AnnealEvolution.cpp

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#include "AnnealEvolution.h"
#include "learning/Configuration/configuration.h"
#include "core/tgString.h"
#include "helpers/FileHelpers.h"
#include <iostream>
#include <numeric>
#include <string>
#include <sstream>
#include <stdexcept>

using namespace std;

#ifdef _WIN32

//  Windows
#define rdtsc  __rdtsc

#else

//  For everything else
unsigned long long rdtsc(){
    unsigned int lo,hi;
    __asm__ __volatile__ ("rdtsc" : "=a" (lo), "=d" (hi));
    return ((unsigned long long)hi << 32) | lo;
}

#endif

AnnealEvolution::AnnealEvolution(std::string suff, std::string config, std::string path) :
suffix(suff),
Temp(1.0)
{
    currentTest=0;
    generationNumber=0;
                
                if (path != "")
                {
                                resourcePath = FileHelpers::getResourcePath(path);
                }
                else
                {
                                resourcePath = "";
                }
                
                std::string configPath = resourcePath + config;
                
    configuration myconfigdataaa;
    myconfigdataaa.readFile(configPath);
    populationSize=myconfigdataaa.getintvalue("populationSize");
    numberOfElementsToMutate=myconfigdataaa.getintvalue("numberOfElementsToMutate");
    numberOfTestsBetweenGenerations=myconfigdataaa.getintvalue("numberOfTestsBetweenGenerations");
    numberOfControllers=myconfigdataaa.getintvalue("numberOfControllers"); //shared with ManhattanToyController
    leniencyCoef=myconfigdataaa.getDoubleValue("leniencyCoef");
    coevolution=myconfigdataaa.getintvalue("coevolution");
    seeded = myconfigdataaa.getintvalue("startSeed");
    
    bool learning = myconfigdataaa.getintvalue("learning");

    srand(rdtsc());
    eng.seed(rdtsc());

    for(int j=0;j<numberOfControllers;j++)
    {
        populations.push_back(new AnnealEvoPopulation(populationSize,myconfigdataaa));
    }
    
    // Overwrite the random parameters based on data
    if(seeded) // Test that the file exists
    {
        for(int i = 0; i < numberOfControllers; i++)
        {
            AnnealEvoMember* seededPop = populations[i]->controllers.back();
            stringstream ss;
            ss<< resourcePath <<"logs/bestParameters-"<<this->suffix<<"-"<<i<<".nnw";
            seededPop->loadFromFile(ss.str().c_str());
        }
    }
    if(learning)
    {
        evolutionLog.open((resourcePath + "logs/evolution" + suffix + ".csv").c_str(),ios::out);
        if (!evolutionLog.is_open())
        {
                                                throw std::runtime_error("Logs does not exist. Please create a logs folder in your build directory or update your cmake file");
                                }
    }
}

AnnealEvolution::~AnnealEvolution()
{
    // @todo - solve the invalid pointer that occurs here
    #if (0)
    for(std::size_t i = 0; i < populations.size(); i++)
    {
        delete populations[i];
    }
    populations.clear();
    #endif
}

void AnnealEvolution::mutateEveryController()
{
    for(std::size_t i=0;i<populations.size();i++)
    {
        populations.at(i)->mutate(&eng,numberOfElementsToMutate, Temp);
    }
}



void AnnealEvolution::orderAllPopulations()
{
    generationNumber++;
    double aveScore1 = 0.0;
    double aveScore2 = 0.0;
#if (0)
    // Disable definition of unused variables to suppress compiler warning
    double maxScore1,maxScore2;
#endif
    for(std::size_t i=0;i<scoresOfTheGeneration.size();i++)
    {
        aveScore1+=scoresOfTheGeneration[i][0];
        aveScore2+=scoresOfTheGeneration[i][1];
    }
    aveScore1 /= scoresOfTheGeneration.size();
    aveScore2 /= scoresOfTheGeneration.size();


    for(std::size_t i=0;i<populations.size();i++)
    {
        populations.at(i)->orderPopulation();
    }
    evolutionLog<<generationNumber*numberOfTestsBetweenGenerations<<","<<aveScore1<<","<<aveScore2<<",";
    evolutionLog<<populations.at(0)->getMember(0)->maxScore<<","<<populations.at(0)->getMember(0)->maxScore1<<","<<populations.at(0)->getMember(0)->maxScore2<<endl;
    
