def __init__(self, layout):
self._initBlocks(layout)
self._initIntersections(layout)
self.layout = layout
startX = layout.getStartX()
startY = layout.getStartY()
startDirName = layout.getJuniorDir()
self.junior = AutoDriver()
self.junior.setup(
Vec2d(startX, startY),
startDirName,
Vec2d(0, 0)
)
self.cars = [self.junior]
self.otherCars = []
self.finish = Block(layout.getFinish())
agentComm = AgentCommunication()
agentGraph = layout.getAgentGraph()
for _ in range(Const.NUM_AGENTS):
startNode = self._getStartNode(agentGraph)
other = Agent(startNode, layout.getAgentGraph(), self, agentComm)
self.cars.append(other)
self.otherCars.append(other)
self.observations = []
agentComm.addAgents(self.otherCars)
self.modelLock = threading.Lock()
self.probCarSet = False
def __init__(self, layout, QLearner):
self._initBlocks(layout)
self._initIntersections(layout)
self.layout = layout
startX = layout.getStartX()
startY = layout.getStartY()
startDirName = layout.getJuniorDir()
self.junior = AutoDriver(QLearner)
self.junior.setup(Vec2d(startX, startY), startDirName, Vec2d(0, 0))
self.cars = [self.junior]
self.otherCars = []
self.finish = Block(layout.getFinish())
agentComm = AgentCommunication()
if self.layout.getWorldName() != 'highway':
agentGraph = layout.getAgentGraph()
for _ in range(Const.NUM_AGENTS):
startNode = self._getStartNode(agentGraph)
other = Agent(startNode, layout.getAgentGraph(), self,
agentComm)
self.cars.append(other)
self.otherCars.append(other)
else:
agentGraphCarB = layout.getAgentGraphCarB()
startNode = self._getStartNode(agentGraphCarB)
other = Agent(startNode, layout.getAgentGraphCarB(), self,
agentComm)
self.cars.append(other)
self.otherCars.append(other)
agentGraphTruck = layout.getAgentGraphTruck()
startNode = self._getStartNode(agentGraphTruck)
other = Agent(startNode, layout.getAgentGraphTruck(), self,
agentComm)
self.cars.append(other)
self.otherCars.append(other)
self.observations = []
agentComm.addAgents(self.otherCars)
self.modelLock = threading.Lock()
self.probCarSet = False
class Model(object):
def __init__(self, layout):
self._initBlocks(layout)
self._initIntersections(layout)
self.layout = layout
startX = layout.getStartX()
startY = layout.getStartY()
startDirName = layout.getJuniorDir()
self.junior = AutoDriver()
self.junior.setup(
Vec2d(startX, startY),
startDirName,
Vec2d(0, 0)
)
self.cars = [self.junior]
self.otherCars = []
self.finish = Block(layout.getFinish())
agentComm = AgentCommunication()
agentGraph = layout.getAgentGraph()
for _ in range(Const.NUM_AGENTS):
startNode = self._getStartNode(agentGraph)
other = Agent(startNode, layout.getAgentGraph(), self, agentComm)
self.cars.append(other)
self.otherCars.append(other)
self.observations = []
agentComm.addAgents(self.otherCars)
self.modelLock = threading.Lock()
self.probCarSet = False
def _initBlocks(self, layout):
self.blocks = []
for blockData in layout.getBlockData():
block = Block(blockData)
self.blocks.append(block)
def _initIntersections(self, layout):
self.intersections = []
for blockData in layout.getIntersectionNodes():
block = Block(blockData)
self.intersections.append(block)
def _getStartNode(self, agentGraph):
while True:
node = agentGraph.getRandomNode()
pos = node.getPos()
alreadyChosen = False
for car in self.otherCars:
if car.getPos() == pos:
alreadyChosen = True
break
if not alreadyChosen:
return node
def checkVictory(self):
bounds = self.junior.getBounds()
for point in bounds:
if self.finish.containsPoint(point.x, point.y): return True
return False
def checkCollision(self, car):
bounds = car.getBounds()
# check for collision with fixed obstacles
for point in bounds:
if not self.inBounds(point.x, point.y): return True
# check for collision with other cars
for other in self.cars:
if other == car: continue
if other.collides(car.getPos(), bounds): return True
return False
def getIntersection(self, x, y):
for intersection in self.intersections:
if intersection.containsPoint(x, y): return intersection
return None
def inIntersection(self, x, y):
return self.getIntersection(x, y) != None
def inBounds(self, x, y):
if x < 0 or x >= self.getWidth(): return False
if y < 0 or y >= self.getHeight(): return False
for block in self.blocks:
if block.containsPoint(x, y): return False
return True
def getWidth(self):
return self.layout.getWidth()
def getHeight(self):
