class GUI(tk.Frame):
def __init__(self, master):
tk.Frame.__init__(self, master)
self.root = master
self.grid()
self.data = self.load_data()
self.car, self.road = self.init_components()
self.state = State.PLAYING
self.dataset_path = '../data/train6dAll.txt'
self.rbfn_weight_path = '../data/6D_RBFN_params.txt'
self.mode = '4D'
self.rbfn = RBFN(J=6, input_dim=3)
self.rbfn.load(path='../weights/4D_RBFN_params.txt')
self.set_mode('6D')
self.ga = GA()
self.recorder = Recorder()
self.recorder.add(self.car)
self.create_widgets()
self.clean_fig()
self.draw_road(self.road.finish_area, self.road.road_edges)
self.draw_car(self.car.loc(), self.car.car_degree, self.car.radius)
def set_mode(self, mode):
assert mode == '4D' or mode == '6D'
self.mode = mode
if self.mode == '4D':
self.rbfn = RBFN(J=6, input_dim=3)
self.rbfn.load(path='../weights/4D_RBFN_params.txt')
elif self.mode == '6D':
self.rbfn = RBFN(J=8, input_dim=5)
self.rbfn.load(path='../weights/6D_RBFN_params.txt')
def change_mode(self):
if self.mode == '4D':
self.set_mode('6D')
self.im['text'] = '6D'
else:
self.set_mode('4D')
self.im['text'] = '4D'
def load_data(self):
case_file_path = '../cases/case01.txt'
d = Data(case_file_path)
return d.get()
def init_components(self):
c = Car(self.data['start_point'], self.data['start_degree'])
c.update_sensor(self.data['road_edges'])
r = Road(self.data['finish_area'], self.data['road_edges'])
return c, r
def create_widgets(self):
# 標題
self.winfo_toplevel().title("Yochien CI HW2")
# 自走車位置、方向、感測器距離
_, self.loc = add_text(self, 0, "Car Location", self.car.loc())
_, self.fl = add_text(self, 1, "Car Sensor Front Left",
self.car.sensor_dist['fl'])
_, self.f = add_text(self, 2, "Car Sensor Front",
self.car.sensor_dist['f'])
_, self.fr = add_text(self, 3, "Car Sensor Front Right",
self.car.sensor_dist['fr'])
_, self.cd = add_text(self, 4, "Car Degree", self.car.car_degree)
_, self.swd = add_text(self, 5, "Car Steering Wheel Degree",
self.car.steering_wheel_degree)
# 更新車子
_, self.next = add_button(self, 6, "Start Playing", "Run", self.run)
# 目前狀態
_, self.st = add_text(self, 7, "Status", self.state)
# 迭代次數
_, self.it = add_spinbox(self, 8, "Iterate Times", 10, 10000)
# 族群大小
_, self.ps = add_spinbox(self, 9, "Population Size", 10, 10000)
# 突變機率
_, self.mp = add_spinbox(self, 10, "Mutation Prob(%)", 1, 100)
# 交配機率
_, self.cp = add_spinbox(self, 11, "Cross Prob(%)", 1, 100)
# 選取訓練資料集
_, self.td = add_text(self, 12, "Training Dataset", self.dataset_path)
_, self.next = add_button(self, 13, "Select Dataset", "Select",
self.select_dataset_file)
# 選取RBFN weight
_, self.rbfn_wf = add_text(self, 14, "RBFN weight file",
self.rbfn_weight_path)
_, self.srbfn_wf = add_button(self, 15, "Select RBFN weight", "Select",
self.select_rbfn_weight_file)
# 選取Mode
_, self.im = add_text(self, 16, "Input Mode (4D/6D)", self.mode)
_, self.cm = add_button(self, 17, "Change Mode", "Change",
self.change_mode)
# Train RBFN
_, self.tb = add_button(self, 18, "Train RBFN", "Train", self.train_ga)
# 地圖與道路
self.road_fig = Figure(figsize=(5, 5), dpi=120)
self.road_canvas = FigureCanvasTkAgg(self.road_fig, self)
self.road_canvas.draw()
self.road_canvas.get_tk_widget().grid(row=19, column=0, columnspan=3)
def train_ga(self):
if self.mode == '4D':
J = 6
input_dim = 3
else:
J = 8
input_dim = 5
iteration_times = int(self.it.get())
populations_size = int(self.ps.get())
mutation_prob = int(self.mp.get()) / 100
