def __init__(self, init_state='menu'):
# Init pygame
pygame.init()
# Get clock
self.clock = pygame.time.Clock()
# Create screen
self.__screen = pygame.display.set_mode((SCREEN_WIDTH, SCREEN_HEIGHT))
# Main app font
self.font = pygame.font.SysFont("Arial", 16, False, False)
# Input pipeline (instance gets replaced by each state init())
self.inputs = Inputs()
# Persistent data dictionary, for data to persist across state change
self.__data = {}
# Current state
self.__state = None
# Next state name
self.__next_state = init_state
# Main game loop escape bool
self.running = True
def show_info(display, font, mainClock):
title_image = pygame.image.load("data/title.png")
dialogbox = dialog.DialogBox((240, 51), (0, 0, 0), (255, 255, 255), font)
dialogbox.set_dialog([
"Welcome to pyNekketsu! Press L to continue.",
"Player1 controls: arrows (to move), K (shoot or attack), L (pass), P (pause, start)",
"Player2 controls: F, G, H, T (to move), A (shoot or attack), Z (pass), R (pause, start)"
])
while not dialogbox.over():
mainClock.tick(30)
Inputs.readkeys() #read all the actual keys
if (Inputs.player_just_Esc[1] or Inputs.player_just_Esc[2]):
pygame.quit()
sys.exit()
if Inputs.player_just_A[1]:
dialogbox.progress()
# Get the surface from the NES game library
screen = display.get_surface()
screen.blit(title_image, (0, 0))
dialogbox.draw(screen, (8, 128))
# Update and draw the display
display.update()
def call_a_menu(menu, default_option, info, display, font, mainClock):
menu.option = default_option
title_image = pygame.image.load("data/title.png")
while 1:
mainClock.tick(30)
Inputs.readkeys() #read all the actual keys
if (Inputs.player_just_Esc[1] or Inputs.player_just_Esc[2]):
pygame.quit()
sys.exit()
# Move the menu cursor if you press up or down
if Inputs.player_just_U[1]:
menu.move_cursor(-1)
if Inputs.player_just_D[1]:
menu.move_cursor(1)
# If you press A, check which option you're on!
if Inputs.player_just_A[1]:
option, text = menu.get_option()
return option, text
# If you press B, cancel
if Inputs.player_just_B[1]:
return -1, ""
# Get the surface from the NES game library
screen = display.get_surface()
screen.blit(title_image, (0, 0))
# Draw the menu boxes
ren = font.render(info)
screen.blit(ren, (8, 112))
menu.draw(screen, (16, 128),
background=(0, 0, 0),
border=(255, 255, 255))
# Update and draw the display
display.update()
def show_info(display,font,mainClock):
title_image=pygame.image.load("data/title.png")
dialogbox = dialog.DialogBox((240, 51), (0, 0, 0),(255, 255, 255), font)
dialogbox.set_dialog([
"Welcome to pyNekketsu! Press L to continue.",
"Player1 controls: arrows (to move), K (shoot or attack), L (pass), P (pause, start)",
"Player2 controls: F, G, H, T (to move), A (shoot or attack), Z (pass), R (pause, start)"])
while not dialogbox.over():
mainClock.tick(30)
Inputs.readkeys()#read all the actual keys
if (Inputs.player_just_Esc[1] or Inputs.player_just_Esc[2]):
pygame.quit()
sys.exit()
if Inputs.player_just_A[1]:
dialogbox.progress()
# Get the surface from the NES game library
screen = display.get_surface()
screen.blit(title_image,(0,0))
dialogbox.draw(screen, (8, 128))
# Update and draw the display
display.update()
def call_a_menu(menu,default_option,info,display,font,mainClock):
menu.option=default_option
title_image=pygame.image.load("data/title.png")
while 1:
mainClock.tick(30)
Inputs.readkeys()#read all the actual keys
if (Inputs.player_just_Esc[1] or Inputs.player_just_Esc[2]):
pygame.quit()
sys.exit()
# Move the menu cursor if you press up or down
if Inputs.player_just_U[1]:
menu.move_cursor(-1)
if Inputs.player_just_D[1]:
menu.move_cursor(1)
# If you press A, check which option you're on!
if Inputs.player_just_A[1]:
option, text = menu.get_option()
return option, text
# If you press B, cancel
if Inputs.player_just_B[1]:
return -1, ""
# Get the surface from the NES game library
screen = display.get_surface()
screen.blit(title_image,(0,0))
# Draw the menu boxes
ren = font.render(info)
screen.blit(ren, (8, 112))
menu.draw(screen, (16, 128), background=(0, 0, 0), border=(255, 255, 255))
# Update and draw the display
display.update()
def decision_genetic(state_vector):
output_net = model.predict(
x=np.array(state_vector).reshape(-1, len(state_vector)))[0]
if len(output_net) == Inputs.size():
inputs = utils.take_decision(output_net)
elif len(output_net) == 2:
inputs = utils.net_to_input(output_net)
else:
raise ValueError(
"Can manage only predictions of size {} or {}, list was of size {}"
.format(Inputs.size(), 2, len(output_net)))
return inputs
def __init__(self):
self.screen = None
self.inputs = Inputs()
# The list of components in the scene. Components are drawn in order in
# the list
self.background = []
self.foreground = []
self.midground = []
# The scene manager that this scene sits in.
self.manager = None
# The settings for the game.
self.settings = None
def __init__(self, parent=None):
list = ('旧口令', '新口令', '重复新口令')
Frame.__init__(self, parent)
self.pack()
Label(self, font=('Roman', 18), text='重置口令').pack()
setfont = ('Roman', 16, 'normal')
for e in list:
passwd = Inputs(e, self)
self.vars.append(passwd)
passwd.pack()
Button(self, text='确定', command=self.quit).pack()
def __init__(self, parent=None):
list = ('旧口令', '新口令', '重复新口令')
Frame.__init__(self, parent)
self.pack()
Label(self, font=('Roman',18),text='重置口令').pack()
setfont=('Roman', 16, 'normal')
for e in list:
passwd = Inputs(e, self)
self.vars.append(passwd)
passwd.pack()
Button(self, text='确定', command=self.quit).pack()
def main(*args, **kwargs):
inputs = Inputs()
print ('inputs shape: %s'%str(inputs.inputs.shape))
config = Config()
with tf.variable_scope('inference') as scope:
m = TextCNN(config, inputs)
scope.reuse_variables()
init = tf.group(tf.global_variables_initializer(),
tf.local_variables_initializer())
sess = tf.Session()
coord = tf.train.Coordinator()
threads = tf.train.start_queue_runners(sess=sess, coord=coord)
sess.run(init)
try:
index = 0
while not coord.should_stop() and index<1:
_, loss_value = sess.run([m.train_op, m.cost])
index += 1
print ('step: %d, loss: %f'%(index,loss_value))
except tf.errors.OutOfRangeError:
print ('Done training： -----Epoch limit reached')
except KeyboardInterrupt:
print ('keyboard interrput detected, stop training')
finally:
coord.request_stop()
coord.join(threads)
sess.close()
del sess
def __init__(self, params: inputs.Inputs, id: str, resolution_ms: int):
self.id = id
self.cache_keys = CacheKeys(params.cache_key_prefix())
self.last_keepalive_ms = 0
self.data_timestamps = set()
self.resolution_ms = resolution_ms
self.in_streaming_phase = False
def __init__(self, heading, position, load_image=True): self.heading = copy.deepcopy(heading) # angle in radians self.position = copy.deepcopy(position) # metres worlds coords self.velocity = Vector2() # m/s world coords self.velocity_c = Vector2() # m/s local coords, x is forward, y is sideways self.accel = Vector2() # acceleration in world coords self.accel_c = Vector2() # acceleration in local coords self.absVel = 0. # absolute velocity m/s self.yawRate = 0. # angular velocity in m/s self.steer = 0. # amount of steering input (-1.0 .. 1.0) self.steerAngle = 0. # actual front whell steer angle (-maxSteer .. maxSteer) self.inertia = 0. self.wheelBase = 0. # set from axle to CG lengths self.axleWeightRatioFront = 0. # % car weight on the front axle self.axleWeightRatioRear = 0. # % car weight on the read axle self.config = Config() self.setConfig() self.inputs = Inputs(init_pygame=load_image) if load_image: self.image = pygame.image.load(self.config.image_path).convert_alpha() self.image = pygame.transform.scale(self.image, (32, 16))
def __init__(self, stdscr):
self.blocks = []
self.stdscr = stdscr
self.focus_idx = 0
self.inputs = Inputs()
self.inputs.add(0, self.handle_input)
self.escape_pressed = False
self.keybinds = {
'n': self.action_block_up,
'p': self.action_block_down,
'O': self.action_block_create_above,
'o': self.action_block_create_below,
't': self.action_create_term,
'e': self.action_create_python,
'd': self.action_delete
}
def main(*args, **kwargs):
inputs = Inputs()
config = Config()
with tf.variable_scope("inference") as scope:
m = TextCNN(config, inputs)
scope.reuse_variables()
mvalid = TextCNN(Config, inputs)
init = tf.group(tf.initialize_all_variables(),
tf.initialize_local_variables())
sess = tf.Session()
coord = tf.train.Coordinator()
threads = tf.train.start_queue_runners(sess=sess, coord=coord)
sess.run(init)
try:
index = 0
while not coord.should_stop():
_, loss_value = sess.run([m.train_op, m.cost])
index += 1
print("step: %d, loss: %f" % (index, loss_value))
if index % 5 == 0:
accuracy = sess.run(mvalid.validation_op)
print("accuracy on validation is:" + str(accuracy))
except tf.errors.OutOfRangeError:
print("Done traing:-------Epoch limit reached")
except KeyboardInterrupt:
print("keyboard interrput detected, stop training")
finally:
coord.request_stop()
coord.join(threads)
sess.close()
del sess
def setup(self):
for i in range(self.settings.numberOfSnakes):
self.FoodArr.append(Food(self.settings))
self.SnakeArr.append(Snake(self.settings, self.FoodArr[i]))
self.InputArr.append(
Inputs(self.settings, self.SnakeArr[i], self.FoodArr[i]))
self.NNArr.append(NeuralNetwork(self.settings, self.InputArr[i]))
self.SnakeArr[0].hasBestBrain = True
self.FoodArr[0].isFoodForBestSnake = True
def update(self):
Inputs.readkeys() #read all the actual keys
if (Inputs.player_just_Start[1] or Inputs.player_just_Start[2]):
self.pause = not self.pause
if (self.match_time <= 0):
self.is_finished = True
else:
if (configuration["sound"] == "on"):
Match.snd_whistle.play()
if (not self.pause):
if (self.message_drawing_time < 10):
if (self.message_drawing_time > 0):
self.message_drawing_time -= 1 * configuration["delta_time"]
if (self.message_drawing_time > 5) and (
self.message_image == self.start_image): #kick off
