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compare: Niko:7bbbf54044533ad76000965aa0aad9c8f5cd67fb
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Niko:master

3 Commits
98a8748b15 ... 7bbbf54044

Author SHA1 Message Date
Niko
7bbbf54044 Active BO works 2023-04-04 17:03:31 +02:00
Niko
96a060f985 Merge remote-tracking branch 'origin/master' 
# Conflicts:
#	ActiveBOWeb/src/components/RosBar.vue
 2023-03-27 17:01:37 +02:00
Niko
98226688c2 Works for one user input 2023-03-27 17:00:46 +02:00
2 changed files with 109 additions and 105 deletions
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193
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({
@ -126,99 +126,66 @@ 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/ActiveRLEval", messageType: "active_bo_msgs/msg/ActiveRL",
// });
//
// const pendingRequest = ref(false);
// active_rl_eval_sub.subscribe((msg) => {
// pstore.setPolicy(msg.policy);
// pstore.setWeights(msg.weights);
// pendingRequest.value = true;
// });
//
// const active_rl_eval_pub = new ROSLIB.Topic({
// ros: ros_eval,
// name: "/active_rl_eval_response",
// messageType: "active_bo_msgs/msg/ActiveRLEval",
// });
// Active RL Eval Service
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); const pendingRequest = ref(false);
active_rl_eval_sub.subscribe((msg) => {
active_rl_eval_srv.advertise(function (request, response) { pstore.setPolicy(msg.policy);
currentResponse = response; pstore.setWeights(msg.weights);
currentServiceId = this.id;
pendingRequest.value = true; pendingRequest.value = true;
pstore.setPolicy(request["old_policy"]);
pstore.setWeights(request["old_weights"]);
console.log(request);
return false;
}); });
const active_rl_eval_pub = new ROSLIB.Topic({
ros: ros_eval,
name: "/active_rl_eval_response",
messageType: "active_bo_msgs/msg/ActiveRL",
});
// 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) {
// return new Promise((resolve) => setTimeout(resolve, ms));
// }
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 } else if (usr_mode === "active BO") {
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("Service Responded!"); console.log(active_eval_response);
// pendingRequest.value = false; active_rl_eval_pub.publish(active_eval_response);
// currentResponse = null; // await sleep(1000);
// currentServiceId = null; console.log("New Policy/ Weights published");
pendingRequest.value = false;
} }
} }
); );
@ -235,10 +202,31 @@ 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_srv", name: "/active_bo_request",
serviceType: "active_bo_msgs/srv/ActiveBO", messageType: "active_bo_msgs/msg/ActiveBORequest",
});
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(
@ -274,8 +262,8 @@ watch(
}); });
rl_service.callService(rl_request, () => {}); rl_service.callService(rl_request, () => {});
} else if (usr_mode === "active BO") { } else if (usr_mode === "active BO" && !active_bo_pending.value) {
const active_bo_request = new ROSLIB.ServiceRequest({ const request_msg = new ROSLIB.Message({
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,
@ -284,20 +272,37 @@ watch(
epsilon: cstore.epsilon, epsilon: cstore.epsilon,
}); });
active_bo_service.callService( active_bo_request.publish(request_msg);
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

@ -4,22 +4,21 @@ 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);