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monticore
EmbeddedMontiArc
generators
EMADL2CPP
Commits
5a35c2f7
Commit
5a35c2f7
authored
May 10, 2019
by
Nicola Gatto
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Add generation test for ros environment reinforcement model
parent
d91b80d0
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src/test/resources/target_code/gluon/reinforcementModel/torcs/start_training.sh
...get_code/gluon/reinforcementModel/torcs/start_training.sh
+10
-0
src/test/resources/target_code/gluon/reinforcementModel/torcs/torcs_agent_torcsAgent.cpp
...gluon/reinforcementModel/torcs/torcs_agent_torcsAgent.cpp
+1
-0
src/test/resources/target_code/gluon/reinforcementModel/torcs/torcs_agent_torcsAgent.h
...e/gluon/reinforcementModel/torcs/torcs_agent_torcsAgent.h
+32
-0
src/test/resources/target_code/gluon/reinforcementModel/torcs/torcs_agent_torcsAgent_dqn.h
...uon/reinforcementModel/torcs/torcs_agent_torcsAgent_dqn.h
+32
-0
src/test/resources/target_code/gluon/reinforcementModel/torcs/torcs_agent_torcsAgent_policy.h
.../reinforcementModel/torcs/torcs_agent_torcsAgent_policy.h
+31
-0
No files found.
src/test/java/de/monticore/lang/monticar/emadl/GenerationTest.java
View file @
5a35c2f7
...
...
@@ -222,6 +222,58 @@ public class GenerationTest extends AbstractSymtabTest {
);
}
@Test
public
void
testGluonReinforcementModelRosEnvironment
()
{
Log
.
getFindings
().
clear
();
String
[]
args
=
{
"-m"
,
"src/test/resources/models/reinforcementModel"
,
"-r"
,
"torcs.agent.TorcsAgent"
,
"-b"
,
"GLUON"
,
"-f"
,
"n"
,
"-c"
,
"n"
};
EMADLGeneratorCli
.
main
(
args
);
assertTrue
(
Log
.
getFindings
().
stream
().
filter
(
Finding:
:
isError
).
collect
(
Collectors
.
toList
()).
isEmpty
());
checkFilesAreEqual
(
Paths
.
get
(
"./target/generated-sources-emadl"
),
Paths
.
get
(
"./src/test/resources/target_code/gluon/reinforcementModel/torcs"
),
Arrays
.
asList
(
"CMakeLists.txt"
,
"CNNBufferFile.h"
,
"torcs_agent_torcsAgent.cpp"
,
"torcs_agent_torcsAgent.h"
,
"torcs_agent_torcsAgent_dqn.h"
,
"torcs_agent_torcsAgent_policy.h"
,
"CNNCreator_torcs_agent_torcsAgent_dqn.py"
,
"CNNNet_torcs_agent_torcsAgent_dqn.py"
,
"CNNPredictor_torcs_agent_torcsAgent_dqn.h"
,
"CNNTrainer_torcs_agent_torcsAgent_dqn.py"
,
"CNNTranslator.h"
,
"HelperA.h"
,
"start_training.sh"
,
"reward/CMakeLists.txt"
,
"reward/HelperA.h"
,
"reward/torcs_agent_dqn_reward.cpp"
,
"reward/torcs_agent_dqn_reward.h"
,
"reward/pylib/CMakeLists.txt"
,
"reward/pylib/torcs_agent_dqn_reward_executor.cpp"
,
"reward/pylib/torcs_agent_dqn_reward_executor.h"
,
"reward/pylib/torcs_agent_dqn_reward_executor.i"
,
"reward/pylib/armanpy/armanpy.hpp"
,
"reward/pylib/armanpy/armanpy.i"
,
"reward/pylib/armanpy/armanpy_1d.i"
,
"reward/pylib/armanpy/armanpy_2d.i"
,
"reward/pylib/armanpy/armanpy_3d.i"
,
"reward/pylib/armanpy/numpy.i"
,
"reinforcement_learning/__init__.py"
,
"reinforcement_learning/action_policy.py"
,
"reinforcement_learning/agent.py"
,
"reinforcement_learning/environment.py"
,
"reinforcement_learning/replay_memory.py"
,
"reinforcement_learning/util.py"
,
"reinforcement_learning/torcs_agent_dqn_reward_executor.py"
)
);
assertTrue
(
Paths
.
get
(
"./target/generated-sources-emadl/reinforcement_learning/_torcs_agent_dqn_reward_executor.so"
)
.
toFile
().
exists
());
}
@Test
public
void
testHashFunction
()
{
EMADLGenerator
tester
=
new
EMADLGenerator
(
Backend
.
