Implemented parallel evaluation of the organisms for double pole bala…

…ncing experiment

examples/pole2/cart2pole.go

@@ -0,0 +1,109 @@
+package pole2
+
+import (
+	"context"
+	"fmt"
+	"github.com/yaricom/goNEAT/v4/experiment"
+	"github.com/yaricom/goNEAT/v4/experiment/utils"
+	"github.com/yaricom/goNEAT/v4/neat"
+	"github.com/yaricom/goNEAT/v4/neat/genetics"
+)
+
+type cartDoublePoleGenerationEvaluator struct {
+	// The output path to store execution results
+	OutputPath string
+	// The flag to indicate whether to apply Markov evaluation variant
+	Markov bool
+
+	// The flag to indicate whether to use continuous activation or discrete
+	ActionType ActionType
+}
+
+// NewCartDoublePoleGenerationEvaluator is the generations evaluator for double-pole balancing experiment: both Markov and non-Markov versions
+func NewCartDoublePoleGenerationEvaluator(outDir string, markov bool, actionType ActionType) experiment.GenerationEvaluator {
+	return &cartDoublePoleGenerationEvaluator{
+		OutputPath: outDir,
+		Markov:     markov,
+		ActionType: actionType,
+	}
+}
+
+// GenerationEvaluate Perform evaluation of one epoch on double pole balancing
+func (e *cartDoublePoleGenerationEvaluator) GenerationEvaluate(ctx context.Context, pop *genetics.Population, epoch *experiment.Generation) error {
+	options, ok := neat.FromContext(ctx)
+	if !ok {
+		return neat.ErrNEATOptionsNotFound
+	}
+	cartPole := NewCartPole(e.Markov)
+
+	cartPole.nonMarkovLong = false
+	cartPole.generalizationTest = false
+
+	// Evaluate each organism on a test
+	for _, org := range pop.Organisms {
+		winner, err := OrganismEvaluate(org, cartPole, e.ActionType)
+		if err != nil {
+			return err
+		}
+
+		if winner && (epoch.Champion == nil || org.Fitness > epoch.Champion.Fitness) {
+			// This will be winner in Markov case
+			epoch.Solved = true
+			epoch.WinnerNodes = len(org.Genotype.Nodes)
+			epoch.WinnerGenes = org.Genotype.Extrons()
+			epoch.WinnerEvals = options.PopSize*epoch.Id + org.Genotype.Id
+			epoch.Champion = org
+			org.IsWinner = true
+		}
+	}
+
+	// Check for winner in Non-Markov case
+	if !e.Markov {
+		epoch.Solved = false
+		// evaluate generalization tests
+		if champion, err := EvaluateOrganismGeneralization(pop.Species, cartPole, e.ActionType); err != nil {
+			return err
+		} else if champion.IsWinner {
+			epoch.Solved = true
+			epoch.WinnerNodes = len(champion.Genotype.Nodes)
+			epoch.WinnerGenes = champion.Genotype.Extrons()
+			epoch.WinnerEvals = options.PopSize*epoch.Id + champion.Genotype.Id
+			epoch.Champion = champion
+		}
+	}
+
+	// Fill statistics about current epoch
+	epoch.FillPopulationStatistics(pop)
+
+	// Only print to file every print_every generation
+	if epoch.Solved || epoch.Id%options.PrintEvery == 0 {
+		if _, err := utils.WritePopulationPlain(e.OutputPath, pop, epoch); err != nil {
+			neat.ErrorLog(fmt.Sprintf("Failed to dump population, reason: %s\n", err))
+			return err
+		}
+	}
+
+	if epoch.Solved {
+		// print winner organism's statistics
+		org := epoch.Champion
+		utils.PrintActivationDepth(org, true)
+
+		genomeFile := "pole2_winner_genome"
+		// Prints the winner organism to file!
+		if orgPath, err := utils.WriteGenomePlain(genomeFile, e.OutputPath, org, epoch); err != nil {
+			neat.ErrorLog(fmt.Sprintf("Failed to dump winner organism's genome, reason: %s\n", err))
+		} else {
+			neat.InfoLog(fmt.Sprintf("Generation #%d winner's genome dumped to: %s\n", epoch.Id, orgPath))
+		}
+
+		// Prints the winner organism's phenotype to the Cytoscape JSON file!
+		if orgPath, err := utils.WriteGenomeCytoscapeJSON(genomeFile, e.OutputPath, org, epoch); err != nil {
+			neat.ErrorLog(fmt.Sprintf("Failed to dump winner organism's phenome Cytoscape JSON graph, reason: %s\n", err))
+		} else {
+			neat.InfoLog(fmt.Sprintf("Generation #%d winner's phenome Cytoscape JSON graph dumped to: %s\n",
+				epoch.Id, orgPath))
+		}
+	}
+
+	return nil
+}

