docker support

.factorypath

@@ -29,5 +29,5 @@
     <factorypathentry kind="VARJAR" id="M2_REPO/com/fasterxml/jackson/jr/jackson-jr-objects/2.10.1/jackson-jr-objects-2.10.1.jar" enabled="true" runInBatchMode="false"/>
     <factorypathentry kind="VARJAR" id="M2_REPO/com/fasterxml/jackson/core/jackson-core/2.10.1/jackson-core-2.10.1.jar" enabled="true" runInBatchMode="false"/>
     <factorypathentry kind="VARJAR" id="M2_REPO/org/slf4j/slf4j-simple/1.7.29/slf4j-simple-1.7.29.jar" enabled="true" runInBatchMode="false"/>
-    <factorypathentry kind="EXTJAR" id="C:\dogfood\cartpole-java\lib\bonsai-sdk-1.0.jar" enabled="true" runInBatchMode="false"/>
+    <factorypathentry kind="VARJAR" id="M2_REPO/microsoft/bonsai/bonsai-sdk/1.0/bonsai-sdk-1.0.jar" enabled="true" runInBatchMode="false"/>
 </factorypath>

.gitignore

@@ -1,3 +1,3 @@
 # Distribution / packaging
 target/
-lib/
+docker/lib/

.project

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>bonsai-sdk3</name>
+	<name>microsoft.bonsai.samples</name>
 	<comment></comment>
 	<projects>
 	</projects>

.vscode/launch.json

@@ -9,13 +9,15 @@
             "name": "Debug (Launch) - Current File",
             "request": "launch",
             "mainClass": "${file}"
+            // ,"args":"predict"
         },
         {
             "type": "java",
             "name": "Debug (Launch)-App<bonsai-sdk3>",
             "request": "launch",
             "mainClass": "microsoft.bonsai.simulatorapi.App",
-            "projectName": "bonsai-sdk3"
+           
+            "projectName": "microsoft.bonsai.samples"
         }
     ]
 }

.vscode/settings.json

@@ -1,5 +1,5 @@
 {
-    "java.configuration.updateBuildConfiguration": "interactive",
+    "java.configuration.updateBuildConfiguration": "automatic",
     "java.dependency.syncWithFolderExplorer": true,
     "java.dependency.packagePresentation": "hierarchical"
 }

bonsai/.project

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>bonsai-sdk3</name>
+	<name>microsoft.bonsai.samples</name>
 	<comment></comment>
 	<projects>
 	</projects>

docker/build-docker.bat

@@ -0,0 +1,30 @@
+@echo off
+if [%1]==[] goto usage
+if [%2]==[] goto usage
+
+
+SET image_name=%1
+SET container_registry=%2
+
+ECHO Building image %image_name%
+
+copy ..\target\microsoft.bonsai.samples.cartpole-1.0-jar-with-dependencies.jar lib
+
+ECHO Building image %image_name%
+
+docker build -t %image_name%  .
+
+ECHO Logging in to %container_registry%
+
+cmd /c az acr login --name %container_registry%
+
+ECHO Tagging %image_name% and pushing to %container_registry%.azurecr.io/%image_name%:latest
+
+docker tag %image_name% %container_registry%.azurecr.io/%image_name%:latest
+docker push %container_registry%.azurecr.io/%image_name%:latest
+
+ECHO Complete
+
+:usage
+@echo Usage: %0 ^<docker_image_name^> ^<container_registry_name^>
+exit /B 1

docker/docker-compose.yml

@@ -0,0 +1,14 @@
+version: '3.5'
+
+services:
+  sim:
+    image: bonsai-cartpole-java
+    environment:
+      - SIM_WORKSPACE=998edb0d-525c-4858-9a80-dce2153e0ed0
+      - SIM_ACCESS_KEY=YzMxYjYyMzA4N2YxNDE0NWJiNDFkNmNiMTUwZTQzYzc6OTBhZWNjY2ItY2ZjYy00YzViLTlmNTItZmFmOTRiNDA0Yjk3
+      - SIM_API_HOST=https://api.bons.ai
+    tty: true
+
+
+
+    

docker/dockerfile

@@ -0,0 +1,5 @@
+FROM openjdk:11-jdk
+
+COPY lib/microsoft.bonsai.samples.cartpole-1.0-jar-with-dependencies.jar /app/microsoft.bonsai.samples.cartpole-1.0-jar-with-dependencies.jar
+
+CMD ["java","-jar","/app/microsoft.bonsai.samples.cartpole-1.0-jar-with-dependencies.jar"]

