def Car2(sock2,CS):
#1. Listen on the server socket
#2. Accept the connection from car1. Use the accepted socket to receive input below
for step in range(CS[1].maxSteps, 0, -1):#The simulation steps
#3. Receive the speed value sent by the car 1 as a new variable Vl from the LeaderCar using the subscriber socket.
#get sensor inputs similar to the Leader Car
CS[1].get_servers_input()
S, R = CS[1].S.d, CS[1].R.d #S --sensors and R--actuators
#compute the actuations R['accel'], R['steer'],R['gear'] for the first car using PID controllers for LeaderCar
#Vl refers to the speed S['SpeedX'] of the LeaderCar
R['steer'] = Controller.ACCSteeringController(S)
[acc, brake, Xr] = Controller.ACCVelocityController(Vl, S)
R['accel'] = acc
R['brake'] = brake
R['gear'] = Controller.automaticGear(S)
#4. Log the sensor and actuator data S['SpeedX'], S['SpeedY'], S['SpeedZ'], R['accel'], R['steer'], R['gear'] to a buffer.
#Respond the actuation values to the simulator
CS[1].respond_to_server()
#Define main which calls three threads one each for LeaderCar, FollowerCar.
def main(CS):
#call the publisher and subscriber functions to create publisher and subscriber sockets.
sock1 = Publisher()
sock2 = Subscriber()
#Create three threads to call the LeaderCar, FollowerCar and Buffer functions.
FollowerThread = Thread(target=Car2, args = (sock2,CS))
FollowerThread.daemon = True
FollowerThread.start()
#1. do the same for the other car
#2. Join the threads
if __name__ == "__main__":
#Adding different clients to the simulation
CS=[TorcsEnv.Client(p=P) for P in [3001, 3002]]
main(CS)#main function
def drive_example(c, num):
global accumulateSpeedTime, accumulateStrTime, targetSpeed, targetStrE, timeIntervalSpeed, timeIntervalStr
global Vl
global trackPoslast
S, R = c.S.d, c.R.d
if (num == 0):
# The first car controller
# random the target speed and the target position of the first car
if (S['curLapTime'] < .20):
accumulateSpeedTime = 0.0
accumulateStrTime = 0.0
#Random generation of the leader car speed
targetSpeed = random.gauss(70.0, 30.0)
speedMin = 0.0
speedMax = 70.0
targetSpeed = min(speedMax, targetSpeed)
targetSpeed = max(speedMin, targetSpeed)
#Random generation of the leader car track position
targetStrE = random.gauss(0.0, 0.5)
strMin = -0.7
strMax = 0.7
targetStrE = min(strMax, targetStrE)
targetStrE = max(strMin, targetStrE)
#Random time interval generator within the current lap
timeIntervalSpeed = float(random.randint(10, 25))
timeIntervalStr = float(random.randint(10, 25))
#print('New Lap is Starting....', temp_speed, temp_strE)
#Random generation of the leader car speed
if (S['curLapTime'] > accumulateSpeedTime + timeIntervalSpeed):
accumulateSpeedTime += timeIntervalSpeed
timeIntervalSpeed = float(random.randint(10, 25))
targetSpeed = random.gauss(70.0, 30.0)
speedMin = 0.0
speedMax = 70.0
targetSpeed = min(speedMax, targetSpeed)
targetSpeed = max(speedMin, targetSpeed)
#print('update the target speed to', temp_speed)
#Random generation of the leader car track position
if (S['curLapTime'] > accumulateStrTime + timeIntervalStr):
accumulateStrTime += timeIntervalStr
timeIntervalStr = float(random.randint(10, 25))
targetStrE = random.gauss(0.0, 0.5)
strMin = -0.9
strMax = 0.9
targetStrE = min(strMax, targetStrE)
targetStrE = max(strMin, targetStrE)
#Acctuators of the first car
R['steer'] = Controller.steeringControl(S, targetStrE)
R['accel'] = Controller.speedControl(S, R, targetSpeed)
R['gear'] = Controller.automaticGear(S)
Vl = S[
'speedX'] # transfer the leader car speed to the second car controller
if (num == 1):
# The second car controller
#R['steer'] = Controller.ACCSteeringController(S)
[acc, brake, Xr] = Controller.ACCVelocityController(Vl, S)
#R['accel'] = acc
#R['brake'] = brake
# nn controller
trackPos = Controller.trackPosCalc(S['track'])
distance = min(S['opponents'])
row = [
S['speedX'], S['speedY'], trackPos, trackPoslast, distance, Vl, Xr
]
row = (row - dataNormalization['X_mean']) / dataNormalization['X_std']
trackPoslast = trackPos
Y = Controller.nncontroller(row, model)
#Y = Y * dataNormalization['Y_std']
R['steer'] = Y[0]
R['accel'] = Y[1]
R['brake'] = Y[2]
R['gear'] = Controller.automaticGear(S)
def drive_example(c, num):
global accumulateSpeedTime, accumulateStrTime, targetSpeed, targetStrE, timeIntervalSpeed, timeIntervalStr
global Vl
S, R = c.S.d, c.R.d
if (num == 0):
# this is the first car controller
# random the target speed and the target position of the first car
if (S['curLapTime'] < .20):
accumulateSpeedTime = 0.0
accumulateStrTime = 0.0
targetSpeed = random.gauss(70.0, 30.0)
speedMin = 0.0
speedMax = 70.0
targetSpeed = min(speedMax, targetSpeed)
targetSpeed = max(speedMin, targetSpeed)
targetStrE = random.gauss(0.0, 0.5)
strMin = -0.7
strMax = 0.7
targetStrE = min(strMax, targetStrE)
targetStrE = max(strMin, targetStrE)
timeIntervalSpeed = float(random.randint(10, 25))
timeIntervalStr = float(random.randint(10, 25))
#print('New Lap is Starting....', temp_speed, temp_strE)
if (S['curLapTime'] > accumulateSpeedTime + timeIntervalSpeed):
accumulateSpeedTime += timeIntervalSpeed
timeIntervalSpeed = float(random.randint(10, 25))
targetSpeed = random.gauss(70.0, 30.0)
speedMin = 0.0
speedMax = 70.0
targetSpeed = min(speedMax, targetSpeed)
targetSpeed = max(speedMin, targetSpeed)
#print('update the target speed to', temp_speed)
if (S['curLapTime'] > accumulateStrTime + timeIntervalStr):
accumulateStrTime += timeIntervalStr
timeIntervalStr = float(random.randint(10, 25))
targetStrE = random.gauss(0.0, 0.5)
strMin = -0.9
strMax = 0.9
targetStrE = min(strMax, targetStrE)
targetStrE = max(strMin, targetStrE)
R['steer'] = Controller.steeringControl(S, targetStrE)
R['accel'] = Controller.speedControl(S, R, targetSpeed)
R['gear'] = Controller.automaticGear(S)
Vl = S[
'speedX'] # transfer the leader car speed to the second car controller
if (num == 1):
# this is the second car controller
R['steer'] = Controller.ACCSteeringController(S)
[acc, brake] = Controller.ACCVelocityController(Vl, S)
R['accel'] = acc
R['brake'] = brake
R['gear'] = Controller.automaticGear(S)
collectData(S, R)