EvolutionManager.cs

/// Author: Samuel Arzt
/// Date: March 2017


#region Includes
using UnityEngine;
using System.Collections.Generic;
using System;
using System.IO;
#endregion

/// <summary>
/// Singleton class for managing the evolutionary processes.
/// </summary>
public class EvolutionManager : MonoBehaviour
{
    #region Members
    private static System.Random randomizer = new System.Random();

    public static EvolutionManager Instance
    {
        get;
        private set;
    }

    // Whether or not the results of each generation shall be written to file, to be set in Unity Editor
    [SerializeField]
    private bool SaveStatistics = false;
    private string statisticsFileName;

    // How many of the first to finish the course should be saved to file, to be set in Unity Editor
    [SerializeField]
    private uint SaveFirstNGenotype = 1;
    private uint genotypesSaved = 0;

    // Population size, to be set in Unity Editor
    [SerializeField]
    private int PopulationSize = 3;

    // After how many generations should the genetic algorithm be restart (0 for never), to be set in Unity Editor
    [SerializeField]
    private int RestartAfter = 0;

    // Whether to use elitist selection or remainder stochastic sampling, to be set in Unity Editor
    [SerializeField]
    private bool ElitistSelection = false;

    // Topology of the agent's FNN, to be set in Unity Editor
    [SerializeField]
    private uint[] FNNTopology;

    // The current population of agents.
    private List<Agent> agents = new List<Agent>();
    /// <summary>
    /// The amount of agents that are currently alive.
    /// </summary>
    public int AgentsAliveCount
    {
        get;
        private set;
    }

    /// <summary>
    /// Event for when all agents have died.
    /// </summary>
    public event System.Action AllAgentsDied;

    private GeneticAlgorithm geneticAlgorithm;

    /// <summary>
    /// The age of the current generation.
    /// </summary>
    public uint GenerationCount
    {
        get { return geneticAlgorithm.GenerationCount; }
    }
    #endregion

    /// <summary>
    /// Returns the time in seconds since the start of the current generation.
    /// </summary>
    public float CurrentGenerationTime
    {
        get { return geneticAlgorithm.timeInterval; }
    }
    

    #region Constructors
    void Awake()
    {
        if (Instance != null)
        {
            Debug.LogError("More than one EvolutionManager in the Scene.");
            return;
        }
        Instance = this;
    }
    #endregion

    #region Methods
    /// <summary>
    /// Starts the evolutionary process.
    /// </summary>
    public void StartEvolution()
    {
        Debug.Log("Starting Evolution");
        //Create neural network to determine parameter count
        NeuralNetwork nn = new NeuralNetwork(FNNTopology);

        //Setup genetic algorithm
        geneticAlgorithm = new GeneticAlgorithm((uint) nn.WeightCount, (uint) PopulationSize);
        genotypesSaved = 0;

        geneticAlgorithm.Evaluation = StartEvaluation;

        if (ElitistSelection)
        {
            //Second configuration
            geneticAlgorithm.Selection = GeneticAlgorithm.DefaultSelectionOperator;
            geneticAlgorithm.Recombination = RandomRecombination;
            geneticAlgorithm.Mutation = MutateAllButBestTwo;
            Debug.Log("Using elitist selection");
        }
        else
        {   
            //First configuration
            geneticAlgorithm.Selection = RemainderStochasticSampling;
            geneticAlgorithm.Recombination = RandomRecombination;
            geneticAlgorithm.Mutation = MutateAllButBestTwo;
            Debug.Log("Using remainder stochastic sampling");
        }
        
        AllAgentsDied += geneticAlgorithm.EvaluationFinished;

        //Statistics
        if (SaveStatistics)
        {
            statisticsFileName = "Evaluation - " + GameStateManager.Instance.TrackName + " " + DateTime.Now.ToString("yyyy_MM_dd_HH-mm-ss");
            WriteStatisticsFileStart();
            geneticAlgorithm.FitnessCalculationFinished += WriteStatisticsToFile;
            Debug.Log("Saving statistics to file");
        }
        geneticAlgorithm.FitnessCalculationFinished += CheckForTrackFinished;