    
    // what if member at 0 isn't the best of all time for some reason? 
    // This seems biased towards average scores
    // We actually order the populations, so member 0 is the current best according to the assigned fitness
    ofstream logfileLeader;
    for(std::size_t i=0;i<populations.size();i++)
    {
        stringstream ss;
        ss << resourcePath << "logs/bestParameters-" << suffix << "-" << i << ".nnw";

        populations[i]->getMember(0)->saveToFile(ss.str().c_str());
    }
}

#if (0)
double diffclock(clock_t clock1,clock_t clock2)
{
    double diffticks=clock1-clock2;
    double diffms=(diffticks*10)/CLOCKS_PER_SEC;
    return diffms;
}
#endif

vector <AnnealEvoMember *> AnnealEvolution::nextSetOfControllers()
{
    int testsToDo=0;
    if(coevolution)
        testsToDo=numberOfTestsBetweenGenerations; //stop when we reach x amount of random tests
    else
        testsToDo=populationSize; //stop when we test each element once

    if(currentTest == testsToDo)
    {
        orderAllPopulations();
        mutateEveryController();
        Temp -= 0.0; // @todo - make this a parameter
//        cout<<"mutated the populations"<<endl;
        this->scoresOfTheGeneration.clear();

        if(coevolution)
            currentTest=0;//Start from 0
        else
            currentTest=populationSize-numberOfElementsToMutate; //start from the mutated ones only (last x)
    }

    selectedControllers.clear();
    for(std::size_t i=0;i<populations.size();i++)
    {
        int selectedOne=0;
        if(coevolution)
            selectedOne=rand()%populationSize; //select random one from each pool
        else
            selectedOne=currentTest; //select the same from each pool

//      cout<<"selected: "<<selectedOne<<endl;
        selectedControllers.push_back(populations.at(i)->getMember(selectedOne));
    }
    currentTest++;
//  cout<<"currentTest:"<<currentTest<<endl;

    return selectedControllers;
}

void AnnealEvolution::updateScores(vector <double> multiscore)
{
    if(multiscore.size()==2)
        this->scoresOfTheGeneration.push_back(multiscore);
    else
        multiscore.push_back(-1.0);
    double score=1.0* multiscore[0] - 0.0 * multiscore[1];
    
    //Record it to the file
    ofstream payloadLog;
    payloadLog.open((resourcePath + "logs/scores.csv").c_str(),ios::app);
    payloadLog<<multiscore[0]<<","<<multiscore[1];
    
    for(std::size_t oneElem=0;oneElem<selectedControllers.size();oneElem++)
    {
        AnnealEvoMember * controllerPointer=selectedControllers.at(oneElem);

        controllerPointer->pastScores.push_back(score);
        double prevScore=controllerPointer->maxScore;
        if(prevScore>score)
        {
                double newScore= leniencyCoef * prevScore + (1.0 - leniencyCoef) * score;
                controllerPointer->maxScore=newScore;
        }
        else
        {
            controllerPointer->maxScore=score;
            controllerPointer->maxScore1=multiscore[0];
            controllerPointer->maxScore2=multiscore[1];
        }
        std::size_t n = controllerPointer->statelessParameters.size();
        for (std::size_t i = 0; i < n; i++)
        {
            payloadLog << "," << controllerPointer->statelessParameters[i];
        }
    }

    payloadLog<<endl;
    payloadLog.close();
    return;
}