From 0a831364305ba7465dfce7bc56116d28b83a8a93 Mon Sep 17 00:00:00 2001
From: Niko <nikolaus.feith@unileoben.ac.at>
Date: Fri, 2 Jun 2023 14:06:59 +0200
Subject: [PATCH] dynamic change of the metric parameters

---
 ActiveBOWeb/src/components/ControlPanel.vue | 41 ++++++++++++++++-----
 ActiveBOWeb/src/components/RosBar.vue       | 28 --------------
 ActiveBOWeb/src/components/SubLayout.vue    |  4 +-
 ActiveBOWeb/src/store/ControlStore.js       |  9 ++++-
 4 files changed, 42 insertions(+), 40 deletions(-)

diff --git a/ActiveBOWeb/src/components/ControlPanel.vue b/ActiveBOWeb/src/components/ControlPanel.vue
index 15e08c0..d0eb961 100644
--- a/ActiveBOWeb/src/components/ControlPanel.vue
+++ b/ActiveBOWeb/src/components/ControlPanel.vue
@@ -1,6 +1,6 @@
 <template>
-  <v-row>
-    <v-col class="px-4">
+  <v-row class="flex-row">
+    <v-col class="flex-col px-4">
       <v-row class="d-flex justify-space-evenly">
         <v-select
           :items="envs"
@@ -59,20 +59,43 @@
         class="control-slider"
         label="Metric Parameter"
         v-model="cstore.metric_parameter"
+        :step="cstore.metric_limits[cstore.metric][2]"
+        :min="cstore.metric_limits[cstore.metric][0]"
+        :max="cstore.metric_limits[cstore.metric][1]"
+        thumb-label
+      />
+      <v-slider
+        v-if="cstore.metric === 'improvement'"
+        class="control-slider"
+        label="Metric Parameter"
+        v-model="cstore.metric_parameter2"
         :step="0.01"
         :min="0"
         :max="1"
         thumb-label
       />
-      <v-row class="justify-space-evenly pa-1">
-        <v-checkbox v-model="cstore.fixed_seed" label="fixed seed" />
-        <v-checkbox v-model="cstore.save_result" label="save_result" />
+      <v-row class="justify-space-evenly px-1 py-0">
+        <v-checkbox
+          class="py-0 my-0"
+          v-model="cstore.fixed_seed"
+          label="fixed seed"
+        />
+        <v-checkbox
+          class="py-0 my-0"
+          v-model="cstore.save_result"
+          label="save_result"
+        />
       </v-row>
-      <v-row class="d-flex justify-space-evenly mb-1">
-        <v-btn color="primary" @click="cstore.setSendWeights()"
+      <v-row class="d-flex justify-space-evenly py-0">
+        <v-btn
+          class="py-0 my-0"
+          color="primary"
+          @click="cstore.setSendWeights()"
           >Send Weights</v-btn
         >
-        <v-btn color="secondary" @click="cstore.setRunner()">Run</v-btn>
+        <v-btn class="py-0 my-0" color="secondary" @click="cstore.setRunner()"
+          >Run</v-btn
+        >
       </v-row>
     </v-col>
   </v-row>
@@ -87,7 +110,7 @@ const pstore = usePStore();
 const cstore = useCStore();
 
 const envs = cstore.envs;
-const metrics = cstore.metircs;
+const metrics = cstore.metrics;
 const acq_funs = cstore.acq_funs;
 
 const maxStepComp = computed({
diff --git a/ActiveBOWeb/src/components/RosBar.vue b/ActiveBOWeb/src/components/RosBar.vue
index 3076548..6ca4b71 100644
--- a/ActiveBOWeb/src/components/RosBar.vue
+++ b/ActiveBOWeb/src/components/RosBar.vue
@@ -166,24 +166,11 @@ watch(
     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;
   }
 );
 
-// const rl_service = new ROS.Service({
-//   ros: ros,
-//   name: "/rl_srv",
-//   serviceType: "active_bo_msgs/srv/RLRollOut",
-// });
-
-// const bo_service = new ROS.Service({
-//   ros: ros,
-//   name: "/bo_srv",
-//   serviceType: "active_bo_msgs/srv/BO",
-// });
-
 const active_bo_pending = ref(false);
 
 const active_bo_request = new ROS.Topic({
@@ -225,21 +212,6 @@ watch(
     active_bo_request.publish(request_msg);
   }
 );
-
-// watch(
-//   () => active_bo_pending.value,
-//   () => {
-//     if (active_bo_pending.value) {
-//       return;
-//     }
-//     const rl_request = new ROS.ServiceRequest({
-//       env: cstore.env,
-//       policy: pstore.policy,
-//     });
-//
-//     rl_service.callService(rl_request, () => {});
-//   }
-// );
 </script>
 
 <style scoped></style>
diff --git a/ActiveBOWeb/src/components/SubLayout.vue b/ActiveBOWeb/src/components/SubLayout.vue
index ba9b764..a4a2377 100644
--- a/ActiveBOWeb/src/components/SubLayout.vue
+++ b/ActiveBOWeb/src/components/SubLayout.vue
@@ -36,7 +36,7 @@
               class="tile"
               :style="{ height: 'calc(40vh - 24px)', width: '100%' }"
             >
-              <MountainCarCanvas />
+              <RLCanvas />
             </v-card>
           </v-col>
           <v-col cols="12">
@@ -58,7 +58,7 @@ import WeightTuner from "@/components/WeightTuner.vue";
 import RewardPlot from "@/components/RewardPlot.vue";
 import PolicyPlot from "@/components/PolicyPlot.vue";
 import ControlPanel from "@/components/ControlPanel.vue";
-import MountainCarCanvas from "@/components/RLCanvas.vue";
+import RLCanvas from "@/components/RLCanvas.vue";
 </script>
 
 <style scoped>
diff --git a/ActiveBOWeb/src/store/ControlStore.js b/ActiveBOWeb/src/store/ControlStore.js
index a2fe505..0a09663 100644
--- a/ActiveBOWeb/src/store/ControlStore.js
+++ b/ActiveBOWeb/src/store/ControlStore.js
@@ -6,7 +6,13 @@ export const useCStore = defineStore("Control Store", {
       env: "Mountain Car",
       envs: ["Mountain Car", "Cartpole", "Acrobot", "Pendulum"],
       metric: "random",
-      metircs: ["random", "regular", "max acquisition", "improvement"],
+      metrics: ["random", "regular", "max_acquisition", "improvement"],
+      metric_limits: {
+        random: [0.0, 1.0, 0.01],
+        regular: [1, 100, 1],
+        max_acquisition: [1, 200, 1],
+        improvement: [1, 100, 1],
+      },
       acq_fun: "Expected Improvement",
       acq_funs: [
         "Expected Improvement",
@@ -16,6 +22,7 @@ export const useCStore = defineStore("Control Store", {
       nr_episodes: 50,
       nr_runs: 10,
       metric_parameter: 0.5,
+      metric_parameter2: 0.5,
       sendWeights: false,
       runner: false,
       fixed_seed: false,