def load(self):
if os.path.isfile(
f'{file_name}.data-00000-of-00001'): # search for actual file
self.network.load_weights(file_name)
logger.debug(
f'Successfully loaded {file_name} model in KerasModel.load()')
else:
logger.error(f'{file_name} file not found in KerasModel.load()')
def __connect(self):
try:
logger.info(f'Connecting to {HOST}:{PORT}...')
self.client = icarla.client(HOST, PORT)
# Even on a local machine, CARLA server takes about 2-3 seconds to respond - especially loading maps is long
self.client.set_timeout(10.0)
self.world = self.client.get_world()
logger.info(f'Connected successfully')
except RuntimeError as r:
logger.error(f'Could not connect to server: {r}')
def loop(self):
if self.spectator is None or self.vehicle is None or self.path is None:
time.sleep(1.0)
else:
try:
self.update()
except RuntimeError as r:
logger.error(f'Error: {r}')
logger.warning(f'Setting vehicle to None')
self.vehicle = None
def predict(self, state):
if state is None:
return None, None
action = self.model.predict(state)
try:
# Copy value, not reference
choice = self.choices[action][:]
return action, choice
except RuntimeError:
logger.error(f'Error when trying to find right value for {action}')
return None, None
def load(self, path=NETWORKAGENT_MODEL_PATH):
logger.info(f'Loading model from {path}')
try:
self.model.load_model(path,
dim_features=get_feature_dimension,
image_height=AGENT_IM_HEIGHT,
image_width=AGENT_IM_WIDTH,
n_actions=choices_count,
model=self.model_class)
except FileNotFoundError as f:
logger.error(f'Failed to find file at {path} - {f}')
except RuntimeError as r:
logger.critical(f'Failed to load agent from {path} - {r}')
def loop(self):
if self.vehicle is None:
time.sleep(1.0)
else:
try:
self.poll_acceleration()
self.poll_position_and_direction()
self.poll_angular_acceleration()
self.poll_velocity()
time.sleep(POLL_TIME)
except RuntimeError as r:
logger.error(f'Error: {r}')
logger.warning(f'Setting vehicle to None')
self.vehicle = None
def control(self, throttle, steering):
if self.vehicle is not None:
if throttle >= 0.0:
try:
self.vehicle.apply_control(icarla.vehicle_control(throttle=throttle, steer=steering))
except RuntimeError as r:
logger.error(f'Error: {r}')
logger.warning(f'Setting vehicle to None')
self.vehicle = None
else:
try:
throttle *= -1.0
self.vehicle.apply_control(icarla.vehicle_control(reverse=True, throttle=throttle, steer=steering))
except RuntimeError as r:
logger.error(f'Error: {r}')
logger.warning(f'Setting vehicle to None')
self.vehicle = None
else:
raise RuntimeError('Vehicle not set in ControllerThread')
def move(actor, loc, safe=True):
"""
Moves the actor to a given location
| If safe mode is enabled, move becomes a blocking function which retries if it failed"""
actor.set_location(loc)
if safe:
time.sleep(0.5) # for some reason we must wait for the simulator to process this
d = actor.get_location().distance(loc)
if d > 1.0:
logger.warning(f'Failed moving {actor.type_id} to {loc}, retry...')
logger.info(f'Actors transform is {actor.get_transform()}')
actor.set_transform(carla.Transform(add_locations(loc, location(0, 0, 1)), rotation([0, 0, 0])))
time.sleep(0.5)
d = actor.get_location().distance(loc)
if d > 3.0:
logger.error(f'Failed moving {actor.type_id} to {loc}')
logger.info(f'Actors transform is {actor.get_transform()}')
return
def train_model(self, data=None):
if data is None:
val = None
train = None
# val = get_validation_data()
# train = get_train_data()
logger.error('Missing implementation in train_model')
pass
else:
trainables = states_to_trainables(data)
random.shuffle(trainables)
trainables = balance(trainables)
random.shuffle(trainables)
val_len = len(trainables) // 10
val = trainables[:val_len]
train = trainables[val_len:]
if len(train) > 0:
self.model.train(train=train, test=val, epochs=5)
else:
logger.error('Train has length 0')
def optimize(self, new_state, prev_state=None, action=None):
try:
return self.model.optimize(new_state, prev_state, action)
except RuntimeError as r:
logger.error(f'Error in model.optimize: {r}')
