def updateDistributions(self, distributions):
"Draws an agent's belief distributions"
# copy all distributions so we don't change their state
distributions = [x.copy() for x in distributions]
if self.distributionImages is None:
self.drawDistributions(self.previousState)
for x in range(len(self.distributionImages)):
for y in range(len(self.distributionImages[0])):
image = self.distributionImages[x][y]
weights = [dist[(x, y)] for dist in distributions]
if sum(weights) != 0:
pass
# Fog of war
color = [0.0, 0.0, 0.0]
colors = GHOST_VEC_COLORS[1:] # With Pacman
if self.capture:
colors = GHOST_VEC_COLORS
for weight, gcolor in zip(weights, colors):
color = [
min(1.0, c + 0.95 * g * weight**0.3)
for c, g in zip(color, gcolor)
]
changeColor(image, formatColor(*color))
refresh()
def _getBeliefSquareColor(color, value):
value = min(1.0, value * 15)
saturation = value
hue = Display.COLOR_HUES[color]
r, g, b = colorsys.hsv_to_rgb(hue, saturation, 1.0)
color = graphicsUtils.formatColor(r, g, b)
return color
def drawGhost(self, ghost, agentIndex):
pos = self.getPosition(ghost)
dir = self.getDirection(ghost)
(screen_x, screen_y) = (self.to_screen(pos))
coords = []
for (x, y) in GHOST_SHAPE:
coords.append((x * self.gridSize * GHOST_SIZE + screen_x,
y * self.gridSize * GHOST_SIZE + screen_y))
colour = self.getGhostColor(ghost, agentIndex)
body = gU.polygon(coords, colour, filled=1)
WHITE = gU.formatColor(1.0, 1.0, 1.0)
BLACK = gU.formatColor(0.0, 0.0, 0.0)
dx = 0
dy = 0
if dir == 'North':
dy = -0.2
if dir == 'South':
dy = 0.2
if dir == 'East':
dx = 0.2
if dir == 'West':
dx = -0.2
leftEye = gU.circle((screen_x + self.gridSize * GHOST_SIZE * (-0.3 + dx / 1.5),
screen_y - self.gridSize * GHOST_SIZE * (0.3 - dy / 1.5)),
self.gridSize * GHOST_SIZE * 0.2, WHITE, WHITE)
rightEye = gU.circle((screen_x + self.gridSize * GHOST_SIZE * (0.3 + dx / 1.5),
screen_y - self.gridSize * GHOST_SIZE * (0.3 - dy / 1.5)),
self.gridSize * GHOST_SIZE * 0.2, WHITE, WHITE)
leftPupil = gU.circle((screen_x + self.gridSize * GHOST_SIZE * (-0.3 + dx),
screen_y - self.gridSize * GHOST_SIZE * (0.3 - dy)),
self.gridSize * GHOST_SIZE * 0.08, BLACK, BLACK)
rightPupil = gU.circle((screen_x + self.gridSize * GHOST_SIZE * (0.3 + dx),
screen_y - self.gridSize * GHOST_SIZE * (0.3 - dy)),
self.gridSize * GHOST_SIZE * 0.08, BLACK, BLACK)
ghostImageParts = []
ghostImageParts.append(body)
ghostImageParts.append(leftEye)
ghostImageParts.append(rightEye)
ghostImageParts.append(leftPupil)
ghostImageParts.append(rightPupil)
return ghostImageParts
def drawExpandedCells(self, cells):
"""
Draws an overlay of expanded grid positions for search agents
"""
n = float(len(cells))
baseColor = [1.0, 0.0, 0.0]
self.clearExpandedCells()
self.expandedCells = []
for k, cell in enumerate(cells):
screenPos = self.to_screen(cell)
cellColor = gU.formatColor(*[(n - k) * c * .5 / n + .25
for c in baseColor])
block = gU.square(screenPos,
0.5 * self.gridSize,
color=cellColor,
filled=1, behind=2)
self.expandedCells.append(block)
if self.frameTime < 0:
gU.refresh()
def shadeCost(self, layout, constraints, costVector, feasiblePoints, xmin,
ymin, xmax, ymax):
baseColor = [1.0, 0.0, 0.0]
costs = [self.pointCost(costVector, point) for point in feasiblePoints]
minCost = min(costs)
maxCost = max(costs)
costSpan = maxCost - minCost
allFeasiblePoints = self.getFeasibleLayoutPoints(
layout, constraints, xmin, ymin, xmax, ymax)
