def _process_server_msg(self):
try:
buffer, _ = self.socket.recvfrom(TO_SOCKET_MSEC)
_logger.debug('Received buffer {!r}.'.format(buffer))
if not buffer:
return
elif MSG_SHUTDOWN in buffer:
_logger.info('Server requested shutdown.')
self.stop()
elif MSG_RESTART in buffer:
_logger.info('Server requested restart of driver.')
self.driver.on_restart()
else:
sensor_dict = self.serializer.decode(buffer)
carstate = CarState(sensor_dict)
_logger.debug(carstate)
command = self.driver.drive(carstate)
_logger.debug(command)
buffer = self.serializer.encode(command.actuator_dict)
_logger.debug('Sending buffer {!r}.'.format(buffer))
self.socket.sendto(buffer, self.hostaddr)
except socket.error as ex:
_logger.warning('Communication with server failed: {}.'.format(ex))
except KeyboardInterrupt:
_logger.info('User requested shutdown.')
self.stop()
def _process_server_msg(self):
try:
buffer, _ = self.socket.recvfrom(TO_SOCKET_MSEC)
_logger.debug('Received buffer {!r}.'.format(buffer))
if not buffer:
return
elif MSG_SHUTDOWN in buffer:
_logger.info('Server requested shutdown.')
self.stop()
elif MSG_RESTART in buffer:
_logger.info('Server requested restart of driver.')
self.driver.on_restart()
else:
sensor_dict = self.serializer.decode(buffer)
carstate = CarState(sensor_dict)
_logger.debug(carstate)
self.evaluation['crashed'] = (abs(
carstate.distance_from_center) > 0.9)
self.evaluation[
'stuck'] = carstate.speed_x < 5 and carstate.current_lap_time > 10
self.evaluation['time'] = carstate.current_lap_time
self.evaluation['position'] = carstate.race_position
self.evaluation['distance'] = carstate.distance_raced
self.evaluation['steering'] += 1
self.evaluation['lapComplete'] = carstate.last_lap_time > 0
self.evaluation['lapTime'] = carstate.last_lap_time
self.evaluation['avgSpeed'] = 0 if carstate.current_lap_time <= 0 or carstate.distance_from_start <= 0 else\
min(carstate.distance_raced, carstate.distance_from_start) / carstate.current_lap_time
self.evaluation['fitness'] = self.getFitness()
# if(self.evaluation['crashed'] or self.evaluation['stuck'] or self.evaluation['lapComplete']):
# self.stop()
command = self.driver.drive(carstate)
self.evaluation['steering'] = (
self.evaluation['steering'] *
(self.evaluation['iteration'] - 1) +
abs(command.steering)) / self.evaluation['iteration']
# print('speed: {}, time: {}, distance: {}'.format(self.evaluation['avgSpeed'], carstate.current_lap_time, self.evaluation['distance']))
_logger.debug(command)
buffer = self.serializer.encode(command.actuator_dict)
_logger.debug('Sending buffer {!r}.'.format(buffer))
self.socket.sendto(buffer, self.hostaddr)
except socket.error as ex:
_logger.warning('Communication with server failed: {}.'.format(ex))
except KeyboardInterrupt:
_logger.info('User requested shutdown.')
