def display(self):
"""
Display the road and vehicles on a pygame window.
"""
if not self.enabled:
return
self.sim_surface.move_display_window_to(self.window_position())
RoadGraphics.display(self.env.road, self.sim_surface)
if self.vehicle_trajectory:
VehicleGraphics.display_trajectory(self.vehicle_trajectory,
self.sim_surface)
RoadGraphics.display_traffic(self.env.road, self.sim_surface)
if self.agent_display:
self.agent_display(self.agent_surface, self.sim_surface)
if self.env.config["screen_width"] > self.env.config[
"screen_height"]:
self.screen.blit(self.agent_surface,
(0, self.env.config["screen_height"]))
else:
self.screen.blit(self.agent_surface,
(self.env.config["screen_width"], 0))
self.screen.blit(self.sim_surface, (0, 0))
self.clock.tick(self.env.SIMULATION_FREQUENCY)
pygame.display.flip()
if self.SAVE_IMAGES:
pygame.image.save(self.screen,
"highway-env_{}.png".format(self.frame))
self.frame += 1
def display_traffic_bigmap(cls, env, road, surface):
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
"""
commands = {}
ego_car = env.vehicle
# dt = 1.5 / env.SIMULATION_FREQUENCY
# ego_car_vx = ego_car.velocity * math.cos(ego_car.heading * 180 / np.pi)
# ego_car_vy = ego_car.velocity * math.sin(ego_car.heading * 180 / np.pi)
# vehicle_dx = ego_car_vx * dt
# vehicle_dy = ego_car_vy * dt
for v in road.vehicles:
# v.position -= [vehicle_dx,vehicle_dy]
# if np.linalg.norm(v.position - ego_car.position) < 75:
# if v.lane_index in ego_car.lanes_around or hasattr(v,"state"):
VehicleGraphics.display(v, surface, command_dict=commands)
# else:
# if not hasattr(v, "state"):
# env.road.vehicles.remove(v)
# print(commands)
# m.send_message(commands)
return commands
def display_traffic(cls, road, surface):
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
"""
for v in road.vehicles:
VehicleGraphics.display(v, surface)
def handle_events(self):
"""
Handle pygame events by forwarding them to the display and environment vehicle.
"""
for event in pygame.event.get():
if event.type == pygame.QUIT:
self.env.close()
self.sim_surface.handle_event(event)
if self.env.vehicle:
VehicleGraphics.handle_event(self.env.vehicle, event)
def display_traffic(cls, road, surface, offscreen=False):
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
"""
print("[INFO] in display_traffic, offscreen={}".format(offscreen))
for v in road.vehicles:
VehicleGraphics.display(v, surface, offscreen=offscreen)
def display_obstacles(road, surface, offscreen=False):
"""
Display the obstacles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
:param offscreen: whether the rendering should be done offscreen or not
"""
for o in road.obstacles:
VehicleGraphics.display(o, surface, offscreen=offscreen)
def display_traffic(cls, road, surface, simulation_frequency=15, offscreen=False):
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
:param simulation_frequency: simulation frequency
"""
if road.record_history:
for v in road.vehicles:
VehicleGraphics.display_history(v, surface, simulation=simulation_frequency, offscreen=offscreen)
for v in road.vehicles:
VehicleGraphics.display(v, surface, offscreen=offscreen)
def display_traffic(cls, road, surface):
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
"""
commands = {}
for v in road.vehicles:
VehicleGraphics.display(v, surface, command_dict=commands)
# print(commands)
# m.send_message(commands)
return commands
def display(self) -> None:
"""Display the road and vehicles on a pygame window."""
