def control_loop(self):
steer, gas = 0,0
if self.feed_u is None:
for car in reversed(self.cars):
car.control(steer, gas)
else:
for car, fu, hu in zip(self.cars, self.feed_u, self.history_u):
car.u = fu[len(hu)]
for car, hist in zip(self.cars, self.history_u):
hist.append(car.u)
for car in self.cars:
self.prev_x[car] = car.x
for car in self.cars:
print("CAR: {}".format(car.x))
car.move()
for car, hist in zip(self.cars, self.history_x):
hist.append(car.x)
self.prev_t = time.time()
self.termination_counter += 1
if self.termination_counter >= self.MAX_ITER:
data2_filename = "data2/CDC_RUN_NUM_CARS{0}_AUTLEVEL{1}_TIME{2}.txt".\
format(len(self.cars), self.aut_level, time.time())
write_string = ""
for car in self.cars:
cur_write = {'lane': car.x[0], 'pos': car.x[1], 'isRobot': car.iamrobot}
write_string += str(cur_write)
write_string += "\n"
with open(data2_filename, 'w') as f:
f.write(write_string)
#increment the counter of how many control loop iterations since the last midlevel iteration
self.cntrl_loop_counter += 1
def control_loop(self, _=None):
#if not self.paused:
#pyglet.image.get_buffer_manager().get_color_buffer().save('screenshots/screenshot-%.2f.png'%time.time())
if self.paused:
return
if self.iters is not None and len(self.history_x[0])>=self.iters:
if self.autoquit:
self.event_loop.exit()
return
if self.feed_u is not None and len(self.history_u[0])>=len(self.feed_u[0]):
if self.autoquit:
self.event_loop.exit()
return
if self.pause_every is not None and self.pause_every>0 and len(self.history_u[0])%self.pause_every==0:
self.paused = True
steer = 0.
gas = 0.
if self.keys[key.UP]:
gas += 1.
if self.keys[key.DOWN]:
gas -= 1.
if self.keys[key.LEFT]:
steer += 1.5
if self.keys[key.RIGHT]:
steer -= 1.5
if self.joystick:
print(self.joystick.y)
steer -= self.joystick.x*4.
gas -= (self.joystick.y - 1)/2
self.heatmap_valid = False
for car in self.cars:
self.prev_x[car] = car.x
if self.feed_u is None:
for car in reversed(self.cars):
car.control(steer, gas)
else:
for car, fu, hu in zip(self.cars, self.feed_u, self.history_u):
car.u = fu[len(hu)]
copy_cars = set([c for c in self.cars if type(c) is CopyCar])
for car, hist in zip(self.cars, self.history_u):
hist.append(car.u)
if car not in copy_cars:
for cc in copy_cars:
cc.use_also(car.x, car.u)
for car in self.cars:
car.move()
for car, hist in zip(self.cars, self.history_x):
print(car.x)
hist.append(car.x)
for car, hist in zip(self.cars, self.history_belief):
if hasattr(car, 'log_ps'):
hist.append(np.asarray([np.exp(log_p.get_value()) for log_p in car.log_ps]))
self.prev_t = time.time()
def control_loop(self, _=None):
#print "Time: ", time.time()
if self.paused:
return
if self.iters is not None and len(self.history_x[0]) >= self.iters:
if self.autoquit:
self.event_loop.exit()
return
if self.feed_u is not None and len(self.history_u[0]) >= len(
self.feed_u[0]):
if self.autoquit:
self.event_loop.exit()
return
if self.pause_every is not None and self.pause_every > 0 and len(
self.history_u[0]) % self.pause_every == 0:
self.paused = True
steer = 0.
gas = 0.
if self.keys[key.UP]:
gas += 1.
if self.keys[key.DOWN]:
gas -= 1.
if self.keys[key.LEFT]:
steer += 1.5
if self.keys[key.RIGHT]:
steer -= 1.5
if self.joystick:
steer -= self.joystick.x * 3.
