def __init__(self, skin, joy_index):
self.cfg = configurator.PadConfig(skin)
self.js = pygame.joystick.Joystick(joy_index)
self.js.init()
self.fb = frame_buffer.FrameBuffer(
self.cfg.size, self.cfg.size, scale_smooth=self.cfg.anti_aliasing,
background_color=self.cfg.background_color)
self.gfx = visualizer.PadImage(self.cfg, self.fb)
def __init__(self):
'''
Constructor to initialize the Handwash system
'''
# Initialize the Frame Buffer of size 15
self.frame_buffer = FrameBuffer.FrameBuffer(15)
# HandwashSteps
# self.handwash_steps = HandwashSteps.HandwashSteps()
# Initialize the Video Stream
self.live_stream = cv2.VideoCapture(0)
print("Video Stream started successfully.")
print("Changing video stream resolution..")
self.live_stream.set(3, 1080)
self.live_stream.set(4, 1080)
time.sleep(1)
print("Video Stream resolution changed to: 1080x1080")
# Previous frame stored to generate optical flow
self.previous_frame = None
# Circular system counter to keep count of frames
self.frame_count = 1
# Sampling rate of frames for prediction
# In a 30 FPS Video, a sampling rate of 5
# would mean: 1 in 5 frames are sampled for prediction
# Therefore, every second, 6 frames are sampled
self.sampling_rate = 5
# Property to set default FPS of the video stream
self.video_fps = 30
# Interval to check buffer in (milliseconds)
self.check_buffer_interval = 1000
self.step_name = {
"step_1": "STEP 1",
"step_2_left": "STEP 2 LEFT",
"step_2_right": "STEP 2 RIGHT",
"step_3": "STEP 3",
"step_4_left": "STEP 4 LEFT",
"step_4_right": "STEP 4 RIGHT",
"step_5_left": "STEP 5 LEFT",
"step_5_right": "STEP 5 RIGHT",
"step_6_left": "STEP 6 LEFT",
"step_6_right": "STEP 6 RIGHT",
"step_7_left": "STEP 7 LEFT",
"step_7_right": "STEP 7 RIGHT"
}
def __init__(self):
'''
Constructor to initialize the Action system
'''
# Initialize the Frame Buffer of size 15
self.frame_buffer = FrameBuffer.FrameBuffer(15)
# Initialize the Video Stream
self.live_stream = cv2.VideoCapture(0)
print("Video Stream started successfully.")
self.live_stream.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
self.live_stream.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
self.live_stream.set(cv2.CAP_PROP_FPS, 30)
self.live_stream.set(cv2.CAP_PROP_AUTO_EXPOSURE, 0)
self.live_stream.set(cv2.CAP_PROP_EXPOSURE, 100)
time.sleep(1)
# Previous frame stored to generate optical flow
self.previous_frame = None
# Circular system counter to keep count of frames
self.frame_count = 1
# Sampling rate of frames for prediction
# In a 30 FPS Video, a sampling rate of 5
# would mean: 1 in 5 frames are sampled for prediction
# Therefore, every second, 6 frames are sampled
self.sampling_rate = 5
# Property to set default FPS of the video stream
self.video_fps = 30
# Interval to check buffer in (milliseconds)
self.check_buffer_interval = 1000
self.step_name = {
"step_1": "STEP 1",
"step_2_left": "STEP 2 LEFT",
"step_2_right": "STEP 2 RIGHT",
"step_3": "STEP 3",
"step_4_left": "STEP 4 LEFT",
"step_4_right": "STEP 4 RIGHT",
"step_5_left": "STEP 5 LEFT",
"step_5_right": "STEP 5 RIGHT",
"step_6_left": "STEP 6 LEFT",
"step_6_right": "STEP 6 RIGHT",
"step_7_left": "STEP 7 LEFT",
"step_7_right": "STEP 7 RIGHT"
}
def __init__(self):
threading.Thread.__init__(self)
self._rects_output = queue.Queue(300)
self._frame_buffer = frame_buffer.FrameBuffer(300)
self._enabled = True
#self._diff = DifferentiateFrame()
self._current_count = 0
self._finder = FindPedestrian(self._frame_buffer, self._rects_output)
self._finder.start()
self._viewer_frame = frame_viewer.FrameViewer()
self._viewer_frame.set_interval(33)
self._viewer_frame.start()
