From 9a7022917102dd8b566709118bc8121f00b10b18 Mon Sep 17 00:00:00 2001
From: Niko <nikolaus.feith@unileoben.ac.at>
Date: Mon, 28 Aug 2023 16:37:20 +0200
Subject: [PATCH] preparation for 2d policy

---
 InteractiveBO/src/components/RosBar.vue | 52 ++++++++++++++++++-------
 InteractiveBO/src/store/ControlStore.js |  9 ++++-
 InteractiveBO/src/store/PolicyStore.js  |  2 -
 3 files changed, 46 insertions(+), 17 deletions(-)

diff --git a/InteractiveBO/src/components/RosBar.vue b/InteractiveBO/src/components/RosBar.vue
index 8cb2b19..0811e5a 100644
--- a/InteractiveBO/src/components/RosBar.vue
+++ b/InteractiveBO/src/components/RosBar.vue
@@ -144,8 +144,19 @@ const active_rl_eval_sub = new ROS.Topic({
 
 const pendingRequest = ref(false);
 active_rl_eval_sub.subscribe((msg) => {
-  pstore.setPolicy(msg.policy);
-  pstore.setWeights(msg.weights);
+  const nr_steps = msg.nr_steps;
+  const nr_weights = msg.nr_weights;
+
+  const pol_x = msg.policy.slice(0, nr_steps);
+  const pol_y = msg.policy.slice(nr_steps);
+
+  const weights_x = msg.weights.slice(0, nr_weights);
+  const weights_y = msg.weights.slice(nr_weights);
+
+  pstore.setPolicy(pol_x);
+  pstore.setPolicy_y(pol_y);
+  pstore.setWeights(weights_x);
+  pstore.setWeights(weights_y);
   pendingRequest.value = true;
 });
 
@@ -162,10 +173,13 @@ watch(
       return;
     }
     console.log("Button pressed!");
+    const policy = pstore.policy.concat(pstore.policy_y);
+    const weights = pstore.weights.concat(pstore.weights_y);
+    const weights_fixed = pstore.weights_fixed.concat(pstore.weights_fixed_y);
     const active_eval_response = new ROS.Message({
-      policy: pstore.policy,
-      weights: pstore.weights,
-      overwrite_weight: pstore.weights_fixed,
+      policy: policy,
+      weights: weights,
+      overwrite_weight: weights_fixed,
     });
 
     console.log(active_eval_response);
@@ -178,12 +192,6 @@ watch(
 
 const active_bo_pending = ref(false);
 
-const active_bo_request = new ROS.Topic({
-  ros: ros,
-  name: "/active_bo_request",
-  messageType: "active_bo_msgs/msg/ActiveBORequest",
-});
-
 const active_bo_response = new ROS.Topic({
   ros: ros,
   name: "/active_bo_response",
@@ -191,13 +199,30 @@ const active_bo_response = new ROS.Topic({
 });
 
 active_bo_response.subscribe((msg) => {
-  pstore.setPolicy(msg.best_policy);
-  pstore.setWeights(msg.best_weights);
+  const nr_steps = msg.nr_steps;
+  const nr_weights = msg.nr_weights;
+
+  const pol_x = msg.best_policy.slice(0, nr_steps);
+  const pol_y = msg.best_policy.slice(nr_steps);
+
+  const weights_x = msg.best_weights.slice(0, nr_weights);
+  const weights_y = msg.best_weights.slice(nr_weights);
+
+  pstore.setPolicy(pol_x);
+  pstore.setPolicy_y(pol_y);
+  pstore.setWeights(weights_x);
+  pstore.setWeights(weights_y);
   rstore.setMean(msg.reward_mean);
   rstore.setStd(msg.reward_std);
   active_bo_pending.value = false;
 });
 
+const active_bo_request = new ROS.Topic({
+  ros: ros,
+  name: "/active_bo_request",
+  messageType: "active_bo_msgs/msg/ActiveBORequest",
+});
+
 watch(
   () => cstore.getRunner,
   () => {
@@ -207,6 +232,7 @@ watch(
       fixed_seed: cstore.fixed_seed,
       nr_weights: pstore.nr_weights,
       max_steps: pstore.max_steps,
+      nr_dims: cstore.env_dim[cstore.env],
       nr_episodes: cstore.nr_episodes,
       nr_runs: cstore.nr_runs,
       acquisition_function: cstore.acq_fun,
diff --git a/InteractiveBO/src/store/ControlStore.js b/InteractiveBO/src/store/ControlStore.js
index cf5c091..fc4410f 100644
--- a/InteractiveBO/src/store/ControlStore.js
+++ b/InteractiveBO/src/store/ControlStore.js
@@ -1,10 +1,14 @@
 import { defineStore } from "pinia";
+import {state} from "vue-tsc/out/shared";
 
 export const useCStore = defineStore("Control Store", {
   state: () => {
     return {
-      env: "Mountain Car",
-      envs: ["Mountain Car", "Cartpole", "Acrobot", "Pendulum"],
+      env: "Reacher",
+      envs: ["Reacher"],
+      env_dim: {
+        Reacher: 2,
+      },
       metric: "random",
       metrics: ["random", "regular", "improvement", "max_acquisition"],
       metrics_label: {
@@ -39,6 +43,7 @@ export const useCStore = defineStore("Control Store", {
   },
   getters: {
     getEnv: (state) => state.env,
+    getEnvdims: (state) => state.env_dims,
     getMetric: (state) => state.metric,
     getNrEpisodes: (state) => state.nr_episodes,
     getNrRuns: (state) => state.nr_runs,
diff --git a/InteractiveBO/src/store/PolicyStore.js b/InteractiveBO/src/store/PolicyStore.js
index 8dec8d9..2595ca3 100644
--- a/InteractiveBO/src/store/PolicyStore.js
+++ b/InteractiveBO/src/store/PolicyStore.js
@@ -57,8 +57,6 @@ export const usePStore = defineStore("Policy Store", {
     },
     resetWeights_Fixed() {
       this.weights_fixed = Array(this.nr_weights).fill(false);
-    },
-    resetWeights_Fixed_y() {
       this.weights_fixed_y = Array(this.nr_weights).fill(false);
     },
   },