if (configuration["sound"] == "on"):
Match.snd_whistle.play()
self.message_drawing_time = 5
if (self.match_time > 0): #when time is out, players stop
self.match_time -= 1.0 / 30 * configuration[
"delta_time"] #30 FPS
self.team[-1].update(self)
self.team[1].update(self)
if (-1 < self.match_time < 0):
if (configuration["sound"] == "on"):
Match.snd_whistle.play()
self.ball.update(self)
else:
self.message_drawing_time -= 1 * configuration["delta_time"]
#camera moves even if there is a message
if (self.ball.owner == 0):
self.cam.aim_to(
[self.ball.pos[0], self.ball.pos[1], self.ball.pos[2] / 2],
0, 50)
else:
self.cam.aim_to(
[self.ball.pos[0], self.ball.pos[1], self.ball.pos[2] / 2],
self.ball.owner.direction, 5)
else: #during pause the ball continues to roll
self.ball.animation()
def keepalive_fn(scheduler: sched.scheduler, params: inputs.Inputs,
context: LambdaContext, keepalive_state: KeepaliveState,
cache: Cache):
''' Each iteration of keepalive_thread runs this code. Add the next iteration of keepalive before exiting to
continue the keepalive thread. Otherwise keepalives will stop '''
try:
update_keepalive(params, keepalive_state, cache)
keepalive_fn.num_keepalives += 1
if keepalive_fn.num_keepalives % defaults.KEEPALIVE_PRINT_EVERY == 0:
print("keepalive_fn: keepalive #{}: state={}".format(
keepalive_fn.num_keepalives, keepalive_state))
if context.invoked_function_arn and context.get_remaining_time_in_millis(
) < defaults.RETRIGGER_BEFORE_EXPIRY_MS:
# if invoked as lambda (not CLI), then retrigger backing job if this instance of it will expire soon
cache_keys = keepalive_state.cache_keys
lastaccess_ms = int(cache.get(cache_keys.lastaccess))
lastaccess_age_ms = utils.millitime() - lastaccess_ms
if lastaccess_age_ms > (defaults.BACKING_JOB_LIFETIME_MS * 0.9):
# There were no recent calls to fetch the data produced by this backing job. No need to re-issue
print(
"Exiting backing job by ending keepalive thread. lastaccess_age_ms = ",
lastaccess_age_ms)
return False
if not params.is_streaming():
''' Fixed time-range jobs need not be reissued '''
print(
"keepalive_fn: backing job won't be restarted because it is not a streaming job",
params)
return False
# Restart this job again in another lambda invocation.
# Before doing that, don't keepalive for a while to make it stale. Otherwise the new invocation
# will assume there is another backing job already running and will auto-exit
print(
"keepalive_fn: backing job needs to be restarted. lastaccess_age_ms =",
lastaccess_age_ms)
time.sleep(defaults.KEEPALIVE_INTERVAL_SEC *
defaults.KEEPALIVE_EXPIRY_MULTIPLE)
start_backing_job_if_necessary(params, context, keepalive_state,
cache)
print(
"keepalive_fn: exiting current backing job after re-issuing a new one"
)
return False
except Exception as e:
print("keepalive_fn: exception", e, traceback.format_exc())
# schedule the next iteration of keepalive thread
scheduler.enter(defaults.KEEPALIVE_INTERVAL_SEC,
1,
keepalive_fn,
argument=(scheduler, params, context, keepalive_state,
cache))
def inicializar_jogo(self):
self.ambiente = pygame
self.ambiente.init()
self.sprites = Sprites(pygame)
self.inputs = Inputs(self.ambiente)
self.clock_soldados_atiradores = self.ambiente.time.get_ticks()
self.clock_soldados_espada = self.ambiente.time.get_ticks()
self.clock_corvo = self.ambiente.time.get_ticks()
self.paused = False
self.cont_background = 0
self.width = 1280
self.height = 768
self.device_screen = self.ambiente.display.Info()
print(self.device_screen.current_w)
self.screen = self.ambiente.display.set_mode([self.width, self.height],
self.ambiente.FULLSCREEN
| self.ambiente.DOUBLEBUF)
self.background_imgs = [self.ambiente.image.load('imagens/mapa/mapa_1.png').convert(), self.ambiente.image.load('imagens/mapa/mapa_2.png').convert(),\
self.ambiente.image.load('imagens/mapa/mapa_3.png').convert(), self.ambiente.image.load('imagens/mapa/mapa_4.png').convert()]
self.background_image = self.background_imgs[0]
self.torre = self.ambiente.image.load(
'imagens/torre.png').convert_alpha()
self.indio = Indio(self.ambiente, 3, 1000, 0, 510)
self.cd = Cooldown(self.ambiente, 20, 490)
self.barra = Barra(self.ambiente, 10, 650)
self.lanca = Lanca(self.ambiente, 1, 0, 0, 20, 510, 0, 90)
self.barreira1 = Barreira(self.ambiente, 2, 400, 300, 'top')
self.barreira2 = Barreira(self.ambiente, 3, 400, 500, 'bot')
self.sprites.barreiras.add(self.barreira1, self.barreira2)
self.sprites.indio.add(self.indio)
self.sprites.todos_objetos.add(self.sprites.indio, self.barra,
self.sprites.barreiras)
self.clock_mapa = self.ambiente.time.get_ticks()
self.time = self.ambiente.time.get_ticks()
self.seta_menu = Seta(self.ambiente, 350, 200)
self.menu_background = self.ambiente.image.load(
'imagens/menu_background.png')
self.ambiente.font.init()
self.fonte = self.ambiente.font.SysFont('Comic Sans MS', 30)
self.screen.blit(self.background_image, [0, 0])
def createDataSet(intWidth, intHeight, intPoints):
listDataSet = []
for i in range(intPoints):
x = random.uniform(-intWidth, intWidth)
y = random.uniform(-intHeight, intHeight)
# 2 giriş işleme girdiği zaman beklenen cevabın rastgele üretilmesi
answer = 0 if y < f(x) else 1
listDataSet.append(Inputs(x, y, answer))
return listDataSet
def update(self):
Inputs.readkeys()#read all the actual keys
if (Inputs.player_just_Start[1] or Inputs.player_just_Start[2]):
self.pause=not self.pause
if (self.match_time<=0):
self.is_finished=True
else:
if (configuration["sound"]=="on"):
Match.snd_whistle.play()
if (not self.pause):
if (self.message_drawing_time<10):
if (self.message_drawing_time>0):
self.message_drawing_time-=1*configuration["delta_time"]
if (self.message_drawing_time>5)and(self.message_image==self.start_image):#kick off
if (configuration["sound"]=="on"):
Match.snd_whistle.play()
self.message_drawing_time=5
if (self.match_time>0):#when time is out, players stop
self.match_time-=1.0/30*configuration["delta_time"] #30 FPS
self.team[-1].update(self)
self.team[1].update(self)
if (-1<self.match_time<0):
if (configuration["sound"]=="on"):
Match.snd_whistle.play()
self.ball.update(self)
else:
self.message_drawing_time-=1*configuration["delta_time"]
#camera moves even if there is a message
if (self.ball.owner==0):
self.cam.aim_to([self.ball.pos[0],self.ball.pos[1],self.ball.pos[2]/2],0,50)
else:
self.cam.aim_to([self.ball.pos[0],self.ball.pos[1],self.ball.pos[2]/2],self.ball.owner.direction,5)
else:#during pause the ball continues to roll
self.ball.animation()
def testForModel(self):
# path_to_tfrecords_file = '/notebooks/dataVolume/workspace/data'
path_to_tfrecords_file = '/home/amax/Documents/wit/data/train.tfrecords'
input_ops = Inputs(path_to_tfrecords_file=path_to_tfrecords_file,
batch_size=32,
shuffle=True,
min_queue_examples=5000,
num_preprocess_threads=4,
num_reader_threads=1)
images, input_seqs, target_seqs, mask = input_ops.build_batch()
mymodel = Model(vocab_size=11,
mode='train',
embedding_size=512,
num_lstm_units=128,
lstm_dropout_keep_prob=0.7,
cnn_drop_rate=0.2,
initializer_scale=0.08)
logits = mymodel.inference(images, input_seqs, mask, state=None)
total_loss = mymodel.loss(logits, target_seqs)
Tensors_output = [images, input_seqs, target_seqs, mask, logits]
Tensors_name = [
'images', 'input_seqs', 'target_seqs', 'mask', 'logits'
]
expected_shapes = [
(32, 54, 54, 3), # [batch_size, image_height, image_width, 3]
(32, ), # [batch_size, sequence_length]
(32, ), # [batch_size, sequence_length]
(32, ), # [batch_size, sequence_length]
()
]
self._checkOutputs(Tensors_output, Tensors_name, expected_shapes)
def testForBatch_not_shuffle(self):
# path_to_tfrecords_file = '/notebooks/dataVolume/workspace/data'
path_to_tfrecords_file = '/home/amax/Documents/wit/data/val.tfrecords'
input_ops = Inputs(path_to_tfrecords_file=path_to_tfrecords_file,
batch_size=128,
shuffle=False,
min_queue_examples=5000,
num_preprocess_threads=4,
num_reader_threads=1)
images, input_seqs, target_seqs, mask = input_ops.build_batch()
Tensors_output = [images, input_seqs, target_seqs, mask]
Tensors_name = ['images', 'input_seqs', 'target_seqs', 'mask']
expected_shapes = [
(128, 54, 54, 3), # [batch_size, image_height, image_width, 3]
(128, ), # [batch_size, sequence_length]
(128, ), # [batch_size, sequence_length]
(128, )
] # [batch_size, sequence_length]
self._checkOutputs(Tensors_output, Tensors_name, expected_shapes)
def start_backing_job_as_process(params: inputs.Inputs, tstart, tend):
# Start new backing job that runs as a python process
print("start_backing_job_as_process: started")
cmd: str = "nohup python3 {script} --program=\"{program}\" --token={token} \
--start_time_ms={tstart} --end_time_ms={tend} --resolution_hint_ms={res} --endpoint={endpoint}".format(
script=__file__,
program=params.program,
tstart=tstart,
tend=tend,
res=params.resolution_hint_ms,
token=params.api_token,
endpoint=params.api_endpoint)
cmd += " --daemon > /tmp/{}.log 2>&1 &".format(
params.cache_key_prefix())
print("start_backing_job_as_process:", cmd)
os.system(cmd)
def imu_callback(self, imu):
if self.firstImu:
self.imuPrevTime = imu.time
self.firstImu = False
return
dt = imu.time - self.imuPrevTime
self.imuPrevTime = imu.time
ut = Inputs(comp_filter.run(self.baseStates, imu, dt, self.params.kp))
self.baseStates.update_w_lpf(ut.gyros)
ft = DynamicModel(ekf.update_dynamic_model(self.belief, ut))
At = ekf.update_jacobian_A(self.belief, ut)
Bt = ekf.update_jacobian_B(self.belief, ut)
ekf.propagate(self.belief, self.params.RProcess, self.params.RInputs,
ft, At, Bt, dt)
self.update_full_state(ut.phi, ut.theta)
def net_to_input(net):
inp = Inputs()
if net[0] < 0:
inp.brake = -net[0]
else:
inp.throttle = net[0]
if net[1] < 0:
inp.left = -net[1]
else:
inp.right = net[1]
return inp
def take_decision(decision):
"""
Liste de sortie du reseau de chaque individu
Si avancer > freiner alors on ne garde que avancer normalise a 1
De meme pour gauche/droite