if not self.enabled:
return
self.sim_surface.move_display_window_to(self.window_position())
RoadGraphics.display(self.env.road, self.sim_surface)
if self.vehicle_trajectory:
VehicleGraphics.display_trajectory(self.vehicle_trajectory,
self.sim_surface,
offscreen=self.offscreen)
RoadGraphics.display_road_objects(self.env.road,
self.sim_surface,
offscreen=self.offscreen)
if self.agent_display:
self.agent_display(self.agent_surface, self.sim_surface)
if not self.offscreen:
if self.config["screen_width"] > self.config["screen_height"]:
self.screen.blit(self.agent_surface,
(0, self.config["screen_height"]))
else:
self.screen.blit(self.agent_surface,
(self.config["screen_width"], 0))
RoadGraphics.display_traffic(
self.env.road,
self.sim_surface,
simulation_frequency=self.env.config["simulation_frequency"],
offscreen=self.offscreen)
VehicleGraphics.display(self.env.vehicle,
self.sim_surface,
offscreen=self.offscreen,
ego=True)
# ObservationGraphics.display(self.env.observation_type, self.sim_surface)
if not self.offscreen:
self.screen.blit(self.sim_surface, (0, 0))
if self.env.config["real_time_rendering"]:
self.clock.tick(self.env.config["simulation_frequency"])
pygame.display.flip()
if self.SAVE_IMAGES and self.directory:
pygame.image.save(
self.sim_surface,
str(self.directory / "highway-env_{}.png".format(self.frame)))
self.frame += 1
def display_traffic(road: Road, surface: WorldSurface, simulation_frequency: int = 15, offscreen: bool = False) \
-> None:
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
:param simulation_frequency: simulation frequency
:param offscreen: render without displaying on a screen
"""
if road.record_history:
for v in road.vehicles:
VehicleGraphics.display_history(v, surface, simulation=simulation_frequency, offscreen=offscreen)
for v in road.vehicles:
VehicleGraphics.display(v, surface, offscreen=offscreen)
def handle_events(self):
"""
Handle pygame events by forwarding them to the display and environment vehicle.
"""
for event in pygame.event.get():
if event.type == pygame.QUIT:
self.env.close()
self.sim_surface.handle_event(event)
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
pause = True
while pause == True:
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
pause = False
if self.env.vehicle:
VehicleGraphics.handle_event(self.env.vehicle, event)
def display(self) -> None:
"""Display the road and vehicles on a pygame window."""
if not self.enabled:
return
if self.start:
model_config = {
"type": "EgoAttentionNetwork",
"feature_size": 64,
"embedding_layer": {
"type": "MultiLayerPerceptron",
"layers": [64, 64],
"reshape": False,
"in": 7
},
"others_embedding_layer": {
"type": "MultiLayerPerceptron",
"layers": [64, 64],
"reshape": False,
"in": 7
},
"self_attention_layer": {
"type": "SelfAttention",
"feature_size": 64,
"heads": 2
},
"attention_layer": {
"type": "EgoAttention",
"feature_size": 64,
"heads": 2
},
"output_layer": {
"type": "MultiLayerPerceptron",
"layers": [64, 64],
"reshape": False,
},
# "heads": 2,
# "dropout_factor": 0
"out": 3
}
self.q_network = models_eshagh.EgoAttentionNetwork(
model_config).to('cpu')
self.target_network = models_eshagh.EgoAttentionNetwork(
model_config).to('cpu')
self.target_network.load_state_dict(self.q_network.state_dict())
torch.save(
self.q_network.state_dict(),
"/u/05/aznarr1/unix/Documents/Projectintersection/highway-env-master/model"
+ "/q_network_1_3_2.pt")
self.start = False
