class CarApp(App):
scores = []
game_widget = None
right_panel = None
paused = False
current_popup = None
config_widget = None
top_panel = None
stats_widget = None
map_dialog = None
def __init__(self, **kwargs):
super(CarApp, self).__init__(**kwargs)
self.painter = PaintWidget()
self.self_driving_config = Configuration()
self.self_driving_config.load()
self.brain = Dqn(6, 3, self.self_driving_config)
def build(self):
self.game_widget = Game()
self.game_widget.driving_config = self.self_driving_config
self.game_widget.brain = self.brain
self.game_widget.scores = self.scores
self.game_widget.serve_car()
Clock.schedule_interval(self.game_widget.update, 1.0 / 60.0)
self.painter.game = self.game_widget
self.game_widget.add_widget(self.painter)
self.top_panel = TopPanel()
self.top_panel.graph_widget.game_widget = self.game_widget
self.game_widget.stats_widget = self.top_panel.stats_widget
action_bar = TopMenuWidget()
action_bar.pause_btn.bind(on_release=self.pause_resume)
action_bar.save_brain_button.bind(on_release=self.save_brain)
action_bar.save_map_button.bind(on_release=self.show_save_map)
action_bar.load_btn.bind(on_release=self.load)
action_bar.load_map_btn.bind(on_release=self.show_load_map)
action_bar.clear_btn.bind(on_release=self.clear_canvas)
action_bar.config_btn.bind(on_release=self.show_configuration)
root = RootWidget()
root.add_widget(action_bar)
root.add_widget(self.top_panel)
root.add_widget(self.game_widget)
return root
def put_stats(self, dt):
print("Checking for stats")
if self.top_panel.stats_widget is None:
return
print("stats widget now available")
return False
def pause_resume(self, btn=None):
self.paused = not self.paused
self.game_widget.pause_resume()
self.top_panel.graph_widget.pause_resume()
if not self.paused:
Clock.schedule_interval(self.game_widget.update, 1.0 / 60.0)
def clear_canvas(self, obj=None):
self.painter.canvas.clear()
self.game_widget.reset_sand()
def save_brain(self, obj):
print("saving brain...")
self.brain.save()
def show_save_map(self, obj):
self.pause_resume()
self.map_dialog = MapDialog()
self.current_popup = Popup(content=self.map_dialog,
auto_dismiss=False,
title='Save Map',
size_hint=(None, None),
size=(400, 200))
self.map_dialog.save_btn.bind(on_release=self.map_dialog_action)
self.map_dialog.cancel_btn.bind(on_release=self.close_popup)
self.current_popup.open()
def show_load_map(self, obj):
self.pause_resume()
self.map_dialog = MapDialog(save_mode=False)
self.current_popup = Popup(content=self.map_dialog,
auto_dismiss=False,
title='Load Map',
size_hint=(None, None),
size=(400, 200))
self.map_dialog.save_btn.bind(on_release=self.map_dialog_action)
self.map_dialog.cancel_btn.bind(on_release=self.close_popup)
self.current_popup.open()
def map_dialog_action(self, btn):
if self.map_dialog.save_mode:
self.painter.save(self.map_dialog.filename_input.text)
else:
self.clear_canvas()
self.painter.load(self.map_dialog.filename_input.text)
self.current_popup.dismiss()
self.pause_resume()
def load(self, obj):
print("loading last saved brain...")