Cela permet a l'algo genetique de ne pas avoir a donner de valeurs exactes et facilite l'apprentissage
"""
decision_input = Inputs.list_to_inputs(decision)
if decision_input.left > decision_input.right:
decision_input.left = 1
decision_input.right = 0
else:
decision_input.left = 0
decision_input.right = 1
if decision_input.throttle > decision_input.brake + decision_input.ebrake:
decision_input.throttle = 1
decision_input.brake = 0
decision_input.brake = 0
else:
decision_input.throttle = 0
decision_input.brake = 1
# on garde la valeur initiale de frein a main
return decision_input
def main():
pygame.init()
globals.pygame = pygame # assign global pygame for other modules to reference
globals.inputs = Inputs(
pygame) # assign global inputs for other modules to reference
update_display_mode(
) # now that the global display properties have been set up, update the display
clock = pygame.time.Clock() # clock to tick / manage delta
entities = [] # contains every object that will be drawn in the game
entities.append(Entity()) # our testing entity will be the default entity
loop = True # for controlling the game loop
while (loop):
clock.tick(60) # tick the clock with a target 60 fps
globals.window.fill((255, 255, 255))
globals.inputs.update() # refresh inputs
update(entities) # update all entities
render(entities) # draw all entities
if (globals.inputs.isKeyDown("space")):
toggle_fullscreen() # space bar toggles fullscreen
if (globals.inputs.isKeyDown("escape")):
loop = False # escape key exits game
if (globals.inputs.isQuitPressed()):
loop = False # red 'x' button exits game
pygame.display.flip(
) # flip the display, which finally shows our render
pygame.quit() # unload pygame modules
def __init__(self, config=None):
# keep track of velocity, this allows me to counteract joystick with keyboard
self.velocity = LVector3(0)
if config is None:
self.config = {}
execfile('config.py', self.config)
else:
self.config = config
self.reward = None
if pydaq:
self.reward = pydaq.GiveReward()
self.reward_count = 0
# self.color_map always corresponds to (r, g, b)
# does not change during game, each game uses a particular color space
self.color_dict = square.make_color_map(self.config['colors'])
# sets the range of colors for this map
self.c_range = self.config['c_range']
# color variables (make dictionary?)
# color_list is set in beginning, and then after that this is only
# called again for non-random (training)
self.color_list = square.set_start_position_colors(self.config)
self.color_match = [0, 0, 0]
self.color_tolerance = []
self.last_avt, self.avt_factor = square.translate_color_map(
self.config, self.color_dict, self.color_list)
print 'starting avt position', self.last_avt
print 'map avatar factor', self.avt_factor
self.random = True
if self.config.get('match_direction'):
self.random = False
# adjustment to speed so corresponds to gobananas task
# 7 seconds to cross original environment
# speed needs to be adjusted to both speed in original
# environment and c_range of colors
# self.speed = 0.05 * (self.c_range[1] - self.c_range[0])
# speed is own variable, so can be changed during training.
self.speed = self.config['speed']
# map avatar variables
self.render2d = None
self.match_square = None
self.map_avt_node = []
# need a multiplier to the joystick output to tolerable speed
self.vel_base = 3
self.max_vel = [500, 500, 0]
self.card = None
self.base = ShowBase()
self.base.disableMouse()
# assume we are showing windows unless proven otherwise
if self.config.get('win', True):
# only need inputs if we have a window
self.inputs = Inputs(self.base)
props = WindowProperties()
props.setCursorHidden(True)
props.setForeground(True)
print self.config.get('resolution')
if self.config.get('resolution'):
props.set_size(int(self.config['resolution'][0]),
int(self.config['resolution'][1]))
props.set_origin(0, 0)
else:
props.set_size(600, 600)
props.set_origin(400, 50)
self.base.win.requestProperties(props)
# print self.base.win.get_size()
# setup color map on second window
sq_node = square.setup_square(self.config)
self.setup_display2(sq_node)
# print 'background color', self.base.getBackgroundColor()
# create the avatar
self.avatar = NodePath(ActorNode("avatar"))
self.avatar.reparentTo(self.base.render)
self.avatar.setH(self.base.camera.getH())
self.base.camera.reparentTo(self.avatar)
self.base.camera.setPos(0, 0, 0)
# initialize task variables
self.frame_task = None
self.started_game = None
self.showed_match = None
self.gave_reward = None
# initialize and start the game
self.set_next_trial()
class ColorWorld(object):
def __init__(self, config=None):
# keep track of velocity, this allows me to counteract joystick with keyboard
self.velocity = LVector3(0)
if config is None:
self.config = {}
execfile('config.py', self.config)
else:
self.config = config
self.reward = None
if pydaq:
self.reward = pydaq.GiveReward()
self.reward_count = 0
# self.color_map always corresponds to (r, g, b)
# does not change during game, each game uses a particular color space
self.color_dict = square.make_color_map(self.config['colors'])
# sets the range of colors for this map
self.c_range = self.config['c_range']
# color variables (make dictionary?)
# color_list is set in beginning, and then after that this is only
# called again for non-random (training)
self.color_list = square.set_start_position_colors(self.config)
self.color_match = [0, 0, 0]
self.color_tolerance = []
self.last_avt, self.avt_factor = square.translate_color_map(
self.config, self.color_dict, self.color_list)
print 'starting avt position', self.last_avt
print 'map avatar factor', self.avt_factor
self.random = True
if self.config.get('match_direction'):
self.random = False
# adjustment to speed so corresponds to gobananas task
# 7 seconds to cross original environment
# speed needs to be adjusted to both speed in original
# environment and c_range of colors
# self.speed = 0.05 * (self.c_range[1] - self.c_range[0])
# speed is own variable, so can be changed during training.
self.speed = self.config['speed']
# map avatar variables
self.render2d = None
self.match_square = None
self.map_avt_node = []
# need a multiplier to the joystick output to tolerable speed
self.vel_base = 3
self.max_vel = [500, 500, 0]
self.card = None
self.base = ShowBase()
self.base.disableMouse()
# assume we are showing windows unless proven otherwise
if self.config.get('win', True):
# only need inputs if we have a window
self.inputs = Inputs(self.base)
props = WindowProperties()
props.setCursorHidden(True)
props.setForeground(True)
print self.config.get('resolution')
if self.config.get('resolution'):
props.set_size(int(self.config['resolution'][0]),
int(self.config['resolution'][1]))
props.set_origin(0, 0)
else:
props.set_size(600, 600)
props.set_origin(400, 50)
self.base.win.requestProperties(props)
# print self.base.win.get_size()
# setup color map on second window
sq_node = square.setup_square(self.config)
self.setup_display2(sq_node)
# print 'background color', self.base.getBackgroundColor()
# create the avatar
self.avatar = NodePath(ActorNode("avatar"))
self.avatar.reparentTo(self.base.render)
self.avatar.setH(self.base.camera.getH())
self.base.camera.reparentTo(self.avatar)
self.base.camera.setPos(0, 0, 0)
# initialize task variables
self.frame_task = None
self.started_game = None
self.showed_match = None
self.gave_reward = None
# initialize and start the game
self.set_next_trial()
# print 'end init'
def start_loop(self):
# need to get new match
print 'start loop'
self.started_game = self.base.taskMgr.doMethodLater(
5, self.start_play, 'start_play')
self.showed_match = self.base.taskMgr.add(self.show_match_sample,
'match_image')
# Task methods
def show_match_sample(self, task):
print 'show match sample'
print self.color_match[:]
# match_image.fill(*self.color_match[:])
card = CardMaker('card')
color_match = self.color_match[:]
# add alpha channel
color_match.append(1)
print color_match
card.set_color(*color_match[:])
card.set_frame(-12, -8, 0, 4)
# log this
self.card = self.base.render.attach_new_node(card.generate())
return task.done
def start_play(self, task):
print 'start play'
# log this
self.base.taskMgr.remove('match_image')
self.card.removeNode()
# print self.base.render.ls()
self.frame_task = self.base.taskMgr.add(self.game_loop, "game_loop")
self.frame_task.last = 0 # initiate task time of the last frame
# log this
self.base.setBackgroundColor(self.color_list[:])
return task.done
def game_loop(self, task):
dt = task.time - task.last
task.last = task.time
self.velocity = self.inputs.poll_inputs(self.velocity)
move = self.move_avatar(dt)
stop = self.change_background(move)
self.move_map_avatar(move, stop)
match = self.check_color_match()
if match:
self.give_reward()
return task.done
return task.cont
def reward_loop(self, task):
self.reward_count += 1
if self.reward_count <= self.config['num_beeps']:
if self.reward:
# log this
print 'give a bloody reward already'
self.reward.pumpOut()
print 'give reward'
return task.again
else:
self.end_loop()
return task.done
def move_avatar(self, dt):
# print 'velocity', self.velocity
# this makes for smooth (correct speed) diagonal movement
# print 'velocity', self.velocity
magnitude = max(abs(self.velocity[0]), abs(self.velocity[1]))
move = None
if self.velocity.normalize():
# go left in increasing amount
# print 'dt', dt
# print 'normalized'
# print 'velocity', self.velocity
# print 'magnitude', magnitude
self.velocity *= magnitude
# print 'velocity', self.velocity
# this makes for smooth movement
move = self.velocity * self.vel_base * dt
# print move
self.avatar.setFluidPos(self.avatar, move)
return move
def change_background(self, move):
stop = [True, True, True]
if move:
# print move
move *= self.speed
for i in range(3):
value = self.color_dict[i]
if value is not None:
stop[i] = False
# keys correspond to x,y,z
# values correspond to r,g,b
if i == 2:
# z axis is treated differently
# need to work on this. z should
# be at min when both x and y are at max
# taking the average is not quite right...
z_move = (move[0] + move[1]) / 2
# print z_move
self.color_list[value] -= z_move
else:
self.color_list[value] += move[i]
if self.color_list[value] < self.c_range[0]:
self.color_list[value] = self.c_range[0]
stop[i] = True
elif self.color_list[value] > self.c_range[1]:
self.color_list[value] = self.c_range[1]
stop[i] = True
# log this
self.base.setBackgroundColor(self.color_list[:])
# print self.base.getBackgroundColor()
return stop
def move_map_avatar(self, move, stop):
# print move
# avatar is mapped assuming c_range of 0.5. What do I need to
# change to use a different c_range? c_range of one is twice
# the
if move:
avt = LineSegs()
avt.setThickness(1)
avt.setColor(1, 1, 1)
# print 'last', self.last_avt
avt.move_to(self.last_avt[0], -5, self.last_avt[1])
# print 'move', move
new_move = [
i + (j * self.avt_factor) for i, j in zip(self.last_avt, move)
]
# new_move = [i + j for i, j in zip(self.last_avt, move)]
# would it be better to have a local stop condition?
if stop[0]:
new_move[0] = self.last_avt[0]
# print 'stop x', self.last_avt[0]
if stop[1]:
new_move[1] = self.last_avt[1]
# print 'stop y', self.last_avt[1]
# print 'new', new_move
self.last_avt = [new_move[0], new_move[1]]
avt.draw_to(new_move[0], -5, new_move[1])
self.map_avt_node.append(
self.render2d.attach_new_node(avt.create()))
# print self.map_avt_node[-1]
# can't let too many nodes pile up
if len(self.map_avt_node) > 299:
# removing the node does not remove the object from the list
for i, j in enumerate(self.map_avt_node):
j.removeNode()
if i > 49:
break
del self.map_avt_node[0:50]
def check_color_match(self):
# print 'match this', self.color_tolerance
# print self.color_list
check_color = [
j[0] < self.color_list[i] < j[1]
for i, j in enumerate(self.color_tolerance)
]
# print check_color
if all(check_color):
return True
else:
return False
def give_reward(self):
# clear the background
self.base.setBackgroundColor(0.41, 0.41, 0.41)
print 'give first reward'
self.reward_count = 1
if self.reward:
# log this
self.reward.pumpOut()
self.gave_reward = self.base.taskMgr.doMethodLater(
self.config['pump_delay'], self.reward_loop, 'reward_loop')
def end_loop(self):
print 'end loop'
# clear avatar map
self.clear_avatar_map()
# if there is a match set, return to center of color gradient,
# set new match, if applicable
self.set_next_trial()
def clear_avatar_map(self):
for i, j in enumerate(self.map_avt_node):
j.removeNode()
self.map_avt_node = []
def plot_match_square(self, corners):
print 'plot match square'
print corners
match = LineSegs()
match.setThickness(1.5)
match.setColor(0, 0, 0)
match.move_to(corners[0][0], -5, corners[1][0])
match.draw_to(corners[0][1], -5, corners[1][0])
match.draw_to(corners[0][1], -5, corners[1][1])
match.draw_to(corners[0][0], -5, corners[1][1])
match.draw_to(corners[0][0], -5, corners[1][0])
# print self.render2d
self.match_square = self.render2d.attach_new_node(match.create())
def create_avatar_map_match_square(self, config=None):
print 'make new square for map'
if config is not None:
config_dict = config
else:
config_dict = self.config
# create square on avatar map for new color match
map_color_match, factor = square.translate_color_map(
config_dict, self.color_dict, self.color_match)
tolerance = config_dict['tolerance'] * factor
map_color_tolerance = [(i - tolerance, i + tolerance)
for i in map_color_match]
print map_color_tolerance
if self.render2d:
if self.match_square:
self.match_square.removeNode()
self.plot_match_square(map_color_tolerance)
def set_next_trial(self):
print 'set next trial'
# move avatar back to beginning position, only matters for
# showing card for next color match
self.avatar.set_pos(-10, -10, 2)
# set color_list with starting color
# if random, won't use this again, but for manual, will
# return to center
# need to update self.config to new direction, if there is one
if self.config.get('match_direction'):
self.check_key_map()
# return to center, otherwise random will start where you left off
self.color_list = square.set_start_position_colors(self.config)
# starting position for map avatar, just translate new color_list
self.last_avt, self.avt_factor = square.translate_color_map(
self.config, self.color_dict, self.color_list)
print 'start color', self.color_list
print self.color_dict
# again need to update self.config for match if using keys
self.color_match = square.set_match_colors(self.config,
self.color_dict)
# sets the tolerance for how close to a color for reward
self.color_tolerance = [(i - self.config['tolerance'],
i + self.config['tolerance'])
for i in self.color_match]
print 'color match', self.color_match
print 'color tolerance', self.color_tolerance
self.create_avatar_map_match_square(self.config)
# start the game
self.start_loop()
def check_key_map(self):
if self.config['colors'][0]:
if self.inputs.key_map['r']:
self.config['match_direction'] = ['right']
elif self.inputs.key_map['r'] is not None:
self.config['match_direction'] = ['left']
elif self.config['colors'][1]:
if self.inputs.key_map['f']:
self.config['match_direction'] = ['front']
elif self.inputs.key_map['f'] is not None:
self.config['match_direction'] = ['back']
def setup_display2(self, display_node):
print 'setup display2'
props = WindowProperties()
props.set_cursor_hidden(True)
props.set_foreground(False)
if self.config.get('resolution'):
props.setSize(700, 700)
props.setOrigin(-int(self.config['resolution'][0] - 5), 5)
else:
props.setSize(300, 300)
props.setOrigin(10, 10)
window2 = self.base.openWindow(props=props, aspectRatio=1)
lens = OrthographicLens()
lens.set_film_size(2, 2)
lens.setNearFar(-100, 100)
self.render2d = NodePath('render2d')
self.render2d.attach_new_node(display_node)
camera2d = self.base.makeCamera(window2)
camera2d.setPos(0, -10, 0)
camera2d.node().setLens(lens)
camera2d.reparentTo(self.render2d)
class Player_CPU(Player_non_GK):
difficulty=8 #out of 10
def __init__(self,team):
Player_non_GK.__init__(self,team)
self.inputs=Inputs(0)
def update(self,match):
Player_non_GK.update(self,match)
self.think(match)
def think(self,match):#press on virtual keys
self.inputs.clear()
#compute where to go depending on ball position and pos_ref (use a lot of team.wing!)
overlaping=1.5
scale_due_to_ball_pos=-self.team.wing*(match.ball.pos[0]-overlaping*self.team.wing*match.field.half_length)/(match.field.half_length)
self.pos_aim[0]=self.team.wing*(-(match.field.half_length-self.pos_ref[0])*scale_due_to_ball_pos+match.field.half_length)
if (self.has_ball!=0):
#look in the goal's direction
if (self.team.wing==-1):
self.inputs.R=True
else:
self.inputs.L=True
if (match.field.goal_latitude[-self.team.wing]-match.field.goal_half_width[-self.team.wing]*2.0/self.precision>self.pos[1]) or (random.randint(0, 4)==0):
self.inputs.U=True
if (match.field.goal_latitude[-self.team.wing]+match.field.goal_half_width[-self.team.wing]*2.0/self.precision<self.pos[1]) or (random.randint(0, 4)==0):
self.inputs.D=True
#if (match.field.goal_latitude[-self.team.wing]-10/self.precision>self.pos[1]) or (random.randint(0, 4)==0):
#self.inputs.U=True
#if (match.field.goal_latitude[-self.team.wing]+10/self.precision<self.pos[1]) or (random.randint(0, 4)==0):
#self.inputs.D=True
#test if needs to avoid an adversary
foe=match.team[-self.team.wing].players_ordered_dist_to_ball[0]
if (-5<(foe.pos[0]-self.pos[0])*self.direction<15) and (abs(foe.pos[1]-self.pos[1])<10):
#print(self.name+" avoids "+foe.name)
if ((foe.pos[1]-self.pos[1])>0) or(-self.pos[1]+match.field.half_width<10) :
self.inputs.D=True
self.inputs.U=False
if len(self.team.players)>2 and (random.randint(0, int(20/self.listening))==0):
self.inputs.clear()
self.inputs.A=True
#self.inputs.L=False
#self.inputs.R=False
elif (foe.pos[1]-self.pos[1])<0 or(self.pos[1]+match.field.half_width<10) :
self.inputs.U=True
self.inputs.D=False
if len(self.team.players)>2 and (random.randint(0, int(20/self.listening))==0):
self.inputs.clear()
self.inputs.A=True
#shoot!