self.sim_surface.move_display_window_to(self.window_position())
RoadGraphics.display(self.env.road, self.sim_surface)
if self.vehicle_trajectory:
VehicleGraphics.display_trajectory(self.vehicle_trajectory,
self.sim_surface,
offscreen=self.offscreen)
RoadGraphics.display_road_objects(self.env.road,
self.sim_surface,
offscreen=self.offscreen)
"""load_path = "/u/05/aznarr1/unix/Documents/Projectintersection/highway-env-master/model"
self.q_network.load_state_dict(torch.load(load_path + "/q_network_1_3_2.pt"))
observat = KinematicObservation(self.env).observe()
logits, aaaamatrix, selfattmatrixs = self.q_network.forward(observat.reshape((1,)+observat.shape))
action = torch.argmax(logits, dim=1).tolist()[0]
#print(logits)
#print('graph',aaaamatrix)
aaaamatrix = torch.squeeze(aaaamatrix)
aamatrix = aaaamatrix.cpu().detach().numpy()
selfamatrix = torch.squeeze(selfattmatrixs)
smatrix = selfamatrix.cpu().detach().numpy()
#print(smatrix.shape)
#print('FOR TEST',observat)
#print(aamatrix.shape)
#xxx = dqn_self_attention.attmatrix(observat)
#print(xxx)
""" """ position = [*self.sim_surface.pos2pix(observat[1][1]*100, observat[1][2]*100)]
if observat[2][0]==1:
position2 = [*self.sim_surface.pos2pix(observat[2][1]*100, observat[2][2]*100)]
else:
if observat[2][0]==1:
position2 = [*self.sim_surface.pos2pix(observat[2][1]*100, observat[2][2]*100)]
else:
if observat[3][0]==1:
position2 = [*self.sim_surface.pos2pix(observat[3][1]*100, observat[3][2]*100)]
else:
if observat[4][0]==1:
position2 = [*self.sim_surface.pos2pix(observat[4][1]*100, observat[4][2]*100)]
else:
if observat[5][0]==1:
position2 = [*self.sim_surface.pos2pix(observat[5][1]*100, observat[5][2]*100)]
else:
position2 = [*self.sim_surface.pos2pix(observat[6][1]*100, observat[6][2]*100)]
print(position)
print(position2)
#pygame.draw.rect(self.sim_surface, (50, 200, 0), position)
pygame.draw.line(self.sim_surface, (50, 200, 0), position,position2, 10) """ """
#print(x)
#print()
originx=observat[0][1]*100
originy=observat[0][2]*100
#origgiinn=PositionType([originx, originy])
self.sim_surface.move_display_window_to2(originx,originy)
i=0
j=0
print(aamatrix)
print(smatrix)
while i < 15:
j=0
while j < 15:
if observat[i][0]>0 and observat[j][0]>0:
if i==j:
position = self.sim_surface.pos2pix(observat[i][1]*100, observat[i][2]*100)
position2 = self.sim_surface.pos2pix(observat[j][1]*100, observat[j][2]*100)
pygame.draw.circle(self.sim_surface, (50, 200, 0), position, int(smatrix[0][i][j]*20))
pygame.draw.circle(self.sim_surface, (50, 0, 200), position, int(smatrix[1][i][j]*20))
position = self.sim_surface.pos2pix(observat[i][1]*100, observat[i][2]*100)
position2 = self.sim_surface.pos2pix(observat[j][1]*100, observat[j][2]*100)
pygame.draw.line(self.sim_surface, (50, 200, 0), position, position2, int(smatrix[0][i][j]*10))
pygame.draw.line(self.sim_surface, (50, 00, 200), position, position2, int(smatrix[1][i][j]*10))
j=j+1
i=i+1
k=0
while k < 15:
position = self.sim_surface.pos2pix(observat[0][1]*100, observat[0][2]*100)
position2 = self.sim_surface.pos2pix(observat[k][1]*100, observat[k][2]*100)
pygame.draw.line(self.sim_surface, (200, 200, 0), position, position2, int(smatrix[0][0][k]*10))
pygame.draw.line(self.sim_surface, (200, 200, 200), position, position2, int(smatrix[1][0][k]*10))
k=k+1
position = self.sim_surface.pos2pix(observat[0][1]*100, observat[0][2]*100)
pygame.draw.circle(self.sim_surface, (200, 200, 0), position, int(smatrix[0][0][0]*20))