pom.xml

@@ -2,10 +2,10 @@
   xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/maven-v4_0_0.xsd">
   <modelVersion>4.0.0</modelVersion>
   <groupId>microsoft.bonsai.samples</groupId>
-  <artifactId>microsoft.bonsai.samples</artifactId>
+  <artifactId>microsoft.bonsai.samples.cartpole</artifactId>
   <packaging>jar</packaging>
   <version>1.0</version>
-  <name>microsoft.bonsai.samples</name>
+  <name>microsoft.bonsai.samples.cartpole</name>
   <url>http://maven.apache.org</url>
   <dependencies>
     <dependency>
@@ -43,16 +43,43 @@
 
     <!-- bonsai reference -->
     <dependency>
-      <groupId>microsoft.bonsai.simulatorapi</groupId>
+        <groupId>microsoft.bonsai</groupId>
-      <artifactId>bonsai-sdk</artifactId>
+        <artifactId>bonsai-sdk</artifactId>
-      <version>1.0</version>
+        <version>1.0</version>
-      <scope>system</scope>
+        <scope>compile</scope>
-      <systemPath>${pom.basedir}/lib/bonsai-sdk-1.0.jar</systemPath>
+      </dependency>
-    </dependency>
   </dependencies>
   
   <properties>
       <maven.compiler.source>1.8</maven.compiler.source>
       <maven.compiler.target>1.8</maven.compiler.target>
 	</properties>
+
+<build>
+  <plugins>
+   <plugin>
+    <groupId>org.apache.maven.plugins</groupId>
+    <artifactId>maven-assembly-plugin</artifactId>
+    <version>3.0.0</version>
+    <configuration>
+     <descriptorRefs>
+      <descriptorRef>jar-with-dependencies</descriptorRef>
+     </descriptorRefs>
+     <archive>
+      <manifest>
+       <mainClass>microsoft.bonsai.samples.cartpole.App</mainClass>
+      </manifest>
+     </archive>
+    </configuration>
+    <executions>
+     <execution>
+      <phase>package</phase>
+      <goals>
+       <goal>single</goal>
+      </goals>
+     </execution>
+    </executions>
+   </plugin>
+  </plugins>
+ </build>
 </project>

src/main/java/microsoft/bonsai/samples/cartpole/Action.java

@@ -5,7 +5,7 @@ package microsoft.bonsai.samples.cartpole;
  */
 public class Action  
 {
-	// there is a value called 'command' in the action in inkling
+	// there is a value called 'command' in the action type in inkling
 	public double command = 0;
 	
 }

src/main/java/microsoft/bonsai/samples/cartpole/Model.java

@@ -16,19 +16,6 @@ public class Model {
 	static double TRACK_WIDTH = 1.0; // m
 	static double FORCE_NOISE = 0.02; // % of FORCE_MAG
 
-	//static double THETA_LIMIT = (12 * 2 * Math.PI) / 360; // 12deg in radians
-
-	double x = 0; // cart position (m)
-	double x_dot = 0; // cart velocity (m/s)
-	//double theta = 0; // cart angle (rad)
-	//double theta_dot = 0; // cart angular velocity (rad/s)
-	double x_target = 0; // target pole position (m)
-	double x_limit = TRACK_WIDTH / 2; // full track
-	double x_delta = 0; // distance between target and pole position (m)
-	double x_pole = 0; // pole position (m)
-	double y_pole = 0; // height of pol COG (m)
-	double x_pole_dot = 0; // pole velocity (m/s)
-
 	double cart_position;
 	double cart_velocity;
 	double pole_angle;

src/main/java/microsoft/bonsai/samples/cartpole/State.java

@@ -1,7 +1,9 @@
 package microsoft.bonsai.samples.cartpole;
 
+/**
+ * The State class maps to the state values in inkling. 
+ */
 public class State  {
-
 	
 	public double cart_position;
 	public double cart_velocity;

target/maven-archiver/pom.properties

@@ -1,5 +1,4 @@
-#Generated by Maven
+#Created by Apache Maven 3.6.3
-#Fri Jul 10 05:21:32 GMT 2020
 groupId=microsoft.bonsai.samples
-artifactId=microsoft.bonsai.samples
+artifactId=microsoft.bonsai.samples.cartpole
 version=1.0