#if (random.random()<(math.sqrt(50*abs(-self.team.wing*match.field.half_length-self.pos[0])))):#depends on the distance to the goal
if (random.random()<(10/((abs(match.team[-self.team.wing].players[0].pos[0]-self.pos[0])-10)**2+1))):#depends on the distance to the goal keeper
self.inputs.B=True
self.inputs.L=False
self.inputs.R=False
if (match.field.goal_latitude[-self.team.wing]/self.precision>self.pos[1]) or (random.randint(0, 4)==0):
self.inputs.U=True
if (match.field.goal_latitude[-self.team.wing]/self.precision<self.pos[1]) or (random.randint(0, 4)==0):
self.inputs.D=True
if (abs(match.team[-self.team.wing].players[0].pos[0]-self.pos[0])<20*self.precision):
if (self.team.wing==-1):
self.inputs.R=True
if (self.team.wing==1):
self.inputs.L=True
else:
#move in ball direction (only if closest player of the team, or second if first has not the ball)
if ((self.team.players_ordered_dist_to_ball[0]==self) or ((len(self.team.players)>2) \
and (self.team.players_ordered_dist_to_ball[0].has_ball==0) and (self.team.players_ordered_dist_to_ball[1]==self))):
if (self.pos[0]<match.ball.pos[0]-2): #and (random.randint(0, 20)<10+Player_CPU.difficulty):
self.inputs.R=True
if (self.pos[0]>match.ball.pos[0]+2): #and (random.randint(0, 20)<10+Player_CPU.difficulty):
self.inputs.L=True
if (self.pos[1]<match.ball.pos[1]-3): #and (random.randint(0, 20)<10+Player_CPU.difficulty):
self.inputs.U=True
if (self.pos[1]>match.ball.pos[1]+3): #and (random.randint(0, 20)<10+Player_CPU.difficulty):
self.inputs.D=True
else:#if not the closest to the ball, return to pos_aim
if (self.pos[0]<self.pos_aim[0]-2): #and (random.randint(0, 20)<10+Player_CPU.difficulty):
self.inputs.R=True
if (self.pos[0]>self.pos_aim[0]+2): #and (random.randint(0, 20)<10+Player_CPU.difficulty):
self.inputs.L=True
if (self.pos[1]<self.pos_aim[1]-5): #and (random.randint(0, 20)<10+Player_CPU.difficulty):
self.inputs.U=True
if (self.pos[1]>self.pos_aim[1]+5): #and (random.randint(0, 20)<10+Player_CPU.difficulty):
self.inputs.D=True
for p in match.player_list:
if (p!=self):
if (p.team!=self.team):#attack!
if (abs(p.pos[0]-self.pos[0])<6 and abs(p.pos[1]-self.pos[1])<6):
if (random.randint(0, 80/self.agressivity)==0) or (p.has_ball!=0):
self.inputs.B=True
class Blocks:
def __init__(self, stdscr):
self.blocks = []
self.stdscr = stdscr
self.focus_idx = 0
self.inputs = Inputs()
self.inputs.add(0, self.handle_input)
self.escape_pressed = False
self.keybinds = {
'n': self.action_block_up,
'p': self.action_block_down,
'O': self.action_block_create_above,
'o': self.action_block_create_below,
't': self.action_create_term,
'e': self.action_create_python,
'd': self.action_delete
}
def handle_block_create_request(self, idx):
block = BlockText('Created', ['Hi!'])
self.blocks.insert(self.focus_idx, block)
self.focus_idx = idx
def action_create_term(self):
self.add_terminal('Terminal', ['/usr/bin/env', 'bash'], here=True)
self.focus_idx += 1
def action_create_python(self):
self.add_terminal('External python console',
['/usr/bin/env', 'python3'],
here=True)
self.focus_idx += 1
def action_block_up(self):
if self.focus_idx > 0:
self.focus_idx -= 1
def action_block_down(self):
if self.focus_idx < len(self.blocks) - 1:
self.focus_idx += 1
def action_block_create_above(self):
self.handle_block_create_request(self.focus_idx)
def action_block_create_below(self):
self.handle_block_create_request(self.focus_idx + 1)
def action_delete(self):
block = self.blocks[self.focus_idx]
block.request_exit()
def handle_input(self):
key = sys.stdin.read(1)
if not key.isprintable() and not key in '\n\t\x0b\x7f\x0c':
print(repr(key))
if self.escape_pressed:
if key in self.keybinds:
self.keybinds[key]()
else:
print('unknown keybind ^p', repr(key))
self.escape_pressed = False
elif key == '\x10': # C-P
self.escape_pressed = True
elif key == '\n': # C-J
self.action_block_down()
elif key == '\x0b': # C-K
self.action_block_up()
elif self.blocks:
self.blocks[self.focus_idx].handle_input(key)
def add_text(self, header, text=''):
lines = text.split('\n')
block = BlockText(header, lines)
self.blocks.append(block)
def add_terminal(self, header, argv, here=False):
width = curses.COLS - 2
height = 15
block = BlockTerminal(header, argv, width, height)
self.inputs.add(block.terminal.master, block.terminal.handle_input,
select.POLLIN | select.POLLHUP)
if here:
self.blocks.insert(self.focus_idx + 1, block)
else:
self.blocks.append(block)
return block
def add_stdout(self, header, nlines):
block = BlockStdout(header, nlines)
self.blocks.append(block)
def add_eval(self, header, manager, code=''):
block = BlockEval(header, manager, code.split('\n'))
self.blocks.append(block)
def scroll(self):
hs = []
nskip = 0
for i, block in enumerate(self.blocks):
h = block.height()
if i == self.focus_idx:
top = sum(hs)
bot = top + h
while bot > curses.LINES and hs:
bot = top + h
nskip += 1
hs.pop(0)
top = sum(hs)
hs.append(h)
return nskip
def render(self):
for i, block in reversed(list(enumerate(self.blocks))):
if not block.is_alive():
self.blocks.pop(i)
if self.focus_idx >= len(self.blocks):
self.focus_idx = len(self.blocks) - 1
focus_top = 0
top = 0
nskip = self.scroll()
self.stdscr.clear()
self.stdscr.refresh()
for i, block in enumerate(self.blocks):
if i < nskip:
continue
block.focus = i == self.focus_idx
if block.focus:
focus_top = top
block.render()
h = block.height()
bot = top + h - 1
end = False
if bot >= curses.LINES:
bot = curses.LINES - 1
end = True
block.scr.refresh(0, 0, top, 0, bot, curses.COLS)
if end:
break
top += h
if top >= curses.LINES:
break
if self.blocks:
block = self.blocks[self.focus_idx]
if block.cursor is not None and 0 <= focus_top + block.cursor[
1] < curses.LINES:
curses.curs_set(2)
self.stdscr.move(focus_top + block.cursor[1], block.cursor[0])
self.stdscr.refresh()
else:
curses.curs_set(0)
def wait(self):
self.inputs.wait()
def __init__(self, config=None):
if config is None:
self.config = {}
execfile('play_config.py', self.config)
else:
self.config = config
self.reward = None
print self.config['pydaq']
if pydaq and self.config.setdefault('pydaq', True) is not None:
self.reward = pydaq.GiveReward()
self.reward_count = 0
# adjustment to speed so corresponds to gobananas task
# 7 seconds to cross original environment
# speed needs to be adjusted to both speed in original
# environment and c_range of colors
# self.speed = 0.05 * (self.c_range[1] - self.c_range[0])
# speed is own variable, so can be changed during training.
self.speed = self.config['speed']
# need a multiplier to the joystick output to tolerable speed
self.vel_base = 4
self.max_vel = [500, 500, 0]
self.base = ShowBase()
self.base.disableMouse()
# self.base.setFrameRateMeter(True)
# assume we are showing windows unless proven otherwise
if self.config.get('win', True):
# only need inputs if we have a window
self.inputs = Inputs(self.base)
props = WindowProperties()
props.setCursorHidden(True)
props.setForeground(True)
print self.config.get('resolution')
if self.config.get('resolution'):
# main window
props.set_size(int(self.config['resolution'][0]), int(self.config['resolution'][1]))
# props.set_origin(1920, 0)
props.set_origin(500, 0)
else:
props.set_size(600, 600)
props.set_origin(400, 50)
self.base.win.requestProperties(props)
# print 'background color', self.base.getBackgroundColor()
# field = self.base.loader.loadModel("../goBananas/models/play_space/field.bam")
field = self.base.loader.loadModel("../goBananas/models/play_space/round_courtyard.bam")
field.setPos(0, 0, 0)
field.reparent_to(self.base.render)
field_node_path = field.find('**/+CollisionNode')
field_node_path.node().setIntoCollideMask(0)
sky = self.base.loader.loadModel("../goBananas/models/sky/sky_kahana2.bam")
sky.setPos(0, 0, 0)
sky.setScale(1.6)
sky.reparentTo(self.base.render)
windmill = self.base.loader.loadModel("../goBananas/models/windmill/windmill.bam")
windmill.setPos(-10, 30, -1)
windmill.setScale(0.03)
windmill.reparentTo(self.base.render)
# mountain = self.base.loader.loadModel("../goBananas/models/mountain/mountain.bam")
# mountain.setScale(0.0005)
# mountain.setPos(10, 30, -0.5)
# create the avatar
self.avatar = NodePath(ActorNode("avatar"))
self.avatar.reparentTo(self.base.render)
self.avatar.setPos(0, 0, 1)
self.avatar.setScale(0.5)
pl = self.base.cam.node().getLens()
pl.setFov(60)
self.base.cam.node().setLens(pl)
self.base.camera.reparentTo(self.avatar)
# initialize task variables
self.frame_task = None
self.started_game = None
self.showed_match = None
self.gave_reward = None
# initialize and start the game
self.set_next_trial()
class ColorWorld(object):
def __init__(self, config=None):
# keep track of velocity, this allows me to counteract joystick with keyboard
self.velocity = LVector3(0)
if config is None:
self.config = {}
execfile('config.py', self.config)
else:
self.config = config
self.reward = None
if pydaq:
self.reward = pydaq.GiveReward()
self.reward_count = 0
# self.color_map always corresponds to (r, g, b)
# does not change during game, each game uses a particular color space
self.color_dict = square.make_color_map(self.config['colors'])
# sets the range of colors for this map
self.c_range = self.config['c_range']
