From 3132214a3653dd902596291a7cbe30764aaec093 Mon Sep 17 00:00:00 2001
From: Niko <nikolaus.feith@unileoben.ac.at>
Date: Tue, 30 May 2023 15:55:00 +0200
Subject: [PATCH] clean up for metric implementation

---
 ActiveBOWeb/src/components/ControlPanel.vue |  37 +----
 ActiveBOWeb/src/components/RosBar.vue       | 143 ++++++--------------
 ActiveBOWeb/src/store/ControlStore.js       |   6 +-
 3 files changed, 49 insertions(+), 137 deletions(-)

diff --git a/ActiveBOWeb/src/components/ControlPanel.vue b/ActiveBOWeb/src/components/ControlPanel.vue
index 71724d5..7b8cf3a 100644
--- a/ActiveBOWeb/src/components/ControlPanel.vue
+++ b/ActiveBOWeb/src/components/ControlPanel.vue
@@ -39,7 +39,6 @@
         :min="10"
         :max="200"
         thumb-label
-        :disabled="episodeRef"
       />
       <v-slider
         class="control-slider"
@@ -49,13 +48,11 @@
         :min="1"
         :max="50"
         thumb-label
-        :disabled="runRef"
       />
       <v-select
         :items="acq_funs"
         label="Acquisition Function"
         v-model="acqSelector"
-        :disabled="acqRef"
       ></v-select>
       <v-slider
         class="control-slider"
@@ -65,7 +62,6 @@
         :min="0"
         :max="1"
         thumb-label
-        :disabled="epsilonRef"
       />
       <v-checkbox v-model="cstore.fixed_seed" label="fixed seed" />
       <v-row class="d-flex justify-space-evenly mb-1">
@@ -81,7 +77,7 @@
 <script setup>
 import { usePStore } from "@/store/PolicyStore";
 import { useCStore } from "@/store/ControlStore";
-import { computed, watch, ref } from "vue";
+import { computed } from "vue";
 
 const pstore = usePStore();
 const cstore = useCStore();
@@ -90,11 +86,6 @@ const envs = cstore.envs;
 const metrics = cstore.metircs;
 const acq_funs = cstore.acq_funs;
 
-const episodeRef = ref(true);
-const runRef = ref(true);
-const acqRef = ref(true);
-const epsilonRef = ref(true);
-
 const maxStepComp = computed({
   get: () => pstore.max_steps,
   set: (value) => pstore.setMaxSteps(value),
@@ -119,32 +110,6 @@ const acqSelector = computed({
   get: () => cstore.acq_fun,
   set: (value) => cstore.setAcq(value),
 });
-
-watch(
-  () => cstore.getMetric,
-  () => {
-    const usrMode = cstore.getMetric;
-
-    if (usrMode === "manually") {
-      episodeRef.value = true;
-      runRef.value = true;
-      acqRef.value = true;
-      epsilonRef.value = true;
-    }
-    if (usrMode === "BO") {
-      episodeRef.value = false;
-      runRef.value = false;
-      acqRef.value = false;
-      epsilonRef.value = true;
-    }
-    if (usrMode === "active BO") {
-      episodeRef.value = false;
-      runRef.value = false;
-      acqRef.value = false;
-      epsilonRef.value = false;
-    }
-  }
-);
 </script>
 
 <style scoped>
diff --git a/ActiveBOWeb/src/components/RosBar.vue b/ActiveBOWeb/src/components/RosBar.vue
index f28ff7f..81c7982 100644
--- a/ActiveBOWeb/src/components/RosBar.vue
+++ b/ActiveBOWeb/src/components/RosBar.vue
@@ -140,25 +140,21 @@ const active_rl_eval_pub = new ROS.Topic({
 watch(
   () => cstore.getSendWeights,
   () => {
-    const metric = cstore.getMetric;
-
-    if (metric === "active BO") {
-      if (!pendingRequest.value) {
-        return;
-      }
-      console.log("Button pressed!");
-      const active_eval_response = new ROS.Message({
-        policy: pstore.policy,
-        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;
+    if (!pendingRequest.value) {
+      return;
     }
+    console.log("Button pressed!");
+    const active_eval_response = new ROS.Message({
+      policy: pstore.policy,
+      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;
   }
 );
 
