Update Gluon Generator and CNNTrain and minor test changes

pom.xml

@@ -9,7 +9,7 @@
 
   <groupId>de.monticore.lang.monticar</groupId>
   <artifactId>embedded-montiarc-emadl-generator</artifactId>
-  <version>0.3.6-SNAPSHOT</version>
+  <version>0.3.7-SNAPSHOT</version>
 
   <!-- == PROJECT DEPENDENCIES ============================================= -->
 
@@ -17,11 +17,11 @@
 
     <!-- .. SE-Libraries .................................................. -->
     <emadl.version>0.2.10-SNAPSHOT</emadl.version>
-    <CNNTrain.version>0.3.6-SNAPSHOT</CNNTrain.version>
+    <CNNTrain.version>0.3.7-SNAPSHOT</CNNTrain.version>
     <cnnarch-generator.version>0.0.4-SNAPSHOT</cnnarch-generator.version>
     <cnnarch-mxnet-generator.version>0.2.17-SNAPSHOT</cnnarch-mxnet-generator.version>
     <cnnarch-caffe2-generator.version>0.2.13-SNAPSHOT</cnnarch-caffe2-generator.version>
-    <cnnarch-gluon-generator.version>0.2.8-SNAPSHOT</cnnarch-gluon-generator.version>
+    <cnnarch-gluon-generator.version>0.2.9-SNAPSHOT</cnnarch-gluon-generator.version>
     <cnnarch-tensorflow-generator.version>0.1.0-SNAPSHOT</cnnarch-tensorflow-generator.version>
     <embedded-montiarc-math-opt-generator>0.1.4</embedded-montiarc-math-opt-generator>
 

src/test/java/de/monticore/lang/monticar/emadl/IntegrationPythonWrapperTest.java

@@ -4,7 +4,6 @@ package de.monticore.lang.monticar.emadl;
 import de.monticore.lang.monticar.emadl.generator.EMADLGeneratorCli;
 import de.se_rwth.commons.logging.Finding;
 import de.se_rwth.commons.logging.Log;
-import org.junit.Ignore;
 import org.junit.Test;
 
 import java.nio.file.Paths;
@@ -12,6 +11,7 @@ import java.util.Arrays;
 import java.util.stream.Collectors;
 
 import static junit.framework.TestCase.assertTrue;
+import static org.junit.Assume.assumeFalse;
 
 /**
  *
@@ -19,6 +19,7 @@ import static junit.framework.TestCase.assertTrue;
 public class IntegrationPythonWrapperTest extends AbstractSymtabTest {
     @Test
     public void testGluonReinforcementModelRosEnvironment() {
+        assumeFalse(System.getProperty("os.name").toLowerCase().startsWith("win"));
         Log.getFindings().clear();
         String[] args = {"-m", "src/test/resources/models/reinforcementModel", "-r", "torcs.agent.TorcsAgent", "-b", "GLUON", "-f", "n", "-c", "n"};
         EMADLGeneratorCli.main(args);
@@ -71,4 +72,51 @@ public class IntegrationPythonWrapperTest extends AbstractSymtabTest {
                 "./target/generated-sources-emadl/reinforcement_learning/torcs_agent_dqn_reward_executor.py")
                 .toFile().exists());
     }
+
+    @Test
+    public void testTorcsTD3() {
+        Log.getFindings().clear();
+        String[] args = {"-m", "src/test/resources/models/reinforcementModel/torcs_td3", "-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_td3"),
+                Arrays.asList(
+                        "CMakeLists.txt",
+                        "CNNBufferFile.h",
+                        "torcs_agent_torcsAgent.cpp",
+                        "torcs_agent_torcsAgent.h",
+                        "torcs_agent_torcsAgent_actor.h",
+                        "CNNCreator_torcs_agent_torcsAgent_actor.py",
+                        "CNNNet_torcs_agent_torcsAgent_actor.py",
+                        "CNNPredictor_torcs_agent_torcsAgent_actor.h",
+                        "CNNTrainer_torcs_agent_torcsAgent_actor.py",
+                        "start_training.sh",
+                        "reward/CMakeLists.txt",
+                        "reward/torcs_agent_network_reward.cpp",
+                        "reward/torcs_agent_network_reward.h",
+                        "reward/pylib/CMakeLists.txt",
+                        "reward/pylib/torcs_agent_network_reward_executor.cpp",
+                        "reward/pylib/torcs_agent_network_reward_executor.h",
+                        "reward/pylib/torcs_agent_network_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/strategy.py",
+                        "reinforcement_learning/agent.py",
+                        "reinforcement_learning/environment.py",
+                        "reinforcement_learning/replay_memory.py",
+                        "reinforcement_learning/util.py",
+                        "reinforcement_learning/cnnarch_logger.py",
+                        "reinforcement_learning/CNNCreator_torcs_agent_network_torcsCritic.py",
+                        "reinforcement_learning/CNNNet_torcs_agent_network_torcsCritic.py"
+                )
+        );
+    }
 }

