def cruising():
time.sleep(1)
PressKey(keys.W)
time.sleep(3)
ReleaseKey(keys.W)
PressKey(keys.C)
ReleaseKey(keys.C)
def none():
ReleaseKey(D)
ReleaseKey(S)
ReleaseKey(W)
ReleaseKey(A)
PressKey(S)
time.sleep(0.4)
ReleaseKey(S)
def right():
ReleaseKey(A)
ReleaseKey(S)
ReleaseKey(W)
#PressKey(S)
#time.sleep(0.05)
#ReleaseKey(S)
PressKey(D)
PressKey(W)
time.sleep(0.09)
ReleaseKey(D)
def left():
ReleaseKey(D)
ReleaseKey(S)
ReleaseKey(W)
#PressKey(S)
#time.sleep(0.05)
#ReleaseKey(S)
PressKey(A)
PressKey(W)
time.sleep(0.09)
ReleaseKey(A)
def reset_race():
# Run keys pattern to reset race
PressKey(ESC)
t.sleep(keypress_pause)
ReleaseKey(ESC)
PressKey(ENTER)
t.sleep(keypress_pause)
ReleaseKey(ENTER)
PressKey(DOWN)
t.sleep(keypress_pause)
ReleaseKey(DOWN)
PressKey(ENTER)
t.sleep(keypress_pause)
ReleaseKey(ENTER)
t.sleep(3 * keypress_pause)
def on_gyro(data):
global z
global pressed
z += data[2]
if (z > 0.5):
if (pressed != 'left'):
PressKey(LEFT)
pressed = 'left'
elif (z < -0.5):
if (pressed != 'right'):
PressKey(RIGHT)
pressed = 'right'
else:
if (pressed == 'left'):
ReleaseKey(LEFT)
elif (pressed == 'right'):
ReleaseKey(RIGHT)
pressed = False
print('z: ' + str(z) + "\n")
def control_car(chosen_action):
for action in actions_array:
ReleaseKey(action)
# Simplified state-action with
# turning on constant accelerating
# TODO remove after experimenting
PressKey(W)
# Perform action
PressKey(actions_array[chosen_action])
def on_acc(data):
global pressed
if (data[1] > 2):
if (pressed == 'right'):
ReleaseKey(RIGHT)
if (pressed != 'left'):
PressKey(LEFT)
pressed = 'left'
elif (data[1] < -2):
if (pressed == 'left'):
ReleaseKey(LEFT)
if (pressed != 'right'):
PressKey(RIGHT)
pressed = 'right'
else:
if (pressed == 'left'):
ReleaseKey(LEFT)
elif (pressed == 'right'):
ReleaseKey(RIGHT)
pressed = False
print('acc: ' + str(data) + "\n")
def on_released(data):
print("\n" + 'released: ' + str(data) + "\n")
if (data == "x"):
ReleaseKey(X)
elif (data == "y"):
ReleaseKey(Y)
elif (data == "a"):
ReleaseKey(A)
elif (data == "b"):
ReleaseKey(B)
elif (data == "up"):
ReleaseKey(UP)
elif (data == "down"):
ReleaseKey(DOWN)
elif (data == "left"):
ReleaseKey(LEFT)
elif (data == "right"):
ReleaseKey(RIGHT)
def changeKeyState(newPressConfig):
global speed, frame
pressed = {up: False, down: False, left: False, right: False, nitro: False}
if (speed < speedLimit * 8 / 10 and len(road) > 0 and abs(road[0]) < 2):