self._object_list = object_list.ObjectList()
def __init__(self, mode="basic"):
libs.libs_env.env.Env.__init__(self)
self.game = DoomGame()
self.mode = mode
self.positive_reward_factor = 1.0
self.negative_reward_factor = 1.0
if self.mode == "basic":
self.positive_reward_factor = 0.1
self.negative_reward_factor = 0.1
self.game.load_config("scenarios/basic.cfg")
left = [1, 0, 0]
right = [0, 1, 0]
attack = [0, 0, 1]
self.actions = [left, right, attack]
if self.mode == "health_gathering":
self.positive_reward_factor = 0.02
self.negative_reward_factor = 0.1
self.game.load_config("scenarios/health_gathering.cfg")
turn_left = [1, 0, 0]
turn_right = [0, 1, 0]
move_forward = [0, 0, 1]
self.actions = [turn_left, turn_right, move_forward]
if self.mode == "defend_the_center":
self.positive_reward_factor = 5.0
self.negative_reward_factor = 10.0
self.game.load_config("scenarios/defend_the_center.cfg")
turn_left = [1, 0, 0]
turn_right = [0, 1, 0]
attack = [0, 0, 1]
self.actions = [turn_left, turn_right, attack]
if self.mode == "defend_the_line":
self.positive_reward_factor = 1.0
self.negative_reward_factor = 10.0
self.game.load_config("scenarios/defend_the_line.cfg")
left = [1, 0, 0]
right = [0, 1, 0]
attack = [0, 0, 1]
self.actions = [left, right, attack]
if self.mode == "deadly_corridor":
self.positive_reward_factor = 1.0
self.negative_reward_factor = 0.5
self.game.load_config("scenarios/deadly_corridor.cfg")
move_left = [1, 0, 0, 0, 0, 0, 0]
move_right = [0, 1, 0, 0, 0, 0, 0]
attack = [0, 0, 1, 0, 0, 0, 0]
move_forward = [0, 0, 0, 1, 0, 0, 0]
move_backward = [0, 0, 0, 0, 1, 0, 0]
turn_left = [0, 0, 0, 0, 0, 1, 0]
turn_right = [0, 0, 0, 0, 0, 0, 1]
self.actions = [
move_left, move_right, attack, move_forward, move_backward,
turn_left, turn_right
]
if self.mode == "multi":
self.positive_reward_factor = 0.1
self.negative_reward_factor = 0.1
self.game.load_config("scenarios/multi.cfg")
turn_left = [1, 0, 0, 0, 0, 0, 0, 0, 0]
turn_right = [0, 1, 0, 0, 0, 0, 0, 0, 0]
attack = [0, 0, 1, 0, 0, 0, 0, 0, 0]
move_right = [0, 0, 0, 1, 0, 0, 0, 0, 0]
move_left = [0, 0, 0, 0, 1, 0, 0, 0, 0]
move_forward = [0, 0, 0, 0, 0, 1, 0, 0, 0]
move_backward = [0, 0, 0, 0, 0, 0, 1, 0, 0]
turn_left_right_delta = [0, 0, 0, 0, 0, 0, 0, 1, 0]
move_left_right_delta = [0, 0, 0, 0, 0, 0, 0, 0, 1]
self.actions = [
turn_left, turn_right, attack, move_right, move_left,
move_forward, move_backward, turn_left_right_delta,
move_left_right_delta
]
if self.mode == "deathmatch":
self.positive_reward_factor = 1.0
self.negative_reward_factor = 1.0
self.game.load_config("scenarios/deathmatch.cfg")
attack = [1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
strafe = [0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
move_right = [
0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
]
move_left = [
0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
]
move_forward = [
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
]
move_backward = [
0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
]
turn_left = [
0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
]
turn_right = [
0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
]
select_weapon_1 = [
0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
]
select_weapon_2 = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0
]
select_weapon_3 = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0
]
select_weapon_4 = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0
]
select_weapon_5 = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0
]
select_weapon_6 = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0