MXNET
);
...
...
src/test/resources/models/reinforcementModel/torcs/agent/TorcsAgent.emadl
0 → 100644
View file @
5a35c2f7
package
torcs
.
agent
;
import
torcs
.
agent
.
policy
.
GreedyDiscreteActionPolicy
;
import
torcs
.
agent
.
dqn
.
TorcsDQN
;
component
TorcsAgent
{
ports
in
Q
^{
5
}
state
,
out
Z
action
;
instance
TorcsDQN
<
30
>
dqn
;
instance
GreedyDiscreteActionPolicy
<
30
>
policy
;
connect
state
->
dqn
.
state
;
connect
dqn
.
qvalues
->
policy
.
values
;
connect
policy
.
action
->
action
;
}
\ No newline at end of file
src/test/resources/models/reinforcementModel/torcs/agent/TorcsAgent.tag
0 → 100644
View file @
5a35c2f7
package
torcs
.
agent
;
conforms
to
de
.
monticore
.
lang
.
monticar
.
generator
.
roscpp
.
RosToEmamTagSchema
;
tags
TorcsAgent
{
tag
torcsAgent
.
state
with
RosConnection
=
{
topic
=(
preprocessor_state
,
std_msgs
/
Float32MultiArray
)};
tag
torcsAgent
.
action
with
RosConnection
=
{
topic
=(
postprocessor_action
,
std_msgs
/
Int32
)};
}
\ No newline at end of file
src/test/resources/models/reinforcementModel/torcs/agent/dqn/Reward.emadl
0 → 100644
View file @
5a35c2f7
package
torcs
.
agent
.
dqn
;
component
Reward
{
ports
in
Q
^{
5
}
state
,
in
B
isTerminal
,
out
Q
reward
;
implementation
Math
{
Q
angle
=
state
(
1
);
Q
speed
=
state
(
2
);
reward
=
speed
*
cos
(
angle
);
}
}
\ No newline at end of file
src/test/resources/models/reinforcementModel/torcs/agent/dqn/TorcsDQN.cnnt
0 → 100644
View file @
5a35c2f7
configuration TorcsDQN {
context : cpu
learning_method : reinforcement
environment : ros_interface {
state_topic : "preprocessor_state"
terminal_state_topic : "prepocessor_is_terminal"
action_topic : "postprocessor_action"
reset_topic : "torcs_reset"
}
reward_function : torcs.agent.dqn.reward
num_episodes : 20000
discount_factor : 0.999
num_max_steps : 999999999
training_interval : 1
use_fix_target_network : true
target_network_update_interval : 500
snapshot_interval : 1000
use_double_dqn : true
loss : euclidean
replay_memory : buffer{
memory_size : 1000000
sample_size : 32
}
action_selection : epsgreedy{
epsilon : 1.0
min_epsilon : 0.01
epsilon_decay_method: linear
epsilon_decay : 0.0001
}
optimizer : rmsprop{
learning_rate : 0.001
}
}
\ No newline at end of file
src/test/resources/models/reinforcementModel/torcs/agent/dqn/TorcsDQN.emadl
0 → 100644
View file @
5a35c2f7
package
torcs
.
agent
.
dqn
;
component
TorcsDQN
<
Z
(
1
:
oo
)
discrete_actions
=
2
>
{
ports
in
Q
^{
5
}
state
,
out
Q
(-
oo
:
oo
)^{
discrete_actions
}
qvalues
;
implementation
CNN
{
state
->
FullyConnected
(
units
=
512
)
->
Tanh
()
->
FullyConnected
(
units
=
256
)
->
Tanh
()
->
FullyConnected
(
units
=
discrete_actions
)
->
qvalues
}
}
\ No newline at end of file
src/test/resources/models/reinforcementModel/torcs/agent/policy/GreedyDiscreteActionPolicy.emadl
0 → 100644
View file @
5a35c2f7
package
torcs
.