crossover_prob = int(self.cp.get()) / 100
print(iteration_times, populations_size, mutation_prob, crossover_prob)
self.GA = GA(iteration_times=iteration_times,
populations_size=populations_size,
mutation_prob=mutation_prob,
crossover_prob=crossover_prob,
J=J,
input_dim=input_dim,
dataset_path=self.dataset_path)
self.GA.train()
def select_rbfn_weight_file(self):
try:
filename = askopenfilename()
self.rbfn_wf["text"] = filename
self.rbfn_weight_path = filename
self.rbfn.load(path=filename)
except Exception as e:
print(e)
self.rbfn_wf["text"] = ""
def select_dataset_file(self):
try:
filename = askopenfilename()
self.td["text"] = filename
self.dataset_path = filename
self.ga = GA(dataset_path=filename)
except Exception as e:
print(e)
self.td["text"] = ""
def turn_steering_wheel(self, degree):
self.car.turn_steering_wheel(degree)
def run(self):
while self.state == State.PLAYING:
self.update()
sleep(0.02)
def update(self):
self.update_state()
self.update_car()
self.recorder.add(self.car)
def update_state(self):
if self.road.is_crash(self.car):
self.state = State.CRASH
elif self.road.is_finish(self.car):
self.state = State.FINISH
self.recorder.to_file()
self.st["text"] = self.state
def update_car(self):
fl, f, fr = self.car.update_sensor(self.data['road_edges'])
if self.mode == '4D':
self.turn_steering_wheel(self.rbfn.output([f, fr, fl]))
elif self.mode == '6D':
x, y = self.car.loc()
self.turn_steering_wheel(self.rbfn.output([x, y, f, fr, fl]))
self.car.next()
self.loc["text"] = self.car.loc()
self.cd["text"] = self.car.car_degree
self.swd["text"] = self.car.steering_wheel_degree
self.clean_fig()
self.draw_road(self.road.finish_area, self.road.road_edges)
self.draw_car(self.car.loc(), self.car.car_degree, self.car.radius)
self.draw_route()
self.road_canvas.draw()
def clean_fig(self):
# 清空並初始化影像
self.road_fig.clf()
self.road_fig.ax = self.road_fig.add_subplot(111)
self.road_fig.ax.set_aspect(1)
self.road_fig.ax.set_xlim([-20, 60])
self.road_fig.ax.set_ylim([-10, 60])
def draw_road(self, finish_area, road_edges):
# 車道邊界
for i in range(len(road_edges) - 1):
self.road_fig.ax.text(
road_edges[i][0], road_edges[i][1],
'({},{})'.format(road_edges[i][0], road_edges[i][1]))
self.road_fig.ax.plot([road_edges[i][0], road_edges[i + 1][0]],
[road_edges[i][1], road_edges[i + 1][1]],
'k')
# 終點區域
a, b = finish_area[0]
c, d = finish_area[1]
self.road_fig.ax.plot([a, c], [b, b], 'r')
self.road_fig.ax.plot([c, c], [b, d], 'r')
self.road_fig.ax.plot([c, a], [d, d], 'r')
self.road_fig.ax.plot([a, a], [d, b], 'r')
def draw_car(self, loc, car_degree, radius):
# 車子範圍
self.road_fig.ax.plot(loc[0], loc[1], '.b')
circle = plt.Circle(loc, radius, color='b', fill=False)
self.road_fig.ax.add_artist(circle)
# 感測器
self.fl["text"], self.f["text"], self.fr[
"text"] = self.car.update_sensor(self.data['road_edges'])
for s in self.car.sensor_point:
self.road_fig.ax.plot([loc[0], self.car.sensor_point[s][0]],
[loc[1], self.car.sensor_point[s][1]], 'r')
self.road_fig.ax.plot(self.car.sensor_point[s][0],
self.car.sensor_point[s][1], '.b')
def draw_route(self):
records = self.recorder.get()
for r in records:
self.road_fig.ax.plot(int(float(r[0]) + 0.0001),
int(float(r[1]) + 0.0001), '.y')
def main():
print("\n[1] > Execute the Sum")
print("[2] > Execute the Multiplication")
print("[3] > Execute the Factorial")
print("[0] > Exit program")
while True:
option = input("\nEnter your option: ")
if option == '0':
print("End of program!")