src/test/resources/models/reinforcementModel/torcs_td3/torcs/agent/TorcsAgent.emadl

+/* (c) https://github.com/MontiCore/monticore */
+package torcs.agent;
+
+import torcs.agent.network.TorcsActor;
+
+component TorcsAgent {
+    ports
+        in Q^{29} state,
+        out Q(-1:1)^{3} action;
+
+    instance TorcsActor actor;
+
+    connect state -> actor.state;
+    connect actor.commands -> action;
+}

src/test/resources/models/reinforcementModel/torcs_td3/torcs/agent/TorcsAgent.tag

+/* (c) https://github.com/MontiCore/monticore */
+package torcs.agent;
+conforms to de.monticore.lang.monticar.generator.roscpp.RosToEmamTagSchema;
+
+tags TorcsAgent {
+    tag torcsAgent.state with RosConnection = {topic=(/torcs/state, std_msgs/Float32MultiArray)};
+    tag torcsAgent.action with RosConnection = {topic=(/torcs/step, std_msgs/Float32MultiArray)};
+}

src/test/resources/models/reinforcementModel/torcs_td3/torcs/agent/network/Reward.emadl

+/* (c) https://github.com/MontiCore/monticore */
+package torcs.agent.network;
+
+component Reward {
+    ports
+        in Q^{29} state,
+        in B isTerminal,
+        out Q reward;
+
+    implementation Math {
+        Q speedX = state(22) * 300;
+        Q angle = state(1) * 3.1416;
+        Q trackPos = state(21);
+
+        if speedX < 0
+            speedX = 0;
+        end
+    
+        reward = (speedX * cos(angle)) - (speedX * sin(angle)) - (speedX * abs(trackPos));
+
+        if abs(trackPos) > 1.0
+            reward = -200;
+        end
+
+        for i=2:20
+            if abs(state(i)) > 1.0
+                reward = -200;
+            end
+        end
+    }
+}

src/test/resources/models/reinforcementModel/torcs_td3/torcs/agent/network/TorcsActor.cnnt

+/* (c) https://github.com/MontiCore/monticore */
+configuration TorcsActor {
+    context : gpu
+
+    learning_method : reinforcement
+
+    agent_name: "TorcsAgent"
+
+    rl_algorithm: td3-algorithm
+
+    policy_noise: 0.2
+    noise_clip: 0.5
+    policy_delay: 2
+
+    critic: torcs.agent.network.torcsCritic
+
+    environment : ros_interface {
+        state_topic: "/torcs/state"
+        terminal_state_topic: "/torcs/terminal"
+        action_topic: "/torcs/step"
+        reset_topic: "/torcs/reset"
+    }
+
+    reward_function: torcs.agent.network.reward
+
+    num_episodes : 3500
+    discount_factor : 0.99
+    num_max_steps : 900000
+    training_interval : 1
+    start_training_at: 0
+
+    evaluation_samples: 1
+    soft_target_update_rate: 0.005
+
+    snapshot_interval : 150
+
+    replay_memory : buffer{
+        memory_size : 120000
+        sample_size : 100
+    }
+
+    strategy : ornstein_uhlenbeck{
+        epsilon : 1.0
+        min_epsilon : 0.0001
+        epsilon_decay_method: linear
+        epsilon_decay : 0.000008
+        epsilon_decay_start: 10
+        epsilon_decay_per_step: true
+        theta: (0.6, 1.0, 1.0)
+        mu: (0.0, 0.0, -1.2)
+        sigma: (0.3, 0.2, 0.05)
+    }
+
+    actor_optimizer: adam {
+        learning_rate: 0.001
+    }
+
+    critic_optimizer: adam {
+        learning_rate: 0.001
+    }
+}

src/test/resources/models/reinforcementModel/torcs_td3/torcs/agent/network/TorcsActor.emadl