@@ -168,11 +164,11 @@ const rl_service = new ROS.Service({
   serviceType: "active_bo_msgs/srv/RLRollOut",
 });
 
-const bo_service = new ROS.Service({
-  ros: ros,
-  name: "/bo_srv",
-  serviceType: "active_bo_msgs/srv/BO",
-});
+// const bo_service = new ROS.Service({
+//   ros: ros,
+//   name: "/bo_srv",
+//   serviceType: "active_bo_msgs/srv/BO",
+// });
 
 const active_bo_pending = ref(false);
 
@@ -199,83 +195,34 @@ active_bo_response.subscribe((msg) => {
 watch(
   () => cstore.getRunner,
   () => {
-    const usr_mode = cstore.getMetric;
+    const request_msg = new ROS.Message({
+      env: cstore.env,
+      metric: cstore.metric,
+      fixed_seed: cstore.fixed_seed,
+      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,
+      metric_parameter: cstore.metric_parameter,
+    });
+    active_bo_pending.value = true;
+    active_bo_request.publish(request_msg);
+  }
+);
 
-    if (usr_mode === "manually") {
-      const rl_request = new ROS.ServiceRequest({
-        env: cstore.env,
-        policy: pstore.policy,
-      });
-
-      rl_service.callService(rl_request, function (rl_response) {
-        rstore.addMeanManually(rl_response.reward);
-      });
-    } else if (usr_mode === "BO") {
-      const bo_request = new ROS.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,
-      });
-
-      bo_service.callService(bo_request, function (bo_response) {
-        pstore.setPolicy(bo_response.best_policy);
-        pstore.setWeights(bo_response.best_weights);
-        rstore.setMean(bo_response.reward_mean);
-        rstore.setStd(bo_response.reward_std);
-      });
-      const rl_request = new ROS.ServiceRequest({
-        env: cstore.env,
-        policy: pstore.policy,
-      });
-
-      rl_service.callService(rl_request, () => {});
-    } else if (usr_mode === "active BO" && !active_bo_pending.value) {
-      const request_msg = new ROS.Message({
-        env: cstore.env,
-        fixed_seed: cstore.fixed_seed,
-        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,
-        metric_parameter: cstore.metric_parameter,
-      });
-
-      active_bo_request.publish(request_msg);
-      const rl_request = new ROS.ServiceRequest({
-        env: cstore.env,
-        policy: pstore.policy,
-      });
-
-      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, () => {});
+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>
diff --git a/ActiveBOWeb/src/store/ControlStore.js b/ActiveBOWeb/src/store/ControlStore.js
index 99c84f7..23acadc 100644
--- a/ActiveBOWeb/src/store/ControlStore.js
+++ b/ActiveBOWeb/src/store/ControlStore.js
@@ -5,8 +5,8 @@ export const useCStore = defineStore("Control Store", {
     return {
       env: "Mountain Car",
       envs: ["Mountain Car", "Cartpole", "Acrobot", "Pendulum"],
-      metric: "manually",
-      metircs: ["manually", "BO", "active BO"],
+      metric: "random",
+      metircs: ["random", "regular", "max acquisition", "improvement"],
       acq_fun: "Expected Improvement",
       acq_funs: [
         "Expected Improvement",
@@ -15,7 +15,7 @@ export const useCStore = defineStore("Control Store", {
       ],
       nr_episodes: 50,
       nr_runs: 10,
-      metric_parameter: 0,
+      metric_parameter: 0.5,
       sendWeights: false,
       runner: false,
       fixed_seed: false,