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Active BO works

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This commit is contained in:
Niko Feith 2023-04-04 17:03:31 +02:00
parent 96a060f985
commit 7bbbf54044
2 changed files with 64 additions and 27 deletions
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70
ActiveBOWeb/src/components/RosBar.vue
View File

@ -129,7 +129,7 @@ rl_feedback_subscriber.subscribe((msg) => {
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); const pendingRequest = ref(false);
@ -142,7 +142,7 @@ active_rl_eval_sub.subscribe((msg) => {
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/ActiveRLEval", messageType: "active_bo_msgs/msg/ActiveRL",
}); });
// const active_eval_response_first = new ROSLIB.Message({ // const active_eval_response_first = new ROSLIB.Message({
@ -202,10 +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(
@ -241,8 +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,
@ -251,20 +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);