def __init__(self, w=20, h=20, complexity=.75, density=.75):
sc.init()
self.font = sc.font.SysFont(None, 24)
self.text = self.font.render("Right key:changes maze", True,
(0, 128, 0))
self.text1 = self.font.render("Down Key: Increases Density", True,
(0, 128, 0))
self.text2 = self.font.render("Up Key:Increases complexity", True,
(0, 128, 0))
self.car = Car(10, 10, 1, 1)
States.__init__(self)
self.w = w
self.h = h
self.maze = BaseMaze(self.w, self.h, complexity, density)
def __init__(self,
w=20,
h=20,
complexity=.75,
density=.75,
outputfile="out.csv",
mode=0):
sc.init()
self.font = sc.font.SysFont(None, 24)
self.text = self.font.render("Right Key: Changes Maze", True,
(0, 128, 0))
self.text1 = self.font.render("Down Key: Increases Density", True,
(0, 128, 0))
self.text2 = self.font.render("Up Key: Increases Complexity", True,
(0, 128, 0))
self.car = Car(4, 4, 9, 9)
States.__init__(self)
self.w = w
self.h = h
self.mode = 0 #three modes 0=just play grounf 1=bot mode 2=train mode
self.outputfile = outputfile
self.maze = BaseMaze(self.w, self.h, complexity, density, 1, 1,
self.w - 2, self.h - 2)
self.predictor = predict.Predictor()
def get_event(self, event):
if event.type == sc.KEYDOWN:
self.logger.log(event.key)
if event.key == sc.K_RIGHT: #re-builds maze
self.car = Car(4, 4, 9, 9)
self.maze.re_Construct()
elif event.key == sc.K_UP: #increases complexity
self.car = Car(4, 4, 9, 9)
self.maze.inc_com()
elif event.key == sc.K_DOWN: #increases density
self.car = Car(4, 4, 9, 9)
self.maze.inc_den()
#adding new part to the code
if event.key == sc.K_a and self.maze.get_Value(
int(self.car.get_x()),
int(self.car.get_y()) -
2) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x() + 1),
int(self.car.get_y()) - 2) in DRIVABLE: #left
self.car.m_u()
if event.key == sc.K_d and self.maze.get_Value(
int(self.car.get_x()),
int(self.car.get_y()) +
1) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x() + 1),
int(self.car.get_y()) + 1) in DRIVABLE: #right
self.car.m_d()
if event.key == sc.K_w and self.maze.get_Value(
int(self.car.get_x()) - 1, int(
self.car.get_y())) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x()) - 1,
int(self.car.get_y() - 1)) in DRIVABLE: #UP
self.car.m_l()
if event.key == sc.K_s and self.maze.get_Value(
int(self.car.get_x()) + 1 + 1,
int(self.car.get_y() -
1)) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x()) + 1 + 1, int(
self.car.get_y())) in DRIVABLE: #down
self.car.m_r()
# Check whether car has hit the finish
if self.maze.get_Value(int(self.car.get_x()),
int(self.car.get_y())) == 3:
print("Congratulations!")
def __init__(self, c_ref):
self.c_ref = c_ref # Controller handler reference.
self.canvas_size = (600, 600)
self.canvas_bg = (255, 255, 255)
pg.init()
self.canvas = pg.display.set_mode(self.canvas_size)
self.canvas.fill(self.canvas_bg)
font = pg.font.Font(None, 32)
text1 = font.render("Once the camera connection is established,", 1,
(0, 0, 0))
text2 = font.render("focus this window to use keyboard shortcuts", 1,
(0, 0, 0))
self.canvas.blit(text1, (20, 20))
self.canvas.blit(text2, (20, 45))
pg.display.flip()
pg.display.update()
