From 763dc728e8b8f2d4d693aaf45946514ad532c975 Mon Sep 17 00:00:00 2001 From: Jinyu Xie Date: Wed, 1 Feb 2023 22:26:59 -0800 Subject: [PATCH 1/3] add MPC controller and SysID experiment --- .../results/2022-11-27_09-54-45/BG_trace.png | Bin 0 -> 91379 bytes examples/results/2022-11-27_09-54-45/CVGA.png | Bin 0 -> 36960 bytes .../2022-11-27_09-54-45/CVGA_stats.csv | 2 + .../2022-11-27_09-54-45/adolescent#001.csv | 482 ++++++++++++++++++ .../2022-11-27_09-54-45/adolescent#002.csv | 482 ++++++++++++++++++ .../2022-11-27_09-54-45/adolescent#003.csv | 482 ++++++++++++++++++ .../2022-11-27_09-54-45/adolescent#004.csv | 482 ++++++++++++++++++ .../2022-11-27_09-54-45/adolescent#005.csv | 482 ++++++++++++++++++ .../2022-11-27_09-54-45/adolescent#006.csv | 482 ++++++++++++++++++ .../2022-11-27_09-54-45/adolescent#007.csv | 482 ++++++++++++++++++ .../2022-11-27_09-54-45/adolescent#008.csv | 482 ++++++++++++++++++ .../2022-11-27_09-54-45/adolescent#009.csv | 482 ++++++++++++++++++ .../2022-11-27_09-54-45/adolescent#010.csv | 482 ++++++++++++++++++ .../2022-11-27_09-54-45/performance_stats.csv | 11 + .../2022-11-27_09-54-45/risk_stats.png | Bin 0 -> 14521 bytes .../2022-11-27_09-54-45/risk_trace.csv | 31 ++ .../2022-11-27_09-54-45/zone_stats.png | Bin 0 -> 25015 bytes examples/run_mpc.py | 48 ++ examples/run_sys_id_experiments.py | 22 + simglucose/controller/mpc_ctrller.py | 216 ++++++++ simglucose/controller/sys_id_controller.py | 31 ++ simglucose/patient/t1dpatient.py | 5 +- simglucose/simulation/user_interface.py | 15 +- 23 files changed, 5193 insertions(+), 8 deletions(-) create mode 100644 examples/results/2022-11-27_09-54-45/BG_trace.png create mode 100644 examples/results/2022-11-27_09-54-45/CVGA.png create mode 100644 examples/results/2022-11-27_09-54-45/CVGA_stats.csv create mode 100644 examples/results/2022-11-27_09-54-45/adolescent#001.csv create mode 100644 examples/results/2022-11-27_09-54-45/adolescent#002.csv create mode 100644 examples/results/2022-11-27_09-54-45/adolescent#003.csv create mode 100644 examples/results/2022-11-27_09-54-45/adolescent#004.csv create mode 100644 examples/results/2022-11-27_09-54-45/adolescent#005.csv create mode 100644 examples/results/2022-11-27_09-54-45/adolescent#006.csv create mode 100644 examples/results/2022-11-27_09-54-45/adolescent#007.csv create mode 100644 examples/results/2022-11-27_09-54-45/adolescent#008.csv create mode 100644 examples/results/2022-11-27_09-54-45/adolescent#009.csv create mode 100644 examples/results/2022-11-27_09-54-45/adolescent#010.csv create mode 100644 examples/results/2022-11-27_09-54-45/performance_stats.csv create mode 100644 examples/results/2022-11-27_09-54-45/risk_stats.png create mode 100644 examples/results/2022-11-27_09-54-45/risk_trace.csv create mode 100644 examples/results/2022-11-27_09-54-45/zone_stats.png create mode 100644 examples/run_mpc.py create mode 100644 examples/run_sys_id_experiments.py create mode 100644 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+from simglucose.simulation.scenario_gen import RandomScenario +# from simglucose.simulation.env import Observation + +RESULT_PATH = './results/sysid_results/adolescent#001.csv' +df_result = pd.read_csv(RESULT_PATH) +df_result = df_result.iloc[:-1, :] +patient_name = 'adolescent#001' +na = 3 +nb = 5 +nc = 5 +X = df_result.loc[:, ['insulin', 'CHO']].values +y = df_result['CGM'].values +mdl = PatientModel(patient_name, na, nb, nc, X, y) + +# print(mdl.params) +# print(mdl.alpha) +print(mdl.beta) + +N = 60 # horizon 5hr +Q = 1 # +QN = 10 # final cost +R = 1000 # input penality + +ctrller = MPCController(patient_name, mdl, N, Q, QN, R, insulin_max=1) +# obs = Observation(CGM=145) +# reward = 10 +# done = False +# action = ctrller.policy(obs, reward, done) +# print(action) + +SIM_RESULT_PATH = './results/mpc_results' +start_time = datetime.combine(datetime.now().date(), + datetime.min.time()) + timedelta(hours=7) +simulate(sim_time=timedelta(hours=24), + scenario=RandomScenario(start_time=start_time, seed=1), + patient_names=['adolescent#001'], + cgm_name='Dexcom', + cgm_seed=1, + insulin_pump_name='Insulet', + controller=ctrller, + start_time=start_time, + save_path=SIM_RESULT_PATH, + animate=True, + parallel=False) diff --git a/examples/run_sys_id_experiments.py b/examples/run_sys_id_experiments.py new file mode 100644 index 00000000..00de049f --- /dev/null +++ b/examples/run_sys_id_experiments.py @@ -0,0 +1,22 @@ +from datetime import timedelta, datetime +from simglucose.controller.sys_id_controller import SysIDController +from simglucose.simulation.user_interface import simulate +from simglucose.simulation.scenario import CustomScenario + +RESULT_PATH = './results/sysid_results' + +start_time = datetime.combine(datetime.now().date(), datetime.min.time()) + +insulin_time = [start_time + timedelta(hours=10)] +insulin_amount = [0.5] +sysid_controller = SysIDController(insulin_time, insulin_amount) + +simulate(sim_time=timedelta(hours=24), + scenario=CustomScenario(start_time=start_time, + scenario=[(start_time + timedelta(hours=7), + 30)]), + controller=sysid_controller, + start_time=start_time, + save_path=RESULT_PATH, + animate=True, + parallel=True) diff --git a/simglucose/controller/mpc_ctrller.py b/simglucose/controller/mpc_ctrller.py new file mode 100644 index 00000000..19d631dc --- /dev/null +++ b/simglucose/controller/mpc_ctrller.py @@ -0,0 +1,216 @@ +from .base import Controller +from .base import Action +import cvxpy as cp +import logging +from scipy import sparse +import numpy as np +from fireTS.models import NARX +from sklearn.linear_model import LinearRegression +# from sklearn.preprocessing import StandardScaler +from simglucose.utils import fetch_patient_params, fetch_patient_quest + +logger = logging.getLogger(__name__) + + +class PatientModel: + NU = 1 + + def __init__(self, patient_name, na, nb, nc, X, y): + """ + params - parameters of a linear ARX model. params should be an array + with first na parameters representing the coefficients of the + auto-regressors, and the rest of the parameters representing the + coefficients of the exogenous inputs. + """ + assert na > 0 and nb > 0 + self.patient_name = patient_name + self._na = na # auto order + self._nb = nb # insulin order + self._nc = nc # meal order + # self.scaler = StandardScaler() + self.quests = fetch_patient_quest(patient_name) + self.patient_params = fetch_patient_params(patient_name) + self.mdl = NARX(LinearRegression(), auto_order=na, exog_order=[nb, nc]) + self._fit(X, y) + self._A, self._B = self._construct_state_matrix() + + def _construct_state_matrix(self): + A = sparse.lil_matrix(np.zeros([self.nx, self.nx])) + A[0, :self.na] = self.alpha + A[1:self.na, :(self.na - 1)] = np.identity(self.na - 1) + if self.nb > 1: + A[0, self.na:] = self.beta[1:] + A[(self.na + 1):(self.na + self.nb - 1), + self.na:(self.na + self.nb - 2)] = np.identity(self.nb - 2) + + # Assume there is only 1 input. + B = sparse.lil_matrix(np.zeros([self.nx, self.nu])) + B[0] = self.beta[0] + B[self.na] = 1 + return A, B + + @property + def basal(self): + if self.patient_params: + # unit: pmol/(L*kg) + u2ss = self.patient_params['u2ss'] + # unit: kg + BW = self.patient_params['BW'] + else: + # NOTE: This need to be revisited. Does it make sense to use + # average? Use average stats if the params is missing. + u2ss = 1.43 # unit: pmol/(L*kg) + BW = 57.0 # unit: kg + + basal = u2ss * BW / 6000 # unit: U/min + return basal + + @property + def Gb(self): + """ + Subcutaneous BG value at the stable state. + """ + return self.patient_params['Gb'] + + def _fit(self, X, y): + """ + X: [insulin, meal] + y: CGM readings + """ + # Centered at the balance points. + X[:, 0] = X[:, 0] - self.basal + y = y - self.Gb + + # TODO: verify if standardizing the data helps with the modeling. + # X, y = self.scaler.fit_transform(X, y) + self.mdl.fit(X, y) + + @property + def params(self): + # TODO: expose base_estimator coefficients API at the fireTS model level. + # Going into the internal interface is not a good practice. + return self.mdl.base_estimator.coef_ + + @property + def alpha(self): + return self.params[:self.na] + + @property + def beta(self): + # NOTE: This assumes the rest of the parameters are the coefficients + # for insulin. This need to be modified if the model is no longer a + # simple linear ARX model. + return self.params[self.na:(self.na + self.nb)] + + @property + def na(self): + return self._na + + @property + def nb(self): + return self._nb + + @property + def A(self) -> sparse.lil_matrix: + return self._A + + @property + def B(self) -> sparse.lil_matrix: + return self._B + + @property + def nx(self): + return self.na + self.nb - 1 + + @property + def nu(self): + # Number of inputs is fixed to 1. + return self.NU + + +class MPCController(Controller): + def __init__(self, + patient_name, + model, + N, + Q, + QN, + R, + target=140, + insulin_max=5): + self.patient_name = patient_name + self.N = N + self.Q = Q + self.QN = QN + self.R = R + self.target = target + self.quests = fetch_patient_quest(patient_name) + self.patient_params = fetch_patient_params(patient_name) + self.u_max = insulin_max # U/min + self.model = model + self.reset() + + @property + def basal(self): + if self.patient_params: + # unit: pmol/(L*kg) + u2ss = self.patient_params['u2ss'] + # unit: kg + BW = self.patient_params['BW'] + else: + # NOTE: This need to be revisited. Does it make sense to use + # average? Use average stats if the params is missing. + u2ss = 1.43 # unit: pmol/(L*kg) + BW = 57.0 # unit: kg + + basal = u2ss * BW / 6000 # unit: U/min + return basal + + @property + def Gb(self): + """ + Subcutaneous BG value at the stable state. + """ + return self.patient_params['Gb'] + + def _define_opt_problem(self): + obj = 0 + u_min = -self.basal + yr = self.target - self.Gb + constraints = [self.x[:, 0] == self.x_init] + + for k in range(self.N): + # obj += self.Q * cp.norm(self.x[0, k] - yr, 2) + self.R * cp.norm( + # self.u[:, k], 2) + obj += self.Q * cp.norm(self.x[0, k] - yr, 2) + if k > 0: + obj += self.R * cp.norm(self.u[:, k] - self.u[:, k - 1], 2) + constraints += [ + self.x[:, k + 1] == self.model.A @ self.x[:, k] + + self.model.B @ self.u[:, k] + ] + constraints += [u_min <= self.u[:, k], self.u[:, k] <= self.u_max] + obj += self.QN * cp.norm(self.x[0, self.N] - yr, 2) + return cp.Problem(cp.Minimize(obj), constraints) + + def policy(self, observation, reward, done, **kwargs): + self.state[1:self.model.na] = self.state[:(self.model.na - 1)] + self.state[0] = observation.CGM - self.Gb + self.state[(self.model.na + 1):] = self.state[self.model.na:-1] + self.state[self.model.na] = self.prev_input + + self.x_init.value = self.state + self.prob.solve(solver=cp.ECOS, warm_start=True, verbose=True) + + opt_input = max(self.u[:, 0].value + self.basal, 0) + self.prev_input = opt_input + print(f'opt insulin: {opt_input}') + return Action(basal=opt_input, bolus=0) + + def reset(self): + self.state = np.zeros(self.model.nx) + self.prev_input = 0.0 + self.x_init = cp.Parameter(self.model.nx) + self.x = cp.Variable((self.model.nx, self.N + 1)) + self.u = cp.Variable((self.model.nu, self.N)) + self.prob = self._define_opt_problem() diff --git a/simglucose/controller/sys_id_controller.py b/simglucose/controller/sys_id_controller.py new file mode 100644 index 00000000..2d54981c --- /dev/null +++ b/simglucose/controller/sys_id_controller.py @@ -0,0 +1,31 @@ +from re import L +from .base import Controller +from .base import Action +from simglucose.utils import fetch_patient_params + + +class SysIDController(Controller): + """ + This controller is just used to collect data for system identification. + It tries to stimulate the system in a proper way to get useful information of the system. + """ + def __init__(self, insulin_time, insulin_amount): + assert len(insulin_time) == len(insulin_amount) + self.insulin_time = insulin_time + self.insulin_amount = insulin_amount + self.basal = None + + def policy(self, observation, reward, done, **info): + time = info['time'] + if not self.basal: + patient_params = fetch_patient_params(info['patient_name']) + u2ss = patient_params['u2ss'] + BW = patient_params['BW'] + self.basal = u2ss * BW / 6000 # unit: U/min + + action = Action(basal=self.basal, bolus=0.0) + if time in self.insulin_time: + action = Action( + basal=self.basal, + bolus=self.insulin_amount[self.insulin_time.index(time)]) + return action diff --git a/simglucose/patient/t1dpatient.py b/simglucose/patient/t1dpatient.py index fefa39a8..5c79506f 100644 --- a/simglucose/patient/t1dpatient.py +++ b/simglucose/patient/t1dpatient.py @@ -124,10 +124,7 @@ def model(t, x, action, params, last_Qsto, last_foodtaken): # Glucose in the stomach qsto = x[0] + x[1] - # NOTE: Dbar is in unit mg, hence last_foodtaken needs to be converted - # from mg to g. See https://github.com/jxx123/simglucose/issues/41 for - # details. - Dbar = last_Qsto + last_foodtaken * 1000 # unit: mg + Dbar = last_Qsto + last_foodtaken # Stomach solid dxdt[0] = -params.kmax * x[0] + d diff --git a/simglucose/simulation/user_interface.py b/simglucose/simulation/user_interface.py index 6826406f..acaf91b0 100644 --- a/simglucose/simulation/user_interface.py +++ b/simglucose/simulation/user_interface.py @@ -262,9 +262,12 @@ def pick_controller(): return controller -def pick_save_path(): - foldername = input('Folder name to save results [default]: ') - if foldername == 'default' or foldername == '': +def pick_save_path(use_default=False): + if not use_default: + foldername = input('Folder name to save results [default]: ') + if foldername == 'default' or foldername == '': + foldername = datetime.now().strftime('%Y-%m-%d_%H-%M-%S') + else: foldername = datetime.now().strftime('%Y-%m-%d_%H-%M-%S') save_path = os.path.join(os.path.abspath('./results/'), foldername) @@ -308,7 +311,7 @@ def simulate(sim_time=None, cgm_seed=None, insulin_pump_name=None, start_time=None, - save_path=None, + save_path='default', animate=None, parallel=None): ''' @@ -338,6 +341,10 @@ def simulate(sim_time=None, if save_path is None: save_path = pick_save_path() + elif save_path == 'default': + save_path = pick_save_path(use_default=True) + elif save_path == 'None': + save_path = None if sim_time is None: sim_time = timedelta( From 802dcdc472ce120824d0777a28012cd9e68b20b1 Mon Sep 17 00:00:00 2001 From: Jinyu Xie Date: Wed, 1 Feb 2023 23:06:53 -0800 