def drive(self, carstate: State):
X=np.zeros((1,41))
# # print("mehmeh",carstate)
# # X[0]=carstate.speed
with open('model.json', 'r') as json_file:
loaded_model_json = json_file.read()
json_file.close()
loaded_model = model_from_json(loaded_model_json)
# load weights into new model
loaded_model.load_weights("model.h5")
print("Loaded model from disk")
X[0][0]=carstate.angle
print('meh')
X[0][1]=carstate.speed_x/280
# X[3]=carstate.distance_from_start
X[0][21]=carstate.distances_from_edge[0]/200
X[0][22]=carstate.distances_from_edge[1]/200
X[0][23]=carstate.distances_from_edge[2]/200
X[0][24]=carstate.distances_from_edge[3]/200
X[0][25]=carstate.distances_from_edge[4]/200
X[0][26]=carstate.distances_from_edge[5]/200
X[0][27]=carstate.distances_from_edge[6]/200
X[0][28]=carstate.distances_from_edge[7]/200
X[0][29]=carstate.distances_from_edge[8]/200
X[0][30]=carstate.distances_from_edge[9]/200
X[0][31]=carstate.distances_from_edge[10]/200
X[0][32]=carstate.distances_from_edge[11]/200
X[0][33]=carstate.distances_from_edge[12]/200
X[0][34]=carstate.distances_from_edge[13]/200
X[0][35]=carstate.distances_from_edge[14]/200
X[0][36]=carstate.distances_from_edge[15]/200
X[0][37]=carstate.distances_from_edge[16]/200
X[0][38]=carstate.distances_from_edge[17]/200
X[0][39]=carstate.distances_from_edge[18]/200
# print(carstate.distances_from_edge[19])
X[0][40]=carstate.distance_from_center
X[0][2]= carstate.opponents[0]/200
X[0][3]= carstate.opponents[1]/200
X[0][4]=carstate.opponents[2]/200
X[0][5]= carstate.opponents[3]/200
X[0][6]=carstate.opponents[4]/200
X[0][7]= carstate.opponents[5]/200
X[0][8]= carstate.opponents[6]/200
X[0][9]= carstate.opponents[7]/200
X[0][10]= carstate.opponents[8]/200
X[0][11]= carstate.opponents[9]/200
X[0][12]= carstate.opponents[10]/200
X[0][13]=carstate.opponents[11]/200
X[0][14]= carstate.opponents[12]/200
X[0][15]= carstate.opponents[13]/200
X[0][16]= carstate.opponents[14]/200
X[0][17]= carstate.opponents[15]/200
X[0][18]= carstate.opponents[16]/200
X[0][19]= carstate.opponents[17]/200
X[0][20]= carstate.opponents[19]/200
# fitnesses = []
sumofSensors=0
for i in range(19):
sumofSensors+=np.sqrt(carstate.distances_from_edge[i])
# print((summ*0.3)+50)
#action = self.net.advance(X, 1, 10)
print('mehblahmeh')
#-------------------------------------------------------------------------------
action=loaded_model.predict(X,batch_size=1,verbose=1)
print('mehblahmeh',action)
# exit()
#-------------------------------------------------------------------------------
# front=((carstate.distances_from_edge[8]+carstate.distances_from_edge[9])/2)
# brakeoff=0
# if front<100 :
# manualSpeed=70
# if not self.flag:
# brakeOff=0.50
# self.flag=True
# else:
# brakeOff=0
# else:
# self.flag=False
# brakeOff=0
# manualSpeed=front+50
# # print(front)
# # print(action)
# # print("heeeey")
# summ=np.zeros(6)
# for i in range(len(X[4:])):
# # print(len(X[4:]))
# if i <4 :
# summ[0]+=X[i]
# elif i<7:
# summ[1]+=X[i]
# elif i<9:
# summ[2]+=X[i]
# elif i<11:
# summ[3]+=X[i]
# elif i<14:
# summ[4]+=X[i]
# elif i<18:
# summ[5]+=X[i]
command = Command()