# Car object that represents the car virtually for mapping of the rc car and the road.
self.car = Car()
def get_event(self, event):
if event.type == sc.KEYDOWN:
if event.key == sc.K_RIGHT: #re-builds maze
self.car = Car(10, 10, 1, 1)
self.maze.re_Construct()
elif event.key == sc.K_UP: #increases complexity
self.car = Car(10, 10, 1, 1)
self.maze.inc_com()
elif event.key == sc.K_DOWN: #increases density
self.car = Car(10, 10, 1, 1)
self.maze.inc_den()
#adding new part to the code
if event.key == sc.K_a and self.maze.get_Value(
int(self.car.get_x()),
int(self.car.get_y()) - 1) == 0: #UP
self.car.m_u()
elif event.key == sc.K_a:
self.car.dec_side()
if (event.key == sc.K_d and self.maze.get_Value(
int(self.car.get_x()),
int(self.car.get_y()) + 1) == 0): #right
self.car.m_d()
elif event.key == sc.K_d:
self.car.inc_side()
if event.key == sc.K_w and self.maze.get_Value(
int(self.car.get_x()) - 1, int(
self.car.get_y())) == 0: #Left
self.car.m_l()
elif event.key == sc.K_w:
self.car.dec_up_down()
if event.key == sc.K_s and self.maze.get_Value(
int(self.car.get_x()) + 1, int(
self.car.get_y())) == 0: #right
self.car.m_r()
elif event.key == sc.K_s:
self.car.inc_up_down()
class Maze:
def __init__(self,
w=20,
h=20,
complexity=.75,
density=.75,
outputfile="out.csv",
mode=0):
sc.init()
self.font = sc.font.SysFont(None, 24)
self.text = self.font.render("Right Key: Changes Maze", True,
(0, 128, 0))
self.text1 = self.font.render("Down Key: Increases Density", True,
(0, 128, 0))
self.text2 = self.font.render("Up Key: Increases Complexity", True,
(0, 128, 0))
self.car = Car(4, 4, 9, 9)
States.__init__(self)
self.w = w
self.h = h
self.mode = 0 #three modes 0=just play grounf 1=bot mode 2=train mode
self.outputfile = outputfile
self.maze = BaseMaze(self.w, self.h, complexity, density, 1, 1,
self.w - 2, self.h - 2)
self.predictor = predict.Predictor()
def exe_logger(self):
self.logger = Logger(open("output/" + self.outputfile, "w"), self)
def startup(self, nums): #setting up the start up
print(nums)
if (nums[0] == '0'):
self.mode = 0
print("playing mode")
elif (nums[0] == '1'):
self.mode = 1
print("bot mode")
else:
self.mode = 2
if nums[1] == ' ' or nums[1] == '':
self.outputfile = "out.csv"
else:
self.outputfile = nums[1]
self.exe_logger()
sc.key.set_repeat(1, 28)
return
def get_event(self, event):
if event.type == sc.KEYDOWN:
self.logger.log(event.key)
if event.key == sc.K_RIGHT: #re-builds maze
self.car = Car(4, 4, 9, 9)
self.maze.re_Construct()
elif event.key == sc.K_UP: #increases complexity
self.car = Car(4, 4, 9, 9)
self.maze.inc_com()
elif event.key == sc.K_DOWN: #increases density
self.car = Car(4, 4, 9, 9)
self.maze.inc_den()
#adding new part to the code
if event.key == sc.K_a and self.maze.get_Value(
int(self.car.get_x()),
int(self.car.get_y()) -
2) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x() + 1),
int(self.car.get_y()) - 2) in DRIVABLE: #left
self.car.m_u()
if event.key == sc.K_d and self.maze.get_Value(
int(self.car.get_x()),
int(self.car.get_y()) +
1) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x() + 1),
int(self.car.get_y()) + 1) in DRIVABLE: #right
self.car.m_d()
if event.key == sc.K_w and self.maze.get_Value(
int(self.car.get_x()) - 1, int(
self.car.get_y())) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x()) - 1,
int(self.car.get_y() - 1)) in DRIVABLE: #UP
self.car.m_l()
if event.key == sc.K_s and self.maze.get_Value(
int(self.car.get_x()) + 1 + 1,
int(self.car.get_y() -
1)) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x()) + 1 + 1, int(
self.car.get_y())) in DRIVABLE: #down
self.car.m_r()
# Check whether car has hit the finish
if self.maze.get_Value(int(self.car.get_x()),
int(self.car.get_y())) == 3:
print("Congratulations!")
def update(self, screen, dt):
self.draw(screen)
subMaze = predict.subArray(self.maze.maze, self.car.get_x(),
self.car.get_y(), 24, 24)
# comment below this to not have the bot running
if self.mode is 1:
self.bot_input(self.predictor.act(subMaze))
#reinforcement learning (simplifies maze)
self.maze.maze = reinforce.copy_into(
self.maze.maze,
reinforce.fill_dead_ends(
predict.subArray(self.maze.maze, self.car.get_x(),
self.car.get_y(), 24, 24)),
self.car.get_x() - 12,
self.car.get_y() - 12)
def bot_input(self, event):
if event == 1 and self.maze.get_Value(
int(self.car.get_x()),
int(self.car.get_y()) - 2) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x() + 1),
int(self.car.get_y()) - 2) in DRIVABLE: #left
self.car.m_u()
if event == 3 and self.maze.get_Value(
int(self.car.get_x()),
int(self.car.get_y()) + 1) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x() + 1),
int(self.car.get_y()) + 1) in DRIVABLE: #right
self.car.m_d()
if event == 0 and self.maze.get_Value(
int(self.car.get_x()) - 1, int(
self.car.get_y())) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x()) - 1,
int(self.car.get_y() - 1)) in DRIVABLE: #UP
self.car.m_l()
if event == 2 and self.maze.get_Value(
int(self.car.get_x()) + 1 + 1,
int(self.car.get_y() - 1)) in DRIVABLE and self.maze.get_Value(
int(self.car.get_x()) + 1 + 1, int(
self.car.get_y())) in DRIVABLE: #down
self.car.m_r()
# Check whether car has hit the finish
if self.maze.get_Value(int(self.car.get_x()),
int(self.car.get_y())) == 3:
print("Congratulations!")
