def reset(self, manual=False):
"""Re-launch torcs"""
if manual:
self.__reset_torcs_manual()
else:
self.__reset_torcs()
self.client = snakeoil.Client(p=3001)
self.client.MAX_STEPS = np.inf
self.client.get_servers_input()
self.obs.update_obs(self.client.S.d)
def __init__(self, manual=False):
"""API for communicating with snakeoil.py and torcs. Launches torcs"""
print("Launching torcs...")
if manual:
self.__reset_torcs_manual()
else:
self.__reset_torcs()
print("Connecting to torcs...")
self.client = snakeoil.Client(p=3001)
self.client.maxSteps = np.inf
self.client.get_servers_input()
self.obs = observation.Observation()
self.obs.update_obs(self.client.S.d)
self.act = action.Action()
self.PI = 3.14159265359
def run(self):
global prediction
# establish connection with TORCS server
C = snakeoil.Client()
# load PID controller and set vehicle speed
pid = PID(1.0, 0.1, 0.1)
pid.setPoint(15.5)
try:
while True:
C.get_servers_input()
R = C.R.d
S = C.S.d
R['steer'] = prediction
R['accel'] = pid.update(S['speedX'])
R['accel'] = np.clip(R['accel'], 0, 0.1)
snakeoil.drive_example(C)
C.respond_to_server()
C.shutdown()
except KeyboardInterrupt:
print('\nShutdown requested. Exiting...')
#!/usr/bin/python
from matplotlib import pyplot as plt
import snakeoil
import screenpipe
from time import sleep
if __name__ == "__main__":
C = snakeoil.Client()
pipe = screenpipe.screenpipe()
for step in xrange(C.maxSteps,0,-1):
img = pipe.get_image()
#plt.imshow(img)
#plt.show()
#print 1
C.get_servers_input()
snakeoil.drive_example(C)
C.respond_to_server()
# print 2
C.shutdown()
def main(P, port, m=1):
global lap
T = Track()
C = snakeoil.Client(P=P, port=port)
lastLapTime = []
damages = []
distance = []
positions_out = []
times_out = 0
max_out = 0
out = False
lastLapTime.append(0)
if C.stage == 1 or C.stage == 2:
try:
T.load_track(C.trackname)
except:
print "Could not load the track: %s" % C.trackname
sys.exit()
print "Track loaded!"
initialize_car(C)
C.respond_to_server()
C.S.d['stucktimer'] = 0
C.S.d['targetSpeed'] = 0
# gear = 0
lap = 1
for step in xrange(C.maxSteps, 0, -1):
C.get_servers_input()
drive(C, T, step)
C.respond_to_server()
# print C.S.d['rpm']
#
# if gear != C.S.d['gear']:
# print 'Cambio marcia da', gear, 'a', C.S.d['gear']
# gear = C.S.d['gear']
if lap > 1:
tp = abs(C.S.d['trackPos'])
# print tp
if tp >= 0.95:
times_out += 1
out = True
if tp > max_out:
max_out = tp
if tp < 0.95 and out:
out = False
if times_out > 30:
# print "out", [max_out, times_out]
positions_out.append([max_out, times_out])
times_out = 0
max_out = 0
if (lastLapTime[len(lastLapTime) - 1] != C.S.d['lastLapTime']):
lap += 1
lastLapTime.append(C.S.d['lastLapTime'])
damages.append(C.S.d['damage'])
distance.append(C.S.d['distRaced'])
if (len(lastLapTime) == 3) and m == 1:
C.R.d['meta'] = 1
C.respond_to_server()
C.shutdown()
return lastLapTime, damages, distance, positions_out, port
if C.S.d['damage'] > 8000 or C.S.d['curLapTime'] > 200:
damages.append(50000)
C.R.d['meta'] = 1
C.respond_to_server()
C.shutdown()
return lastLapTime, damages, distance, positions_out, port
if not C.stage:
T.write_track(C.trackname)