agent
.
policy
;
component
GreedyDiscreteActionPolicy
<
Z
(
1
:
oo
)
n
=
2
>
{
ports
in
Q
^{
n
}
values
,
out
Z
action
;
implementation
Math
{
Z
best_action
=
0
;
Q
value_of_best_action
=
values
(
1
);
for
i
=
2
:
n
if
values
(
i
)
>
value_of_best_action
best_action
=
i
-
1
;
value_of_best_action
=
values
(
i
);
end
end
action
=
best_action
;
}
}
\ No newline at end of file
src/test/resources/target_code/gluon/reinforcementModel/torcs/CMakeLists.txt
0 → 100644
View file @
5a35c2f7
cmake_minimum_required
(
VERSION 3.5
)
set
(
CMAKE_CXX_STANDARD 14
)
project
(
torcs_agent_torcsAgent LANGUAGES CXX
)
#set cmake module path
set
(
CMAKE_MODULE_PATH
${
CMAKE_MODULE_PATH
}
${
CMAKE_CURRENT_SOURCE_DIR
}
/cmake
)
# add dependencies
find_package
(
Armadillo REQUIRED
)
set
(
INCLUDE_DIRS
${
INCLUDE_DIRS
}
${
Armadillo_INCLUDE_DIRS
}
)
set
(
LIBS
${
LIBS
}
${
Armadillo_LIBRARIES
}
)
# additional commands
set
(
LIBS
${
LIBS
}
mxnet
)
# create static library
include_directories
(
${
INCLUDE_DIRS
}
)
add_library
(
torcs_agent_torcsAgent torcs_agent_torcsAgent.cpp
)
target_include_directories
(
torcs_agent_torcsAgent PUBLIC
${
CMAKE_CURRENT_SOURCE_DIR
}
${
INCLUDE_DIRS
}
)
target_link_libraries
(
torcs_agent_torcsAgent PUBLIC
${
LIBS
}
)
set_target_properties
(
torcs_agent_torcsAgent PROPERTIES LINKER_LANGUAGE CXX
)
# export cmake project
export
(
TARGETS torcs_agent_torcsAgent FILE torcs_agent_torcsAgent.cmake
)
# additional commands end
src/test/resources/target_code/gluon/reinforcementModel/torcs/CNNBufferFile.h
0 → 100644
View file @
5a35c2f7
#ifndef CNNBUFFERFILE_H
#define CNNBUFFERFILE_H
#include <stdio.h>
#include <iostream>
#include <fstream>
// Read file to buffer
class
BufferFile
{
public
:
std
::
string
file_path_
;
int
length_
;
char
*
buffer_
;
explicit
BufferFile
(
std
::
string
file_path
)
:
file_path_
(
file_path
)
{
std
::
ifstream
ifs
(
file_path
.
c_str
(),
std
::
ios
::
in
|
std
::
ios
::
binary
);
if
(
!
ifs
)
{
std
::
cerr
<<
"Can't open the file. Please check "
<<
file_path
<<
".
\n
"
;
length_
=
0
;
buffer_
=
NULL
;
return
;
}
ifs
.
seekg
(
0
,
std
::
ios
::
end
);
length_
=
ifs
.
tellg
();
ifs
.
seekg
(
0
,
std
::
ios
::
beg
);
std
::
cout
<<
file_path
.
c_str
()
<<
" ... "
<<
length_
<<
" bytes
\n
"
;
buffer_
=
new
char
[
sizeof
(
char
)
*
length_
];
ifs
.
read
(
buffer_
,
length_
);
ifs
.