# color variables (make dictionary?)
# color_list is set in beginning, and then after that this is only
# called again for non-random (training)
self.color_list = square.set_start_position_colors(self.config)
self.color_match = [0, 0, 0]
self.color_tolerance = []
self.last_avt, self.avt_factor = square.translate_color_map(self.config, self.color_dict, self.color_list)
print 'starting avt position', self.last_avt
print 'map avatar factor', self.avt_factor
self.random = True
if self.config.get('match_direction'):
self.random = False
# adjustment to speed so corresponds to gobananas task
# 7 seconds to cross original environment
# speed needs to be adjusted to both speed in original
# environment and c_range of colors
# self.speed = 0.05 * (self.c_range[1] - self.c_range[0])
# speed is own variable, so can be changed during training.
self.speed = self.config['speed']
# map avatar variables
self.render2d = None
self.match_square = None
self.map_avt_node = []
# need a multiplier to the joystick output to tolerable speed
self.vel_base = 3
self.max_vel = [500, 500, 0]
self.card = None
self.base = ShowBase()
self.base.disableMouse()
# assume we are showing windows unless proven otherwise
if self.config.get('win', True):
# only need inputs if we have a window
self.inputs = Inputs(self.base)
props = WindowProperties()
props.setCursorHidden(True)
props.setForeground(True)
print self.config.get('resolution')
if self.config.get('resolution'):
props.set_size(int(self.config['resolution'][0]), int(self.config['resolution'][1]))
props.set_origin(0, 0)
else:
props.set_size(600, 600)
props.set_origin(400, 50)
self.base.win.requestProperties(props)
# print self.base.win.get_size()
# setup color map on second window
sq_node = square.setup_square(self.config)
self.setup_display2(sq_node)
# print 'background color', self.base.getBackgroundColor()
# create the avatar
self.avatar = NodePath(ActorNode("avatar"))
self.avatar.reparentTo(self.base.render)
self.avatar.setH(self.base.camera.getH())
self.base.camera.reparentTo(self.avatar)
self.base.camera.setPos(0, 0, 0)
# initialize task variables
self.frame_task = None
self.started_game = None
self.showed_match = None
self.gave_reward = None
# initialize and start the game
self.set_next_trial()
# print 'end init'
def start_loop(self):
# need to get new match
print 'start loop'
self.started_game = self.base.taskMgr.doMethodLater(5, self.start_play, 'start_play')
self.showed_match = self.base.taskMgr.add(self.show_match_sample, 'match_image')
# Task methods
def show_match_sample(self, task):
print 'show match sample'
print self.color_match[:]
# match_image.fill(*self.color_match[:])
card = CardMaker('card')
color_match = self.color_match[:]
# add alpha channel
color_match.append(1)
print color_match
card.set_color(*color_match[:])
card.set_frame(-12, -8, 0, 4)
# log this
self.card = self.base.render.attach_new_node(card.generate())
return task.done
def start_play(self, task):
print 'start play'
# log this
self.base.taskMgr.remove('match_image')
self.card.removeNode()
# print self.base.render.ls()
self.frame_task = self.base.taskMgr.add(self.game_loop, "game_loop")
self.frame_task.last = 0 # initiate task time of the last frame
# log this
self.base.setBackgroundColor(self.color_list[:])
return task.done
def game_loop(self, task):
dt = task.time - task.last
task.last = task.time
self.velocity = self.inputs.poll_inputs(self.velocity)
move = self.move_avatar(dt)
stop = self.change_background(move)
self.move_map_avatar(move, stop)
match = self.check_color_match()
if match:
self.give_reward()
return task.done
return task.cont
def reward_loop(self, task):
self.reward_count += 1
if self.reward_count <= self.config['num_beeps']:
if self.reward:
# log this
print 'give a bloody reward already'
self.reward.pumpOut()
print 'give reward'
return task.again
else:
self.end_loop()
return task.done
def move_avatar(self, dt):
# print 'velocity', self.velocity
# this makes for smooth (correct speed) diagonal movement
# print 'velocity', self.velocity
magnitude = max(abs(self.velocity[0]), abs(self.velocity[1]))
move = None
if self.velocity.normalize():
# go left in increasing amount
# print 'dt', dt
# print 'normalized'
# print 'velocity', self.velocity
# print 'magnitude', magnitude
self.velocity *= magnitude
# print 'velocity', self.velocity
# this makes for smooth movement
move = self.velocity * self.vel_base * dt
# print move
self.avatar.setFluidPos(self.avatar, move)
return move
def change_background(self, move):
stop = [True, True, True]
if move:
# print move
move *= self.speed
for i in range(3):
value = self.color_dict[i]
if value is not None:
stop[i] = False
# keys correspond to x,y,z
# values correspond to r,g,b
if i == 2:
# z axis is treated differently
# need to work on this. z should
# be at min when both x and y are at max
# taking the average is not quite right...
z_move = (move[0] + move[1])/2
# print z_move
self.color_list[value] -= z_move
else:
self.color_list[value] += move[i]
if self.color_list[value] < self.c_range[0]:
self.color_list[value] = self.c_range[0]
stop[i] = True
elif self.color_list[value] > self.c_range[1]:
self.color_list[value] = self.c_range[1]
stop[i] = True
# log this
self.base.setBackgroundColor(self.color_list[:])
# print self.base.getBackgroundColor()
return stop
def move_map_avatar(self, move, stop):
# print move
# avatar is mapped assuming c_range of 0.5. What do I need to
# change to use a different c_range? c_range of one is twice
# the
if move:
avt = LineSegs()
avt.setThickness(1)
avt.setColor(1, 1, 1)
# print 'last', self.last_avt
avt.move_to(self.last_avt[0], -5, self.last_avt[1])
# print 'move', move
new_move = [i + (j * self.avt_factor) for i, j in zip(self.last_avt, move)]
# new_move = [i + j for i, j in zip(self.last_avt, move)]
# would it be better to have a local stop condition?
if stop[0]:
new_move[0] = self.last_avt[0]
# print 'stop x', self.last_avt[0]
if stop[1]:
new_move[1] = self.last_avt[1]
# print 'stop y', self.last_avt[1]
# print 'new', new_move
self.last_avt = [new_move[0], new_move[1]]
avt.draw_to(new_move[0], -5, new_move[1])
self.map_avt_node.append(self.render2d.attach_new_node(avt.create()))
# print self.map_avt_node[-1]
# can't let too many nodes pile up
if len(self.map_avt_node) > 299:
# removing the node does not remove the object from the list
for i, j in enumerate(self.map_avt_node):
j.removeNode()
if i > 49:
break
del self.map_avt_node[0:50]
def check_color_match(self):
# print 'match this', self.color_tolerance
# print self.color_list
check_color = [j[0] < self.color_list[i] < j[1] for i, j in enumerate(self.color_tolerance)]
# print check_color
if all(check_color):
return True
else:
return False
def give_reward(self):
# clear the background
self.base.setBackgroundColor(0.41, 0.41, 0.41)
print 'give first reward'
self.reward_count = 1
if self.reward:
# log this
self.reward.pumpOut()
self.gave_reward = self.base.taskMgr.doMethodLater(self.config['pump_delay'], self.reward_loop, 'reward_loop')
def end_loop(self):
print 'end loop'
# clear avatar map
self.clear_avatar_map()
# if there is a match set, return to center of color gradient,
# set new match, if applicable
self.set_next_trial()
def clear_avatar_map(self):
for i, j in enumerate(self.map_avt_node):
j.removeNode()
self.map_avt_node = []
def plot_match_square(self, corners):
print 'plot match square'
print corners
match = LineSegs()
match.setThickness(1.5)
match.setColor(0, 0, 0)
match.move_to(corners[0][0], -5, corners[1][0])
match.draw_to(corners[0][1], -5, corners[1][0])
match.draw_to(corners[0][1], -5, corners[1][1])
match.draw_to(corners[0][0], -5, corners[1][1])
match.draw_to(corners[0][0], -5, corners[1][0])
# print self.render2d
self.match_square = self.render2d.attach_new_node(match.create())
def create_avatar_map_match_square(self, config=None):
print 'make new square for map'
if config is not None:
config_dict = config
else:
config_dict = self.config
# create square on avatar map for new color match
map_color_match, factor = square.translate_color_map(config_dict, self.color_dict, self.color_match)
tolerance = config_dict['tolerance'] * factor
map_color_tolerance = [(i - tolerance, i + tolerance) for i in map_color_match]
print map_color_tolerance
if self.render2d:
if self.match_square:
self.match_square.removeNode()
self.plot_match_square(map_color_tolerance)
def set_next_trial(self):
print 'set next trial'
# move avatar back to beginning position, only matters for
# showing card for next color match
self.avatar.set_pos(-10, -10, 2)
# set color_list with starting color
# if random, won't use this again, but for manual, will
# return to center
# need to update self.config to new direction, if there is one
if self.config.get('match_direction'):
self.check_key_map()
# return to center, otherwise random will start where you left off
self.color_list = square.set_start_position_colors(self.config)
# starting position for map avatar, just translate new color_list
self.last_avt, self.avt_factor = square.translate_color_map(self.config, self.color_dict, self.color_list)
print 'start color', self.color_list
print self.color_dict
# again need to update self.config for match if using keys
self.color_match = square.set_match_colors(self.config, self.color_dict)
# sets the tolerance for how close to a color for reward
self.color_tolerance = [(i - self.config['tolerance'], i + self.config['tolerance']) for i in self.color_match]
print 'color match', self.color_match
print 'color tolerance', self.color_tolerance
self.create_avatar_map_match_square(self.config)
# start the game
self.start_loop()
def check_key_map(self):
if self.config['colors'][0]:
if self.inputs.key_map['r']:
self.config['match_direction'] = ['right']
elif self.inputs.key_map['r'] is not None:
self.config['match_direction'] = ['left']
elif self.config['colors'][1]:
if self.inputs.key_map['f']:
self.config['match_direction'] = ['front']
elif self.inputs.key_map['f'] is not None:
self.config['match_direction'] = ['back']
def setup_display2(self, display_node):
print 'setup display2'
props = WindowProperties()
props.set_cursor_hidden(True)
props.set_foreground(False)
if self.config.get('resolution'):
props.setSize(700, 700)
props.setOrigin(-int(self.config['resolution'][0] - 5), 5)
else:
props.setSize(300, 300)
props.setOrigin(10, 10)
window2 = self.base.openWindow(props=props, aspectRatio=1)
lens = OrthographicLens()
lens.set_film_size(2, 2)
lens.setNearFar(-100, 100)
self.render2d = NodePath('render2d')
self.render2d.attach_new_node(display_node)
camera2d = self.base.makeCamera(window2)
camera2d.setPos(0, -10, 0)
camera2d.node().setLens(lens)
camera2d.reparentTo(self.render2d)
def __init__(self,team):
Player_non_GK.__init__(self,team)
self.inputs=Inputs(0)
def get_cached_result(params: inputs.Inputs, context: LambdaContext,
cache: Cache):
''' Backing job is already running. So just query cached data from and return result '''
def wait_for_backing_job_to_exit_batch_phase(
keepalive_state: KeepaliveState, cache: Cache,
cache_keys: CacheKeys, wait_until_ms: int):
print("wait_for_backing_job_to_exit_batch_phase: started",
cache_keys.keepalive)
while not keepalive_state or not keepalive_state.in_streaming_phase:
# wait for backing job to be running and advance to streaming state
if utils.millitime() > wait_until_ms:
raise Exception(
"wait_for_backing_job_to_exit_batch_phase: timed out")
print(
"get_cached_result: waiting for batch phase to end. keepalive_state=",
keepalive_state)
time.sleep(1)
try:
keepalive_state: KeepaliveState = pickle.loads(
cache.get(cache_keys.keepalive))
except Exception as e:
print(
"wait_for_backing_job_to_exit_batch_phase: failed to read keepalive from cache",
cache_keys.keepalive, e)
print("wait_for_backing_job_to_exit_batch_phase: backing job is ready",
keepalive_state)
return keepalive_state
print("get_cached_result: started")
# Update 'lastaccess' timestamp in memcache to indicate the corresponding backing job's data was recently queried
cache_keys: CacheKeys = CacheKeys(params.cache_key_prefix())
now_ms = params.invoke_time_ms
try:
cache.set(cache_keys.lastaccess, now_ms)
except Exception as e:
print(
"get_cached_result: failed to set lastaccess cache key {}={}, {}".