# current speed is much lower than our desired speed, nitro up !
PressKey(up)
PressKey(nitro)
ReleaseKey(down)
pressed[up] = True
pressed[nitro] = True
elif (speed < speedLimit):
# push the pedal but no nitro
PressKey(up)
ReleaseKey(down)
ReleaseKey(nitro)
pressed[up] = True
elif (speed < speedLimit * 12 / 10):
# release both buttons, stop speeding
ReleaseKey(up)
ReleaseKey(down)
ReleaseKey(nitro)
else:
# slow down
ReleaseKey(up)
PressKey(down)
ReleaseKey(nitro)
pressed[down] = True
# lastKeypressConfig = what was pressed in the last frame
for key in lastKeypressConfig:
if not lastKeypressConfig[key] and key not in newPressConfig:
continue
# fresh press
elif not lastKeypressConfig[key]:
lastKeypressConfig[key] = newPressConfig[key]
PressKey(key)
pressed[key] = True
continue
# force delayBetweenInputs
elif lastKeypressConfig[key] + delayBetweenInputs < time.time():
if key in newPressConfig and newPressConfig[key]:
lastKeypressConfig[key] = newPressConfig[key]
PressKey(key)
pressed[key] = True
else:
ReleaseKey(key)
lastKeypressConfig[key] = False
continue
# delayBetweenInputs ended, release
elif lastKeypressConfig[key] < time.time():
if ReleaseKey(key):
pass
font = cv2.FONT_HERSHEY_SIMPLEX
fontScale = 0.8
fontColor = (255, 255, 255)
lineType = 3
# visualize what buttons are pressed
visualButtons = [('up', (400, 450), pressed[up]),
('down', (400, 500), pressed[down]),
('left', (325, 500), pressed[left]),
('right', (500, 500), pressed[right]),
('nitro', (575, 475), pressed[nitro]),
(str(speed) + ' km/h', (625, 450), False)]
for visual in visualButtons:
cv2.putText(frame, visual[0], visual[1], font, fontScale,
(255, 0, 0) if visual[2] else (255, 255, 255), lineType)
def right(delay=0):
PressKey(keys.D)
time.sleep(delay)
ReleaseKey(keys.D)
def backward():
PressKey(S)
ReleaseKey(A)
ReleaseKey(D)
ReleaseKey(W)
def right():
ReleaseKey(A)
ReleaseKey(S)
ReleaseKey(W)
PressKey(D)
def left():
PressKey(A)
PressKey(W)
ReleaseKey(D)
time.sleep(t_time)
ReleaseKey(A)
def right():
PressKey(W)
PressKey(D)
ReleaseKey(A)
time.sleep(t_time)
ReleaseKey(D)
def reverse():
ReleaseKey(A)
ReleaseKey(W)
ReleaseKey(D)
PressKey(S)
def forward():
PressKey(W)
ReleaseKey(A)
ReleaseKey(D)
ReleaseKey(S)
def left(delay=0):
PressKey(keys.A)
time.sleep(delay)
ReleaseKey(keys.A)
def straight_left():
ReleaseKey(D)
ReleaseKey(S)
PressKey(W)
PressKey(A)
PressKey(ESC)
t.sleep(keypress_pause)
ReleaseKey(ESC)
PressKey(ENTER)
t.sleep(keypress_pause)
ReleaseKey(ENTER)
PressKey(DOWN)
t.sleep(keypress_pause)
ReleaseKey(DOWN)
PressKey(ENTER)
t.sleep(keypress_pause)
ReleaseKey(ENTER)
t.sleep(3 * keypress_pause)
Q = np.loadtxt('qmatrix7006.out', delimiter=',')
# print(Q)
while (True):
run_q_algorithm()
print("Iteration" + str(iteration))
iteration += 1
key = cv2.waitKey(1)
if key == 27:
for action in actions_array:
ReleaseKey(action)
break
cv2.destroyAllWindows()
def no_key():
ReleaseKey(A)
ReleaseKey(W)
ReleaseKey(D)
ReleaseKey(S)
def reverse_right():
ReleaseKey(A)
ReleaseKey(W)
PressKey(S)
PressKey(D)
def reverse_left():
ReleaseKey(D)
ReleaseKey(W)
PressKey(S)
PressKey(A)
def straight_right():
ReleaseKey(A)
ReleaseKey(S)
PressKey(W)
PressKey(D)
prediction = model.predict([screen.reshape(WIDTH, HEIGHT, 1)])[0]
print(prediction)
turn_thresh = .75
fwd_thresh = 0.70
if prediction[0] > fwd_thresh:
forward()
elif prediction[1] > turn_thresh:
left()
elif prediction[3] > turn_thresh:
right()
elif prediction[2] > fwd_thresh:
backward()
else:
forward()
keys = key_check()
if 'P' in keys:
if paused:
paused = False
time.sleep(1)
else:
paused = True
ReleaseKey(A)
ReleaseKey(W)
ReleaseKey(D)
time.sleep(1)
elif 'X' in keys:
break
def left():
ReleaseKey(D)
ReleaseKey(S)
ReleaseKey(W)
PressKey(A)