exit()
elif option == '1':
print("\nEnter the values of the Recorders A and B: ")
temp = int(input("A: "))
A = Recorder(temp)
temp = int(input("B: "))
B = Recorder(temp)
C = D = Recorder(0)
program = sum.get()
break
elif option == '2':
print("\nEnter the values of the Recorders A and B: ")
temp = int(input("A: "))
A = Recorder(temp)
temp = int(input("B: "))
B = Recorder(temp)
C = D = Recorder(0)
program = multiplication.get()
break
elif option == '3':
print(
"\nEnter the value of Recorder A, where it will be the result of the factorial: "
)
temp = int(input("A: "))
A = Recorder(temp)
B = C = D = Recorder(0)
program = factorial.get()
break
else:
print("(!) This option does not exist. type again!")
instructions = []
for linha in program:
instructions += [[linha[0], linha[1], linha[2], linha[3], linha[4]]]
i = 0
print(
"\nStart of program\n-> (A->{}, B->{}, C->{}, D->{}) [First Instruction -> {}]"
.format(A.value, B.value, C.value, D.value, instructions[i][1]))
while i < len(instructions):
try:
if instructions[i][1] == 'ADD':
if instructions[i][2] == 'A':
A.add()
elif instructions[i][2] == 'B':
B.add()
elif instructions[i][2] == 'C':
C.add()
else:
D.add()
i = instructions[i][3]
i -= 1
print("((A->{}, B->{}, C->{}, D->{}), {}) > [{}]".format(
A.value, B.value, C.value, D.value, i, instructions[i][1]))
elif instructions[i][1] == 'SUB':
if instructions[i][2] == 'A':
A.sub()
elif instructions[i][2] == 'B':
B.sub()
elif instructions[i][2] == 'C':
C.sub()
else:
D.sub()
i = instructions[i][3]
i -= 1
print("((A->{}, B->{}, C->{}, D->{}), {}) > [{}]".format(
A.value, B.value, C.value, D.value, i + 1,
instructions[i][1]))
elif instructions[i][1] == 'ZER':
if instructions[i][2] == 'A':
i = instructions[i][3] if (
A.zer()) == 1 else instructions[i][4]
elif instructions[i][2] == 'B':
i = instructions[i][3] if (
B.zer()) == 1 else instructions[i][4]
elif instructions[i][2] == 'C':
i = instructions[i][3] if (
C.zer()) == 1 else instructions[i][4]
else:
i = instructions[i][3] if (
D.zer()) == 1 else instructions[i][4]
i -= 1
print("((A->{}, B->{}, C->{}, D->{}), {}) > [{}]".format(
A.value, B.value, C.value, D.value, i + 1,
instructions[i][1]))
except IndexError:
print("\nEnd of program. The recorders now have these values: ")
print("A: ", A.value)
print("B: ", B.value)
print("C: ", C.value)
print("D: ", D.value)
class GUI(tk.Frame):
def __init__(self, master):
tk.Frame.__init__(self, master)
self.root = master
self.grid()
self.data = self.load_data()
self.car, self.road = self.init_components()
self.state = State.PLAYING
self.recorder = Recorder()
self.recorder.add(self.car)
self.create_widgets()
self.clean_fig()
self.draw_road(self.road.finish_area, self.road.road_edges)
self.draw_car(self.car.loc(), self.car.car_degree, self.car.radius)
def load_data(self):
case_file_path = '../cases/case01.txt'
d = Data(case_file_path)
return d.get()
def init_components(self):
c = Car(self.data['start_point'], self.data['start_degree'])
c.update_sensor(self.data['road_edges'])
r = Road(self.data['finish_area'], self.data['road_edges'])
return c, r
def create_widgets(self):
# 標題
self.winfo_toplevel().title("Yochien CI HW1")
# 自走車位置、方向、感測器距離
_, self.loc = add_text(self, 0, "Car Location", self.car.loc())
_, self.fl = add_text(self, 1, "Car Sensor Front Left",
self.car.sensor_dist['fl'])
_, self.f = add_text(self, 2, "Car Sensor Front",
self.car.sensor_dist['f'])
_, self.fr = add_text(self, 3, "Car Sensor Front Right",
self.car.sensor_dist['fr'])