# if carstate.gear ==3:
# gear=3
# v_x= (action[0]*170)+40#(sumofSensors*1.3)#((action[2]*250)**2)+70
# self.accelerate(carstate, v_x, command)
# print(command.accelerator)
# averages=np.zeros(10)
# averages[0]=summ[0]/4
# averages[1]=summ[1]/3*5
# averages[2]=summ[2]/2*15
# averages[3]=summ[3]/2*15
# averages[4]=summ[4]/3*5
# averages[5]=summ[5]/4
# averages[6]=X[0]
# averages[7]=X[1]
# averages[8]=X[2]
# averages[9]=command.accelerator
gear=carstate.gear
# X[0]=carstate.
# X[0]=carstate.speed
# gear=carstate.gear
# inp=np.zeros(3)
# inp[0]=command.accelerator
# inp[1]=X[1]
# inp[2]=X[2]
# # X[0]=carstate.
# X[0]=carstate.speed
Kp=0.003
dfromC=carstate.distance_from_center
# if carstate.distance_from_center==-1:
# dfromC=-10
# elif carstate.distance_from_center==1:
# dfromC=10
error=(carstate.angle-dfromC*12)
pidoff=Kp*carstate.angle*100
pid=Kp*error
# print(action)
# print(pid)
# X=list(carstate)
# print(X)
#self.net.Input(X)
#self.net.Activate()
#action = self.net.Output()
# # print(action,"mehblah")
# # # if y[0][0] > 0:
# ((action[0]*2)-1)*0.7
# x=np.array(())
# self.steer(carstate,0, command)
# # else:
# # command.brake = min(-acceleration, 1)
# steer=action[0]
# if (action[0]*2)-1<-0.2:
# steer=-0.2
# elif (action[0])*2-1>0.2:
# steer=0.2
# brake=0.01
# if action[1]>0.8:
# accel=0.8
# elif action[1]<0.4:
# accel=0.4
# steeraction=action.index(max(action))
# if steeraction==0:
# command.steering=-0.7
# elif steeraction==1:
# command.steering=-0.4
# elif steeraction==2:
# command.steering=-0.2
# elif steeraction==3:
# command.steering=-0.1
# elif steeraction==4:
# command.steering=-0.05
# elif steeraction==5:
# command.steering=0
# elif steeraction==6:
# command.steering=0.05
# elif steeraction==7:
# command.steering=0.1
# elif steeraction==8:
# command.steering=0.2
# elif steeraction==9:
# command.steering=0.4
# elif steeraction==10:
# command.steering=0.7
# brake=action[2]
# if action[2]>0.2:
# brake=0.2
# elif action[1]<0.4:
# accel=0.4
# v_x = (((((action[2]-1)*-1)**2)-1)*-1*100)+95
# if carstate.rpm < 2500:
# command.gear = carstate.gear - 1
# if not command.gear:
# command.gear = 1
# print("mehblah",carstate.distance_from_center)
# self.data_logger.log(carstate,command)
# print(y)
# if carstate.distance_from_center>1.5 or carstate.distance_from_center<-1.5:
# self.data_logger.close()
# self.data_logger = None
# else:
# if carstate.distances_from_edge[8]<65 and carstate.distances_from_edge[8]>0:
# command.brake=(((carstate.distances_from_edge[8]/65)-1)*-1)**3
# # if carstate.distances_from_edge[8]==-1.0:
# command.brake=0
# command.accelerator=0.8
# command.steering=pidoff
# print(action)
# print((action[0]*2)-1)
if carstate.rpm>7000:
gear+=1
elif carstate.gear==0:
gear+=1
elif carstate.rpm<2000 and X[0][1]>10:
print(X[0][1])
gear-=1
# if command.accelerator==0:
# command.brake=0.02
# else:
# command.brake=0
print('blahandreas',action[0][0])
command.accelerator=1#float(action[0][0])+2#0.4#accel#y[0][0]
command.brake=action[0][1]#abs(pid)*2#y[0][1]*y[0][1]
command.steering=action[0][2]
# command.steering=((action[0]*2)-1)*0.7#steer
command.gear=gear
command.focus=0
# command.gear=1
# print(command)
# print(command)
return command
def drive(self, carstate: State):
