def __init__(self, vision=False, throttle=True, gear_change=False, port=60934, pid_assist=False, CLIENT_MAX_STEPS=np.inf, visualise=True, no_of_visualisations=1): # If `visualise` is set to False torcs simulator will run in headless mode """Init Method.""" self.torcs_proc = None self.pid_assist = pid_assist if self.pid_assist: self.action_dim = 2 # LanePos, Velocity else: self.action_dim = 3 # Accel, Steer, Brake TorcsEnv.__init__(self, vision=False, throttle=True, gear_change=False, visualise=visualise, no_of_visualisations=no_of_visualisations) self.state_dim = 29 # No. of sensors input self.env_name = 'Madras_Env' self.port = port self.visualise = visualise self.no_of_visualisations = no_of_visualisations self.CLIENT_MAX_STEPS = CLIENT_MAX_STEPS self.client_type = 0 # Snakeoil client type self.initial_reset = True self.early_stop = True if self.pid_assist: self.PID_latency = 10 else: self.PID_latency = 1 self.accel_PID = PID(np.array([10.5, 0.05, 2.8])) # accel PID self.steer_PID = PID(np.array([5.1, 0.001, 0.000001])) # steer PID self.prev_lane = 0 self.prev_angle = 0 self.prev_vel = 0 self.prev_dist = 0 self.ob = None self.track_len = 7014.6 self.seed() self.start_torcs_process()
def playTraffic(port=3101, target_vel=50.0, angle=0.0, sleep=0): """Traffic Play function.""" env = TorcsEnv(vision=False, throttle=True, gear_change=False) ob = None while ob is None: try: client = snakeoil3.Client(p=port, vision=False) client.MAX_STEPS = np.inf client.get_servers_input(step=0) obs = client.S.d ob = env.make_observation(obs) except: pass episode_count = cfg['traffic']['max_eps'] max_steps = cfg['traffic']['max_steps_eps'] early_stop = 0 velocity_i = target_vel / 300.0 accel_pid = PID(np.array([10.5, 0.05, 2.8])) steer_pid = PID(np.array([5.1, 0.001, 0.000001])) steer = 0.0 accel = 0.0 brake = 0 A = cfg['traffic']['amplitude'] / 300.0 T = cfg['traffic']['time_period'] # print(velocity_i) for i in range(episode_count): info = {'termination_cause': 0} steer = 0.0 accel = 0.0 brake = 0 S = 0.0 for step in range(max_steps): a_t = np.asarray([steer, accel, brake]) # [steer, accel, brake] try: ob, r_t, done, info = env.step(step, client, a_t, early_stop) if done: pass except Exception as e: print("Exception caught at point A at port " + str(i) + str(e)) ob = None while ob is None: try: client = snakeoil3.Client(p=port, vision=False) client.MAX_STEPS = np.inf client.get_servers_input(step=0) obs = client.S.d ob = env.make_observation(obs) except: pass continue if (step <= sleep): print("WAIT" + str(port)) continue velocity = velocity_i + A * math.sin(step / T) opp = ob.opponents front = np.array([opp[15], opp[16], opp[17], opp[18], opp[19]]) closest_front = np.min(front) if (step % T == 0): print("VEL_CHANGE: ", velocity * 300.0) vel_error = velocity - ob.speedX angle_error = -(ob.trackPos - angle) / 10 + ob.angle steer_pid.update_error(angle_error) accel_pid.update_error(vel_error) accel = accel_pid.output() steer = steer_pid.output() if accel < 0: brake = 1 else: brake = 0 if closest_front < ((float(0.5 * ob.speedX * 100) + 10.0) / 200.0): brake = 1 else: brake = 0 try: if 'termination_cause' in info.keys() and info['termination_cause'] == 'hardReset': print('Hard reset by some agent') ob, client = env.reset(client=client, relaunch=True) except Exception as e: print("Exception caught at point B at port " + str(i) + str(e) ) ob = None while ob is None: try: client = snakeoil3.Client(p=port, vision=False) # Open new UDP in vtorcs client.MAX_STEPS = np.inf client.get_servers_input(0) # Get the initial input from torcs obs = client.S.d # Get the current full-observation from torcs ob = env.make_observation(obs) except: print("Exception caught at at point C at port " + str(i) + str(e))