+/* (c) https://github.com/MontiCore/monticore */
+package torcs.agent.network;
+
+component TorcsActor {
+    ports
+        in Q^{29} state,
+        out Q(-1:1)^{3} commands;
+
+    implementation CNN {
+        state ->
+        FullyConnected(units=300) ->
+        Relu() ->
+        FullyConnected(units=600) ->
+        Relu() ->
+        FullyConnected(units=3) ->
+        Tanh() ->
+        commands;
+    }
+}

src/test/resources/models/reinforcementModel/torcs_td3/torcs/agent/network/TorcsActor_ddpg.cnnt

+/* (c) https://github.com/MontiCore/monticore */
+configuration TorcsActor {
+    context : gpu
+
+    learning_method : reinforcement
+
+    agent_name: "TorcsAgent"
+
+    rl_algorithm: ddpg-algorithm
+    critic: torcs.agent.network.torcsCritic
+
+    environment : ros_interface {
+        state_topic: "/torcs/state"
+        terminal_state_topic: "/torcs/terminal"
+        action_topic: "/torcs/step"
+        reset_topic: "/torcs/reset"
+    }
+
+    reward_function: torcs.agent.network.reward
+
+    num_episodes : 3500
+    discount_factor : 0.99
+    num_max_steps : 900000
+    training_interval : 1
+    start_training_at: 0
+
+    evaluation_samples: 1
+    soft_target_update_rate: 0.001
+
+    snapshot_interval : 150
+
+    replay_memory : buffer{
+        memory_size : 120000
+        sample_size : 32
+    }
+
+    strategy : ornstein_uhlenbeck{
+        epsilon : 1.0
+        min_epsilon : 0.0001
+        epsilon_decay_method: linear
+        epsilon_decay : 0.000008
+        epsilon_decay_start: 10
+        epsilon_decay_per_step: true
+        theta: (0.6, 1.0, 1.0)
+        mu: (0.0, 0.0, -1.2)
+        sigma: (0.3, 0.2, 0.05)
+    }
+
+    actor_optimizer: adam {
+        learning_rate: 0.0001
+    }
+
+    critic_optimizer: adam {
+        learning_rate: 0.001
+    }
+}

src/test/resources/models/reinforcementModel/torcs_td3/torcs/agent/network/TorcsCritic.emadl

+/* (c) https://github.com/MontiCore/monticore */
+package torcs.agent.network;
+
+component TorcsCritic {
+    ports
+        in Q^{29} state,
+        in Q(-1:1)^{3} action,
+        out Q(-oo:oo)^{1} qvalues;
+    
+    implementation CNN {
+        (state | action)->
+        Concatenate() ->
+        FullyConnected(units=300) ->
+        Relu() -> 
+        FullyConnected(units=600) ->
+        Relu() ->
+        FullyConnected(units=1) ->
+        qvalues;
+    }
+}

src/test/resources/models/reinforcementModel/torcs_td3/torcs/agent/network/TorcsCritic_ddpg.emadl

+/* (c) https://github.com/MontiCore/monticore */
+package torcs.agent.network;
+
+component TorcsCritic {
+    ports
+        in Q^{29} state,
+        in Q(-1:1)^{3} action,
+        out Q(-oo:oo)^{1} qvalues;
+    
+    implementation CNN {
+        (
+            state ->
+            FullyConnected(units=300) ->
+            Relu() ->
+            FullyConnected(units=600)
+        |
+            action -> 
+            FullyConnected(units=600)
+        )->
+        Add() ->
+        FullyConnected(units=600) ->
+        Relu() ->
+        FullyConnected(units=1) ->
+        qvalues;
+    }
+}

src/test/resources/target_code/gluon/reinforcementModel/torcs/reward/pylib/armanpy/armanpy.hpp

-/* (c) https://github.com/MontiCore/monticore */
 // Copyright (C) 2012 thomas.natschlaeger@gmail.com
 // 
 // This file is part of the ArmaNpy library.

src/test/resources/target_code/gluon/reinforcementModel/torcs_td3/CMakeLists.txt

+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_td3/CNNBufferFile.h

+#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_td3/CNNCreator_torcs_agent_torcsAgent_actor.py

