adapt docker code

Author: leolellisr

Dockerfile

@@ -1,25 +1,19 @@
 # Use the base image with VNC and Xubuntu
 FROM accetto/xubuntu-vnc-novnc:latest
-
 # Ensure apt-get runs with root privileges
 USER root
-
 # Fix potential directory permissions issue before running apt-get
 RUN mkdir -p /var/lib/apt/lists/partial
-
 # Set environment variables for Java
 ENV JAVA_HOME="/usr/lib/jvm/java-11-openjdk-amd64"
 ENV PATH="$JAVA_HOME/bin:$PATH"
 ENV DISPLAY=:1
 ENV QT_DEBUG_PLUGINS=1
 ENV QT_QPA_PLATFORM_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms
-
 # Prepend to LD_LIBRARY_PATH
-ENV LD_LIBRARY_PATH=/opt/CoppeliaSim_Pro_V4_1_0_Ubuntu18_04/programming/remoteApiBindings/java/lib/Ubuntu18_04:$LD_LIBRARY_PATH
-
+ENV LD_LIBRARY_PATH=/opt/coppeliaSim_Pro_V4_1_0_Ubuntu18_04/programming/remoteApiBindings/java/lib/Ubuntu18_04
 # Prepend to JAVA_LIBRARY_PATH
-ENV JAVA_LIBRARY_PATH=/opt/CoppeliaSim_Pro_V4_1_0_Ubuntu18_04/programming/remoteApiBindings/java/lib/Ubuntu18_04:$JAVA_LIBRARY_PATH
-
+ENV JAVA_LIBRARY_PATH=/opt/CoppeliaSim_Pro_V4_1_0_Ubuntu18_04/programming/remoteApiBindings/java/lib/Ubuntu18_04
 # Install Java, necessary dependencies, and CoppeliaSim
 RUN apt-get update && \
     apt-get install -y \
@@ -43,38 +37,18 @@ RUN apt-get update && \
     libavformat-dev \
     libswscale-dev \
     && rm -rf /var/lib/apt/lists/*
-
-
 # Install CoppeliaSim (V-REP) in a known location
 RUN wget -q https://downloads.coppeliarobotics.com/V4_1_0/CoppeliaSim_Pro_V4_1_0_Ubuntu18_04.tar.xz -O /tmp/coppeliasim.tar.xz && \
     tar -xvf /tmp/coppeliasim.tar.xz -C /opt && \
     rm /tmp/coppeliasim.tar.xz
-
 # Expose the VNC port (5901) and the HTTP port (8080) for noVNC
 EXPOSE 5901 8080
-
 # Set the working directory
 WORKDIR /root
-
 # Copy the local files into the container
 COPY . /root/rl_CSR
-
 # Ensure the group 'headless' exists (if not, create it), and the user 'headless' exists
 RUN getent group headless || groupadd -g 1000 headless && \
     id -u headless || true
-
 # Change ownership of /home/headless to the 'headless' user and group
 RUN chown -R headless:headless /home/headless
-
-
-# 1. Start VNC server
-#CMD bash -c "../dockerstartup/vnc_startup.sh" 
-
-# 2. Run CoppeliaSim in the background
-#RUN /opt/CoppeliaSim_Pro_V4_1_0_Ubuntu18_04/coppeliaSim.sh /root/rl_CSR/scenes/training_obj2.ttt &
-
-# 3. Sleep and wait for CoppeliaSim to load (adjust the sleep time if necessary)
-#RUN sleep 10
-
-# 4. Build and run Java application using Gradle
-#RUN cd /root/rl_CSR && JAVA_HOME=/usr/lib/jvm/java-11-openjdk-amd64 ./gradlew --configure-on-demand -x check run

src/main/java/codelets/sensors/BU_FM_Color.java

@@ -26,6 +26,7 @@
 //import static java.lang.Math.abs;
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
+import java.util.Collections;
 
 /**
  * @author L. M. Berto
@@ -41,7 +42,7 @@ public class BU_FM_Color extends FeatMapCodelet {
     private ArrayList<Float> vision_redFM_t;
     private ArrayList<Float> vision_greenFM_t;
     private ArrayList<Float> vision_blueFM_t;
-    private boolean debug = false;
+    private boolean debug = true;
     public BU_FM_Color(SensorI vision, int nsensors, ArrayList<String> sens_names, String featmapname,
             int timeWin, int mapDim, int print_step) {
         super(nsensors, sens_names, featmapname,timeWin,mapDim);
@@ -217,6 +218,18 @@ public void proc() {
        vision_FM.set(1,vision_greenFM);
        vision_FM.set(2,vision_blueFM);
 
