class SelfDrivingCar:
def __init__(self):
self.gui = GUI(self.run)
self.env = self.gui.env
self.sensors = Sensors(self.env.mainCar, self.env)
self.actuators = Actuators(self.env.mainCar)
self.car = LearnerCar(self.actuators, self.sensors)
self.guiPerEpisode = int(RESULT_PER_EPISODE)
if self.guiPerEpisode <= 0:
self.guiPerEpisode = EPISODES_OF_LEARNING + 1
self.episodes = 1
self.gui.run()
def run(self):
while self.episodes != EPISODES_OF_LEARNING + EPISODES_OF_TESTING:
if self.episodes > EPISODES_OF_LEARNING:
self.car.turnOffLearning()
print "testing episode", self.episodes - EPISODES_OF_LEARNING, ":"
else:
print "learning episode", self.episodes, ":"
delayTime = 0
if (self.episodes > EPISODES_OF_LEARNING) or (self.episodes % self.guiPerEpisode == 0):
self.gui.turnOn()
delayTime = 0.05
else:
self.gui.turnOff()
self.env.mainCar.reset()
clocks = 0
while clocks < TIME_OUT:
if self.env.mainCar.queue.isEmpty():
state = self.car.getState()
action = self.car.policy(state)
self.car.commit(action)
nextState = self.car.getState()
reward = self.car.getReward(state, action, nextState)
self.car.update(state, action, nextState, reward)
print " iteration", clocks
print "\tstate:", state
print "\taction:", action
print "\tnextstate:", nextState
print "\treward:", reward, "\n"
clocks += 1
if self.car.sensors.isHit():
print "Car hit"
break
if self.car.sensors.isInDestination():
print "Car reached the goal!"
break
if delayTime > 0:
time.sleep(delayTime)
self.env.checkCollision()
self.gui.update()
if clocks == TIME_OUT:
print 'Time out occurred'
self.episodes += 1
self.gui.window.destroy()
sys.exit()