]
select_next_weapon = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0
]
select_prev_weapon = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0
]
look_up_down_delta = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0
]
turn_left_right_delta = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0
]
move_left_right_delta = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1
]
self.actions = [
attack, strafe, move_right, move_left, move_forward,
move_backward, turn_left, turn_right, select_weapon_1,
select_weapon_2, select_weapon_3, select_weapon_4,
select_weapon_5, select_weapon_6, select_next_weapon,
select_prev_weapon, look_up_down_delta, turn_left_right_delta,
move_left_right_delta
]
#self.game.add_available_game_variable(GameVariable.KILLCOUNT)
#self.game.add_available_game_variable(GameVariable.DEATHCOUNT)
#self.game.set_sound_enabled(True)
self.game.init()
self.game.new_episode()
self.reset()
self.raw_state_shape = self.game.get_state().screen_buffer.shape
buffer_size = 64
self.time_steps = 8
self.colors_count = 3
self.width = 80
self.height = 80
self.depth = self.colors_count * self.time_steps
self.time = 1
self.width_scale = 5
self.height_scale = 5
self.width_scaled = self.raw_state_shape[2] // self.width_scale
self.height_scaled = self.raw_state_shape[1] // self.height_scale
self.width_crop = self.raw_state_shape[
2] // self.width_scale - self.width
self.height_crop = self.raw_state_shape[
1] // self.height_scale - self.height
print("raw state shape ", self.raw_state_shape[2],
self.raw_state_shape[1])
print("scaling factor ", self.width_scale, self.height_scale)
print("rescaled state ", self.width_scaled, self.height_scaled)
print("crop ", self.width_crop, self.height_crop)
self.actions_count = len(self.actions)
self.observation_init()
self.game_idx = 0
self.frame_buffer = frame_buffer.FrameBuffer(self.width, self.height,
self.colors_count,
buffer_size)
self.size_ratio = self.width / self.height
self.gui = libs_gl_gui.GLVisualisation()
self.window_name = "DOOM - " + self.mode
def main(skin, joy_index, is_main_process):
pygame.display.init()
pygame.joystick.init()
pygame.font.init()
joy = pygame.joystick.Joystick(joy_index)
joy.init()
mappings = configurator.load_mappings(skin)
if joy.get_name() not in mappings:
print 'Please run the mapper on', joy.get_name(), 'with', skin, 'skin.'
return
mappings = mappings[joy.get_name()]
button_map = mappings.get('button', dict())
axis_map = mappings.get('axis', dict())
hat_map = mappings.get('hat', dict())
pad_cfg = configurator.PadConfig(skin)
height = pad_cfg.size[1]
size = pad_cfg.size if is_main_process else (pad_cfg.size[0], height * 10)
caption = "padpyght" if is_main_process else "input history"
fb = frame_buffer.FrameBuffer(size, size, caption,
scale_smooth=pad_cfg.anti_aliasing,
background_color=pad_cfg.background_color)
pad_gfx = images.PadImage(pad_cfg, fb)
timer_font = pygame.font.SysFont(None, 16)
# Start the input history service process
if is_main_process:
p = Process(target=main, args=(skin, joy_index, False))
p.start()
# TODO: May want to initialize all inputs
last_state = InputState()
last_font_rect = None
# Main input/render loop
while not pygame.event.peek(pygame.QUIT):
new_state = copy.deepcopy(last_state)
for event in pygame.event.get():
if event.type == pygame.JOYBUTTONDOWN:
if str(event.button) in button_map:
elt = button_map[str(event.button)]
new_state.button_map[elt['name']] = 1
_get_target(pad_gfx, elt).push(1)
elif event.type == pygame.JOYBUTTONUP:
if str(event.button) in button_map:
elt = button_map[str(event.button)]