        //Restart logic
        if (RestartAfter > 0)
        {
            geneticAlgorithm.TerminationCriterion += CheckGenerationTermination;
            geneticAlgorithm.AlgorithmTerminated += OnGATermination;
            Debug.Log("Restarting genetic logic after " + RestartAfter + " generations");
        }

        geneticAlgorithm.Start();
    }

    // Writes the starting line to the statistics file, stating all genetic algorithm parameters.
    private void WriteStatisticsFileStart()
    {

        File.WriteAllText(statisticsFileName + ".txt", "Evaluation of a Population with size " + PopulationSize + 
                ", on Track \"" + GameStateManager.Instance.TrackName + "\", using the following GA operators: " + Environment.NewLine +
                "MaxCheckpointDelay: " + Environment.NewLine + 
                "Selection: " + geneticAlgorithm.Selection.Method.Name + Environment.NewLine +
                "Recombination: " + geneticAlgorithm.Recombination.Method.Name + Environment.NewLine +
                "Mutation: " + geneticAlgorithm.Mutation.Method.Name + Environment.NewLine + 
                "FitnessCalculation: " + geneticAlgorithm.FitnessCalculationMethod.Method.Name + Environment.NewLine + Environment.NewLine);
    }

    // Appends the current generation count and the evaluation of the best genotype to the statistics file.
    private void WriteStatisticsToFile(IEnumerable<Genotype> currentPopulation)
    {
        foreach (Genotype genotype in currentPopulation)
        {
            File.AppendAllText(statisticsFileName + ".txt", geneticAlgorithm.GenerationCount + "\t" + genotype.Evaluation + Environment.NewLine);
            break; //Only write first
        }
    }

    // Checks the current population and saves genotypes to a file if their evaluation is greater than or equal to 1
    private void CheckForTrackFinished(IEnumerable<Genotype> currentPopulation)
    {
        if (genotypesSaved >= SaveFirstNGenotype) return;

        string saveFolder = statisticsFileName + "/";

        foreach (Genotype genotype in currentPopulation)
        {
            if (genotype.Evaluation >= 1)
            {
                Directory.CreateDirectory(saveFolder);
                File.WriteAllText(saveFolder + "Genotype " + genotypesSaved + ".txt", genotype.ToString());
                genotypesSaved++;
            }
        }
    }

    // Checks whether the termination criterion of generation count was met.
    private bool CheckGenerationTermination(IEnumerable<Genotype> currentPopulation)
    {
        Debug.Log("Generation count: " + geneticAlgorithm.GenerationCount);
        return geneticAlgorithm.GenerationCount >= RestartAfter;
    }

    // To be called when the genetic algorithm was terminated
    private void OnGATermination(GeneticAlgorithm ga)
    {
        AllAgentsDied -= ga.EvaluationFinished;
        Debug.Log("Evolution algorithm terminated after " + ga.GenerationCount + " generations.");
        RestartAlgorithm(5.0f);
    }

    // Restarts the algorithm after a specific wait time second wait
    private void RestartAlgorithm(float wait)
    {
        Invoke("StartEvolution", wait);
        Debug.Log("Restarting evolution algorithm in " + wait + " seconds.");
    }

    // Starts the evaluation by first creating new agents from the current population and then restarting the track manager.
    private void StartEvaluation(IEnumerable<Genotype> currentPopulation)
    {
        //Create new agents from currentPopulation
        agents.Clear();
        AgentsAliveCount = 0;

        foreach (Genotype genotype in currentPopulation)
            agents.Add(new Agent(genotype, MathHelper.SoftSignFunction, FNNTopology));

        TrackManager.Instance.SetCarAmount(agents.Count);
        IEnumerator<CarController> carsEnum = TrackManager.Instance.GetCarEnumerator();
        for (int i = 0; i < agents.Count; i++)
        {
            if (!carsEnum.MoveNext())
            {
                Debug.LogError("Cars enum ended before agents.");
                break;
            }

            carsEnum.Current.Agent = agents[i];
            AgentsAliveCount++;
            agents[i].AgentDied += OnAgentDied;
        }
        Debug.Log("Restarting track with: " + AgentsAliveCount + " agents alive.");
        TrackManager.Instance.Restart();
    }