close
();
}
int
GetLength
()
{
return
length_
;
}
char
*
GetBuffer
()
{
return
buffer_
;
}
~
BufferFile
()
{
if
(
buffer_
)
{
delete
[]
buffer_
;
buffer_
=
NULL
;
}
}
};
#endif // CNNBUFFERFILE_H
src/test/resources/target_code/gluon/reinforcementModel/torcs/CNNCreator_torcs_agent_torcsAgent_dqn.py
0 → 100644
View file @
5a35c2f7
import
mxnet
as
mx
import
logging
import
os
from
CNNNet_torcs_agent_torcsAgent_dqn
import
Net
class
CNNCreator_torcs_agent_torcsAgent_dqn
:
_model_dir_
=
"model/torcs.agent.dqn.TorcsDQN/"
_model_prefix_
=
"model"
_input_shapes_
=
[(
5
,)]
def
__init__
(
self
):
self
.
weight_initializer
=
mx
.
init
.
Normal
()
self
.
net
=
None
def
get_input_shapes
(
self
):
return
self
.
_input_shapes_
def
load
(
self
,
context
):
lastEpoch
=
0
param_file
=
None
try
:
os
.
remove
(
self
.
_model_dir_
+
self
.
_model_prefix_
+
"_newest-0000.params"
)
except
OSError
:
pass
try
:
os
.
remove
(
self
.
_model_dir_
+
self
.
_model_prefix_
+
"_newest-symbol.json"
)
except
OSError
:
pass
if
os
.
path
.
isdir
(
self
.
_model_dir_
):
for
file
in
os
.
listdir
(
self
.
_model_dir_
):
if
".params"
in
file
and
self
.
_model_prefix_
in
file
:
epochStr
=
file
.
replace
(
".params"
,
""
).
replace
(
self
.
_model_prefix_
+
"-"
,
""
)
epoch
=
int
(
epochStr
)
if
epoch
>
lastEpoch
:
lastEpoch
=
epoch
param_file
=
file
if
param_file
is
None
:
return
0
else
:
logging
.
info
(
"Loading checkpoint: "
+
param_file
)
self
.
net
.
load_parameters
(
self
.
_model_dir_
+
param_file
)
return
lastEpoch
def
construct
(
self
,
context
,
data_mean
=
None
,
data_std
=
None
):
self
.
net
=
Net
(
data_mean
=
data_mean
,
data_std
=
data_std
)
self
.
net
.
collect_params
().
initialize
(
self
.
weight_initializer
,
ctx
=
context
)
self
.
net
.
hybridize
()
self
.
net
(
mx
.
nd
.
zeros
((
1
,)
+
self
.
_input_shapes_
[
0
],
ctx
=
context
))
if
not
os
.
path
.
exists
(
self
.
_model_dir_
):
os
.
makedirs
(
self
.
_model_dir_
)
self
.
net
.
export
(
self
.
_model_dir_
+
self
.
_model_prefix_
,
epoch
=
0
)
src/test/resources/target_code/gluon/reinforcementModel/torcs/CNNNet_torcs_agent_torcsAgent_dqn.py
0 → 100644
View file @
5a35c2f7
import
mxnet
as
mx
import
numpy
as
np
from
mxnet
import
gluon
class
Softmax
(
gluon
.
HybridBlock
):
def
__init__
(
self
,
**
kwargs
):
super
(
Softmax
,
self
).
__init__
(
**
kwargs
)
def
hybrid_forward
(
self
,
F
,
x
):
return
F
.
softmax
(
x
)
class
Split
(
gluon
.
HybridBlock
):
def
__init__
(
self
,
num_outputs
,
axis
=
1
,
**
kwargs
):
super
(
Split
,
self
).
__init__
(
**
kwargs
)
with
self
.
name_scope
():
self
.
axis
=
axis
self
.
num_outputs
=
num_outputs
def
hybrid_forward
(
self
,
F
,
x
):
return
F
.
split
(
data
=
x
,
axis
=
self
.
axis
,
num_outputs
=
self
.
num_outputs
)
class
Concatenate
(
gluon
.
HybridBlock
):
def
__init__
(
self
,
dim
=
1
,
**
kwargs
):
super
(
Concatenate
,
self
).