new_state.button_map[elt['name']] = 0
_get_target(pad_gfx, elt).push(0)
elif event.type == pygame.JOYAXISMOTION:
if str(event.axis) in axis_map:
for change, elt in axis_map[str(event.axis)].iteritems():
change = int(change)
value = event.value
if abs(change) == 2:
value += change / abs(change)
value /= change
value = max(0, value)
_get_target(pad_gfx, elt).push(value)
elif event.type == pygame.JOYHATMOTION:
if str(event.hat) in hat_map:
direction_map = hat_map[str(event.hat)]
x, y = event.value
if 'up' in direction_map:
new_state.button_map[direction_map['up']['name']] = y
_get_target(pad_gfx, direction_map['up']).push(y)
if 'down' in direction_map:
new_state.button_map[direction_map['down']['name']] = -y
_get_target(pad_gfx, direction_map['down']).push(-y)
if 'left' in direction_map:
new_state.button_map[direction_map['left']['name']] = -x
_get_target(pad_gfx, direction_map['left']).push(-x)
if 'right' in direction_map:
new_state.button_map[direction_map['right']['name']] = x
_get_target(pad_gfx, direction_map['right']).push(x)
fb.handle_event(event)
if is_main_process:
pad_gfx.draw()
fb.flip()
else:
if last_state != new_state:
new_state.elapsed_frames = 0
# print("L: " + str(last_state) + ", N:" + str(new_state))
fb.scroll(0, height)
pad_gfx.draw()
fb.flip()
else:
new_state.elapsed_frames += 1
if last_font_rect is not None:
clear_surf = pygame.Surface((last_font_rect.width, last_font_rect.height))
clear_surf.fill(pad_cfg.background_color)
fb.blit(clear_surf, (0, 0))
# render the font
font_image = timer_font.render(
str(new_state.elapsed_frames),
True,
pygame.Color(255, 255, 255),
pad_cfg.background_color)
last_font_rect = font_image.get_rect()
fb.blit(font_image, (0, 0))
fb.flip()
last_state = new_state
fb.limit_fps(set_caption=True)
def main(skin, joy_index):
pygame.display.init()
pygame.joystick.init()
joy = pygame.joystick.Joystick(joy_index)
joy.init()
mappings = configurator.load_mappings(skin)
if joy.get_name() not in mappings:
print 'Please run the mapper on', joy.get_name(), 'with', skin, 'skin.'
return
mappings = mappings[joy.get_name()]
button_map = mappings.get('button', dict())
axis_map = mappings.get('axis', dict())
hat_map = mappings.get('hat', dict())
pad_cfg = configurator.PadConfig(skin)
fb = frame_buffer.FrameBuffer(pad_cfg.size, pad_cfg.size,
scale_smooth=pad_cfg.anti_aliasing,
background_color=pad_cfg.background_color)
pad_gfx = PadImage(pad_cfg, fb)
while not pygame.event.peek(pygame.QUIT):
for event in pygame.event.get():
if event.type == pygame.JOYBUTTONDOWN:
if str(event.button) in button_map:
elt = button_map[str(event.button)]
_get_target(pad_gfx, elt).push(1)
elif event.type == pygame.JOYBUTTONUP:
if str(event.button) in button_map:
elt = button_map[str(event.button)]
_get_target(pad_gfx, elt).push(0)
elif event.type == pygame.JOYAXISMOTION:
if str(event.axis) in axis_map:
for change, elt in axis_map[str(event.axis)].iteritems():
change = int(change)
value = event.value
if abs(change) == 2:
value += change / abs(change)
value /= change
value = max(0, value)
_get_target(pad_gfx, elt).push(value)
elif event.type == pygame.JOYHATMOTION:
if str(event.hat) in hat_map:
direction_map = hat_map[str(event.hat)]
x, y = event.value
if 'up' in direction_map:
_get_target(pad_gfx, direction_map['up']).push(y)
if 'down' in direction_map:
_get_target(pad_gfx, direction_map['down']).push(-y)
if 'left' in direction_map:
_get_target(pad_gfx, direction_map['left']).push(-x)
if 'right' in direction_map:
_get_target(pad_gfx, direction_map['right']).push(x)
fb.handle_event(event)
pad_gfx.draw()
fb.flip()
fb.limit_fps(set_caption=True)