def __init__(self, layout, QLearner):
self._initBlocks(layout)
self._initIntersections(layout)
self.layout = layout
startX = layout.getStartX()
startY = layout.getStartY()
startDirName = layout.getJuniorDir()
self.junior = AutoDriver(QLearner)
self.junior.setup(Vec2d(startX, startY), startDirName, Vec2d(0, 0))
self.cars = [self.junior]
self.otherCars = []
self.finish = Block(layout.getFinish())
agentComm = AgentCommunication()
if self.layout.getWorldName() != 'highway':
agentGraph = layout.getAgentGraph()
for _ in range(Const.NUM_AGENTS):
startNode = self._getStartNode(agentGraph)
other = Agent(startNode, layout.getAgentGraph(), self,
agentComm)
self.cars.append(other)
self.otherCars.append(other)
else:
agentGraphCarB = layout.getAgentGraphCarB()
startNode = self._getStartNode(agentGraphCarB)
other = Agent(startNode, layout.getAgentGraphCarB(), self,
agentComm)
self.cars.append(other)
self.otherCars.append(other)
agentGraphTruck = layout.getAgentGraphTruck()
startNode = self._getStartNode(agentGraphTruck)
other = Agent(startNode, layout.getAgentGraphTruck(), self,
agentComm)
self.cars.append(other)
self.otherCars.append(other)
self.observations = []
agentComm.addAgents(self.otherCars)
self.modelLock = threading.Lock()
self.probCarSet = False