__init__
(
**
kwargs
)
with
self
.
name_scope
():
self
.
dim
=
dim
def
hybrid_forward
(
self
,
F
,
*
x
):
return
F
.
concat
(
*
x
,
dim
=
self
.
dim
)
class
ZScoreNormalization
(
gluon
.
HybridBlock
):
def
__init__
(
self
,
data_mean
,
data_std
,
**
kwargs
):
super
(
ZScoreNormalization
,
self
).
__init__
(
**
kwargs
)
with
self
.
name_scope
():
self
.
data_mean
=
self
.
params
.
get
(
'data_mean'
,
shape
=
data_mean
.
shape
,
init
=
mx
.
init
.
Constant
(
data_mean
.
asnumpy
().
tolist
()),
differentiable
=
False
)
self
.
data_std
=
self
.
params
.
get
(
'data_std'
,
shape
=
data_mean
.
shape
,
init
=
mx
.
init
.
Constant
(
data_std
.
asnumpy
().
tolist
()),
differentiable
=
False
)
def
hybrid_forward
(
self
,
F
,
x
,
data_mean
,
data_std
):
x
=
F
.
broadcast_sub
(
x
,
data_mean
)
x
=
F
.
broadcast_div
(
x
,
data_std
)
return
x
class
Padding
(
gluon
.
HybridBlock
):
def
__init__
(
self
,
padding
,
**
kwargs
):
super
(
Padding
,
self
).
__init__
(
**
kwargs
)
with
self
.
name_scope
():
self
.
pad_width
=
padding
def
hybrid_forward
(
self
,
F
,
x
):
x
=
F
.
pad
(
data
=
x
,
mode
=
'constant'
,
pad_width
=
self
.
pad_width
,
constant_value
=
0
)
return
x
class
NoNormalization
(
gluon
.
HybridBlock
):
def
__init__
(
self
,
**
kwargs
):
super
(
NoNormalization
,
self
).
__init__
(
**
kwargs
)
def
hybrid_forward
(
self
,
F
,
x
):
return
x
class
Net
(
gluon
.
HybridBlock
):
def
__init__
(
self
,
data_mean
=
None
,
data_std
=
None
,
**
kwargs
):
super
(
Net
,
self
).
__init__
(
**
kwargs
)
with
self
.
name_scope
():
if
not
data_mean
is
None
:
assert
(
not
data_std
is
None
)
self
.
input_normalization
=
ZScoreNormalization
(
data_mean
=
data_mean
,
data_std
=
data_std
)
else
:
self
.
input_normalization
=
NoNormalization
()
self
.
fc1_
=
gluon
.
nn
.
Dense
(
units
=
512
,
use_bias
=
True
)
# fc1_, output shape: {[512,1,1]}
self
.
tanh1_
=
gluon
.
nn
.
Activation
(
activation
=
'tanh'
)
self
.
fc2_
=
gluon
.
nn
.
Dense
(
units
=
256
,
use_bias
=
True
)
# fc2_, output shape: {[256,1,1]}
self
.
tanh2_
=
gluon
.
nn
.
Activation
(
activation
=
'tanh'
)
self
.
fc3_
=
gluon
.
nn
.
Dense
(
units
=
30
,
use_bias
=
True
)
# fc3_, output shape: {[30,1,1]}
self
.
last_layer
=
'linear'
def
hybrid_forward
(
self
,
F
,
x
):
state
=
self
.
input_normalization
(
x
)
fc1_
=
self
.
fc1_
(
state
)
tanh1_
=
self
.
tanh1_
(
fc1_
)
fc2_
=
self
.
fc2_
(
tanh1_
)
tanh2_
=
self
.
tanh2_
(
fc2_
)
fc3_
=
self
.