self.stop()
def test_decode_server_message():
buffer = b'(angle 0.008838)' \
b'(curLapTime 4.052)' \
b'(damage 0)' \
b'(distFromStart 1015.56)' \
b'(distRaced 42.6238)' \
b'(fuel 93.9356)' \
b'(gear 3)' \
b'(lastLapTime 0)' \
b'(opponents 123.4 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200' \
b' 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200)' \
b'(racePos 1)' \
b'(rpm 4509.31)' \
b'(speedX 81.5135)' \
b'(speedY 0.40771)' \
b'(speedZ -2.4422)' \
b'(track 4.3701 4.52608 5.02757 6.07753 8.25773 11.1429 13.451 16.712 21.5022' \
b' 30.2855 51.8667 185.376 69.9077 26.6353 12.6621 8.2019 6.5479 5.82979 5.63029)' \
b'(trackPos 0.126012)' \
b'(wheelSpinVel 67.9393 68.8267 71.4009 71.7363)' \
b'(z 0.336726)' \
b'(focus 26.0077 27.9798 30.2855 33.0162 36.3006)'
d = Serializer().decode(buffer)
assert len(d) == 19
assert d['angle'] == '0.008838'
assert d['wheelSpinVel'] == ['67.9393', '68.8267', '71.4009', '71.7363']
c = CarState(d)
assert c.angle == 0.5063800993366215
assert c.current_lap_time == 4.052
assert c.damage == 0
assert c.distance_from_start == 1015.56
assert c.distance_raced == 42.6238
assert c.fuel == 93.9356
assert c.gear == 3
assert c.last_lap_time == 0.0
assert c.opponents == (123.4, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200,
200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200,
200, 200, 200, 200, 200, 200, 200, 200)
assert c.race_position == 1
assert c.rpm == 4509.31
assert c.speed_x == 22.64263888888889
assert c.speed_y == 0.11325277777777779
assert c.speed_z == -0.6783888888888889
assert c.distances_from_edge == (4.3701, 4.52608, 5.02757, 6.07753, 8.25773, 11.1429, 13.451,
16.712, 21.5022, 30.2855, 51.8667, 185.376, 69.9077, 26.6353,
12.6621, 8.2019, 6.5479, 5.82979, 5.63029)
assert c.distance_from_center == 0.126012
assert c.wheel_velocities == (3892.635153073154, 3943.4794278130635, 4090.970223435639,
4110.1872278843275)
assert c.z == 0.336726
assert c.focused_distances_from_edge == (26.0077, 27.9798, 30.2855, 33.0162, 36.3006)
assert c.focused_distances_from_egde_valid
# fake bad focus value:
c.focused_distances_from_edge = (-1.0, -1.0, -1.0, -1.0, -1.0)
assert not c.focused_distances_from_egde_valid
def _process_server_msg(self):
try:
buffer, _ = self.socket.recvfrom(TO_SOCKET_MSEC)
_logger.debug('Received buffer {!r}.'.format(buffer))
if not buffer:
return
elif MSG_SHUTDOWN in buffer:
_logger.info('Server requested shutdown.')
self.stop()
elif MSG_RESTART in buffer:
_logger.info('Server requested restart of driver.')
self.driver.on_restart()
else:
sensor_dict = self.serializer.decode(buffer)
carstate = CarState(sensor_dict)
_logger.debug(carstate)
command = self.driver.drive(carstate)
if self.data_file is not None:
data_to_store = []
data_to_store += [
carstate.gear, carstate.rpm, carstate.speed_x,
carstate.speed_y
]
data_to_store += carstate.wheel_velocities
data_to_store += [command.accelerator
] #, command.brake, command.steering]
#data_to_store += [carstate.distance_from_center, carstate.angle]
#data_to_store += carstate.distances_from_edge
data_to_store = [str(v) for v in data_to_store]
self.data_file.write(', '.join(data_to_store) + '\n')
_logger.debug(command)
buffer = self.serializer.encode(command.actuator_dict)
_logger.debug('Sending buffer {!r}.'.format(buffer))
self.socket.sendto(buffer, self.hostaddr)
except socket.error as ex:
_logger.warning('Communication with server failed: {}.'.format(ex))
except KeyboardInterrupt:
_logger.info('User requested shutdown.')
self.stop()
def _process_server_msg(self):
try:
buffer, _ = self.socket.recvfrom(TO_SOCKET_MSEC)
_logger.debug('Received buffer {!r}.'.format(buffer))
if not buffer:
return
elif MSG_SHUTDOWN in buffer:
_logger.info('Server requested shutdown.')
# if self.position==1:
# meh=1000
# if self.position==2:
# meh=500
# if self.position==3:
# meh=200
# if self.position==4:
# meh=100
with open(self.datafile,'w') as f:
fitt=str(self.fitness+15)
f.write(fitt)
self.stop()
elif MSG_RESTART in buffer:
_logger.info('Server requested restart of driver.')
