class Environment(object):
NUM_SENSORS = 5
def __init__(self, circuit, render=False):
self.circuit = circuit
self.car = Car(self.circuit, num_sensors=self.NUM_SENSORS)
# To render the environment
self.render = render
if render:
self.ui = Interface(self.circuit, self.car)
self.ui.show(block=False)
# Build the possible actions of the environment
self.actions = []
for turn_step in range(-2, 3, 1):
for speed_step in range(-1, 2, 1):
self.actions.append((speed_step, turn_step))
self.count = 0
def reward(self) -> float:
"""Computes the reward at the present moment"""
# This should return a float"""
if not (self.isEnd()):
reward = self.car.speed * (min(self.car.distances()))
else:
reward = -1
return reward
def isEnd(self) -> bool:
"""Is the episode over ?"""
if (not (self.car.in_circuit())):
return True
return False
def reset(self):
self.count = 0
self.car.reset()
self.circuit.reset()
return self.current_state
@property
def current_state(self):
result = self.car.distances()
result.append(self.car.speed)
return result
def step(self, i: int, greedy):
"""Takes action i and returns the new state, the reward and if we have
reached the end"""
self.count += 1
self.car.action(*self.actions[i])
state = self.current_state
isEnd = self.isEnd()
reward = self.reward()
completed = self.circuit.laps * 100 + self.circuit.progression * 100
if self.render:
self.ui.update()
return state, reward, isEnd, completed
def mayAddTitle(self, title):
if self.render:
self.ui.setTitle(title)
class App:
"""Application principale"""
def __init__(self):
self.window = Tk()
self.canvas = None
self.forms = []
self.setup_window()
self.setup_window_components()
self.is_drawing_mode = False
self.is_drawing_line = False
self.line_start_x = None
self.line_start_y = None
def setup_window(self):
width = 800
height = 650
x = (self.window.winfo_screenwidth() / 2) - (width / 2)
y = (self.window.winfo_screenheight() / 2) - (height / 2)
if self.window.winfo_screenwidth() == 1920:
self.window.geometry('%dx%d+%d+%d' % (width, height, x + 500, y))
else:
self.window.geometry('%dx%d+%d+%d' % (width, height, x - 500, y))
self.window.title('Race Circuit')
self.canvas = Canvas(self.window,
bg='#202827',
height=height - 40,
width=width)
self.canvas.bind("<Button-1>", self.start_line)
self.canvas.bind("<B1-Motion>", self.drawing_line)
self.canvas.bind("<ButtonRelease-1>", self.draw_line)
self.car = Car(self.canvas)
# Car Control
self.window.bind("<KeyPress-Up>", self.car.up)
self.window.bind("<KeyPress-Down>", self.car.down)
self.window.bind("<KeyPress-Left>", self.car.turn_left)
self.window.bind("<KeyPress-Right>", self.car.turn_right)
self.window.bind("<space>", self.car.stop)
self.canvas.pack(side=BOTTOM)
def setup_window_components(self):
self.draw_line_btn = Button(self.window)
self.draw_line_img = PhotoImage(file=ROOT_DIR +
"/assets/draw_line.png")
self.draw_line_btn.config(image=self.draw_line_img,
command=self.active_drawing_mode)
self.draw_line_btn.pack(side=LEFT)
self.open_btn = Button(self.window)
self.open_img = PhotoImage(file=ROOT_DIR + "/assets/open.png")
self.open_btn.config(image=self.open_img,
command=self.choose_and_draw_from_file)
self.open_btn.pack(side=LEFT)
self.save_btn = Button(self.window)
self.save_img = PhotoImage(file=ROOT_DIR + "/assets/save.png")
self.save_btn.config(image=self.save_img, command=self.save_positions)
self.save_btn.pack(side=LEFT)
self.erase_btn = Button(self.window)
self.erase_img = PhotoImage(file=ROOT_DIR + "/assets/erase.png")
self.erase_btn.config(image=self.erase_img, command=self.erase)
self.erase_btn.pack(side=LEFT)
self.reset_btn = Button(self.window)
self.reset_img = PhotoImage(file=ROOT_DIR + "/assets/reset.png")
self.reset_btn.config(image=self.reset_img, command=self.reset)
self.reset_btn.pack(side=LEFT)
def reset(self):
self.car.reset()
def run(self, creative_mode=False):
if creative_mode is False:
circuit01_path = ROOT_DIR + "/saves/circuit01.txt"
if os.path.exists(circuit01_path):
self.draw_from_file(circuit01_path)
self.car.draw()
self.car.move()
self.window.mainloop()
def active_drawing_mode(self):
"""
Fonction de callback appelée lorsque l'on appuie sur le bouton de dessin
"""
self.is_drawing_mode = not self.is_drawing_mode
if self.is_drawing_mode is True:
self.draw_line_btn.config(bg='#aaa')
else:
self.draw_line_btn.config(bg='#d9d9d9')
def start_line(self, event):
"""
Fonction de callback appelée lorsque l'on clique dans le canvas
a pour effet d'activer une variable de controle qui va dire que l'on est en train de dessiner
ainsi que d'enregistrer la position x;y de départ de la ligne
"""
# active une seconde variable qui servira de condition quant à l'écoute de l'event B1-Motion
if self.is_drawing_mode:
self.is_drawing_line = True
self.line_start_x = event.x
self.line_start_y = event.y
def drawing_line(self, event):
"""
Fonction de callback appelée lorsque l'on maintient le click enfoncé pour dessiner la ligne
Si jamais on est en mode dessin et que l'on a bien cliquer pour commencer à dessiner,
alors on supprime tous les dessins avec le tag 'temporary', et on crée une ligne avec la position de
départ et la position courante de la souris
"""
if self.is_drawing_mode and self.is_drawing_line:
self.canvas.delete("temporary")
line = self.canvas.create_line(self.line_start_x,
self.line_start_y,
event.x,
event.y,
width=3,
fill="#A9ACAB")
self.canvas.itemconfig(line, tags="temporary")
def draw_line(self, event):
"""
Lorsque l'on relache la souris, les lignes temporaires sont supprimées,
et une ligne "définitive" est crée et ajoutée à une liste
"""
if self.is_drawing_mode and self.is_drawing_line:
self.canvas.delete("temporary")
self.is_drawing_line = False
line_coord = self.line_start_x, self.line_start_y, event.x, event.y
line = self.canvas.create_line(*line_coord,
width=3,
fill="#A9ACAB")
self.canvas.itemconfig(line, tags="track_segment")
self.forms.append(line)
def draw_point(self, point):
self.canvas.create_oval(point[0] - 3,
point[1] - 3,
point[0],
point[1],
outline='red',
fill='red')
def save_positions(self):
if len(self.forms) == 0:
print("Il n'y a rien à sauvegarder")
else:
positions = ""
for form in self.forms:
positions += str(self.canvas.coords(form)).replace(
"[", "").replace("]", "") + "\n"
save_text_in_file(positions, saves_dir,
"save_" + now.strftime("%Y%d%m-%H%M%S"))
def choose_and_draw_from_file(self):
self.erase()
file_path = choose_file(saves_dir)
self.draw_from_file(file_path)
def draw_from_file(self, file_path):
with open(file_path, 'r') as file:
for line in file:
coords = line.replace(" ", "").rstrip().split(",")
line_form = self.canvas.create_line(coords[0],
coords[1],
coords[2],
coords[3],
width=3,
fill="#A9ACAB")
self.canvas.itemconfig(line_form, tags="track_segment")
self.forms.append(line_form)
def erase(self):
self.canvas.delete("track_segment")
self.forms = []
class Environment(object):
NUM_SENSORS = 5
def __init__(self, circuit, render=False):
self.circuit = circuit
self.car = Car(self.circuit, num_sensors=self.NUM_SENSORS)
# To render the environment
self.render = render
if render:
self.ui = Interface(self.circuit, self.car)
self.ui.show(block=False)
# Build the possible actions of the environment
self.actions = []
for turn_step in range(-2, 3, 1):
for speed_step in range(-1, 2, 1):
self.actions.append((speed_step, turn_step))
self.count = 0
def reward(self) -> float:
"""Computes the reward at the present moment"""
# TODO(students): !!!!!!!!! IMPLEMENT THIS !!!!!!!!!!!!!! """
# This should return a float"""
self.reward_val = self.circuit.progression
return self.reward_val
def isEnd(self) -> bool:
"""Is the episode over ?"""
# TODO(students): !!!!!!!!! IMPLEMENT THIS !!!!!!!!!!!!!! """
# Should return true if we have reached the end of an episode, False
# otherwise
# print(self.reward_val)
if not self.car.in_circuit() or self.car.speed < 10e-5:
return True
return False
def reset(self):
self.count = 0
self.car.reset()
self.circuit.reset()
return self.current_state
@property
def current_state(self):
result = self.car.distances()
result.append(self.car.speed)
return result
def step(self, i: int, greedy):
"""Takes action i and returns the new state, the reward and if we have
reached the end"""
# print(self.car.speed)
self.count += 1
self.car.action(*self.actions[i])
state = self.current_state
isEnd = self.isEnd()
reward = self.reward()
if self.render:
self.ui.update()
return state, reward, isEnd
def mayAddTitle(self, title):
if self.render:
self.ui.setTitle(title)
