def from_dict(cls, dict: Dict):
road_bbox = RoadBoundingBox(dict['road_bbox_size'])
res = BeamNGMember([tuple(t) for t in dict['control_nodes']],
[tuple(t) for t in dict['sample_nodes']],
dict['num_spline_nodes'], road_bbox)
res.distance_to_boundary = dict['distance_to_boundary']
return res
def __init__(self,
num_control_nodes=15,
max_angle=MAX_ANGLE,
seg_length=SEG_LENGTH,
num_spline_nodes=NUM_SPLINE_NODES,
initial_node=(0.0, 0.0, -28.0, 8.0),
bbox_size=(-250, 0, 250, 500)):
assert num_control_nodes > 1 and num_spline_nodes > 0
assert 0 <= max_angle <= 360
assert seg_length > 0
assert len(initial_node) == 4 and len(bbox_size) == 4
self.num_control_nodes = num_control_nodes
self.num_spline_nodes = num_spline_nodes
self.initial_node = initial_node
self.max_angle = max_angle
self.seg_length = seg_length
self.road_bbox = RoadBoundingBox(bbox_size)
assert not self.road_bbox.intersects_vertices(
self._get_initial_point())
assert self.road_bbox.intersects_sides(self._get_initial_point())
def initial_population_generator(path, config, problem):
all_roads = [
filename
for filename in glob.glob(str(path) + "\*.json", recursive=True)
]
type = config.Feature_Combination
shuffle(all_roads)
roads = all_roads
original_set = list()
individuals = []
popsize = config.POPSIZE
for road in roads:
with open(road) as json_file:
data = json.load(json_file)
sample_nodes = data["road"]["nodes"]
for node in sample_nodes:
node[2] = -28.0
sample_nodes = np.array(sample_nodes)
records = data["records"]
bbox_size = (-250.0, 0.0, 250.0, 500.0)
road_bbox = RoadBoundingBox(bbox_size)
member = BeamNGMember(data["control_nodes"],
[tuple(t) for t in sample_nodes], 20, road_bbox)
member.config = config
member.problem = problem
simulation_id = time.strftime('%Y-%m-%d--%H-%M-%S', time.localtime())
sim_name = member.config.simulation_name.replace(
'$(id)', simulation_id)
simulation_data = SimulationData(sim_name)
states = []
for record in records:
state = VehicleState(timer=record["timer"],
pos=record["pos"],
dir=record["dir"],
vel=record["vel"],
steering=record["steering"],
steering_input=record["steering_input"],
brake=record["brake"],
brake_input=record["brake_input"],
throttle=record["throttle"],
throttle_input=record["throttle_input"],
wheelspeed=record["wheelspeed"],
vel_kmh=record["vel_kmh"])
sim_data_record = SimulationDataRecord(
**state._asdict(),
is_oob=record["is_oob"],
oob_counter=record["oob_counter"],
max_oob_percentage=record["max_oob_percentage"],
oob_distance=record["oob_distance"])
states.append(sim_data_record)
simulation_data.params = SimulationParams(
beamng_steps=data["params"]["beamng_steps"],
delay_msec=int(data["params"]["delay_msec"]))
simulation_data.road = DecalRoad.from_dict(data["road"])
simulation_data.info = SimulationInfo()
simulation_data.info.start_time = data["info"]["start_time"]
simulation_data.info.end_time = data["info"]["end_time"]
simulation_data.info.elapsed_time = data["info"]["elapsed_time"]
simulation_data.info.success = data["info"]["success"]
simulation_data.info.computer_name = data["info"]["computer_name"]
simulation_data.info.id = data["info"]["id"]
simulation_data.states = states
if len(states) > 0:
member.distance_to_boundary = simulation_data.min_oob_distance()
member.simulation = simulation_data
individual: BeamNGIndividual = BeamNGIndividual(member, config)
#individual.evaluate()
b = tuple()
feature_dimensions = generate_feature_dimension(type)
for ft in feature_dimensions:
i = feature_simulator(ft.feature_simulator, individual)
b = b + (i, )
individuals.append([b, road, individual])
starting_point = choice(individuals)
original_set.append(starting_point)
i = 0
best_ind = individuals[0]
while i < popsize - 1:
max_dist = 0
for ind in individuals:
dist = get_min_distance_from_set(ind, original_set)
if dist > max_dist:
max_dist = dist
best_ind = ind
original_set.append(best_ind)
i += 1
base = config.initial_population_folder
storage = SeedStorage(base)
for index, road in enumerate(original_set):
dst = storage.get_path_by_index(index + 1)
ind = road[2]
#copy(road[1], dst)
with open(road[1]) as ff:
json_file = json.load(ff)
with open(dst, 'w') as f:
f.write(
json.dumps({
"control_nodes":
json_file["control_nodes"],
ind.m.simulation.f_params:
ind.m.simulation.params._asdict(),
ind.m.simulation.f_info:
ind.m.simulation.info.__dict__,
ind.m.simulation.f_road:
ind.m.simulation.road.to_dict(),
ind.m.simulation.f_records:
[r._asdict() for r in ind.m.simulation.states]
}))
def generate_random_solution_without_sim(self):
"""
To ease the bootstrap of the algorithm, we can generate
the first solutions in the feature space, so that we start
filling the bins
"""
# "Generate random solution"
path = self.problem._seed_pool_strategy.get_seed()
with open(path) as json_file:
data = json.load(json_file)
sample_nodes = data["road"]["nodes"]
for node in sample_nodes:
node[2] = -28.0
sample_nodes = np.array(sample_nodes)
records = data["records"]
bbox_size = (-250.0, 0.0, 250.0, 500.0)
road_bbox = RoadBoundingBox(bbox_size)
member = BeamNGMember(data["control_nodes"],
[tuple(t) for t in sample_nodes],
len(data["control_nodes"]), road_bbox)
member.config = self.config
member.problem = self.problem
simulation_id = time.strftime('%Y-%m-%d--%H-%M-%S', time.localtime())
sim_name = member.config.simulation_name.replace(
'$(id)', simulation_id)
simulation_data = SimulationData(sim_name)
states = []
for record in records:
state = VehicleState(timer=record["timer"],
pos=record["pos"],
dir=record["dir"],
vel=record["vel"],
steering=record["steering"],
steering_input=record["steering_input"],
brake=record["brake"],
brake_input=record["brake_input"],
throttle=record["throttle"],
throttle_input=record["throttle_input"],
wheelspeed=record["wheelspeed"],
vel_kmh=record["vel_kmh"])
sim_data_record = SimulationDataRecord(
**state._asdict(),
is_oob=record["is_oob"],
oob_counter=record["oob_counter"],
max_oob_percentage=record["max_oob_percentage"],
oob_distance=record["oob_distance"])
states.append(sim_data_record)
simulation_data.params = SimulationParams(
beamng_steps=data["params"]["beamng_steps"],
delay_msec=int(data["params"]["delay_msec"]))
simulation_data.road = DecalRoad.from_dict(data["road"])
simulation_data.info = SimulationInfo()
simulation_data.info.start_time = data["info"]["start_time"]
simulation_data.info.end_time = data["info"]["end_time"]
simulation_data.info.elapsed_time = data["info"]["elapsed_time"]
simulation_data.info.success = data["info"]["success"]
simulation_data.info.computer_name = data["info"]["computer_name"]
simulation_data.info.id = data["info"]["id"]
simulation_data.states = states
if len(states) > 0:
member.distance_to_boundary = simulation_data.min_oob_distance()
member.simulation = simulation_data
individual: BeamNGIndividual = BeamNGIndividual(
member, self.config)
individual.seed = path
else:
print("*********Bug************")
return individual