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main.go
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main.go
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// Copyright (c) 2020, The Emergent Authors. All rights reserved.
// Use of this source code is governed by a BSD-style
// license that can be found in the LICENSE file.
// main for GUI interaction with Env for testing
package main
import (
"github.com/emer/etable/etable"
"github.com/emer/etable/etensor"
"github.com/emer/etable/etview"
_ "github.com/emer/etable/etview" // include to get gui views
"github.com/goki/gi/colormap"
"github.com/goki/gi/gi"
"github.com/goki/gi/gimain"
"github.com/goki/gi/gist"
"github.com/goki/gi/giv"
"github.com/goki/ki/ki"
"github.com/goki/mat32"
)
func main() {
gimain.Main(func() { // this starts gui -- requires valid OpenGL display connection (e.g., X11)
guirun()
})
}
func guirun() {
TheSim.Config() // important to have this after gui init
win := TheSim.ConfigGui()
win.StartEventLoop()
}
// LogPrec is precision for saving float values in logs
const LogPrec = 4
// Sim holds the params, table, etc
type Sim struct {
// the flat world with XY location and Head Direction
World XYHDEnv `desc:"the flat world with XY location and Head Direction"`
// number of steps to take for StepN button
StepN int `desc:"number of steps to take for StepN button"`
// [view: no-inline] trace of movement
Trace *etensor.Int `view:"no-inline" desc:"trace of movement"`
// view of the activity trace
TraceView *etview.TensorGrid `desc:"view of the activity trace"`
// view of the world
WorldView *etview.TensorGrid `desc:"view of the world"`
// table recording env
State *etable.Table `desc:"table recording env"`
// [view: -] the main view
StateView *etview.TableView `view:"-" desc:"the main view"`
// [view: -] main GUI window
Win *gi.Window `view:"-" desc:"main GUI window"`
// [view: -] the master toolbar
ToolBar *gi.ToolBar `view:"-" desc:"the master toolbar"`
// [view: -] the tab view
TabView *gi.TabView `view:"-" desc:"the tab view"`
// color strings in material order
MatColors []string `desc:"color strings in material order"`
// [view: -] flag to stop running
StopNow bool `view:"-" desc:"flag to stop running"`
// [view: -] true when running
IsRunning bool `view:"-" desc:"true when running"`
}
// TheSim is the overall state for this simulation
var TheSim Sim
// Config configures all the elements using the standard functions
func (ss *Sim) Config() {
ss.MatColors = []string{"lightgrey", "black", "orange", "blue", "brown", "navy"}
ss.StepN = 10
ss.World.Config(1000)
ss.World.Init(0)
ss.Trace = ss.World.World.Clone().(*etensor.Int)
sch := etable.Schema{
{"TrialName", etensor.STRING, nil, nil},
{"ProxSoma", etensor.FLOAT32, ss.World.CurStates["ProxSoma"].Shape.Shp, nil},
{"Angle", etensor.FLOAT32, ss.World.CurStates["Angle"].Shape.Shp, nil},
{"Vestibular", etensor.FLOAT32, ss.World.CurStates["Vestibular"].Shape.Shp, nil},
{"Position", etensor.FLOAT32, ss.World.CurStates["Position"].Shape.Shp, nil},
{"Action", etensor.FLOAT32, ss.World.CurStates["Action"].Shape.Shp, nil},
}
ss.State = etable.NewTable("input")
ss.State.SetFromSchema(sch, 1)
ss.State.SetMetaData("TrialName:width", "50")
}
func (ss *Sim) UpdtViews() {
updt := ss.TabView.UpdateStart()
// ss.TraceView.UpdateSig()
// ss.WorldView.UpdateSig()
ss.StateView.UpdateTable()
ss.TabView.UpdateEnd(updt)
}
// Step takes one step and records in table
func (ss *Sim) Step() {
ss.World.Step()
for i := 1; i < ss.State.NumCols(); i++ {
cnm := ss.State.ColNames[i]
inp := ss.World.State(cnm)
ss.State.SetCellTensor(cnm, 0, inp)
}
ss.State.SetCellString("TrialName", 0, ss.World.String())
if ss.World.Scene.Chg { // something important happened, refresh
ss.Trace.CopyFrom(ss.World.World)
}
nc := len(ss.World.Mats)
ss.Trace.Set([]int{ss.World.PosI.Y, ss.World.PosI.X}, nc+ss.World.Angle/ss.World.AngInc)
ss.UpdtViews()
}
func (ss *Sim) StepAuto() {
act := ss.World.ActGen()
ss.World.Action(ss.World.Acts[act], nil)
ss.Step()
}
func (ss *Sim) StepAutoN() {
for i := 0; i < ss.StepN; i++ {
ss.StepAuto()
}
}
func (ss *Sim) Run() {
ss.IsRunning = true
ss.ToolBar.UpdateActions()
for !ss.StopNow {
ss.Win.Viewport.SetFullReRender()
ss.StepAuto()
ss.Win.PollEvents() // needed when not running in parallel.