_, self.cd = add_text(self, 4, "Car Degree", self.car.car_degree)
_, self.swd = add_text(self, 5, "Car Steering Wheel Degree",
self.car.steering_wheel_degree)
# 更新車子
_, self.next = add_button(self, 6, "Start Playing", "Run", self.run)
# 目前狀態
_, self.st = add_text(self, 7, "Status", self.state)
# 地圖與道路
self.road_fig = Figure(figsize=(5, 5), dpi=120)
self.road_canvas = FigureCanvasTkAgg(self.road_fig, self)
self.road_canvas.draw()
self.road_canvas.get_tk_widget().grid(row=8, column=0, columnspan=3)
def turn_steering_wheel(self, degree):
self.car.turn_steering_wheel(degree)
def run(self):
while self.state == State.PLAYING:
self.update()
sleep(0.02)
def update(self):
self.update_state()
self.update_car()
self.recorder.add(self.car)
def update_state(self):
if self.road.is_crash(self.car):
self.state = State.CRASH
elif self.road.is_finish(self.car):
self.state = State.FINISH
self.recorder.to_file()
self.st["text"] = self.state
def update_car(self):
fl, f, fr = self.car.update_sensor(self.data['road_edges'])
fl = Fuzzifier.fl(fl)
f = Fuzzifier.f(f)
fr = Fuzzifier.fr(fr)
self.turn_steering_wheel(Rules.apply(fl, f, fr))
self.car.next()
self.loc["text"] = self.car.loc()
self.cd["text"] = self.car.car_degree
self.swd["text"] = self.car.steering_wheel_degree
self.clean_fig()
self.draw_road(self.road.finish_area, self.road.road_edges)
self.draw_car(self.car.loc(), self.car.car_degree, self.car.radius)
self.draw_route()
self.road_canvas.draw()
def clean_fig(self):
# 清空並初始化影像
self.road_fig.clf()
self.road_fig.ax = self.road_fig.add_subplot(111)
self.road_fig.ax.set_aspect(1)
self.road_fig.ax.set_xlim([-20, 60])
self.road_fig.ax.set_ylim([-10, 60])
def draw_road(self, finish_area, road_edges):
# 車道邊界
for i in range(len(road_edges) - 1):
self.road_fig.ax.text(
road_edges[i][0], road_edges[i][1],
'({},{})'.format(road_edges[i][0], road_edges[i][1]))
self.road_fig.ax.plot([road_edges[i][0], road_edges[i + 1][0]],
[road_edges[i][1], road_edges[i + 1][1]],
'k')
# 終點區域
a, b = finish_area[0]
c, d = finish_area[1]
self.road_fig.ax.plot([a, c], [b, b], 'r')
self.road_fig.ax.plot([c, c], [b, d], 'r')
self.road_fig.ax.plot([c, a], [d, d], 'r')
self.road_fig.ax.plot([a, a], [d, b], 'r')
def draw_car(self, loc, car_degree, radius):
# 車子範圍
self.road_fig.ax.plot(loc[0], loc[1], '.b')
circle = plt.Circle(loc, radius, color='b', fill=False)
self.road_fig.ax.add_artist(circle)
# 感測器
self.fl["text"], self.f["text"], self.fr[
"text"] = self.car.update_sensor(self.data['road_edges'])
for s in self.car.sensor_point:
self.road_fig.ax.plot([loc[0], self.car.sensor_point[s][0]],
[loc[1], self.car.sensor_point[s][1]], 'r')
self.road_fig.ax.plot(self.car.sensor_point[s][0],
self.car.sensor_point[s][1], '.b')
def draw_route(self):
records = self.recorder.get()
for r in records:
self.road_fig.ax.plot(int(float(r[0]) + 0.0001),
int(float(r[1]) + 0.0001), '.y')
logging.debug("The {} iteration!".format(cnt))
lidar_data, extra_data = vlp.update()
if not args.no_camera:
frame = shot(cam)
data_dict = {
"lidar_data": lidar_data,
"extra_data": extra_data,
"frame": frame
}
else:
data_dict = {
"lidar_data": lidar_data,
"extra_data": extra_data
}
recorder.add(data_dict)
cnt += 1
if args.timestep > 0 and cnt == args.timestep:
break
except KeyboardInterrupt:
logging.critical("KEYBOARD INTERRUPTED!")
finally:
et = time.time()
logging.info(
"Recording Finish! It take {} seconds and collect {} data! Average FPS {}."
.format(et - st, cnt, cnt / (et - st)))
close_vlp(vlp)
if not args.no_camera:
close_camera(cam)
recorder.close()