# The feasible points themselves may have been gridded to infeasible grid points,
# but we want to make sure they are shaded too.
#cornerPoints = [self.cartesianToLayout(xmin, ymin, xmax, ymax, point) for point in feasiblePoints]
cornerPoints = self.getLayoutPointsWithSymbol(layout, ('o', 'P'))
gridPointsToShade = cornerPoints + allFeasiblePoints
for gridPoint in gridPointsToShade:
point = self.layoutToCartesian(xmin, ymin, xmax, ymax, gridPoint)
relativeCost = (self.pointCost(costVector, point) -
minCost) * 1.0 / costSpan
# Whoops our grid points are flipped top-bottom from what to_screen expects
screenPos = self.to_screen(
(gridPoint[0], len(layout) - gridPoint[1] - 1))
cellColor = [
0.25 + 0.5 * relativeCost * channel for channel in baseColor
]
graphicsUtils.square(screenPos,
0.5 * self.gridSize,
color=graphicsUtils.formatColor(*cellColor),
filled=1,
behind=2)
graphicsUtils.refresh()
graphicsUtils.sleep(1)
def updateDistributions(self, distributions):
"Draws an agent's belief distributions"
if self.distributionImages is None:
self.drawDistributions(self.previousState)
for x in range(len(self.distributionImages)):
for y in range(len(self.distributionImages[0])):
image = self.distributionImages[x][y]
weights = [dist[(x, y)] for dist in distributions]
if sum(weights) != 0:
pass
# Fog of war
color = [0.0, 0.0, 0.0]
colors = GHOST_VEC_COLORS[1:] # With Pacman
if self.capture:
colors = GHOST_VEC_COLORS
for weight, gcolor in zip(weights, colors):
color = [min(1.0, c + 0.95 * g * weight ** .3)
for c, g in zip(color, gcolor)]
gU.changeColor(image, gU.formatColor(*color))
gU.refresh()
from graphicsDisplay import PacmanGraphics
from graphicsDisplay import InfoPane
import graphicsDisplay
import graphicsUtils
from game import GameStateData
from game import AgentState
from game import Configuration
from game import Directions
from layout import Layout
from Tkinter import mainloop
import math
import numpy as np
import time
import plotUtil
LINE_COLOR = graphicsUtils.formatColor(0, 1, 0)
def plotPoints(x, y):
"""
Create a Pacman display, plotting the points (x[i],y[i]) for all i in len(x).
This method will block control and hand it to the displayed window.
x: array or list of N scalar values.
y: array or list of N scalar values.
>>> x = range(-3,4)
>>> squared = lambda x : x**2
>>> y = map(squared, x)
>>> pacmanPlot.plotPoints(x,y)
"""
import math from game import Directions import os ########################### # GRAPHICS DISPLAY CODE # ########################### # Most code by Dan Klein and John Denero written # or rewritten for cs188, UC Berkeley. # Some code from a Pacman implementation by LiveWires, # and used / modified with permission. DEFAULT_GRID_SIZE = 30.0 INFO_PANE_HEIGHT = 35 BACKGROUND_COLOR = gU.formatColor(0, 0, 0) WALL_COLOR = gU.formatColor(0.0 / 255.0, 51.0 / 255.0, 255.0 / 255.0) INFO_PANE_COLOR = gU.formatColor(.4, .4, 0) SCORE_COLOR = gU.formatColor(.9, .9, .9) PACMAN_OUTLINE_WIDTH = 2 PACMAN_CAPTURE_OUTLINE_WIDTH = 4 GHOST_COLORS = [] GHOST_COLORS.append(gU.formatColor(.9, 0, 0)) # Red GHOST_COLORS.append(gU.formatColor(0, .3, .9)) # Blue GHOST_COLORS.append(gU.formatColor(.98, .41, .07)) # Orange GHOST_COLORS.append(gU.formatColor(.1, .75, .7)) # Green GHOST_COLORS.append(gU.formatColor(1.0, 0.6, 0.0)) # Yellow GHOST_COLORS.append(gU.formatColor(.4, 0.13, 0.91)) # Purple TEAM_COLORS = GHOST_COLORS[:2]
from graphicsDisplay import PacmanGraphics
from graphicsDisplay import InfoPane
import graphicsDisplay
import graphicsUtils
from game import GameStateData
from game import AgentState
from game import Configuration
from game import Directions
from layout import Layout
from Tkinter import mainloop
import math
import numpy as np
import time
import plotUtil
LINE_COLOR = graphicsUtils.formatColor(0, 1, 0)
def plotPoints(x,y):
"""
Create a Pacman display, plotting the points (x[i],y[i]) for all i in len(x).
