def pairPop(pop, layerVector):
"""
This function evaluates each gene within a population and returns
the genes paired with their corresponding fitnesses
"""
weights, fitnesses = [], []
for i in range(len(pop)):
# Select a set of weights an initialise the Neural Net
weight = pop[i]
NN = NeuralNet(layerVector, weight)
# Reset the fitness on each iteration
fitness = 0
# Calculate a fitness for each track selected
for each in worlds:
# Create the world
world = each
dt = world.dt
pod = pods.CarPod(world)
equip_car(pod)
if GUI:
frames_per_sec = int(1 / dt)
simple_gui = gui.SimpleGui(frames_per_sec=frames_per_sec,
world=world,
pods=[pod])
# Sum the fitnesses together on each iteration for the
# different trakcs
fitness += evaluate(pod, NN, simple_gui)
else:
# Sum the fitnesses together on each iteration for the
# different trakcs
fitness += evaluate(pod, NN, 0)
# If in test mode then print the fitness
if TEST:
print "Finished with a fitness of: " + repr(fitness)
# Add the current set of weights and corresponding fitness to
# lists
weights.append(weight)
fitnesses.append(fitness)
# Return a combined tuple of weights and their fitnesses
return zip(weights, fitnesses)
"""
Showing how to use the gui (nice for debugging)
"""
import math
from pod import pods, world, gui
# world definition file
worldFile = "worlds/carCircuit.world"
# create the world
world = world.World(worldFile)
pod = pods.CarPod(world)
# I set the frame rate so the animation is real time (you can make it faster/slower if you want)
simple_gui = gui.SimpleGui(frames_per_sec=int(1 / world.dt),
world=world,
pods=[pod])
pod.control.up = .1
pod.control.left = .4
while True:
pod.step()
# YOu can display debug text if you want.
mess = str(pod.state)
def tester(world_name, punter_names, fout):
global simple_gui
global FPS_FACT
N = len(punter_names)
### START OF PROGRAM
world_test = world.World(world_name)
pod_list = []
zombies = []
cnt = 0
default_dir = os.getcwd()
for name in punter_names:
pod = pods.CarPod(world_test)
pod_list.append(pod)
pod.score = 0.0
pod.stat = "-"
pod.name = name
pod.mess = "Uninitialized"
try:
punters_path = 'punters_test/' + name
os.chdir(punters_path)
plug = importlib.import_module('punters_test.' + name + '.plugin')
# call the plugin to equip the car
# set the current path to the punters directory
plug.equip_car(pod)
os.chdir(default_dir)
pod.controller = plug.controller
hue = (360.0 * cnt) / N
col = pygame.Color(0)
col.hsla = (hue, 100, 50, 0)
pod.col = (col.r, col.g, col.b)
cnt += 1
except:
print name
print "Unexpected error:", sys.exc_info()
# fout.write(name+" Error "+ str(sys.exc_info()[0]))
pod.mess = "Unable to run" + str(sys.exc_info()[0])
pod.score = 0.0
pod.stat = "E"
zombies.append(pod)
os.chdir(default_dir)
runners = copy.copy(pod_list)
# remove zombies
for pod in zombies:
runners.remove(pod)
if GUI:
simple_gui = gui.SimpleGui(frames_per_sec=int(FPS_FACT /
world_test.dt),
world=world_test,
pods=runners,
back_ground=(5, 5, 5))
# use a control to activate the car.
control = pods.Control()
while runners:
zombies = []
for pod in runners:
try:
control.left = 0
control.right = 0
control.up = 0
control.down = 0
pod.controller(pod, control)
pod.step(control)
score, kill, mess = evaluate(pod)
pod.score = score
pod.mess = mess
except:
print name + ": Unexpected error:", sys.exc_info()
pod.score = 0
pod.mess = "Error ->" + str(sys.exc_info())
kill = True
pod.stat = "e"
if kill:
zombies.append(pod)
# remove crashed
for pod in zombies:
runners.remove(pod)
ranked = sorted(pod_list, key=lambda x: x.score, reverse=True)
if GUI:
disp = ""
pos = [0, 10]
simple_gui.clear()
for pod in ranked:
col = pod.col
gui_base.draw_string(simple_gui.screen,
pod.stat + ":" + pod.name, pos, col,
FONT_SIZE, 'Courier New')
pos[1] += FONT_SIZE
simple_gui.display(clear=False, fps=int(FPS_FACT / world_test.dt))
if simple_gui.check_for_quit():
sys.exit(0)
if simple_gui.get_pressed()[gui.keys.K_p]:
pause = True
if simple_gui.get_pressed()[gui.keys.K_EQUALS]:
FPS_FACT = min(FPS_FACT * 2, 200)
print FPS_FACT
if simple_gui.get_pressed()[gui.keys.K_MINUS]:
FPS_FACT = max(int(FPS_FACT / 2), 1)
print FPS_FACT
if simple_gui.get_pressed()[gui.keys.K_s]:
pause = False
ranked = sorted(pod_list, key=lambda x: x.score, reverse=True)
for pod in ranked:
buff = "%15s %6.3f %s" % (pod.name + ":", pod.score,
":" + pod.mess + "\n")
fout.write(buff)
return pod_list
if GUI:
if simple_gui.check_for_quit(): # Provide a way out for the user
break
# world definition file
worldFiles = ["worlds/carCircuit.world", "worlds/pjl_chick.world"]
# use a control object to do thrust steer etc.
control = pods.Control()
# create the world
worlds = []
for worldFile in worldFiles:
worlds.append(world.World(worldFile))
# You can now create a pod without a world by passing None
pod = pods.CarPod(None)
if GUI:
# Note world.DEFAULT_DT is the standard time step
simple_gui = gui.SimpleGui(frames_per_sec=int(1 / world.DEFAULT_DT),
world=None,
pods=[pod])
for w in worlds:
test_world(pod, w)
Simple example:
create a car and run it into a wall!
"""
from pod import pods, world
import math
# world (car track) definition file
worldFile = "worlds/carCircuit.world"
# create the world
myWorld = world.World(worldFile)
#Create a pod
# Note that the world is responsible for setting the initial state of the pod
pod = pods.CarPod(myWorld)
# use a control to activate the car.
control = pods.Control()
while True:
control.up = .1
control.left = .1
# perform a single time step of the car.
pod.step(control)
# the state should change (look at the console)
print pod.state
if len(sys.argv) > 2:
world_name = sys.argv[2]
else:
world_name = "pjl_chick"
### START OF PROGRAM
track = world.World("worlds/" + world_name + ".world")
punters_path = "punters/" + name
default_dir = os.getcwd()
try:
os.chdir(punters_path)
pod = pods.CarPod(track)
plug = importlib.import_module('punters.' + name + '.plugin')
plug.equip_car(pod)
os.chdir(default_dir)
pod.controller = plug.controller
except:
print name
print "Unexpected error:", sys.exc_info()
traceback.print_tb(sys.exc_info()[2])
pod.mess = "Loading Error: " + str(sys.exc_info()[0])
os.chdir(default_dir)
sys.exit(0)
os.chdir(default_dir)