gas -= self.joystick.y
self.heatmap_valid = False
for car in self.cars:
self.prev_x[car] = car.x
if self.feed_u is None:
for car in reversed(self.cars):
car.control(steer, gas)
else:
for car, fu, hu in zip(self.cars, self.feed_u, self.history_u):
car.u = fu[len(hu)]
for car, hist in zip(self.cars, self.history_u):
hist.append(car.u)
for car in self.cars:
car.move()
for car, hist in zip(self.cars, self.history_x):
hist.append(car.x)
if self.show_feature_sums:
self.prev_t = time.time()
self.ticks_run += 1
self.feature_sum = np.add(
self.feature_sum,
self.feature_function(0, self.main_car.x, self.main_car.u,
self.main_car))
print self.ticks_run
print self.feature_sum
def control_loop(self, _=None):
if self.paused:
return
if self.iters is not None and len(self.history_x[0]) >= self.iters:
if self.autoquit:
self.event_loop.exit()
return
if self.feed_u is not None and len(self.history_u[0]) >= len(
self.feed_u[0]):
if self.autoquit:
self.event_loop.exit()
return
if self.pause_every is not None and self.pause_every > 0 and len(
self.history_u[0]) % self.pause_every == 0:
self.paused = True
steer = 0.
gas = 0.
if self.keys[key.UP]:
gas += 1.
if self.keys[key.DOWN]:
gas -= 1.
if self.keys[key.LEFT]:
steer += 1.5
if self.keys[key.RIGHT]:
steer -= 1.5
if self.joystick:
steer -= self.joystick.x * 3.
gas -= self.joystick.y
self.heatmap_valid = False
for car in self.cars:
self.prev_x[car] = car.x
if self.feed_u is None:
for car in reversed(self.cars):
car.control(steer, gas)
else:
for car, fu, hu in zip(self.cars, self.feed_u, self.history_u):
car.u = fu[len(hu)]
for car, hist in zip(self.cars, self.history_u):
hist.append(car.u)
for car in self.cars:
car.move()
for car, hist in zip(self.cars, self.history_x):
hist.append(car.x)
for car, hist in zip(self.cars, self.history_belief):
if hasattr(car, 'log_ps'):
hist.append(
np.asarray(
[np.exp(log_p.get_value()) for log_p in car.log_ps]))
self.prev_t = time.time()
def control_loop(self, _=None):
#print "Time: ", time.time()
if self.paused:
return
if self.iters is not None and len(self.history_x[0])>=self.iters:
if self.autoquit:
self.event_loop.exit()
return
if self.feed_u is not None and len(self.history_u[0])>=len(self.feed_u[0]):
if self.autoquit:
self.event_loop.exit()
return
if self.pause_every is not None and self.pause_every>0 and len(self.history_u[0])%self.pause_every==0:
self.paused = True
steer = 0.
gas = 0.
if self.keys[key.UP]:
gas += 1.
if self.keys[key.DOWN]:
gas -= 1.
if self.keys[key.LEFT]:
steer += 1.5
if self.keys[key.RIGHT]:
steer -= 1.5
if self.joystick:
steer -= self.joystick.x*3.
gas -= self.joystick.y
self.heatmap_valid = False
for car in self.cars:
self.prev_x[car] = car.x
if self.feed_u is None:
for car in reversed(self.cars):
car.control(steer, gas) # IMPORTANT: very slow when using the nested optimizr
else:
for car, fu, hu in zip(self.cars, self.feed_u, self.history_u):
car.u = fu[len(hu)]
for car, hist in zip(self.cars, self.history_u):
hist.append(car.u)
for car in self.cars:
car.move()
for car, hist in zip(self.cars, self.history_x):
hist.append(car.x)
self.prev_t = time.time()
# use this to get all pictures
pyglet.image.get_buffer_manager().get_color_buffer().save('screenshots/screenshot-%.2f.png'%time.time())
def control_loop(self, _=None):
#print "Time: ", time.time()
if self.paused:
return
if self.iters is not None and len(self.history_x[0])>=self.iters:
if self.autoquit:
self.event_loop.exit()
return
if self.feed_u is not None and len(self.history_u[0])>=len(self.feed_u[0]):
if self.autoquit:
self.event_loop.exit()
return
if self.pause_every is not None and self.pause_every>0 and len(self.history_u[0])%self.pause_every==0:
self.paused = True
steer = 0.
gas = 0.
if self.keys[key.UP]:
gas += 1.
if self.keys[key.DOWN]:
gas -= 1.
if self.keys[key.LEFT]:
steer += 1.5
if self.keys[key.RIGHT]:
steer -= 1.5
if self.joystick:
steer -= self.joystick.x*3.