format(cache_keys.lastaccess, now_ms, e))
# start the backing job if one is not running, or if the backing job's keepalive timestamp is stale
keepalive_state: KeepaliveState = start_backing_job_if_necessary(
params, context, cache)
# now that backing job is surely running, wait for it to become 'ready' - i.e. go from batch to streaming phase
keepalive_state = wait_for_backing_job_to_exit_batch_phase(
keepalive_state, cache, cache_keys, now_ms + defaults.API_TIMEOUT_MS)
# compute which cache keys need to be fetched
if not params.is_streaming():
tstart = params.absolute_ms(params.start_time_ms)
tend = params.absolute_ms(params.end_time_ms)
else:
tend = now_ms
tstart = tend - params.duration_ms()
timestamps = sorted([
ts for ts in keepalive_state.data_timestamps
if ts >= tstart and ts <= tend
])
data_keys = [cache_keys.data_prefix + str(ts) for ts in timestamps]
# retrieve metadata and data from cache. retry if necessary
metadata = cache.get(cache_keys.metadata)
if len(timestamps):
print(
"get_cached_result: fetching {} timestamps {} - {} @ {}ms".format(
len(timestamps), time.ctime(timestamps[0] / 1000),
time.ctime(timestamps[-1] / 1000),
keepalive_state.resolution_ms))
data = cache.multiget(data_keys)
missing_keys = set(data_keys) - set(data.keys())
if (len(missing_keys)):
print("get_cached_result: retrying fetch of {}/{} keys: {}".format(
len(missing_keys), len(data_keys), sorted(missing_keys)))
data.update(cache.multiget(list(missing_keys)))
# Fill in results in results struct
result = {
"start_time_ms": tstart,
"end_time_ms": tend,
"earliest_result_ms": 0,
"latest_result_ms": 0,
"resolution_ms": keepalive_state.resolution_ms,
"metadata": metadata,
"data": {},
"missing_timestamps_ms": []
}
# First fill in retrieved data
tsids = set()
missing_timestamps = []
for timestamp in timestamps:
k = cache_keys.data_prefix + str(timestamp)
if k in data.keys():
for tsid, value in data[k].items():
if not result["earliest_result_ms"]:
result["earliest_result_ms"] = timestamp
if timestamp > result["latest_result_ms"]:
result["latest_result_ms"] = timestamp
tsids.add(tsid)
result["data"].setdefault(tsid, [])
result["data"][tsid].append([timestamp, value])
else:
missing_timestamps.append(timestamp)
# Second, fill in metadata of only the relevant mts that have data
remove_metadata_ids = set(metadata.keys()).difference(tsids)
for tsid in remove_metadata_ids:
metadata.pop(tsid)
result["missing_timestamps_ms"] = missing_timestamps
return result
def run_as_backing_job(params: inputs.Inputs, context: LambdaContext,
cache: Cache):
''' Run in backing job mode, which starts the signalflow program, and puts the received data/metadata into cache '''
try:
sfx = signalfx.SignalFx(api_endpoint=params.api_endpoint,
ingest_endpoint=params.api_endpoint,
stream_endpoint=params.api_endpoint)
data_queue = Queue(maxsize=100000)
metadata_queue = Queue(maxsize=100000)
with sfx.signalflow(params.api_token) as flow:
print(
'run_as_backing_job: executing backing job. duration={}-{} program={}'
.format(time.ctime(params.job_start_ms() / 1000),
time.ctime(params.job_end_ms() / 1000),
params.program))
computation = flow.execute(params.program,
start=params.job_start_ms(),
stop=params.job_end_ms(),
resolution=params.resolution_hint_ms,
max_delay=None,
persistent=False,
immediate=False,
disable_all_metric_publishes=None)
print("run_as_backing_job: waiting for messages ...")
job_resolution = 0
for msg in computation.stream():
if isinstance(msg, signalfx.signalflow.messages.DataMessage):
data_queue.put(msg)
elif isinstance(msg,
signalfx.signalflow.messages.ControlMessage):
None
elif isinstance(msg,
signalfx.signalflow.messages.MetadataMessage):
if job_resolution < 1:
job_resolution = msg.properties["sf_resolutionMs"]
print("run_as_backing_job: job resolution_ms = ",
job_resolution)
keepalive_state = KeepaliveState(
params, context.aws_request_id, job_resolution)
# start keepalive thread now that we know job resolution
keepalive_thread = threading.Thread(
target=keepalive_thread_fn,
args=(params, context, data_queue, metadata_queue,
keepalive_state, cache))
keepalive_thread.start()
metadata_queue.put(msg)
else:
None
# print('run_as_backing_job: dequeued message {0}: {1}'.format(msg, msg.__dict__))
print(
"run_as_backing_job: received last message from job. exiting ..."
)
# give time for enqueued messages to be processed by other threads and memcache states to be updated before exiting
time.sleep(defaults.BACKING_JOB_SHUTDOWN_MS / 1000)
except Exception as e:
print("run_as_backing_job: exception", e, traceback.format_exc())
finally:
print("run_as_backing_job: ended")
def select_teams(display,font,mainClock,west_team_index_init,east_team_index_init):
path="data/teams/"
dirList=os.listdir(path)
allteams=[]
for fname in dirList:
if fnmatch.fnmatch(fname, '*.xml'):
allteams.append(Team("data/teams/"+fname))
title_image=pygame.image.load("data/title.png")
up_image=pygame.image.load("data/arrow_up.png")
down_image=pygame.image.load("data/arrow_down.png")
cursor_on_east_wing=False
cursor_color_angle=0
west_team_index=west_team_index_init
east_team_index=east_team_index_init
while 1:
mainClock.tick(30)
cursor_color_angle+=0.1
Inputs.readkeys()#read all the actual keys
if (Inputs.player_just_Esc[1] or Inputs.player_just_Esc[2]):
pygame.quit()
sys.exit()
# Move the menu cursor if you press up or down
if Inputs.player_just_U[1]:
if (cursor_on_east_wing):
east_team_index-=1
if (east_team_index<0):
east_team_index=len(allteams)-1
if (east_team_index==west_team_index):
east_team_index-=1
if (east_team_index<0):
east_team_index=len(allteams)-1
else:
west_team_index-=1
if (west_team_index<0):
west_team_index=len(allteams)-1
if (east_team_index==west_team_index):
west_team_index-=1
if (west_team_index<0):
west_team_index=len(allteams)-1
if Inputs.player_just_D[1]:
if (cursor_on_east_wing):
east_team_index+=1
if (east_team_index>=len(allteams)):
east_team_index=0
if (east_team_index==west_team_index):
east_team_index+=1
if (east_team_index>=len(allteams)):
east_team_index=0
else:
west_team_index+=1
if (west_team_index>=len(allteams)):
west_team_index=0
if (east_team_index==west_team_index):
west_team_index+=1
if (west_team_index>=len(allteams)):
west_team_index=0
if Inputs.player_just_R[1] or Inputs.player_just_L[1]:
cursor_on_east_wing=not cursor_on_east_wing
# If you press A, check which option you're on!
if Inputs.player_just_A[1]:
return (allteams[west_team_index].xml_filename,west_team_index,allteams[east_team_index].xml_filename,east_team_index)
# If you press B, cancel
if (Inputs.player_just_B[1]):# or Inputs.player_just_Esc[1] or Inputs.player_just_Esc[2]):
return ("?",west_team_index,"?",east_team_index)
# Get the surface from the NES game library
screen = display.get_surface()
screen.blit(title_image,(0,0))
#draw current teams
if (cursor_on_east_wing):
pygame.draw.rect(screen, (150+cos(cursor_color_angle)*50,150+cos(cursor_color_angle+2.1)*50 ,150+cos(cursor_color_angle+1.2)*50 ), (185, 95, 25,25),1)
screen.blit(up_image,(185, 78))
screen.blit(down_image,(185, 121))
else:
pygame.draw.rect(screen, (150+cos(cursor_color_angle)*50,150+cos(cursor_color_angle+2.1)*50 ,150+cos(cursor_color_angle+1.2)*50), (37, 95, 25,25),1)
screen.blit(up_image,(37, 78))
screen.blit(down_image,(37, 121))
draw_team_info_text(screen,font,128)
#screen.blit(allteams[west_team_index].image,(42,120))
transf_west_img=pygame.transform.scale(allteams[west_team_index].image,(int(16+4*cos(cursor_color_angle)),int(16+4*cos(1.3*cursor_color_angle+0.5))))
transf_west_img=pygame.transform.scale(allteams[west_team_index].image,(int(16+4*cos(cursor_color_angle)),int(16+4*cos(1.3*cursor_color_angle+0.5))))
transf_east_img=pygame.transform.scale(allteams[east_team_index].image,(int(16+4*cos(cursor_color_angle+1)),int(16+4*cos(1.3*cursor_color_angle+1.5))))
screen.blit(transf_west_img,(42+8-(16+4*cos(cursor_color_angle))/2,100+8-(16+4*cos(1.3*cursor_color_angle+0.5))/2))
screen.blit(transf_east_img,(190+8-(16+4*cos(cursor_color_angle+1))/2,100+8-(16+4*cos(1.3*cursor_color_angle+1.5))/2))
allteams[west_team_index].draw_info(screen,78,-1)
allteams[east_team_index].draw_info(screen,178,1)
ren = font.render(allteams[west_team_index].name)
screen.blit(ren, (55+font.center_shift(allteams[west_team_index].name), 142))
ren = font.render(allteams[east_team_index].name)
screen.blit(ren, (200+font.center_shift(allteams[east_team_index].name), 142))
ren = font.render("vs.")