}
ss.IsRunning = false
ss.StopNow = false
ss.ToolBar.UpdateActions()
}
func (ss *Sim) Stop() {
ss.StopNow = true
}
func (ss *Sim) Init() {
ss.World.Init(0)
ss.Trace.CopyFrom(ss.World.World)
ss.UpdtViews()
}
func (ss *Sim) Left() {
ss.World.Action("Left", nil)
ss.Step()
}
func (ss *Sim) Right() {
ss.World.Action("Right", nil)
ss.Step()
}
func (ss *Sim) Forward() {
ss.World.Action("Forward", nil)
ss.Step()
}
//func (ss *Sim) Eat() {
// ss.World.Action("Eat", nil)
// ss.Step()
//}
//
//func (ss *Sim) Drink() {
// ss.World.Action("Drink", nil)
// ss.Step()
//}
func (ss *Sim) ConfigWorldView(tg *etview.TensorGrid) {
cnm := "XYHDEnvColors"
cm, ok := colormap.AvailMaps[cnm]
if !ok {
cm = &colormap.Map{}
cm.Name = cnm
cm.Indexed = true
nc := len(ss.World.Mats)
cm.Colors = make([]gist.Color, nc+ss.World.NRotAngles)
cm.NoColor = gist.Black
for i, cnm := range ss.MatColors {
cm.Colors[i].SetString(cnm, nil)
}
ch := colormap.AvailMaps["ColdHot"]
for i := 0; i < ss.World.NRotAngles; i++ {
nv := float64(i) / float64(ss.World.NRotAngles-1)
cm.Colors[nc+i] = ch.Map(nv) // color map of rotation
}
colormap.AvailMaps[cnm] = cm
}
tg.Disp.Defaults()
tg.Disp.ColorMap = giv.ColorMapName(cnm)
tg.Disp.GridFill = 1
tg.SetStretchMax()
}
// ConfigGui configures the GoGi gui interface for this simulation,
func (ss *Sim) ConfigGui() *gi.Window {
width := 1600
height := 1200
// gi.WinEventTrace = true
gi.SetAppName("xyhdenv")
gi.SetAppAbout(`This tests an Env. See <a href="https://github.com/emer/emergent">emergent on GitHub</a>.</p>`)
win := gi.NewMainWindow("xyhdenv", "XY and Head Direction Environment", width, height)
ss.Win = win
vp := win.WinViewport2D()
updt := vp.UpdateStart()
mfr := win.SetMainFrame()
tbar := gi.AddNewToolBar(mfr, "tbar")
tbar.SetStretchMaxWidth()
ss.ToolBar = tbar
split := gi.AddNewSplitView(mfr, "split")
split.Dim = mat32.X
split.SetStretchMax()
sv := giv.AddNewStructView(split, "sv")
sv.SetStruct(&ss.World)
tv := gi.AddNewTabView(split, "tv")
ss.TabView = tv
sps := tv.AddNewTab(gi.KiT_SplitView, "State").(*gi.SplitView)
sps.Dim = mat32.Y
sps.SetStretchMax()
ss.StateView = etview.AddNewTableView(sps, "State")
ss.StateView.SetTable(ss.State, nil)
ss.TraceView = etview.AddNewTensorGrid(sps, "Trace", ss.Trace)
ss.ConfigWorldView(ss.TraceView)
sps.SetSplits(.3, .7)
wg := tv.AddNewTab(etview.KiT_TensorGrid, "World").(*etview.TensorGrid)
ss.WorldView = wg
wg.SetTensor(ss.World.World)
ss.ConfigWorldView(wg)
split.SetSplits(.3, .7)
tbar.AddAction(gi.ActOpts{Label: "Init", Icon: "reset", Tooltip: "Init env.", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(!ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
ss.Init()
vp.SetFullReRender()
})
tbar.AddAction(gi.ActOpts{Label: "Step", Icon: "step-fwd", Tooltip: "Step one auto-generated action", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(!ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
ss.StepAuto()
vp.SetFullReRender()
})