+import mxnet as mx
+import logging
+import os
+from CNNNet_torcs_agent_torcsAgent_actor import Net_0
+
+class CNNCreator_torcs_agent_torcsAgent_actor:
+    _model_dir_ = "model/torcs.agent.network.TorcsActor/"
+    _model_prefix_ = "model"
+
+    def __init__(self):
+        self.weight_initializer = mx.init.Normal()
+        self.networks = {}
+
+    def load(self, context):
+        earliestLastEpoch = None
+
+        for i, network in self.networks.items():
+            lastEpoch = 0
+            param_file = None
+
+            try:
+                os.remove(self._model_dir_ + self._model_prefix_ + "_" + str(i) + "_newest-0000.params")
+            except OSError:
+                pass
+            try:
+                os.remove(self._model_dir_ + self._model_prefix_ + "_" + str(i) + "_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_ + "_" + str(i) in file:
+                        epochStr = file.replace(".params","").replace(self._model_prefix_ + "_" + str(i) + "-","")
+                        epoch = int(epochStr)
+                        if epoch > lastEpoch:
+                            lastEpoch = epoch
+                            param_file = file
+            if param_file is None:
+                earliestLastEpoch = 0
+            else:
+                logging.info("Loading checkpoint: " + param_file)
+                network.load_parameters(self._model_dir_ + param_file)
+
+                if earliestLastEpoch == None or lastEpoch < earliestLastEpoch:
+                    earliestLastEpoch = lastEpoch
+
+        return earliestLastEpoch
+
+    def construct(self, context, data_mean=None, data_std=None):
+        self.networks[0] = Net_0(data_mean=data_mean, data_std=data_std)
+        self.networks[0].collect_params().initialize(self.weight_initializer, ctx=context)
+        self.networks[0].hybridize()
+        self.networks[0](mx.nd.zeros((1,29,), ctx=context))
+
+        if not os.path.exists(self._model_dir_):
+            os.makedirs(self._model_dir_)
+
+        for i, network in self.networks.items():
+            network.export(self._model_dir_ + self._model_prefix_ + "_" + str(i), epoch=0)
\ No newline at end of file

src/test/resources/target_code/gluon/reinforcementModel/torcs_td3/CNNDataLoader_torcs_agent_torcsAgent_actor.py

+import os
+import h5py
+import mxnet as mx
+import logging
+import sys
+from mxnet import nd
+
+class CNNDataLoader_torcs_agent_torcsAgent_actor:
+    _input_names_ = ['state']
+    _output_names_ = ['commands_label']
+
+    def __init__(self):
+        self._data_dir = "data/"
+
+    def load_data(self, batch_size):
+        train_h5, test_h5 = self.load_h5_files()
+
+        train_data = {}
+        data_mean = {}
+        data_std = {}
+
+        for input_name in self._input_names_:
+            train_data[input_name] = train_h5[input_name]
+            data_mean[input_name] = nd.array(train_h5[input_name][:].mean(axis=0))
+            data_std[input_name] = nd.array(train_h5[input_name][:].std(axis=0) + 1e-5)
+
+        train_label = {}
+        for output_name in self._output_names_:
+            train_label[output_name] = train_h5[output_name]
+
+        train_iter = mx.io.NDArrayIter(data=train_data,
+                                       label=train_label,
+                                       batch_size=batch_size)
+
+        test_iter = None
+
+        if test_h5 != None:
+            test_data = {}
+            for input_name in self._input_names_:
+                test_data[input_name] = test_h5[input_name]
+
+            test_label = {}
+            for output_name in self._output_names_:
+                test_label[output_name] = test_h5[output_name]
+
+            test_iter = mx.io.NDArrayIter(data=test_data,
+                                          label=test_label,
+                                          batch_size=batch_size)
+
+        return train_iter, test_iter, data_mean, data_std
+
+    def load_h5_files(self):
+        train_h5 = None
+        test_h5 = None
+        train_path = self._data_dir + "train.h5"
+        test_path = self._data_dir + "test.h5"
+
+        if os.path.isfile(train_path):
+            train_h5 = h5py.File(train_path, 'r')
+
+            for input_name in self._input_names_:
+                if not input_name in train_h5:
+                    logging.error("The HDF5 file '" + os.path.abspath(train_path) + "' has to contain the dataset "
+                                  + "'" + input_name + "'")
+                    sys.exit(1)
+
+            for output_name in self._output_names_:
+                if not output_name in train_h5:
+                    logging.error("The HDF5 file '" + os.path.abspath(train_path) + "' has to contain the dataset "