def _get_lap(self):
pix_arr = self.numpy_array
point_a = IMAGE_HELPER.GetPixelColor(pix_arr, 203, 51)
if point_a in self.LAP_COLOR_MAP:
return self.LAP_COLOR_MAP[point_a]
else:
# TODO: What should this do? The pixel is not known, so assume same lap?
return self.lap
def _checkpoint(self, checkpoint_points):
pix_arr = self.numpy_array
colored_dots = map(lambda point: IMAGE_HELPER.GetPixelColor(pix_arr, point[0], point[1]),
checkpoint_points)
pixel_means = np.mean(colored_dots, 1)
#print colored_dots
#cprint('Pixel means: %s' % pixel_means, 'cyan')
return any(val < 100 for val in pixel_means)
def _evaluate_end_state(self):
#cprint('Evaluate End State called!','yellow')
pix_arr = self.pixel_array
upper_left = IMAGE_HELPER.GetPixelColor(pix_arr, 19, 19)
upper_right = IMAGE_HELPER.GetPixelColor(pix_arr, 620, 19)
bottom_left = IMAGE_HELPER.GetPixelColor(pix_arr, 19, 460)
bottom_right = IMAGE_HELPER.GetPixelColor(pix_arr, 620, 460)
if upper_left == upper_right == bottom_left == bottom_right:
self.end_episode_confidence += 1
else:
self.end_episode_confidence = 0
if self.end_episode_confidence > self.END_EPISODE_THRESHOLD:
return True
else:
return False
def _evaluate_end_state(self):
#cprint('Evaluate End State called!','yellow')
pix_arr = self.numpy_array
upper_left = IMAGE_HELPER.GetPixelColor(pix_arr, 19, 19)
upper_right = IMAGE_HELPER.GetPixelColor(pix_arr, 620, 19)
bottom_left = IMAGE_HELPER.GetPixelColor(pix_arr, 19, 460)
bottom_right = IMAGE_HELPER.GetPixelColor(pix_arr, 620, 460)
if upper_left == upper_right == bottom_left == bottom_right or (
self.USE_CHECKPOINTS_TO_END_EPISODE
and self.chkpt_count > self.END_EPISODE_CHECKPOINT_THRESHOLD
) or (self.USE_LAPS_TO_END_EPISODE
and self._get_lap() > self.END_EPISODE_LAP_THRESHOLD):
self.end_episode_confidence += 1
else:
self.end_episode_confidence = 0
if self.end_episode_confidence > self.END_EPISODE_THRESHOLD:
return True
else:
return False
def _evaluate_checkpoint(self, checkpoint_points):
checkpoint_pixels = [IMAGE_HELPER.GetPixelColor(self.pixel_array, point[0], point[1])
for point in checkpoint_points]
#print(checkpoint_pixels)
# If the first pixel is not a valid color, no need to check the other three
if not checkpoint_pixels[0] in self.HUD_PROGRESS_COLOR_VALUES:
return -1
# If the first pixel is good, make sure the other three match
elif not self.all_equal(checkpoint_pixels):
return -1
# If all are good, return the corresponding value
else:
return self.HUD_PROGRESS_COLOR_VALUES[checkpoint_pixels[0]]
def _evaluate_end_state(self):
#cprint('Evaluate End State called!','yellow')
return self.end_race_pixel_color == IMAGE_HELPER.GetPixelColor(
self.pixel_array, 203, 51)