This method will block control and hand it to the displayed window.
x: array or list of N scalar values.
y: array or list of N scalar values.
>>> x = range(-3,4)
>>> squared = lambda x : x**2
>>> y = map(squared, x)
>>> pacmanPlot.plotPoints(x,y)
"""
display = PacmanPlot(x,y)
class Display(object):
WHITE = graphicsUtils.formatColor(1.0, 1.0, 1.0)
RED = graphicsUtils.formatColor(1.0, 0.0, 0.0)
GREEN = graphicsUtils.formatColor(0.16, 0.49, 0.31)
BLUE = graphicsUtils.formatColor(0.0, 0.0, 1.0)
BLACK = graphicsUtils.formatColor(0.0, 0.0, 0.0)
GREY = graphicsUtils.formatColor(0.5, .5, 0.5)
VISIBLE_CUTTOFF = 0.001
partDict = {}
beliefParts = []
beliefValue = []
beliefColor = []
observations = []
graphicsLock = threading.Lock()
COLORS = [
'purple',
'green',
'teal',
'red',
'orange',
'yellow'
]
COLOR_HUES = {
'purple' : 0.8,
'green' : 0.3,
'teal' : 0.49,
'red' : 0.0,
'orange' : 0.125,
'yellow' : 0.21
}
@staticmethod
def initGraphics(layout):
graphicsUtils.begin_graphics(
width=layout.getWidth(),
height=layout.getHeight(),
color = Display.WHITE,
title = Const.TITLE
);
@staticmethod
def endGraphics():
graphicsUtils.end_graphics()
@staticmethod
def raiseEndGraphics():
graphicsUtils.raiseEndGraphics()
@staticmethod
def drawCar(car):
if car in Display.partDict:
Display._remove(car)
color = Display.GREY
if car.isJunior():
color = Display.BLACK
parts = graphicsUtils.rectangle(
car.pos, Car.LENGTH,
Car.WIDTH,
color,
car.dir
)
Display.partDict[car] = parts
@staticmethod
def drawObservation(obs):
parts = Display.drawCircle(obs.pos, Observation.RADIUS)
Display.partDict[obs] = parts
@staticmethod
def drawSquare(pos, size, color):
return graphicsUtils.square(pos, size, color)
@staticmethod
def drawFinish(block):
graphicsUtils.rectangle(
block.getCenter(),
block.getHeight(),
block.getWidth(),
Display.GREEN,
None,
1.0
)
@staticmethod
def drawBlocks(blocks):
for block in blocks:
graphicsUtils.rectangle(
block.getCenter(),
block.getHeight(),
block.getWidth(),
Display.BLUE,
None,
1.0
)
@staticmethod
def drawCircle(pos, radius):
return graphicsUtils.circle(pos, radius, Display.RED, Display.RED)
@staticmethod
def drawBelief(model):
Display.beliefVisible = []
for r in range(model.getBeliefRows()):
beliefValueRow = []
beliefPartRow = []
beliefColorRow = []
for c in range(model.getBeliefCols()):
square = Display.drawBeliefSquare(r, c, 'purple', 0.0, model)
beliefPartRow.append(square)
beliefValueRow.append(0.0)
beliefColorRow.append(None)
Display.beliefParts.append(beliefPartRow)
Display.beliefValue.append(beliefValueRow)
Display.beliefColor.append(beliefColorRow)
@staticmethod
def drawBeliefSquare(row, col, color, value, model):
tileSize = Const.BELIEF_TILE_SIZE
x = col * tileSize + tileSize / 2.0
y = row * tileSize + tileSize / 2.0
if not model.inBounds(x, y): return None
color = Display._getBeliefSquareColor(color, value)
return Display.drawSquare(Vec2d(x, y), tileSize, color)
# make thread safe
@staticmethod
def getKeys():
#print 'attempt get keys'
Display._acquireLock()
#print 'get keys'
