bo_pending.value = false;
}); });
watch( watch(
@ -262,8 +274,8 @@ watch(
}); });
rl_service.callService(rl_request, () => {}); rl_service.callService(rl_request, () => {});
} else if (usr_mode === "active BO" && !active_bo_pending.value) { } else if (usr_mode === "active BO") {
const request_msg = new ROSLIB.Message({ const active_bo_request = new ROSLIB.ServiceRequest({
nr_weights: pstore.nr_weights, nr_weights: pstore.nr_weights,
max_steps: pstore.max_steps, max_steps: pstore.max_steps,
nr_episodes: cstore.nr_episodes, nr_episodes: cstore.nr_episodes,
@ -272,37 +284,20 @@ watch(
epsilon: cstore.epsilon, epsilon: cstore.epsilon,
}); });
active_bo_request.publish(request_msg); active_bo_service.callService(
active_bo_request,
function (active_bo_response) {
pstore.setPolicy(active_bo_response.best_policy);
pstore.setWeights(active_bo_response.best_weights);
rstore.setMean(active_bo_response.reward_mean);
rstore.setStd(active_bo_response.reward_std);
}
);
const rl_request = new ROSLIB.ServiceRequest({ const rl_request = new ROSLIB.ServiceRequest({
policy: pstore.policy, policy: pstore.policy,
}); });
rl_service.callService(rl_request, () => {}); rl_service.callService(rl_request, () => {});
active_bo_pending.value = true;
// const active_bo_request = new ROSLIB.ServiceRequest({
// nr_weights: pstore.nr_weights,
// max_steps: pstore.max_steps,
// nr_episodes: cstore.nr_episodes,
// nr_runs: cstore.nr_runs,
// acquisition_function: cstore.acq_fun,
// epsilon: cstore.epsilon,
// });
//
// active_bo_service.callService(
// active_bo_request,
// function (active_bo_response) {
// pstore.setPolicy(active_bo_response.best_policy);
// pstore.setWeights(active_bo_response.best_weights);
// rstore.setMean(active_bo_response.reward_mean);
// rstore.setStd(active_bo_response.reward_std);
// }
// );
// const rl_request = new ROSLIB.ServiceRequest({
// policy: pstore.policy,
// });
//
// rl_service.callService(rl_request, () => {});
} }
} }
); );

21
ActiveBOWeb/src/main.ts
View File

@ -4,21 +4,22 @@ import { createApp } from "vue";
import { createPinia } from "pinia"; import { createPinia } from "pinia";
// Vuetify // Vuetify
import "vuetify/styles"; import 'vuetify/styles'
import { createVuetify } from "vuetify"; import { createVuetify } from 'vuetify'
import * as components from "vuetify/components"; import * as components from 'vuetify/components'
import * as directives from "vuetify/directives"; import * as directives from 'vuetify/directives'
import "@mdi/font/css/materialdesignicons.css"; import '@mdi/font/css/materialdesignicons.css'
import App from "./App.vue"; import App from "./App.vue";
const pinia = createPinia(); const pinia = createPinia();
const vuetify = createVuetify({ const vuetify = createVuetify({
theme: { theme: {
defaultTheme: "dark", defaultTheme: 'dark',
}, },
components, components,
directives, directives,
}); });
const app = createApp(App); const app = createApp(App);