def get_reward_input_params(self, current_track: Track):
point = (self.x, self.y)
side = current_track.get_position_of_point_relative_to_waypoint(
point, self.closest_waypoint_index)
params = {
'all_wheels_on_track':
self.all_wheels_on_track,
'x':
self.x,
'y':
self.y,
'heading':
self.heading,
'distance_from_center':
self.distance_from_center,
'projection_distance':
0.0, # TODO
'progress':
self.progress,
'steps':
float(self.step),
'speed':
float(self.speed),
'steering_angle':
float(self.steering_angle),
'track_width':
current_track.get_width(),
'track_length':
float(self.track_length),
'waypoints':
current_track.get_all_waypoints(),
'closest_waypoints':
[int(self.before_waypoint_index),
int(self.after_waypoint_index)],
'is_left_of_center':
side == "L",
'is_reversed':
self.status == _STATUS_REVERSED,
'is_crashed':
self.status == _STATUS_CRASHED,
'is_offtrack':
self.status == _STATUS_OFF_TRACK,
'closest_objects': [0, 0], # TODO
'objects_location': [], # TODO
'objects_left_of_center': [], # TODO
'object_in_camera': [], # TODO
'objects_speed': [], # TODO
'objects_heading': [], # TODO
'objects_distance_from_center': [], # TODO
'objects_distance': [] # TODO
}
return params
def show_event(self, event: Event, track: Track):
(previous_bearing,
_) = track.get_bearing_and_distance_from_previous_waypoint(
event.before_waypoint_index)
(current_bearing, _) = track.get_bearing_and_distance_to_next_waypoint(
event.before_waypoint_index)
(next_bearing, _) = track.get_bearing_and_distance_to_next_waypoint(
event.after_waypoint_index)
self.waypoint_lap_position.set(
str(
round(
track.get_waypoint_percent_from_race_start(
event.closest_waypoint_index), 1)) + " %")
self.waypoint_previous_id.set(str(event.before_waypoint_index))
self.waypoint_closest_id.set(str(event.closest_waypoint_index))
self.waypoint_next_id.set(str(event.after_waypoint_index))
self.waypoint_previous_bearing.set(str(round(previous_bearing)))
self.waypoint_current_bearing.set(str(round(current_bearing)))
self.waypoint_next_bearing.set(str(round(next_bearing)))
self.state_progress.set(str(round(event.progress, 1)) + " %")
self.state_time.set(str(round(event.time_elapsed, 1)) + " secs")
self.state_step.set(str(event.step))
self.state_track_speed.set(str(round(event.track_speed, 1)) + " m/s")
self.state_progress_speed.set(
str(round(event.progress_speed, 1)) + " m/s")
self.state_heading.set(str(round(event.heading)))
self.state_true_bearing.set(str(round(event.true_bearing)))
self.state_slide.set(str(round(event.slide)))
self.state_skew.set(str(round(event.skew)))
self.state_side.set(
track.get_position_of_point_relative_to_waypoint(
(event.x, event.y), event.closest_waypoint_index))
self.state_distance_from_centre.set(
str(round(event.distance_from_center, 2)))
self.state_all_wheels_on_track.set(str(event.all_wheels_on_track))
if event.acceleration > 0.0:
self.state_acceleration.set(
str(round(event.acceleration, 1)) + " m/s/s")
else:
self.state_acceleration.set("---")
if event.braking > 0.0:
self.state_braking.set(str(round(event.braking, 1)) + " m/s/s")
else:
self.state_braking.set("---")
self.state_projected_travel_distance.set(
str(round(event.projected_travel_distance, 1)) + " m")
self.action_id.set(str(event.action_taken))
self.action_steering.set(get_formatted_steering(event.steering_angle))
self.action_speed.set(str(event.speed) + " m/s")
self.action_sequence.set(str(event.sequence_count))
self.reward_value.set(get_pretty_large_float(round(event.reward, 5)))
self.reward_average.set(
get_pretty_large_integer(event.average_reward_so_far))
self.reward_total.set(get_pretty_large_integer(event.reward_total))
self.discounted_future_reward.set(
get_pretty_large_integer(event.discounted_future_rewards[0]))
if self._config_manager.get_calculate_new_reward():
self.new_reward.set(
get_pretty_large_float(round(event.new_reward, 5)))
self.new_discounted_future_reward.set(
get_pretty_large_integer(event.new_discounted_future_reward))
if self._config_manager.get_calculate_alternate_discount_factors():
for i, r in enumerate(self.other_discounted_future_rewards):
r.set(
get_pretty_large_integer(
event.discounted_future_rewards[i + 1]))
self.debug_output.set(get_formatted_debug(
event.debug_log, 10, 80, [])) # TODO - expose configuration
self.lift()