Subject: [PATCH 2/3] Cleanup obsolete data and some minor fix --- .gitignore | 2 +- .../results/2017-12-31_17-46-32/BG_trace.png | Bin 105073 -> 0 bytes examples/results/2017-12-31_17-46-32/CVGA.png | Bin 39667 -> 0 bytes .../2017-12-31_17-46-32/CVGA_stats.csv | 2 - .../2017-12-31_17-46-32/adolescent#001.csv | 482 ------------------ .../2017-12-31_17-46-32/adolescent#002.csv | 482 ------------------ 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results/sysid_results/child#001.csv create mode 100644 results/sysid_results/child#002.csv create mode 100644 results/sysid_results/child#003.csv create mode 100644 results/sysid_results/child#004.csv create mode 100644 results/sysid_results/child#005.csv create mode 100644 results/sysid_results/child#006.csv create mode 100644 results/sysid_results/child#007.csv create mode 100644 results/sysid_results/child#008.csv create mode 100644 results/sysid_results/child#009.csv create mode 100644 results/sysid_results/child#010.csv create mode 100644 results/sysid_results/performance_stats.csv create mode 100644 results/sysid_results/risk_stats.png create mode 100644 results/sysid_results/risk_trace.csv create mode 100644 results/sysid_results/zone_stats.png diff --git a/.gitignore b/.gitignore index c9f66e18..096d5a2a 100644 --- a/.gitignore +++ b/.gitignore @@ -2,7 +2,7 @@ *.pyc # results foler -/results/ +/examples/results # Setuptools distribution folder. /dist/ diff --git 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cdf80779..00000000 --- a/examples/results/2022-11-27_09-54-45/CVGA_stats.csv +++ /dev/null @@ -1,2 +0,0 @@ -,A,B,C,D,E -0,0.2,0.6000000000000001,0.0,0.2,0.0 diff --git a/examples/results/2022-11-27_09-54-45/adolescent#001.csv b/examples/results/2022-11-27_09-54-45/adolescent#001.csv deleted file mode 100644 index 935ba0d9..00000000 --- a/examples/results/2022-11-27_09-54-45/adolescent#001.csv +++ /dev/null @@ -1,482 +0,0 @@ -Time,BG,CGM,CHO,insulin,LBGI,HBGI,Risk -2022-11-27 01:00:00,149.01999999999998,165.79394936879046,0.0,0.013933333333333336,0.0,2.7552758979034984,2.7552758979034984 -2022-11-27 01:03:00,149.01999999999927,161.58202232204692,0.0,0.013933333333333336,0.0,2.7552758979034135,2.7552758979034135 -2022-11-27 01:06:00,149.02000000029878,159.2393732466224,0.0,0.013933333333333336,0.0,2.755275897942923,2.755275897942923 -2022-11-27 01:09:00,149.02000000371402,157.4727095103013,0.0,0.013933333333333336,0.0,2.755275898393481,2.755275898393481 -2022-11-27 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00:57:00,95.99514294394866,95.08084967018206,0.0,0.013933333333333336,0.8734207065101238,0.0,0.8734207065101238 -2022-11-28 01:00:00,95.7931845918823,95.02598434012651,,,0.8967056428966645,0.0,0.8967056428966645 diff --git a/examples/results/2022-11-27_09-54-45/adolescent#002.csv b/examples/results/2022-11-27_09-54-45/adolescent#002.csv deleted file mode 100644 index ac40397f..00000000 --- a/examples/results/2022-11-27_09-54-45/adolescent#002.csv +++ /dev/null @@ -1,482 +0,0 @@ -Time,BG,CGM,CHO,insulin,LBGI,HBGI,Risk -2022-11-27 01:00:00,152.41,169.18394936879048,0.0,0.015300000000000001,0.0,3.2153271698947945,3.2153271698947945 -2022-11-27 01:03:00,152.40999999999667,164.9720223220426,0.0,0.015300000000000001,0.0,3.215327169894323,3.215327169894323 -2022-11-27 01:06:00,152.40999999970674,162.62937324620282,0.0,0.015300000000000001,0.0,3.215327169853907,3.215327169853907 -2022-11-27 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00:48:00,94.72917998696026,95.3102458503076,0.0,0.010799999999999999,1.0253010568275942,0.0,1.0253010568275942 -2022-11-28 