tbar.AddAction(gi.ActOpts{Label: "StepN", Icon: "forward", Tooltip: "Step N auto-generated actions", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(!ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
ss.StepAutoN()
vp.SetFullReRender()
})
tbar.AddSeparator("sep-step")
tbar.AddAction(gi.ActOpts{Label: "Run", Icon: "play", Tooltip: "run until stop pressed", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(!ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
ss.Run() // go run is too crashy -- hangs or crashes. re-enable to debug
tbar.UpdateActions()
vp.SetNeedsFullRender()
})
tbar.AddAction(gi.ActOpts{Label: "Stop", Icon: "stop", Tooltip: "stop running", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
ss.Stop()
tbar.UpdateActions()
vp.SetNeedsFullRender()
})
tbar.AddSeparator("run-sep")
tbar.AddAction(gi.ActOpts{Label: "Left", Icon: "wedge-left", Tooltip: "Rotate Left", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(!ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
ss.Left()
vp.SetFullReRender()
})
tbar.AddAction(gi.ActOpts{Label: "Right", Icon: "wedge-right", Tooltip: "Rotate Right", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(!ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
ss.Right()
vp.SetFullReRender()
})
tbar.AddAction(gi.ActOpts{Label: "Forward", Icon: "wedge-up", Tooltip: "Step Forward", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(!ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
ss.Forward()
vp.SetFullReRender()
})
tbar.AddSeparator("sep-file")
tbar.AddAction(gi.ActOpts{Label: "Open World", Icon: "file-open", Tooltip: "Open World from .tsv file", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(!ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
giv.CallMethod(&ss.World, "OpenWorld", vp)
})
tbar.AddAction(gi.ActOpts{Label: "Save World", Icon: "file-save", Tooltip: "Save World to .tsv file", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(!ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
giv.CallMethod(&ss.World, "SaveWorld", vp)
})
tbar.AddAction(gi.ActOpts{Label: "Open Pats", Icon: "file-open", Tooltip: "Open bit patterns from .json file", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(!ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
giv.CallMethod(&ss.World, "OpenPats", vp)
})
tbar.AddAction(gi.ActOpts{Label: "Save Pats", Icon: "file-save", Tooltip: "Save bit patterns to .json file", UpdateFunc: func(act *gi.Action) {
act.SetActiveStateUpdt(!ss.IsRunning)
}}, win.This(), func(recv, send ki.Ki, sig int64, data interface{}) {
giv.CallMethod(&ss.World, "SavePats", vp)
})
vp.UpdateEndNoSig(updt)
// main menu
appnm := gi.AppName()
mmen := win.MainMenu
mmen.ConfigMenus([]string{appnm, "File", "Edit", "Window"})
amen := win.MainMenu.ChildByName(appnm, 0).(*gi.Action)
amen.Menu.AddAppMenu(win)
emen := win.MainMenu.ChildByName("Edit", 1).(*gi.Action)
emen.Menu.AddCopyCutPaste(win)
win.MainMenuUpdated()
return win
}