pygame.draw.circle(self.sim_surface, (200, 200, 200), position, int(smatrix[1][0][0]*20))
k=0
while k < 15:
position = self.sim_surface.pos2pix(observat[0][1]*100, observat[0][2]*100)
position2 = self.sim_surface.pos2pix(observat[k][1]*100, observat[k][2]*100)
pygame.draw.line(self.sim_surface, (200, 0, 0), position, position2, int(aamatrix[0][k]*10))
pygame.draw.line(self.sim_surface, (250, 150, 30), position, position2, int(aamatrix[1][k]*10))
k=k+1
position = self.sim_surface.pos2pix(observat[0][1]*100, observat[0][2]*100)
pygame.draw.circle(self.sim_surface, (200, 0, 0), position, int(aamatrix[0][0]*20))
pygame.draw.circle(self.sim_surface, (250, 150, 30), position, int(aamatrix[1][0]*20))"""
"""position3 = self.sim_surface.pos2pix(observat[2][1]*100, observat[2][2]*100)
position4 = self.sim_surface.pos2pix(observat[3][1]*100, observat[3][2]*100)
position5 = self.sim_surface.pos2pix(observat[4][1]*100, observat[4][2]*100)
position6 = self.sim_surface.pos2pix(observat[5][1]*100, observat[5][2]*100)
position7 = self.sim_surface.pos2pix(observat[6][1]*100, observat[6][2]*100)
position8 = self.sim_surface.pos2pix(observat[7][1]*100, observat[7][2]*100)
position9 = self.sim_surface.pos2pix(observat[8][1]*100, observat[8][2]*100)
position10 = self.sim_surface.pos2pix(observat[9][1]*100, observat[9][2]*100)
pygame.draw.line(self.sim_surface, (50, 200, 0), position, position3, int(aamatrix[0][2]*10))
pygame.draw.line(self.sim_surface, (50, 200, 0), position, position4, int(aamatrix[0][3]*10))
pygame.draw.line(self.sim_surface, (50, 200, 0), position, position5, int(aamatrix[0][4]*10))
pygame.draw.line(self.sim_surface, (50, 200, 0), position, position6, int(aamatrix[0][5]*10))
pygame.draw.line(self.sim_surface, (50, 200, 0), position, position7, int(aamatrix[0][6]*10))
pygame.draw.line(self.sim_surface, (50, 200, 0), position, position8, int(aamatrix[0][7]*10))
pygame.draw.line(self.sim_surface, (50, 200, 0), position, position9, int(aamatrix[0][8]*10))
pygame.draw.line(self.sim_surface, (50, 200, 200), position, position2, int(aamatrix[1][1]*10))
pygame.draw.line(self.sim_surface, (50, 200, 200), position, position3, int(aamatrix[1][2]*10))
pygame.draw.line(self.sim_surface, (50, 200, 200), position, position4, int(aamatrix[1][3]*10))
pygame.draw.line(self.sim_surface, (50, 200, 200), position, position5, int(aamatrix[1][4]*10))
pygame.draw.line(self.sim_surface, (50, 200, 200), position, position6, int(aamatrix[1][5]*10))
pygame.draw.line(self.sim_surface, (50, 200, 200), position, position7, int(aamatrix[1][6]*10))"""
self.sim_surface.move_display_window_to(self.window_position())
#print(position)
if self.agent_display:
self.agent_display(self.agent_surface, self.sim_surface)
if not self.offscreen:
if self.env.config["screen_width"] > self.env.config[
"screen_height"]:
self.screen.blit(self.agent_surface,
(0, self.env.config["screen_height"]))
else:
self.screen.blit(self.agent_surface,
(self.env.config["screen_width"], 0))
RoadGraphics.display_traffic(
self.env.road,
self.sim_surface,
simulation_frequency=self.env.config["simulation_frequency"],
offscreen=self.offscreen)
if not self.offscreen:
self.screen.blit(self.sim_surface, (0, 0))
self.clock.tick(self.env.config["simulation_frequency"])
pygame.display.flip()
if self.SAVE_IMAGES and self.directory:
pygame.image.save(
self.sim_surface,
str(self.directory / "highway-env_{}.png".format(self.frame)))
self.frame += 1