00:51:00,94.04987209553192,93.927632138003,0.0,0.010799999999999999,1.1127077099875171,0.0,1.1127077099875171 -2022-11-28 00:54:00,93.4019160851157,92.78988538543904,0.0,0.010799999999999999,1.2000253848492863,0.0,1.2000253848492863 -2022-11-28 00:57:00,92.78465845068766,92.0015610871478,0.0,0.010799999999999999,1.28685861617776,0.0,1.28685861617776 -2022-11-28 01:00:00,92.19743662382275,91.55830720517258,,,1.3728362656399544,0.0,1.3728362656399544 diff --git a/examples/results/2022-11-27_09-54-45/adolescent#004.csv b/examples/results/2022-11-27_09-54-45/adolescent#004.csv deleted file mode 100644 index c991ca04..00000000 --- a/examples/results/2022-11-27_09-54-45/adolescent#004.csv +++ /dev/null @@ -1,482 +0,0 @@ -Time,BG,CGM,CHO,insulin,LBGI,HBGI,Risk -2022-11-27 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index 977d3e4f..00000000 --- a/examples/results/2022-11-27_09-54-45/adolescent#005.csv +++ /dev/null @@ -1,482 +0,0 @@ -Time,BG,CGM,CHO,insulin,LBGI,HBGI,Risk -2022-11-27 01:00:00,139.03,155.80394936879048,0.0,0.012041666666666666,0.0,1.5605425126044734,1.5605425126044734 -2022-11-27 01:03:00,139.02999999998596,151.592022322034,0.0,0.012041666666666666,0.0,1.5605425126029913,1.5605425126029913 -2022-11-27 01:06:00,139.02999999922227,149.24937324585778,0.0,0.012041666666666666,0.0,1.5605425125218049,1.5605425125218049 -2022-11-27 01:09:00,139.02999999152453,147.4827095019843,0.0,0.012041666666666666,0.0,1.5605425117035778,1.5605425117035778 -2022-11-27 01:12:00,139.02999995664098,146.11895019031908,0.0,0.012041666666666666,0.0,1.5605425079956396,1.5605425079956396 -2022-11-27 01:15:00,139.02999985335742,144.98501439198947,0.0,0.012041666666666666,0.0,1.56054249701715,1.56054249701715 -2022-11-27 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00:45:00,87.93550439275566,89.30839863836266,0.0,0.010108333333333334,2.1009627874765853,0.0,2.1009627874765853 -2022-11-28 00:48:00,87.24671369348042,87.819537963989,0.0,0.010108333333333334,2.236822720889648,0.0,2.236822720889648 -2022-11-28 00:51:00,86.60888623203957,86.4721168714287,0.0,0.010108333333333334,2.367409893749098,0.0,2.367409893749098 -2022-11-28 00:54:00,86.02041944566952,85.38789206975159,0.0,0.010108333333333334,2.492050234665747,0.0,2.492050234665747 -2022-11-28 00:57:00,85.47970401402664,84.67046108074456,0.0,0.010108333333333334,2.6101620710061813,0.0,2.6101620710061813 -2022-11-28 01:00:00,84.98513155239223,84.31452256793482,,,2.7212538428179887,0.0,2.7212538428179887 diff --git a/examples/results/2022-11-27_09-54-45/adolescent#010.csv b/examples/results/2022-11-27_09-54-45/adolescent#010.csv deleted file mode 100644 index 768f13a4..00000000 --- a/examples/results/2022-11-27_09-54-45/adolescent#010.csv +++ /dev/null @@ -1,482 +0,0 @@ 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a/examples/results/2022-11-27_09-54-45/risk_trace.csv +++ /dev/null @@ -1,31 +0,0 @@ -,,0,1,2,3,4,5,6,7,8 -LBGI,adolescent#001,0.0,0.0,0.0,0.0,0.0,0.07200013429153748,0.0,0.1416577489411392,0.8967056428966645 -LBGI,adolescent#002,0.0,0.0,0.0,0.0,0.0,2.181656828360936,0.0,0.0,0.0 -LBGI,adolescent#003,0.0,0.0,0.0,0.0,0.0,1.0720519224063059,0.0,0.0,1.3728362656399544 -LBGI,adolescent#004,0.0,0.0,0.0,0.0,0.0,1.2009929475529721,0.0,0.0,0.8631497464246108 -LBGI,adolescent#005,0.0,0.0,0.0,0.0,0.0,0.4352529555990562,0.0,0.0,3.032543573839802 -LBGI,adolescent#006,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0 -LBGI,adolescent#007,0.0,0.0,0.0,0.0,0.0,1.811038810668097,0.0,0.0,2.807606730795353 -LBGI,adolescent#008,0.0,0.0,0.0,0.0,0.0,0.15945418536512068,0.0,0.0,1.1589458341424388 -LBGI,adolescent#009,0.0,0.0,0.0,0.0,0.0,0.34727106645327754,0.0,0.0,2.7212538428179887 -LBGI,adolescent#010,0.0,0.0,0.0,0.0,0.0,0.027122535477093448,0.0,0.0,0.15096049026034558 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simglucose.controller.mpc_ctrller import PatientModel, MPCController from simglucose.simulation.user_interface import simulate from simglucose.simulation.scenario_gen import RandomScenario -# from simglucose.simulation.env import Observation RESULT_PATH = './results/sysid_results/adolescent#001.csv' df_result = pd.read_csv(RESULT_PATH) @@ -16,9 +15,9 @@ y = df_result['CGM'].values mdl = PatientModel(patient_name, na, nb, nc, X, y) -# print(mdl.params) -# print(mdl.alpha) -print(mdl.beta) +# print(mdl.params) +# print(mdl.alpha) +# print(mdl.beta) N = 60 # horizon 5hr Q = 1 # @@ -26,11 +25,6 @@ R = 1000 # input penality ctrller = MPCController(patient_name, mdl, N, Q, QN, R, insulin_max=1) -# obs = Observation(CGM=145) -# reward = 10 -# done = False -# action = ctrller.policy(obs, reward, done) -# print(action) SIM_RESULT_PATH = './results/mpc_results' start_time = datetime.combine(datetime.now().date(), diff --git a/results/sysid_results/BG_trace.png 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a/simglucose/controller/sys_id_controller.py +++ b/simglucose/controller/sys_id_controller.py @@ -13,7 +13,7 @@ def __init__(self, insulin_time, insulin_amount): assert len(insulin_time) == len(insulin_amount) self.insulin_time = insulin_time self.insulin_amount = insulin_amount - self.basal = None + self.reset() def policy(self, observation, reward, done, **info): time = info['time'] @@ -29,3 +29,6 @@ def policy(self, observation, reward, done, **info): basal=self.basal, bolus=self.insulin_amount[self.insulin_time.index(time)]) return action + + def reset(self): + self.basal = None From 25b1babd1ba87174e6450155dac8b7b56daf6897 Mon Sep 17 00:00:00 2001 From: Jinyu Xie Date: Wed, 15 May 2024 21:19:31 -0700 Subject: [PATCH 3/3] Fix random init state bugs and turn on random init state by default for gym interface --- examples/run_gymnasium.py | 2 +- setup.py | 2 +- simglucose/__init__.py | 6 ---- simglucose/envs/simglucose_gym_env.py | 52 ++++++++++++++------------- simglucose/patient/t1dpatient.py | 2 +- 5 files changed, 30 insertions(+), 34 deletions(-) diff --git a/examples/run_gymnasium.py b/examples/run_gymnasium.py index c31e9e38..03530ead 100644 --- a/examples/run_gymnasium.py +++ b/examples/run_gymnasium.py @@ -4,7 +4,7 @@ register( id="simglucose/adolescent2-v0", entry_point="simglucose.envs:T1DSimGymnaisumEnv", - max_episode_steps=10, + max_episode_steps=1000, kwargs={"patient_name": "adolescent#002"}, ) diff --git a/setup.py b/setup.py index 9939c187..e44e3db4 100644 --- a/setup.py +++ b/setup.py @@ -2,7 +2,7 @@ setup( name="simglucose", - version="0.2.9", + version="0.2.10", description="A Type-1 Diabetes Simulator as a Reinforcement Learning Environment in OpenAI gym or rllab (python implementation of UVa/Padova Simulator)", url="https://github.com/jxx123/simglucose", author="Jinyu Xie", diff --git a/simglucose/__init__.py b/simglucose/__init__.py index ea4ffe53..e69de29b 100644 --- a/simglucose/__init__.py +++ b/simglucose/__init__.py @@ -1,6 +0,0 @@ -from gym.envs.registration import register - -register( - id='simglucose-v0', - entry_point='simglucose.envs:T1DSimEnv', -) diff --git a/simglucose/envs/simglucose_gym_env.py b/simglucose/envs/simglucose_gym_env.py index aab5e394..0bc8ca4f 100644 --- a/simglucose/envs/simglucose_gym_env.py +++ b/simglucose/envs/simglucose_gym_env.py @@ -12,10 +12,8 @@ from