    // Callback for when an agent died.
    private void OnAgentDied(Agent agent)
    {
        // Debug.Log("Agent died");
        AgentsAliveCount--;

        if (AgentsAliveCount == 0 && AllAgentsDied != null)
            AllAgentsDied();
    }

    #region GA Operators
    // Selection operator for the genetic algorithm, using a method called remainder stochastic sampling.
    private List<Genotype> RemainderStochasticSampling(List<Genotype> currentPopulation)
    {
        List<Genotype> intermediatePopulation = new List<Genotype>();
        //Put integer portion of genotypes into intermediatePopulation
        //Assumes that currentPopulation is already sorted
        foreach (Genotype genotype in currentPopulation)
        {
            if (genotype.Fitness < 1)
                break;
            else
            {
                for (int i = 0; i < (int)genotype.Fitness; i++)
                    intermediatePopulation.Add(new Genotype(genotype.GetParameterCopy()));
            }
        }

        //Put remainder portion of genotypes into intermediatePopulation
        foreach (Genotype genotype in currentPopulation)
        {
            float remainder = genotype.Fitness - (int)genotype.Fitness;
            if (randomizer.NextDouble() < remainder)
                intermediatePopulation.Add(new Genotype(genotype.GetParameterCopy()));
        }

    
        return intermediatePopulation;
    }

    // Recombination operator for the genetic algorithm, recombining random genotypes of the intermediate population
    private List<Genotype> RandomRecombination(List<Genotype> intermediatePopulation, uint newPopulationSize)
    {
        //Check arguments
        if (intermediatePopulation.Count < 2)
            throw new System.ArgumentException("The intermediate population has to be at least of size 2 for this operator.");

        List<Genotype> newPopulation = new List<Genotype>();
        //Always add best two (unmodified)
        newPopulation.Add(intermediatePopulation[0]);
        newPopulation.Add(intermediatePopulation[1]);


        while (newPopulation.Count < newPopulationSize)
        {
            //Get two random indices that are not the same
            int randomIndex1 = randomizer.Next(0, intermediatePopulation.Count), randomIndex2;
            do
            {
                randomIndex2 = randomizer.Next(0, intermediatePopulation.Count);
            } while (randomIndex2 == randomIndex1);

            Genotype offspring1, offspring2;
            GeneticAlgorithm.CompleteCrossover(intermediatePopulation[randomIndex1], intermediatePopulation[randomIndex2], 
                GeneticAlgorithm.DefCrossSwapProb, out offspring1, out offspring2);

            newPopulation.Add(offspring1);
            if (newPopulation.Count < newPopulationSize)
                newPopulation.Add(offspring2);
        }

        Debug.Log("New population size: " + newPopulation.Count);
        return newPopulation;
    }

    // Mutates all members of the new population with the default probability, while leaving the first 2 genotypes in the list untouched.
    private void MutateAllButBestTwo(List<Genotype> newPopulation)
    {
        for (int i = 2; i < newPopulation.Count; i++)
        {
            if (randomizer.NextDouble() < GeneticAlgorithm.DefMutationPerc)
                GeneticAlgorithm.MutateGenotype(newPopulation[i], GeneticAlgorithm.DefMutationProb, GeneticAlgorithm.DefMutationAmount);
        }
    }

    // Mutates all members of the new population with the default parameters
    private void MutateAll(List<Genotype> newPopulation)
    {
        foreach (Genotype genotype in newPopulation)
        {
            if (randomizer.NextDouble() < GeneticAlgorithm.DefMutationPerc)
                GeneticAlgorithm.MutateGenotype(genotype, GeneticAlgorithm.DefMutationProb, GeneticAlgorithm.DefMutationAmount);
                Debug.Log("Mutated genotype to default" + genotype);
        }
    }
    #endregion
    #endregion

    }