keys = graphicsUtils.keys_waiting() + graphicsUtils.keys_pressed()
Display._releaseLock()
return keys
# make thread safe
@staticmethod
def graphicsSleep(timeToSleep):
graphicsUtils.sleep(timeToSleep)
#time.sleep(timeToSleep)
'''for _ in range(int(timeToSleep / 0.005)):
#print 'attempt sleep'
Display._acquireLock()
#print 'sleep'
graphicsUtils.sleep(0.001)
Display._releaseLock()
time.sleep(0.004)'''
#graphicsUtils.sleep(timeToSleep)
#time.sleep(timeToSleep)
'''startWait = time.time()
Display._acquireLock()
timeToSleep -= time.time() - startWait
graphicsUtils.refresh()
if timeToSleep > 0:
graphicsUtils.sleep(timeToSleep)
Display._releaseLock()'''
# make thread safe
@staticmethod
def updateBelief(color, belief):
Display._acquireLock()
total = belief.getSum()
if abs(total - 1.0) > 0.001:
raise Exception('belief does not sum to 1 ('+str(total)+'). Use the normalize method.')
for r in range(belief.getNumRows()):
for c in range(belief.getNumCols()):
value = belief.getProb(r, c)
Display._updateBeliefSquare(r, c, value, color)
Display._releaseLock()
# make thread safe
@staticmethod
def move(obj, delta):
#print 'attempt move'
Display._acquireLock()
#print 'move'
parts = Display.partDict[obj]
#assert(parts)
graphicsUtils.move_by(parts, delta.x, delta.y)
#print 'end move'
Display._releaseLock()
# make thread safe
@staticmethod
def rotate(obj, angle):
if angle == 0: return
#print 'attempt rotate'
Display._acquireLock()
#print 'rotate'
parts = Display.partDict[obj]
#assert(parts)
graphicsUtils.rotate_by(parts, angle)
Display._releaseLock()
@staticmethod
def _getBeliefSquareColor(color, value):
value = min(1.0, value * 15)
saturation = value
hue = Display.COLOR_HUES[color]
r, g, b = colorsys.hsv_to_rgb(hue, saturation, 1.0)
color = graphicsUtils.formatColor(r, g, b)
return color
@staticmethod
def _isVisible(value):
return value >= Display.VISIBLE_CUTTOFF
@staticmethod
def _updateBeliefSquare(r, c, value, colorName):
part = Display.beliefParts[r][c]
if part == None: return
oldValue = Display.beliefValue[r][c]
oldColor = Display.beliefColor[r][c]
wasVisible = Display._isVisible(oldValue)
isVisible = Display._isVisible(value)
if not isVisible: value = 0.0
if oldColor != colorName and oldValue >= value: return
if not isVisible and not wasVisible: return
color = Display._getBeliefSquareColor(colorName, value)
graphicsUtils.changeColor(part, color)
Display.beliefValue[r][c] = value
Display.beliefColor[r][c] = colorName
@staticmethod
def _acquireLock():
return
#print 'acquire'
return Display.graphicsLock.acquire()
@staticmethod
def _releaseLock():
return
#print 'release'
return Display.graphicsLock.release()
####################################
# Depreicated
####################################
@staticmethod
def _remove(obj):
parts = Display.partDict[obj]
graphicsUtils.remove_from_screen(parts);
@staticmethod
def redrawObservations(observations):
raise Exception('depreicated')
for obs in Display.observations:
Display._remove(obs)
for obs in observations:
Display.drawObservation(obs)
Display.observations = observations
