"""
Gym interface to snakeoil3_gym.py.
Provides a gym interface to the traditional server-client model.
"""
import os
import math
import collections as col
from gym import spaces
import numpy as np
from utils.madras_datatypes import Madras
import utils.snakeoil3_gym as snakeoil3
madras = Madras()
class TorcsEnv:
"""The Env API for TORCS."""
terminal_judge_start = 100
# If after 100 timestep still no progress, terminated
termination_limit_progress = 1
# [km/h], episode terminates if car is running slower than this limit
default_speed = 50
initial_reset = False
obs_dim = 29
act_dim = 3
def __init__(self, vision=False, throttle=False, gear_change=False):
"""Init Method."""
self.vision = vision
"""Random Lane changing Traffic Agent."""
import sys
import time
import yaml
import random
import numpy as np
from controllers.pid import PID
from utils.gym_torcs import TorcsEnv
import utils.snakeoil3_gym as snakeoil3
from utils.madras_datatypes import Madras
madras = Madras()
with open("./traffic/configurations.yml", "r") as ymlfile:
cfg = yaml.load(ymlfile)
random.seed(time.time())
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
"""Traffic agent created using snakeoil API."""
import sys
import numpy as np
import utils.snakeoil3_gym as snakeoil3
from utils.madras_datatypes import Madras
madras = Madras()
PORT = madras.intX(sys.argv[1])
PI = 3.14159265359
maxSteps = 5000
def drive_traffic(c, speed):
"""Drive Function."""
S, R = c.S.d, c.R.d
opp = np.asarray(S['opponents'])
closest = np.min(opp)
front = np.array([opp[15], opp[16], opp[17], opp[18], opp[19]])
closest_front = np.min(front)
print("CLOSEST {}".format(closest))
print("CLOSEST_FRONT {}".format(closest_front))
target_speed = madras.floatX(speed)
# Steer To Corner
R['steer'] = (S['angle'] + madras.floatX(sys.argv[3]) / 10) * 10 / PI
# Steer To Center
R['steer'] -= (S['trackPos'] + madras.floatX(sys.argv[3])) * .10
# Traction Control System
if ((S['wheelSpinVel'][2] + S['wheelSpinVel'][3]) -