def reset(self, prev_step_info=None):
"""Reset Method. To be called at the end of each episode"""
if self.initial_reset:
while self.ob is None:
try:
self.client = snakeoil3.Client(p=self.port,
vision=self.vision,
visualise=self.visualise)
# Open new UDP in vtorcs
self.client.MAX_STEPS = self.CLIENT_MAX_STEPS
self.client.get_servers_input(step=0)
# Get the initial input from torcs
raw_ob = self.client.S.d
# Get the current full-observation
self.ob = self.make_observation(raw_ob)
except:
pass
self.initial_reset = False
else:
try:
self.ob, self.client = TorcsEnv.reset(self,
client=self.client,
relaunch=True)
except Exception as e:
self.ob = None
while self.ob is None:
try:
print("Hard Reset")
# self.end(self.client)
self.client = snakeoil3.Client(p=self.port,
vision=self.vision)
# Open new UDP in vtorcs
self.client.MAX_STEPS = self.CLIENT_MAX_STEPS
self.client.get_servers_input(step=0)
# Get the initial input from torcs
raw_ob = self.client.S.d
# Get the current full-observation from torcs
self.ob = self.make_observation(raw_ob)
except:
pass
self.distance_traversed = 0
s_t = np.hstack((self.ob.angle, self.ob.track, self.ob.trackPos,
self.ob.speedX, self.ob.speedY, self.ob.speedZ,
self.ob.wheelSpinVel / 100.0, self.ob.rpm))
self.prev_angle = 0.0
self.prev_dist = 0.0
self.prev_lane = 0.0
self.accel_PID.reset_pid()
self.steer_PID.reset_pid()
return s_t
def reset(self):
"""Reset Method to be called at the end of each episode."""
self.step_num = 0
if not self.initial_reset:
self.torcs_server_config.generate_torcs_server_config()
self.madras_agent_port = self.torcs_server_port + self.torcs_server_config.num_traffic_cars
self.client.port = self.madras_agent_port # This is very bad code! But we wont need it any way in v2
logging.info("Num traffic cars in server {}".format(
self.torcs_server_config.num_traffic_cars))
if self._config.traffic:
self.traffic_manager.reset(
self.torcs_server_config.num_traffic_cars)
self._config.track_len = self.torcs_server_config.track_length
if self.initial_reset:
self.wait_for_observation()
self.initial_reset = False
else:
while True:
try:
self.ob, self.client = TorcsEnv.reset(self,
client=self.client,
relaunch=True)
except Exception:
self.wait_for_observation()
if not np.any(np.asarray(self.ob.track) < 0):
break
else:
logging.info(
"Reset: Reset failed as agent started off track. Retrying..."
)
self.distance_traversed = 0
s_t = self.observation_handler.get_obs(self.ob, self._config)
if self._config.pid_assist:
self.PID_controller.reset()
self.reward_handler.reset()
self.done_handler.reset()
logging.info("Reset: Starting new episode")
if np.any(np.asarray(self.ob.track) < 0):
logging.info("Reset produced bad track values.")
return s_t
def playTraffic(port=3101, target_vel=50.0, angle=0.0, sleep=0):
"""Traffic Play function."""
env = TorcsEnv(vision=False, throttle=True, gear_change=False)
ob = None
while ob is None:
try:
client = snakeoil3.Client(p=port, vision=False)
client.MAX_STEPS = np.inf
client.get_servers_input(step=0)
obs = client.S.d
ob = env.make_observation(obs)
except:
pass
episode_count = cfg['traffic']['max_eps']
max_steps = cfg['traffic']['max_steps_eps']
early_stop = 0
velocity_i = target_vel / 300.0
accel_pid = PID(np.array([10.5, 0.05, 2.8]))
steer_pid = PID(np.array([5.1, 0.001, 0.000001]))
steer = 0.0
accel = 0.0
brake = 0
A = cfg['traffic']['amplitude'] / 300.0
T = cfg['traffic']['time_period']
# print(velocity_i)
for i in range(episode_count):
info = {'termination_cause': 0}
steer = 0.0
accel = 0.0
brake = 0
S = 0.0
for step in range(max_steps):
a_t = np.asarray([steer, accel, brake]) # [steer, accel, brake]
try:
ob, r_t, done, info = env.step(step, client, a_t, early_stop)
if done:
pass
except Exception as e:
print("Exception caught at point A at port " + str(i) + str(e))
ob = None
while ob is None:
try:
client = snakeoil3.Client(p=port, vision=False)
client.MAX_STEPS = np.inf
client.get_servers_input(step=0)
obs = client.S.d
ob = env.make_observation(obs)
except:
pass
continue
if (step <= sleep):
print("WAIT" + str(port))
continue
velocity = velocity_i + A * math.sin(step / T)
opp = ob.opponents
front = np.array([opp[15], opp[16], opp[17], opp[18], opp[19]])
closest_front = np.min(front)
if (step % T == 0):
print("VEL_CHANGE: ", velocity * 300.0)
vel_error = velocity - ob.speedX
angle_error = -(ob.trackPos - angle) / 10 + ob.angle
steer_pid.update_error(angle_error)
accel_pid.update_error(vel_error)
accel = accel_pid.output()
steer = steer_pid.output()
if accel < 0:
brake = 1
else:
brake = 0
if closest_front < ((float(0.5 * ob.speedX * 100) + 10.0) / 200.0):
brake = 1
else:
brake = 0
try:
if 'termination_cause' in info.keys() and info['termination_cause'] == 'hardReset':
print('Hard reset by some agent')
ob, client = env.reset(client=client, relaunch=True)
except Exception as e:
print("Exception caught at point B at port " + str(i) + str(e) )
ob = None
while ob is None:
try:
client = snakeoil3.Client(p=port, vision=False) # Open new UDP in vtorcs
client.MAX_STEPS = np.inf
client.get_servers_input(0) # Get the initial input from torcs
obs = client.S.d # Get the current full-observation from torcs
ob = env.make_observation(obs)
except:
print("Exception caught at at point C at port " + str(i) + str(e))