X=np.zeros(22)
# # print("mehmeh",carstate)
# # X[0]=carstate.speed
X[0]=carstate.speed_x/220
X[1]=carstate.angle
# X[3]=carstate.distance_from_start
X[3]=np.sqrt(carstate.distances_from_edge[0]/200)
X[4]=np.sqrt(carstate.distances_from_edge[1]/200)
X[5]=np.sqrt(carstate.distances_from_edge[2]/200)
X[6]=np.sqrt(carstate.distances_from_edge[3]/200)
X[7]=np.sqrt(carstate.distances_from_edge[4]/200)
X[8]=np.sqrt(carstate.distances_from_edge[5]/200)
X[9]=np.sqrt(carstate.distances_from_edge[6]/200)
X[10]=np.sqrt(carstate.distances_from_edge[7]/200)
X[11]=np.sqrt(carstate.distances_from_edge[8]/200)
X[12]=np.sqrt(carstate.distances_from_edge[9]/200)
X[13]=np.sqrt(carstate.distances_from_edge[10]/200)
X[14]=np.sqrt(carstate.distances_from_edge[11]/200)
X[15]=np.sqrt(carstate.distances_from_edge[12]/200)
X[16]=np.sqrt(carstate.distances_from_edge[13]/200)
X[17]=np.sqrt(carstate.distances_from_edge[14]/200)
X[18]=np.sqrt(carstate.distances_from_edge[15]/200)
X[19]=np.sqrt(carstate.distances_from_edge[16]/200)
X[20]=np.sqrt(carstate.distances_from_edge[17]/200)
X[21]=np.sqrt(carstate.distances_from_edge[18]/200)
# print(carstate.distances_from_edge[19])
X[2]=carstate.distance_from_center
# X[22]= np.cbrt(carstate.opponents[0]/200)
# X[23]= np.cbrt(carstate.opponents[1]/200)
# X[24]=np.cbrt(carstate.opponents[2]/200)
# X[25]= np.cbrt( carstate.opponents[3]/200)
# X[26]=np.cbrt(carstate.opponents[4]/200)
# X[27]= np.cbrt(carstate.opponents[5]/200)
# X[28]= np.cbrt(carstate.opponents[6]/200)
# X[29]= np.cbrt(carstate.opponents[7]/200)
# X[30]= np.cbrt(carstate.opponents[8]/200)
# X[31]= np.cbrt(carstate.opponents[9]/200)
# X[32]= np.cbrt(carstate.opponents[10]/200)
# X[33]=np.cbrt(carstate.opponents[11]/200)
# X[34]= np.cbrt(carstate.opponents[12]/200)
# X[35]= np.cbrt(carstate.opponents[13]/200)
# X[36]= np.cbrt(carstate.opponents[14]/200)
# X[37]= np.cbrt(carstate.opponents[15]/200)
# X[38]= np.cbrt(carstate.opponents[16]/200)
# X[39]= np.cbrt( carstate.opponents[17]/200)
# X[40]=np.cbrt( carstate.opponents[19]/200)
# fitnesses = []
sumofSensors=0
for i in range(19):
sumofSensors+=np.sqrt(carstate.distances_from_edge[i])
# print((summ*0.3)+50)
sensOff=0
for i in range(19):
if i<10:
sensOff+=np.sqrt(carstate.distances_from_edge[i])
else:
sensOff-=np.sqrt(carstate.distances_from_edge[i])
front=((carstate.distances_from_edge[8]+carstate.distances_from_edge[9])/2)
brakeoff=0
if front<100 :
manualSpeed=70
if not self.flag:
brakeOff=0.50
self.flag=True
else:
brakeOff=0
else:
self.flag=False
brakeOff=0
manualSpeed=front+50
# print(front)
# print(action)
# print("heeeey")
summ=np.zeros(6)
for i in range(len(X[4:])):
# print(len(X[4:]))
if i <4 :
summ[0]+=X[i]
elif i<7:
summ[1]+=X[i]
elif i<9:
summ[2]+=X[i]
elif i<11:
summ[3]+=X[i]
elif i<14:
summ[4]+=X[i]
elif i<18:
summ[5]+=X[i]
command = Command()
# if carstate.gear ==3:
# gear=3
v_x= (sumofSensors*1.3)#((action[2]*250)**2)+70
self.accelerate(carstate, v_x, command)
# print(command.accelerator)
averages=np.zeros(10)
averages[0]=summ[0]/4
averages[1]=summ[1]/3*5
averages[2]=summ[2]/2*15
averages[3]=summ[3]/2*15
averages[4]=summ[4]/3*5
averages[5]=summ[5]/4
averages[6]=X[0]
averages[7]=X[1]
averages[8]=X[2]