gas -= self.joystick.y
self.heatmap_valid = False
for car in self.cars:
self.prev_x[car] = car.x
if self.feed_u is None:
for car in reversed(self.cars):
car.control(steer, gas)
else:
for car, fu, hu in zip(self.cars, self.feed_u, self.history_u):
car.u = fu[len(hu)]
for car, hist in zip(self.cars, self.history_u):
hist.append(car.u)
for car in self.cars:
car.move()
for car, hist in zip(self.cars, self.history_x):
hist.append(car.x)
self.prev_t = time.time()
def control_loop(self, _=None):
#print "Time: ", time.time()
if self.paused:
return
if self.iters is not None and len(self.history_x[0]) >= self.iters:
if self.autoquit:
self.event_loop.exit()
return
if self.feed_u is not None and len(self.history_u[0]) >= len(
self.feed_u[0]):
if self.autoquit:
self.event_loop.exit()
return
if self.pause_every is not None and self.pause_every > 0 and len(
self.history_u[0]) % self.pause_every == 0:
self.paused = True
steer_arrows = 0.
gas_arrows = 0.
if self.keys[key.UP]:
gas_arrows += 1.
if self.keys[key.DOWN]:
gas_arrows -= 1.
if self.keys[key.LEFT]:
steer_arrows += 1.5
if self.keys[key.RIGHT]:
steer_arrows -= 1.5
if self.joystick:
steer_arrows -= self.joystick.x * 3.
gas_arrows -= self.joystick.y
steer_wasd = 0. # for cars controlled using the 'wasd' keys
gas_wasd = 0.
if self.keys[key.W]:
gas_wasd += 1.
if self.keys[key.S]:
gas_wasd -= 1.
if self.keys[key.A]:
steer_wasd += 1.5
if self.keys[key.D]:
steer_wasd -= 1.5
if self.joystick:
steer_wasd -= self.joystick.x * 3.
gas_wasd -= self.joystick.y
self.heatmap_valid = False
for car in self.cars:
self.prev_x[car] = car.x
if self.feed_u is None:
for car in reversed(self.cars):
if car.controls == 'wasd':
car.control(steer_wasd, gas_wasd)
else:
car.control(steer_arrows, gas_arrows)
else:
for car, fu, hu in zip(self.cars, self.feed_u, self.history_u):
car.u = fu[len(hu)]
for car, hist in zip(self.cars, self.history_u):
hist.append(car.u)
for car in self.cars:
car.move()
for car, hist in zip(self.cars, self.history_x):
hist.append(car.x)
self.prev_t = time.time()
def control_loop(self, _=None):
#print "Time: ", time.time()
if self.paused:
return
if self.iters is not None and len(self.history_x[0])>=self.iters:
if self.autoquit:
self.event_loop.exit()
return
if self.feed_u is not None and len(self.history_u[0])>=len(self.feed_u[0]):
if self.autoquit:
self.event_loop.exit()
return
if self.pause_every is not None and self.pause_every>0 and len(self.history_u[0])%self.pause_every==0:
self.paused = True
steer = 0.
gas = 0.
if self.keys[key.UP]:
gas += 1.
if self.keys[key.DOWN]:
gas -= 1.
if self.keys[key.LEFT]:
steer += 1.5
if self.keys[key.RIGHT]:
steer -= 1.5
if self.joystick:
steer -= self.joystick.x*3.
gas -= self.joystick.y
self.heatmap_valid = False
for car in self.cars:
self.prev_x[car] = car.x
if self.feed_u is None:
for car in reversed(self.cars):
car.control(steer, gas)
else:
for car, fu, hu in zip(self.cars, self.feed_u, self.history_u):
car.u = fu[len(hu)]
for car, hist in zip(self.cars, self.history_u):
hist.append(car.u)
for car in self.cars:
print("CAR: {}".format(car.x))
car.move()
for car, hist in zip(self.cars, self.history_x):
hist.append(car.x)
self.prev_t = time.time()
self.termination_counter += 1
if self.termination_counter >= self.MAX_ITER:
print("Freaky things are happening\n\n")
#self.paused = True
data2_filename = "data2/CDC_RUN_NUM_CARS{0}_AUTLEVEL{1}_TIME{2}.txt".\
format(len(self.cars), self.aut_level, time.time())
write_string = ""
for car in self.cars:
cur_write = {'lane': car.x[0], 'pos': car.x[1], 'isRobot': car.iamrobot}
write_string += str(cur_write)
write_string += "\n"
with open(data2_filename, 'w') as f:
f.write(write_string)
self.event_loop.exit()
#increment the counter of how many control loop iterations since the last midlevel iteration
self.cntrl_loop_counter += 1