return self.layout.getHeight()
def getBeliefRows(self):
return self.layout.getBeliefRows()
def getBeliefCols(self):
return self.layout.getBeliefCols()
def getBlocks(self):
return self.blocks
def getFinish(self):
return self.finish
def getCars(self):
return self.cars
def getOtherCars(self):
return self.otherCars
def getJunior(self):
return self.junior
def getAgentGraph(self):
return self.layout.getAgentGraph()
def getJuniorGraph(self):
return self.layout.getJuniorGraph()
def setProbCar(self, beliefs):
self.modelLock.acquire()
total = util.Belief(self.getBeliefRows(), self.getBeliefCols(), 0.0)
for r in range(self.getBeliefRows()):
for c in range(self.getBeliefCols()):
pNot = 1.0
for b in beliefs:
carP = b.getProb(r, c)
pNot *= (1.0 - carP)
p = 1.0 - pNot
total.setProb(r, c, p)
self.probCar = total
self.modelLock.release()
self.probCarSet = True
def getProbCar(self):
if not self.probCarSet: return None
self.modelLock.acquire()
probCar = copy.deepcopy(self.probCar)
self.modelLock.release()
return probCar
class Model(object):
def __init__(self, layout):
self._initBlocks(layout)
self._initIntersections(layout)
self.layout = layout
startX = layout.getStartX()
startY = layout.getStartY()
startDirName = layout.getJuniorDir()
self.junior = AutoDriver()
self.junior.setup(Vec2d(startX, startY), startDirName, Vec2d(0, 0))
self.cars = [self.junior]
self.otherCars = []
self.finish = Block(layout.getFinish())
agentComm = AgentCommunication()
agentGraph = layout.getAgentGraph()
for _ in range(Const.NUM_AGENTS):
startNode = self._getStartNode(agentGraph)
other = Agent(startNode, layout.getAgentGraph(), self, agentComm)
self.cars.append(other)
self.otherCars.append(other)
self.observations = []
agentComm.addAgents(self.otherCars)
self.modelLock = threading.Lock()
self.probCarSet = False
def _initBlocks(self, layout):
self.blocks = []
for blockData in layout.getBlockData():
block = Block(blockData)
self.blocks.append(block)
def _initIntersections(self, layout):
self.intersections = []
for blockData in layout.getIntersectionNodes():
block = Block(blockData)
self.intersections.append(block)
def _getStartNode(self, agentGraph):
while True:
node = agentGraph.getRandomNode()
pos = node.getPos()
alreadyChosen = False
for car in self.otherCars:
if car.getPos() == pos:
alreadyChosen = True
break
if not alreadyChosen:
return node
def checkVictory(self):
bounds = self.junior.getBounds()
for point in bounds:
if self.finish.containsPoint(point.x, point.y): return True
return False
def checkCollision(self, car):
bounds = car.getBounds()
# check for collision with fixed obstacles
for point in bounds:
if not self.inBounds(point.x, point.y): return True
# check for collision with other cars
for other in self.cars:
if other == car: continue
if other.collides(car.getPos(), bounds): return True
return False
def getIntersection(self, x, y):
for intersection in self.intersections:
if intersection.containsPoint(x, y): return intersection
return None
def inIntersection(self, x, y):
return self.getIntersection(x, y) != None
def inBounds(self, x, y):
if x < 0 or x >= self.getWidth(): return False
if y < 0 or y >= self.getHeight(): return False
for block in self.blocks:
if block.containsPoint(x, y): return False
return True
def getWidth(self):
return self.layout.getWidth()
def getHeight(self):
return self.layout.getHeight()
def getBeliefRows(self):
return self.layout.getBeliefRows()
def getBeliefCols(self):
return self.layout.getBeliefCols()
def getBlocks(self):
return self.blocks
def getFinish(self):
return self.finish
def getCars(self):
return self.cars
def getOtherCars(self):
return self.otherCars
def getJunior(self):
return self.junior
def getAgentGraph(self):
return self.layout.getAgentGraph()
def getJuniorGraph(self):
return self.layout.getJuniorGraph()
def setProbCar(self, beliefs):
self.modelLock.acquire()
total = util.Belief(self.getBeliefRows(), self.getBeliefCols(), 0.0)
for r in range(self.getBeliefRows()):
for c in range(self.getBeliefCols()):
pNot = 1.0
for b in beliefs:
carP = b.getProb(r, c)
pNot *= (1.0 - carP)
p = 1.0 - pNot
total.setProb(r, c, p)
self.probCar = total
self.modelLock.release()
self.probCarSet = True
def getProbCar(self):
if not self.probCarSet: return None
self.modelLock.acquire()
probCar = copy.deepcopy(self.probCar)
self.modelLock.release()
return probCar