averages[9]=command.accelerator
gear=carstate.gear
# X[0]=carstate.
# X[0]=carstate.speed
# gear=carstate.gear
inp=np.zeros(3)
inp[0]=sensOff #command.accelerator
# inp[1]=X[1]
# inp[2]=X[2]
# # X[0]=carstate.
# X[0]=carstate.speed
Kp=0.003
dfromC=carstate.distance_from_center
# if carstate.distance_from_center==-1:
# dfromC=-10
# elif carstate.distance_from_center==1:
# dfromC=10
error=(carstate.angle-dfromC*12)
pidoff=Kp*carstate.angle*100
pid=Kp*error
# print(action)
# print(pid)
# X=list(carstate)
# print(X)
self.net.Input(X)
self.net.Activate()
action = self.net.Output()
# action = self.net.advance(X, 1, 10)
command.steering=action[0]-action[1]
# steeraction=action.index(max(action))
# if steeraction==0:
# command.steering=-0.7
# elif steeraction==1:
# command.steering=-0.4
# elif steeraction==2:
# command.steering=-0.2
# elif steeraction==3:
# command.steering=-0.1
# elif steeraction==4:
# command.steering=-0.05
# elif steeraction==5:
# command.steering=0
# elif steeraction==6:
# command.steering=0.05
# elif steeraction==7:
# command.steering=0.1
# elif steeraction==8:
# command.steering=0.2
# elif steeraction==9:
# command.steering=0.4
# elif steeraction==10:
# command.steering=0.7
# # print(action,"mehblah")
if carstate.rpm>7000:
gear+=1
elif carstate.gear==0:
gear+=1
elif carstate.rpm<2000 and X[0]>10:
gear-=1
# # # if y[0][0] > 0:
# ((action[0]*2)-1)*0.7
# x=np.array(())
# self.steer(carstate, ((action[0]*2)-1)*0.7, command)
# # else:
# # command.brake = min(-acceleration, 1)
# steer=action[0]
# if (action[0]*2)-1<-0.2:
# steer=-0.2
# elif (action[0])*2-1>0.2:
# steer=0.2
# brake=0.01
# if action[1]>0.8:
# accel=0.8
# elif action[1]<0.4:
# accel=0.4
# brake=action[2]
# if action[2]>0.2:
# brake=0.2
# elif action[1]<0.4:
# accel=0.4
# v_x = (((((action[2]-1)*-1)**2)-1)*-1*100)+95
# if carstate.rpm < 2500:
# command.gear = carstate.gear - 1
# if not command.gear:
# command.gear = 1
# print("mehblah",carstate.distance_from_center)
# self.data_logger.log(carstate,command)
# print(y)
# if carstate.distance_from_center>1.5 or carstate.distance_from_center<-1.5:
# self.data_logger.close()
# self.data_logger = None
# else:
# if carstate.distances_from_edge[8]<65 and carstate.distances_from_edge[8]>0:
# command.brake=(((carstate.distances_from_edge[8]/65)-1)*-1)**3
# # if carstate.distances_from_edge[8]==-1.0:
# command.brake=0
# command.accelerator=0.8
# command.steering=pidoff
# print(action)
# print((action[0]*2)-1)
if command.accelerator==0:
command.brake=0.02
else:
command.brake=0
# command.accelerator=1-action[2]#0.4#accel#y[0][0]
# command.brake=((abs(action[0]))-0.5)/5#abs(pid)*2#y[0][1]*y[0][1]
# command.steering=((action[1]*2)-1)
# command.steering=((action[0]*2)-1)*0.7#steer
command.gear=gear
command.focus=0
# command.gear=1
# print(command)
# print(command)
return command