examples/pole2/cart2pole_parallel.go

@@ -0,0 +1,138 @@
+package pole2
+
+import (
+	"context"
+	"fmt"
+	"github.com/yaricom/goNEAT/v4/experiment"
+	"github.com/yaricom/goNEAT/v4/experiment/utils"
+	"github.com/yaricom/goNEAT/v4/neat"
+	"github.com/yaricom/goNEAT/v4/neat/genetics"
+	"sync"
+)
+
+type cartDoublePoleParallelGenerationEvaluator struct {
+	cartDoublePoleGenerationEvaluator
+}
+
+type parallelEvaluationResult struct {
+	genomeId int
+	fitness  float64
+	error    float64
+	winner   bool
+	err      error
+}
+
+// NewCartDoublePoleParallelGenerationEvaluator is the generations evaluator for double-pole balancing experiment: both Markov and non-Markov versions
+func NewCartDoublePoleParallelGenerationEvaluator(outDir string, markov bool, actionType ActionType) experiment.GenerationEvaluator {
+	return &cartDoublePoleParallelGenerationEvaluator{
+		cartDoublePoleGenerationEvaluator{
+			OutputPath: outDir,
+			Markov:     markov,
+			ActionType: actionType,
+		},
+	}
+}
+
+func (e *cartDoublePoleParallelGenerationEvaluator) GenerationEvaluate(ctx context.Context, pop *genetics.Population, epoch *experiment.Generation) error {
+	options, ok := neat.FromContext(ctx)
+	if !ok {
+		return neat.ErrNEATOptionsNotFound
+	}
+
+	organismMapping := make(map[int]*genetics.Organism)
+
+	popSize := len(pop.Organisms)
+	resChan := make(chan parallelEvaluationResult, popSize)
+	// The wait group to wait for all GO routines
+	var wg sync.WaitGroup
+
+	// Evaluate each organism in generation
+	for _, org := range pop.Organisms {
+		if _, ok = organismMapping[org.Genotype.Id]; ok {
+			return fmt.Errorf("organism with %d already exists in mapping", org.Genotype.Id)
+		}
+		organismMapping[org.Genotype.Id] = org
+		wg.Add(1)
+
+		// run in separate GO thread
+		go func(organism *genetics.Organism, actionType ActionType, resChan chan<- parallelEvaluationResult, wg *sync.WaitGroup) {
+			defer wg.Done()
+
+			// create simulator and evaluate
+			cartPole := NewCartPole(e.Markov)
+			cartPole.nonMarkovLong = false
+			cartPole.generalizationTest = false
+
+			winner, err := OrganismEvaluate(organism, cartPole, actionType)
+			if err != nil {
+				resChan <- parallelEvaluationResult{err: err}
+				return
+			}
+
+			// create result
+			result := parallelEvaluationResult{
+				genomeId: organism.Genotype.Id,
+				fitness:  organism.Fitness,
+				error:    organism.Error,
+				winner:   winner,
+			}
+			resChan <- result
+
+		}(org, e.ActionType, resChan, &wg)
+	}
+
+	// wait for evaluation results
+	wg.Wait()
+	close(resChan)
+
+	for result := range resChan {
+		if result.err != nil {
+			return result.err
+		}
+		// find and update original organism
+		org, ok := organismMapping[result.genomeId]
+		if ok {
+			org.Fitness = result.fitness
+			org.Error = result.error
+		} else {
+			return fmt.Errorf("organism not found in mapping for id: %d", result.genomeId)
+		}
+
+		if result.winner && (epoch.Champion == nil || org.Fitness > epoch.Champion.Fitness) {
+			// This will be winner in Markov case
+			epoch.Solved = true
+			epoch.WinnerNodes = len(org.Genotype.Nodes)
+			epoch.WinnerGenes = org.Genotype.Extrons()
+			epoch.WinnerEvals = options.PopSize*epoch.Id + org.Genotype.Id
+			epoch.Champion = org
+			org.IsWinner = true
+		}
+	}
+
+	// Fill statistics about current epoch
+	epoch.FillPopulationStatistics(pop)
+
+	if epoch.Solved {
+		// print winner organism's statistics
+		org := epoch.Champion
+		utils.PrintActivationDepth(org, true)
+
+		genomeFile := "pole2_parallel_winner_genome"
+		// Prints the winner organism to file!
+		if orgPath, err := utils.WriteGenomePlain(genomeFile, e.OutputPath, org, epoch); err != nil {
+			neat.ErrorLog(fmt.Sprintf("Failed to dump winner organism's genome, reason: %s\n", err))
+		} else {
+			neat.InfoLog(fmt.Sprintf("Generation #%d winner's genome dumped to: %s\n", epoch.Id, orgPath))
+		}
+
+		// Prints the winner organism's phenotype to the Cytoscape JSON file!
+		if orgPath, err := utils.WriteGenomeCytoscapeJSON(genomeFile, e.OutputPath, org, epoch); err != nil {
+			neat.ErrorLog(fmt.Sprintf("Failed to dump winner organism's phenome Cytoscape JSON graph, reason: %s\n", err))
+		} else {
+			neat.InfoLog(fmt.Sprintf("Generation #%d winner's phenome Cytoscape JSON graph dumped to: %s\n",
+				epoch.Id, orgPath))
+		}
+	}
+
+	return nil
+}

examples/pole/cart2pole_test.go → examples/pole2/cart2pole_test.go

@@ -1,4 +1,4 @@
-package pole
+package pole2
 
 import (
 	"fmt"