def draw(self, screen): #actual drawing goes here
screen.fill((255, 255, 255))
sc.draw.rect(screen, (130, 82, 1), sc.Rect(0, 0, 850, 455))
x1 = 0
y1 = 0
Cw = 4 #cell width
for a in range(0, self.maze.g_w()):
for b in range(0, self.maze.g_h()):
if self.maze.get_Value(b, a) == 0: #road
sc.draw.rect(screen, (128, 128, 128),
sc.Rect(y1, x1, Cw, Cw))
sc.draw.rect(screen, (128, 128, 128),
sc.Rect(y1, x1, Cw, Cw))
if self.maze.get_Value(b, a) == 2: #start
sc.draw.rect(screen, (0, 0, 0), sc.Rect(y1, x1, Cw, Cw))
sc.draw.rect(screen, (0, 0, 0), sc.Rect(y1, x1, Cw, Cw))
if self.maze.get_Value(b, a) == 3: #end
sc.draw.rect(screen, (255, 255, 255),
sc.Rect(y1, x1, Cw, Cw))
sc.draw.rect(screen, (255, 255, 255),
sc.Rect(y1, x1, Cw, Cw))
x1 = x1 + Cw
y1 = y1 + Cw
x1 = 0
self.car.draw(screen)
screen.blit(self.text, (0, 455))
screen.blit(self.text1, (0, 505))
screen.blit(self.text2, (0, 480))
screen.blit(
self.font.render((str(round(self.maze.g_com(), 2))), True,
(0, 128, 0)), (250, 480))
screen.blit(
self.font.render((str(round(self.maze.g_den(), 2))), True,
(0, 128, 0)), (250, 505))
return
def cleanup(self):
#createclean up
pass
class Maze:
def __init__(self, w=20, h=20, complexity=.75, density=.75):
sc.init()
self.font = sc.font.SysFont(None, 24)
self.text = self.font.render("Right key:changes maze", True,
(0, 128, 0))
self.text1 = self.font.render("Down Key: Increases Density", True,
(0, 128, 0))
self.text2 = self.font.render("Up Key:Increases complexity", True,
(0, 128, 0))
self.car = Car(10, 10, 1, 1)
States.__init__(self)
self.w = w
self.h = h
self.maze = BaseMaze(self.w, self.h, complexity, density)
def get_event(self, event):
if event.type == sc.KEYDOWN:
if event.key == sc.K_RIGHT: #re-builds maze
self.car = Car(10, 10, 1, 1)
self.maze.re_Construct()
elif event.key == sc.K_UP: #increases complexity
self.car = Car(10, 10, 1, 1)
self.maze.inc_com()
elif event.key == sc.K_DOWN: #increases density
self.car = Car(10, 10, 1, 1)
self.maze.inc_den()
#adding new part to the code
if event.key == sc.K_a and self.maze.get_Value(
int(self.car.get_x()),
int(self.car.get_y()) - 1) == 0: #UP
self.car.m_u()
elif event.key == sc.K_a:
self.car.dec_side()
if (event.key == sc.K_d and self.maze.get_Value(
int(self.car.get_x()),
int(self.car.get_y()) + 1) == 0): #right
self.car.m_d()
elif event.key == sc.K_d:
self.car.inc_side()
if event.key == sc.K_w and self.maze.get_Value(
int(self.car.get_x()) - 1, int(
self.car.get_y())) == 0: #Left
self.car.m_l()
elif event.key == sc.K_w:
self.car.dec_up_down()
if event.key == sc.K_s and self.maze.get_Value(
int(self.car.get_x()) + 1, int(
self.car.get_y())) == 0: #right
self.car.m_r()
elif event.key == sc.K_s:
self.car.inc_up_down()
def update(self, screen, dt):
self.draw(screen)
def draw(self, screen): #actual drawing goes here
screen.fill((255, 255, 255))
sc.draw.rect(screen, (130, 82, 1), sc.Rect(0, 0, 750, 455))
x1 = 0
y1 = 0
Cw = 30 #cell width
for a in range(0, self.maze.g_w()):
for b in range(0, self.maze.g_h()):
if self.maze.get_Value(b, a) == 0: #road
sc.draw.rect(screen, (128, 128, 128),
sc.Rect(y1, x1, Cw, Cw))
sc.draw.rect(screen, (128, 128, 128),
sc.Rect(y1, x1, Cw, Cw))
x1 = x1 + Cw
y1 = y1 + 30
x1 = 0
#z1=int(self.car.get_x())*30
#z2=int(self.car.get_y())*30
#sc.draw.rect(screen,(0,0,255),sc.Rect(z2,z1,self.car.get_h(),self.car.get_w()))
sc.draw.rect(
screen, (0, 0, 255),
sc.Rect(self.car.get_y1(), self.car.get_x1(), self.car.get_h(),
self.car.get_w()))
screen.blit(self.text, (0, 455))
screen.blit(self.text1, (0, 505))
screen.blit(self.text2, (0, 480))
screen.blit(
self.font.render((str(round(self.maze.g_com(), 2))), True,
(0, 128, 0)), (250, 480))
screen.blit(
self.font.render((str(round(self.maze.g_den(), 2))), True,
(0, 128, 0)), (250, 505))
return
def cleanup(self):
#createclean up
pass