def main():
win = turtle.Screen()
win.bgcolor('black')
win.setup(width=800, height=600)
win.tracer(0, 0)
win.listen()
Application.rootWindow = win.getcanvas().master
# TODO:
# Lets add a population of agents, initialized to
# random positions, with their own network.
# Maybe we can see if competition changes anything
# Also consider adding a pool of targets
# and give each agent the information about the
# closest available target.
# agent = Agent(14, 6)
agent = Agent(21, 9)
target = Target()
Application.debug = Entity()
Application.spikes = Entity()
controls = Text(200, 230, Application.controlText)
counter = Text(200, 210, 'Target found 0 times.')
Application.debug.shapesize(0.5, 0.5)
Application.spikes.shapesize(0.5, 0.5)
agent.setTarget(target)
win.onkey(Application.registerClose, 'q')
win.onkey(Application.enableSynapseDebug, 's')
win.onkey(partial(Application.writeSynapses, agent), 'd')
win.onkey(partial(Application.readSynapses, agent), 'l')
win.onkey(partial(Application.setSpeed, 3), '3')
win.onkey(partial(Application.setSpeed, 2), '2')
win.onkey(partial(Application.setSpeed, 1), '1')
win.onkey(partial(Application.enableNoisy, agent.net), 'n')
win.onkey(agent.clear, 'c')
win.onclick(target.goto)
prev = time.clock_gettime(time.CLOCK_MONOTONIC)
cur = prev
debugAccum = 0.0
updateAccum = 0.0
# NOTE: We want this to be separate from realtime
# because the agent should still get a reward if we
# change the speed setting.
agentRewardAccum = 1.0
foundCount = 0
while Application.run:
# Reset update accum when we change
# the speed, so that we instantly
# do the next update at the correct
# time interval
if Application.speedChanged is True:
Application.speedChanged = False
updateAccum = 0.0
cur = time.clock_gettime(time.CLOCK_MONOTONIC)
delta = cur - prev
debugAccum += delta
updateAccum += delta
Application.spikes.clearstamps()
if debugAccum >= 1.0:
if Application.synapseDebug:
Application.drawSynapseDebug(agent.net)
debugAccum -= 1.0
Application.drawSpikeDebug(agent.net)
if agent.distance(target) < 30.0:
target.onCollision()
agent.reward(1 + agentRewardAccum)
agentRewardAccum = 1.0
agent.clear()
foundCount += 1
counter.setText('Target found ' + str(foundCount) + ' times.')
# Agent did not find the taret in time
# So we decrease the synaptic weights
if agentRewardAccum <= 0:
agent.reward(0.99)
agentRewardAccum = 1.0
screenSize = agent.getscreen().screensize()
agentX = agent.xcor()
agentY = agent.ycor()
agentX = agentX if agentX < screenSize[0] - 30 else -agentX + 30
agentX = agentX if agentX > -screenSize[0] + 30 else -agentX - 30
agentY = agentY if agentY < screenSize[1] - 30 else -agentY + 30
agentY = agentY if agentY > -screenSize[1] + 30 else -agentY - 30
agent.penup()
agent.goto(agentX, agentY)
agent.pendown()
if updateAccum >= Application.updateDelta:
agent.update()
updateAccum -= Application.updateDelta
agentRewardAccum -= 0.00008 # Update reward
win.update()
prev = cur
turtle.bye()
