def explorer_proc(cfg_pipe, mem_que, param_que):
(_, (AgentClass, state_size, action_size, epsilon,
maze_map_file)) = cfg_pipe.recv()
agent = AgentClass(state_size=state_size,
action_size=action_size,
mdl_file=None)
env = Maze().load_map(maze_map_file)
agent.modify_epsilon(epsilon)
print("explore enter work status")
episode = 0
while True:
episode += 1
env.reset(random.random() < epsilon)
_, cache = Player.explore(env, agent, True)
for r in cache:
mem_que.put(r)
# try:
# mem_que.put_nowait(r)
# except Full:
# time.sleep(0.5)
# print("[%s]: sleep for a while" %
# (sys._getframe().f_code.co_name))
# break
if episode % VERIFY_EPISODE == VERIFY_EPISODE - 1:
try:
(para_type, (score, weights)) = param_que.get_nowait()
agent.set_weights(weights)
# debug
# print("[%s]: update weight, epsilon=%f" %
# (sys._getframe().f_code.co_name, epsilon))
if param_que.empty():
param_que.put_nowait((para_type, (score, weights)))
except (Empty, Full):
pass
def test_maze_move_robot_no_collision(self):
maze = Maze(size=11, robot_pos=(3, 7), robot_size=2, goal_pos=(2, 2))
maze.move_robot(Action.Up)
self.assertEqual(maze.robot.position, (3, 6))
maze.move_robot(Action.Right)
self.assertEqual(maze.robot.position, (4, 6))
maze.move_robot(Action.Down)
self.assertEqual(maze.robot.position, (4, 7))
maze.move_robot(Action.Left)
self.assertEqual(maze.robot.position, (3, 7))
def test_maze_init(self):
maze = Maze(size=84,
robot_pos=(10, 70),
robot_size=2,
goal_pos=(10, 10))
self.assertEqual(maze.size, 84)
self.assertEqual(maze.robot.position, (10, 70))
self.assertEqual(maze.robot.size, 2)
self.assertEqual(maze.goal, (10, 10))
def test_maze_init_add_borders(self):
maze = Maze(size=10, robot_pos=(3, 5), robot_size=2, goal_pos=(2, 2))
self.assertEqual(len(maze.walls), 4)
self.assertEqual(maze.walls[0].a, (0, 0))
self.assertEqual(maze.walls[0].b, (9, 0))
self.assertEqual(maze.walls[1].a, (0, 0))
self.assertEqual(maze.walls[1].b, (0, 9))
self.assertEqual(maze.walls[2].a, (0, 9))
self.assertEqual(maze.walls[2].b, (9, 9))
self.assertEqual(maze.walls[3].a, (9, 9))
self.assertEqual(maze.walls[3].b, (9, 0))
def test_maze_init_add_walls(self):
walls = [Wall((0, 4), (3, 4)), Wall((7, 0), (7, 3))]
maze = Maze(size=10,
robot_pos=(3, 7),
robot_size=2,
goal_pos=(2, 2),
walls=walls)
self.assertEqual(len(maze.walls), 6)
self.assertEqual(maze.walls[4].a, (0, 4))
self.assertEqual(maze.walls[4].b, (3, 4))
self.assertEqual(maze.walls[5].a, (7, 0))
self.assertEqual(maze.walls[5].b, (7, 3))
def test_maze_to_image(self):
walls = [
Wall((0, 5), (3, 5)),
Wall((8, 9), (8, 7)),
Wall((7, 1), (8, 3))
]
maze = Maze(size=10,
robot_pos=(3, 7),
robot_size=2,
goal_pos=(2, 2),
walls=walls)
img = maze.to_image()
self.assertEqual(img.shape, (10, 10))
# Position = (y,x)
# Draw robot
self.assertEqual(img[7][3], 0)
self.assertEqual(img[5][3], 0)
self.assertEqual(img[9][3], 0)
self.assertEqual(img[7][1], 0)
self.assertEqual(img[7][5], 0)
# Draw goal
self.assertEqual(img[2][2], 0)
# Draw walls
self.assertEqual(img[5][0], 0)
self.assertEqual(img[5][3], 0)
self.assertEqual(img[9][8], 0)
self.assertEqual(img[7][8], 0)
self.assertEqual(img[1][7], 0)
self.assertEqual(img[3][8], 0)
# Draw borders
self.assertEqual(img[0][0], 0)
self.assertEqual(img[0][9], 0)
self.assertEqual(img[9][0], 0)
self.assertEqual(img[9][9], 0)
# Resize
img_resize = maze.to_image(30)
self.assertEqual(img_resize.shape, (30, 30))
def main(file_name=DEF_NAME):
if GUI:
maze = MazeGUI(height=HEIGHT, width=WIDTH, n_block=N_BLOCK)
else:
maze = Maze(height=HEIGHT, width=WIDTH, n_block=N_BLOCK)
if not os.path.exists(SAVE_DIR):
os.makedirs(SAVE_DIR)
map_file = SAVE_MAP.format(file_name)
if not os.path.exists(map_file):
maze.generate_maze()
maze.save_map(map_file)
else:
maze.load_map(map_file)
mdl_file = SAVE_MDL.format(file_name)
player = PlayerClass(AgentClass=AgentClass,
maze=maze,
quiet=QUIET,
confirm_stop=CONFIRM_STOP,
mdl_file=mdl_file)
player.run()
def test_maze_move_robot_prevent_wall_collision(self):
walls = [
Wall((3, 1), (6, 1)),
Wall((1, 4), (1, 6)),
Wall((4, 8), (7, 8)),
Wall((8, 5), (8, 8))
]
maze = Maze(size=10,
robot_pos=(5, 5),
robot_size=2,
goal_pos=(2, 2),
walls=walls)
maze.move_robot(Action.Down)
self.assertEqual(maze.robot.position, (5, 5))
maze.move_robot(Action.Right)
self.assertEqual(maze.robot.position, (5, 5))
maze.move_robot(Action.Up)
self.assertEqual(maze.robot.position, (5, 4))
self.assertTrue(maze.collide((5, 3)))
maze.move_robot(Action.Up)
self.assertEqual(maze.robot.position, (5, 4))
maze.move_robot(Action.Left)
self.assertEqual(maze.robot.position, (4, 4))
self.assertTrue(maze.collide((3, 4)))
maze.move_robot(Action.Left)
self.assertEqual(maze.robot.position, (4, 4))
def test_maze_move_robot_prevent_border_collision(self):
maze = Maze(size=10, robot_pos=(3, 6), robot_size=2, goal_pos=(2, 2))
maze.move_robot(Action.Down)
self.assertEqual(maze.robot.position, (3, 6))
maze.move_robot(Action.Left)
self.assertEqual(maze.robot.position, (3, 6))
maze.move_robot(Action.Right)
maze.move_robot(Action.Right)
maze.move_robot(Action.Right)
self.assertEqual(maze.robot.position, (6, 6))
maze.move_robot(Action.Right)
self.assertEqual(maze.robot.position, (6, 6))
maze.move_robot(Action.Up)
maze.move_robot(Action.Up)
maze.move_robot(Action.Up)
self.assertEqual(maze.robot.position, (6, 3))
maze.move_robot(Action.Up)
self.assertEqual(maze.robot.position, (6, 3))