self.driver.on_restart()
else:
sensor_dict = self.serializer.decode(buffer)
carstate = CarState(sensor_dict)
command = self.driver.drive(carstate)
_logger.debug(carstate)
# print(carstate)
if command.steering!=-0.7 :
#print("blah")
self.notTurnFlag=False
if carstate.current_lap_time>5:
if carstate.distance_from_center<-1.2 or carstate.distance_from_center>1.2:
self.crashed=True
if (carstate.speed_x<2 and carstate.current_lap_time>6 ):
self.stuck=True
# if carstate.distance_raced%22784==0:
# self.stack+=carstate.last_lap_time
self.timespend=carstate.current_lap_time#+self.stack
# self.fitness=carstate.distance_raced -carstate.current_lap_time*10
if self.crashed :
with open(self.datafile,'w') as f:
fitt=str(self.fitness-10)
f.write(fitt)
self.stop()
elif self.stuck:
with open(self.datafile,'w') as f:
fitt=str(self.fitness - 15)
f.write(fitt)
self.stop()
else:
self.count+=1
self.sumspeed+=carstate.speed_x
self.speed=self.sumspeed/self.count
#self.roadError+=abs(carstate.distance_from_center)
# print(carstate.race_position)
# if carstate.speed_x<80:
# self.speedReward-=0.01
# elif carstate.speed_x<110:
# self.speedReward+=0.01
# else:
# self.speedReward+=0.02
self.position=carstate.race_position
# if carstate.distance_raced>200:
# if self.position==1:
# self.positionReward+=0.1
# if self.position==2:
# self.positionReward+=0.5
# if self.position==3:
# self.positionReward+=0.2
# if self.position==4:
# self.positionReward+=0.1
if not self.notTurnFlag:
if carstate.distance_raced>400:
self.fitness=float((self.speed+float(carstate.distance_raced /100)) + self.positionReward+self.speedReward) +30 -self.roadError
# return "andreas is meh ********************************"
else:
self.fitness=float(self.speed+float(carstate.distance_raced /100))+ self.positionReward+self.speedReward -self.roadError
else:
self.fitness=0
# print("this is the message",sensor_dict)
_logger.debug(command)
buffer = self.serializer.encode(command.actuator_dict)
_logger.debug('Sending buffer {!r}.'.format(buffer))
self.socket.sendto(buffer, self.hostaddr)
except socket.error as ex:
_logger.warning('Communication with server failed: {}.'.format(ex))
except KeyboardInterrupt:
_logger.info('User requested shutdown.')
self.stop()
def _process_server_msg(self):
try:
buffer, _ = self.socket.recvfrom(TO_SOCKET_MSEC)
_logger.debug('Received buffer {!r}.'.format(buffer))
if not buffer:
return
elif MSG_SHUTDOWN in buffer:
_logger.info('Server requested shutdown.')
# if self.position==1:
# meh=1000
# if self.position==2:
# meh=500
# if self.position==3:
# meh=200
# if self.position==4:
# meh=100
with open(self.datafile, 'w') as f:
fitt = str(self.fitness)
f.write(fitt)
self.stop()
elif MSG_RESTART in buffer:
_logger.info('Server requested restart of driver.')
self.driver.on_restart()
else:
sensor_dict = self.serializer.decode(buffer)
carstate = CarState(sensor_dict)
_logger.debug(carstate)
command = self.driver.drive(carstate)
# print(carstate)
if carstate.current_lap_time > 5:
if carstate.distance_from_center < -1 or carstate.distance_from_center > 1:
self.crashed = True
if (carstate.speed_x < 2
and carstate.current_lap_time > 5):
self.stuck = True
# if carstate.distance_raced%22784==0:
# self.stack+=carstate.last_lap_time
self.timespend = carstate.current_lap_time #+self.stack
# self.fitness=carstate.distance_raced -carstate.current_lap_time*10
if self.crashed:
with open(self.datafile, 'w') as f:
fitt = str(carstate.distance_raced - 10000)
f.write(fitt)
self.stop()
elif self.stuck:
with open(self.datafile, 'w') as f:
fitt = str(carstate.distance_raced - 100000)
f.write(fitt)
self.stop()
else:
self.count += 1
self.accelReward += command.accelerator if carstate.gear > 3 else 0
self.sumspeed += carstate.speed_x
self.speed = self.sumspeed / self.count * 3.6
# print(carstate.race_position)
self.position = carstate.race_position
if carstate.distance_raced > 200:
if self.position == 1:
self.positionReward += 1
if self.position == 2:
self.positionReward += 0.5
if self.position == 3:
self.positionReward += 0.2
# if self.position==4:
# self.meh+=0.1
if carstate.distance_raced > 400 and False:
self.fitness = float(
(self.speed + float(carstate.distance_raced / 500)
) + self.positionReward) + 30 + self.accelReward
# return "andreas is meh ********************************"
else:
self.fitness = self.speed
# if self.count<100:
# command.accelerator=1
# print("this is the message",sensor_dict)
_logger.debug(command)
buffer = self.serializer.encode(command.actuator_dict)
_logger.debug('Sending buffer {!r}.'.format(buffer))
self.socket.sendto(buffer, self.hostaddr)
except socket.error as ex:
_logger.warning('Communication with server failed: {}.'.format(ex))
except KeyboardInterrupt:
_logger.info('User requested shutdown.')
self.stop()