+       if(debug) {
+           System.out.println("vision_FM end: "+vision_FM.size());
+        
+            System.out.println("R:"+calculateMean((ArrayList<Float>) vision_redFM_t));
+            System.out.println("G:"+calculateMean((ArrayList<Float>) vision_greenFM_t));
+            System.out.println("B:"+calculateMean((ArrayList<Float>) vision_blueFM_t));
+            System.out.println("Rm:"+Collections.max((ArrayList<Float>) vision_redFM_t));
+            System.out.println("Gm:"+Collections.max((ArrayList<Float>) vision_greenFM_t));
+            System.out.println("Bm:"+Collections.max((ArrayList<Float>) vision_blueFM_t));
+        }
+
+       
         featureMap.setI(vision_FM);
         if(debug) System.out.println("vision_FM end: "+vision_FM.size());
     }
@@ -238,6 +251,18 @@ public void proc() {
             }
         }
     }*/
+    
+          public static float calculateMean(ArrayList<Float> list) {
+            if (list.isEmpty()) {
+                return 0; // Return 0 if the list is empty or handle it as required
+            }
+            float sum = 0;
+            for (float value : list) {
+                sum += value;
+            }
+            return sum / list.size();
+        }
+          
 }
 
 

src/main/java/outsideCommunication/VisionVrep.java

@@ -56,7 +56,7 @@ public class VisionVrep implements SensorI{
     private final int res = 256;
     private final int max_time_graph=100;
     private static final int MAX_ACTION_NUMBER = 500;
-	private boolean debug = true, aux_a=false, next_act = true, next_actR = true;
+	private boolean mlf = false, debug = true, aux_a=false, next_act = true, next_actR = true;
     private int max_epochs;
     private ArrayList<Float> lastLinef;
     private ArrayList<Integer> lastLinei;
@@ -96,12 +96,16 @@ public VisionVrep(remoteApi vrep, int clientid, IntW vision_handles, int max_epo
         next_actR = true;
 
 // Step 1: Start a new experiment run
+
     if(this.num_epoch==1){
-        runId = MLflowLogger.startRun(num_tables+"QTable"+num_epoch);
+        if(mlf){
+            runId = MLflowLogger.startRun(num_tables+"QTable"+num_epoch);
+        
         if (runId == null) {
             System.out.println("Failed to start an MLflow run. Exiting...");
             return;
         }
+        }
     }}
 
     @Override
@@ -226,6 +230,7 @@ public boolean endEpoch(){
         if (this.getEpoch() > 1 && (position.getArray()[2] < 0.35 || position.getArray()[0] > 0.2  || m_act) || 
                 (lastLinei.get(4)>1 && (lastLinei.get(5)==0 || lastLinei.get(5)<0))) {
 
+            if(mlf){
              MLflowLogger.logMetric(runId, "Total_Actions", lastLinei.get(4), lastLinei.get(1));
             MLflowLogger.logMetric(runId, "Battery", lastLinei.get(5), lastLinei.get(1));
             MLflowLogger.logMetric(runId, "ActionsC", lastLinei.get(6), lastLinei.get(1));
@@ -253,7 +258,7 @@ public boolean endEpoch(){
         MLflowLogger.logMetric(runId, "free_memory", freeMemory / (1024 * 1024), lastLinei.get(1)); // Convert to MB
         MLflowLogger.logMetric(runId, "total_memory", totalMemory / (1024 * 1024), lastLinei.get(1)); // Convert to MB
 
-        
+            }
             System.out.println("Marta crashed on exp "+this.getEpoch()+" with z = "+position.getArray()[2]+
                     " and battery "+lastLinei.get(5)+" Act:"+lastLinei.get(4));
 
@@ -299,11 +304,11 @@ public boolean endEpoch(){
             this.setNextActR(true);
             aux_a = false;
             if (lastLinei.get(0) == 1 && lastLinei.get(1)  > this.getMaxEpochs()) {
-                   MLflowLogger.endRun(runId);
+                   if(mlf) MLflowLogger.endRun(runId);
                 System.exit(0);
             } else if (lastLinei.get(0) == 2 && lastLinei.get(2) > this.getMaxEpochs() && lastLinei.get(3)  > this.getMaxEpochs()) {
 
-                MLflowLogger.endRun(runId);
+                if(mlf) MLflowLogger.endRun(runId);
                 System.exit(0);
             }
 

start.sh

@@ -3,4 +3,4 @@
 
 echo "I'm here"
 
-cd /root/rl_CSR && JAVA_HOME=/usr/lib/jvm/java-11-openjdk-amd64 ./gradlew --configure-on-demand -x check run
+cd /home/headless/Desktop/rl_CSR && JAVA_HOME=/usr/lib/jvm/java-11-openjdk-amd64 ./gradlew --configure-on-demand -x check run

vrep.sh

@@ -1,4 +1,4 @@
 #!/bin/bash
 # https://manual.coppeliarobotics.com/en/commandLine.htm
-/opt/CoppeliaSim_Pro_V4_1_0_Ubuntu18_04/coppeliaSim.sh /root/rl_CSR/scenes/training_obj2.ttt
+/opt/CoppeliaSim_Pro_V4_1_0_Ubuntu18_04/coppeliaSim.sh /home/headless/Desktop/rl_CSR/scenes/training_obj2.ttt