datetime import datetime import gymnasium - PATIENT_PARA_FILE = pkg_resources.resource_filename( - "simglucose", "params/vpatient_params.csv" -) + "simglucose", "params/vpatient_params.csv") class T1DSimEnv(gym.Env): @@ -28,9 +26,11 @@ class T1DSimEnv(gym.Env): SENSOR_HARDWARE = "Dexcom" INSULIN_PUMP_HARDWARE = "Insulet" - def __init__( - self, patient_name=None, custom_scenario=None, reward_fun=None, seed=None - ): + def __init__(self, + patient_name=None, + custom_scenario=None, + reward_fun=None, + seed=None): """ patient_name must be 'adolescent#001' to 'adolescent#010', or 'adult#001' to 'adult#010', or 'child#001' to 'child#010' @@ -79,20 +79,19 @@ def _create_env(self): if isinstance(self.patient_name, list): patient_name = self.np_random.choice(self.patient_name) - patient = T1DPatient.withName(patient_name, random_init_bg=True, seed=seed4) + patient = T1DPatient.withName(patient_name, + random_init_bg=True, + seed=seed4) else: - patient = T1DPatient.withName( - self.patient_name, random_init_bg=True, seed=seed4 - ) + patient = T1DPatient.withName(self.patient_name, + random_init_bg=True, + seed=seed4) if isinstance(self.custom_scenario, list): scenario = self.np_random.choice(self.custom_scenario) else: - scenario = ( - RandomScenario(start_time=start_time, seed=seed3) - if self.custom_scenario is None - else self.custom_scenario - ) + scenario = (RandomScenario(start_time=start_time, seed=seed3) if + self.custom_scenario is None else self.custom_scenario) sensor = CGMSensor.withName(self.SENSOR_HARDWARE, seed=seed2) pump = InsulinPump.withName(self.INSULIN_PUMP_HARDWARE) @@ -109,11 +108,11 @@ def _close(self): @property def action_space(self): ub = self.env.pump._params["max_basal"] - return spaces.Box(low=0, high=ub, shape=(1,)) + return spaces.Box(low=0, high=ub, shape=(1, )) @property def observation_space(self): - return spaces.Box(low=0, high=1000, shape=(1,)) + return spaces.Box(low=0, high=1000, shape=(1, )) @property def max_basal(self): @@ -121,7 +120,7 @@ def max_basal(self): class T1DSimGymnaisumEnv(gymnasium.Env): - metadata = {"render_modes": ["human"]} + metadata = {"render_modes": ["human"], "render_fps": 60} MAX_BG = 1000 def __init__( @@ -140,12 +139,14 @@ def __init__( reward_fun=reward_fun, seed=seed, ) - self.observation_space = gymnasium.spaces.Box( - low=0, high=self.MAX_BG, shape=(1,), dtype=np.float32 - ) - self.action_space = gymnasium.spaces.Box( - low=0, high=self.env.max_basal, shape=(1,), dtype=np.float32 - ) + self.observation_space = gymnasium.spaces.Box(low=0, + high=self.MAX_BG, + shape=(1, ), + dtype=np.float32) + self.action_space = gymnasium.spaces.Box(low=0, + high=self.env.max_basal, + shape=(1, ), + dtype=np.float32) def step(self, action): obs, reward, done, info = self.env.step(action) @@ -159,7 +160,8 @@ def step(self, action): # ) # Once the max_episode_steps is set, the truncated value will be overridden. truncated = False - return np.array([obs.CGM], dtype=np.float32), reward, done, truncated, info + return np.array([obs.CGM], + dtype=np.float32), reward, done, truncated, info def reset(self, seed=None, options=None): super().reset(seed=seed) diff --git a/simglucose/patient/t1dpatient.py b/simglucose/patient/t1dpatient.py index 5c79506f..0cac02c5 100644 --- a/simglucose/patient/t1dpatient.py +++ b/simglucose/patient/t1dpatient.py @@ -246,7 +246,7 @@ def reset(self): Reset the patient state to default intial state ''' if self._init_state is None: - self.init_state = self._params.iloc[2:15] + self.init_state = np.copy(self._params.iloc[2:15].values) else: self.init_state = self._init_state