fc3_
(
tanh2_
)
return
fc3_
src/test/resources/target_code/gluon/reinforcementModel/torcs/CNNPredictor_torcs_agent_torcsAgent_dqn.h
0 → 100644
View file @
5a35c2f7
#ifndef CNNPREDICTOR_TORCS_AGENT_TORCSAGENT_DQN
#define CNNPREDICTOR_TORCS_AGENT_TORCSAGENT_DQN
#include <mxnet/c_predict_api.h>
#include <cassert>
#include <string>
#include <vector>
#include <CNNBufferFile.h>
class
CNNPredictor_torcs_agent_torcsAgent_dqn
{
public:
const
std
::
string
json_file
=
"model/torcs.agent.dqn.TorcsDQN/model_newest-symbol.json"
;
const
std
::
string
param_file
=
"model/torcs.agent.dqn.TorcsDQN/model_newest-0000.params"
;
//const std::vector<std::string> input_keys = {"data"};
const
std
::
vector
<
std
::
string
>
input_keys
=
{
"state"
};
const
std
::
vector
<
std
::
vector
<
mx_uint
>>
input_shapes
=
{{
1
,
5
}};
const
bool
use_gpu
=
false
;
PredictorHandle
handle
;
explicit
CNNPredictor_torcs_agent_torcsAgent_dqn
(){
init
(
json_file
,
param_file
,
input_keys
,
input_shapes
,
use_gpu
);
}
~
CNNPredictor_torcs_agent_torcsAgent_dqn
(){
if
(
handle
)
MXPredFree
(
handle
);
}
void
predict
(
const
std
::
vector
<
float
>
&
state
,
std
::
vector
<
float
>
&
qvalues
){
MXPredSetInput
(
handle
,
"data"
,
state
.
data
(),
static_cast
<
mx_uint
>
(
state
.
size
()));
MXPredForward
(
handle
);
mx_uint
output_index
;
mx_uint
*
shape
=
0
;
mx_uint
shape_len
;
size_t
size
;
output_index
=
0
;
MXPredGetOutputShape
(
handle
,
output_index
,
&
shape
,
&
shape_len
);
size
=
1
;
for
(
mx_uint
i
=
0
;
i
<
shape_len
;
++
i
)
size
*=
shape
[
i
];
assert
(
size
==
qvalues
.
size
());
MXPredGetOutput
(
handle
,
0
,
&
(
qvalues
[
0
]),
qvalues
.
size
());
}
void
init
(
const
std
::
string
&
json_file
,
const
std
::
string
&
param_file
,
const
std
::
vector
<
std
::
string
>
&
input_keys
,
const
std
::
vector
<
std
::
vector
<
mx_uint
>>
&
input_shapes
,
const
bool
&
use_gpu
){
BufferFile
json_data
(
json_file
);
BufferFile
param_data
(
param_file
);
int
dev_type
=
use_gpu
?
2
:
1
;
int
dev_id
=
0
;
if
(
json_data
.
GetLength
()
==
0
||
param_data
.
GetLength
()
==
0
)
{
std
::
exit
(
-
1
);
}
const
mx_uint
num_input_nodes
=
input_keys
.
size
();
const
char
*
input_key
[
1
]
=
{
"data"
};
const
char
**
input_keys_ptr
=
input_key
;
mx_uint
shape_data_size
=
0
;
mx_uint
input_shape_indptr
[
input_shapes
.
size
()
+
1
];
input_shape_indptr
[
0
]
=
0
;
for
(
mx_uint
i
=
0
;
i
<
input_shapes
.
size
();
i
++
){
input_shape_indptr
[
i
+
1
]
=
input_shapes
[
i
].
size
();
shape_data_size
+=
input_shapes
[
i
].
size
();
}
mx_uint
input_shape_data
[
shape_data_size
];
mx_uint
index
=
0
;
for
(
mx_uint
i
=
0
;
i
<
input_shapes
.
size
();
i
++
){
for
(
mx_uint
j
=
0
;
j
<
input_shapes
[
i
].
size
();
j
++
){
input_shape_data
[
index
]
=
input_shapes
[
i
][
j
];
index
++
;
}
}
MXPredCreate
(
static_cast
<
const
char
*>
(
json_data
.
GetBuffer
()),
static_cast
<
const
char
*>
(
param_data
.
GetBuffer
()),
static_cast
<
size_t
>
(
param_data
.
GetLength
()),
dev_type
,
dev_id
,
num_input_nodes
,
input_keys_ptr
,
input_shape_indptr
,
input_shape_data
,
&
handle
);
assert
(
handle
);
}
};