self.brain.load()
def show_configuration(self, btn):
self.pause_resume()
self.config_widget = ConfigurationWidget()
self.config_widget.set_config(self.self_driving_config)
self.current_popup = Popup(content=self.config_widget,
auto_dismiss=False,
title='Configuration')
self.current_popup.open()
self.config_widget.save_btn.bind(on_release=self.save_configuration)
self.config_widget.cancel_btn.bind(on_release=self.close_popup)
def save_configuration(self, btn):
self.pause_resume()
self.self_driving_config.update(self.config_widget.get_dict())
self.game_widget.update_config(self.self_driving_config)
self.clear_canvas()
self.current_popup.dismiss()
def close_popup(self, btn):
self.pause_resume()
self.current_popup.dismiss()
class CarApp(App):
def build(self):
self.paused = True
self.last_size = [0, 0]
self.goals = []
self.parent = Game()
parent = self.parent
sec_num = 6
box_size = 400
self.brain = Dqn(sec_num * 2 + 2, 3, 0.9)
circle = Circle()
dest = Destinity()
parent.serve_car(circle=circle,
dest=dest,
sec_num=sec_num,
box_size=box_size,
brain=self.brain,
goals=self.goals)
Clock.schedule_interval(self.pauseCheck, 1.0 / 60.0)
#Clock.schedule_interval(parent.update, 0)
self.painter = MyPaintWidget(self.goals)
clearbtn = Button(text='clear')
savebtn = Button(text='save', pos=(parent.width, 0))
loadbtn = Button(text='load', pos=(2 * parent.width, 0))
self.pausebtn = Button(text='start', pos=(3 * parent.width, 0))
plotbtn = Button(text='plot', pos=(4 * parent.width, 0))
self.setGoalsbtn = Button(text='drawing', pos=(5 * parent.width, 0))
clearbtn.bind(on_release=self.clear_canvas)
savebtn.bind(on_release=self.save)
loadbtn.bind(on_release=self.load)
self.pausebtn.bind(on_release=self.pauseSwitch)
plotbtn.bind(on_release=self.plot)
self.setGoalsbtn.bind(on_release=self.setGoals)
parent.add_widget(self.painter)
parent.add_widget(clearbtn)
parent.add_widget(savebtn)
parent.add_widget(loadbtn)
parent.add_widget(self.pausebtn)
parent.add_widget(plotbtn)
parent.add_widget(self.setGoalsbtn)
parent.add_widget(dest)
parent.add_widget(circle)
return parent
def pauseCheck(self, dt):
if self.paused == False:
self.parent.update()
else:
if self.last_size != self.parent.size:
print("resized")
global longueur
global largeur
longueur = self.parent.width
largeur = self.parent.height
self.parent.car.center[0] = longueur * 0.5
self.parent.car.center[1] = largeur * 0.125
self.painter.canvas.clear()
init()
self.parent.update()
del self.goals[:]
print('goals cleared')
self.last_size[0] = self.parent.size[0]
self.last_size[1] = self.parent.size[1]
shrink_updated = False
def pauseSwitch(self, obj):
self.paused = 1 - self.paused
if self.paused == True:
self.pausebtn.text = 'start'
else:
self.pausebtn.text = 'pause'
self.parent.updateGoal()
def setGoals(self, obj):
self.painter.setgoals = 1 - self.painter.setgoals
if self.painter.setgoals == True:
self.setGoalsbtn.text = 'setting goals'
else:
self.setGoalsbtn.text = 'drawing'
del self.goals[:]
print('goals cleared')
def plot(self, obj):
plt.plot(scores)
plt.show()
def clear_canvas(self, obj):
global sand
self.painter.canvas.clear()
sand = np.zeros((longueur, largeur))
shrink_updated = False
def save(self, obj):
print("saving brain...")
self.brain.save()
plt.plot(scores)
plt.show()
def load(self, obj):
print("loading last saved brain...")
self.brain.load()
elif (action == 0):
last_reward = -1
act(last_reward, last_signal)
if (dist_right < 30):
if (action == 2):
last_reward = -1
elif (action == 0):
last_reward = -1
act(last_reward, last_signal)
if (dist_left < 40):
last_reward = -0.2
elif (dist_right < 40):
last_reward = -0.2
act(last_reward, last_signal)
print("saving brain...")
brain.save()
except KeyboardInterrupt:
pass
print("saving brain...")
time.sleep(2)
brain.save()
print(count)
gpio.cleanup()