screen.blit(ren, (120, 125))
# x=100
# y=100
# draw_team_info_text(screen,font,10)
# for team in allteams:
# screen.blit(team.image,(x,y))
# team.draw_info(screen,x)
# x+=50
# Draw the menu boxes
#ren = font.render(info)
#screen.blit(ren, (8, 112))
# Update and draw the display
display.update()
def start_backing_job_if_necessary(params: inputs.Inputs,
context: LambdaContext, cache: Cache):
''' If no backing job is running for a given signalflow program and duration, start one
Returns keepalive_state from cache if active backing job is found (to prevent a duplicate cache read by callers '''
def start_backing_job_as_lambda(params: inputs.Inputs, tstart, tend,
context: LambdaContext):
# Start new backing job that runs as a lambda function
print("start_backing_job_as_lambda: started")
import boto3
lambda_client = boto3.client('lambda')
lambda_client.invoke(FunctionName=context.invoked_function_arn,
InvocationType='Event',
Payload=json.dumps({
"program": params.program,
"start_time_ms": tstart,
"end_time_ms": tend,
"resolution_hint_ms":
params.resolution_hint_ms,
"api_token": params.api_token,
"api_endpoint": params.api_endpoint,
"daemon": True
}))
def start_backing_job_as_process(params: inputs.Inputs, tstart, tend):
# Start new backing job that runs as a python process
print("start_backing_job_as_process: started")
cmd: str = "nohup python3 {script} --program=\"{program}\" --token={token} \
--start_time_ms={tstart} --end_time_ms={tend} --resolution_hint_ms={res} --endpoint={endpoint}".format(
script=__file__,
program=params.program,
tstart=tstart,
tend=tend,
res=params.resolution_hint_ms,
token=params.api_token,
endpoint=params.api_endpoint)
cmd += " --daemon > /tmp/{}.log 2>&1 &".format(
params.cache_key_prefix())
print("start_backing_job_as_process:", cmd)
os.system(cmd)
# begin code for start_backing_job_if_necessary()
try:
cache_keys = CacheKeys(params.cache_key_prefix())
print("start_backing_job_if_necessary: started", cache_keys)
now_ms = utils.millitime()
cached_state: KeepaliveState = pickle.loads(
cache.get(cache_keys.keepalive))
keepalive_age_ms = now_ms - cached_state.last_keepalive_ms
expiry_ms = defaults.KEEPALIVE_EXPIRY_MULTIPLE * defaults.KEEPALIVE_INTERVAL_SEC * 1000
if keepalive_age_ms < expiry_ms:
print(
"start_backing_job_if_necessary: found active backing job already running. keepalive_age_ms =",
keepalive_age_ms)
return cached_state
print(
"start_backing_job_if_necessary: found expired keepalive_age_ms =",
keepalive_age_ms)
cache.set(cache_keys.keepalive, None)
except Exception as e:
print("start_backing_job_if_necessary: no keeplive found in cache", e)
tstart = params.start_time_ms
tend = params.end_time_ms
if not params.is_streaming():
tstart = params.absolute_ms(tstart)
tend = params.absolute_ms(tend)
if context.invoked_function_arn:
# This backing job was invoked as a lambda. So invoke a new lambda
start_backing_job_as_lambda(params, tstart, tend, context)
else:
start_backing_job_as_process(params, tstart, tend)
return None
def display(self,display,font,mainClock):
title_image=pygame.image.load("data/title.png")
dlg=0
selected_option=self.default_num
if (len(self.choices_values_value)>0):#if settings, read in "configuration"
selected_option=0
for val in self.choices_values_value :
if (val==configuration[self.variable]):
break
selected_option+=1
if (selected_option==len(self.choices_values_value)):
selected_option=self.default_num
dlg = dialog.Menu(font, self.choices_values_text)
else:#look for submenus
dlg = dialog.Menu(font, self.choices_submenus_text)
dlg.option=selected_option
if (len(self.dialogtext)>0):
dialogbox = dialog.DialogBox((240, 51), (0, 0, 0),(255, 255, 255), font)
dialogbox.set_dialog([self.dialogtext])
while 1:
mainClock.tick(30)
Inputs.readkeys()#read all the actual keys
if (Inputs.player_just_Esc[1] or Inputs.player_just_Esc[2]):
pygame.quit()
sys.exit()
# Move the menu cursor if you press up or down
if Inputs.player_just_U[1]:
dlg.move_cursor(-1)
if Inputs.player_just_D[1]:
dlg.move_cursor(1)
# If you press A, check which option you're on!
if Inputs.player_just_A[1]:
if (len(self.choices_values_value)>0):#if settings
configuration[self.variable]=self.choices_values_value[dlg.get_option()[0]]
if (self.choices_values_goto[dlg.get_option()[0]]!=0):
self.choices_values_goto[dlg.get_option()[0]].display(display,font,mainClock)
else:
if (self.exits):
configuration["exit_menu"]="yes"
return
else:#if submenus
#print(dlg.get_option())
self.choices_submenus[dlg.get_option()[0]].display(display,font,mainClock)
## If you press B, cancel
if Inputs.player_just_B[1]:
if (self.id!="menu_welcome"):
Inputs.player_just_B[1]=False
return
else:
print("Nothing to do...")
#if returns from a sub-menu asking to exit :
if (configuration["exit_menu"]=="yes"):
return
# Get the surface from the NES game library
screen = display.get_surface()
screen.blit(title_image,(0,0))
# Draw the menu boxes
ren = font.render(self.text)
screen.blit(ren, (8, 112))
dlg.draw(screen, (16, 128), background=(0, 0, 0), border=(255, 255, 255))
if (len(self.dialogtext)>0):
dialogbox.draw(screen, (8, 180))
# Update and draw the display
display.update()
class PlayWorld(object):
def __init__(self, config=None):
if config is None:
self.config = {}
execfile('play_config.py', self.config)
else:
self.config = config
self.reward = None
print self.config['pydaq']
if pydaq and self.config.setdefault('pydaq', True) is not None:
self.reward = pydaq.GiveReward()
self.reward_count = 0
# adjustment to speed so corresponds to gobananas task
# 7 seconds to cross original environment
# speed needs to be adjusted to both speed in original
# environment and c_range of colors
# self.speed = 0.05 * (self.c_range[1] - self.c_range[0])
# speed is own variable, so can be changed during training.
self.speed = self.config['speed']
# need a multiplier to the joystick output to tolerable speed
self.vel_base = 4
self.max_vel = [500, 500, 0]
self.base = ShowBase()
self.base.disableMouse()
# self.base.setFrameRateMeter(True)
# assume we are showing windows unless proven otherwise
if self.config.get('win', True):
# only need inputs if we have a window
self.inputs = Inputs(self.base)
props = WindowProperties()
props.setCursorHidden(True)
props.setForeground(True)
print self.config.get('resolution')
if self.config.get('resolution'):
# main window
props.set_size(int(self.config['resolution'][0]), int(self.config['resolution'][1]))
# props.set_origin(1920, 0)
props.set_origin(500, 0)
else:
props.set_size(600, 600)
props.set_origin(400, 50)
self.base.win.requestProperties(props)
# print 'background color', self.base.getBackgroundColor()
# field = self.base.loader.loadModel("../goBananas/models/play_space/field.bam")
field = self.base.loader.loadModel("../goBananas/models/play_space/round_courtyard.bam")
field.setPos(0, 0, 0)
field.reparent_to(self.base.render)
field_node_path = field.find('**/+CollisionNode')
field_node_path.node().setIntoCollideMask(0)
sky = self.base.loader.loadModel("../goBananas/models/sky/sky_kahana2.bam")
sky.setPos(0, 0, 0)
sky.setScale(1.6)
sky.reparentTo(self.base.render)
windmill = self.base.loader.loadModel("../goBananas/models/windmill/windmill.bam")
windmill.setPos(-10, 30, -1)
windmill.setScale(0.03)
windmill.reparentTo(self.base.render)
# mountain = self.base.loader.loadModel("../goBananas/models/mountain/mountain.bam")
# mountain.setScale(0.0005)
# mountain.setPos(10, 30, -0.5)
# create the avatar
self.avatar = NodePath(ActorNode("avatar"))
self.avatar.reparentTo(self.base.render)
self.avatar.setPos(0, 0, 1)
self.avatar.setScale(0.5)
pl = self.base.cam.node().getLens()
pl.setFov(60)
self.base.cam.node().setLens(pl)
self.base.camera.reparentTo(self.avatar)
# initialize task variables
self.frame_task = None
self.started_game = None
self.showed_match = None
self.gave_reward = None
# initialize and start the game
self.set_next_trial()
# print 'end init'
def start_loop(self):
# need to get new match
self.start_play()
def start_play(self):
print 'start play'
# log this
# print self.base.render.ls()
self.frame_task = self.base.taskMgr.add(self.game_loop, "game_loop")
self.frame_task.last = 0 # initiate task time of the last frame
def game_loop(self, task):
dt = task.time - task.last
task.last = task.time
velocity = self.inputs.poll_inputs(LVector3(0))
self.move_avatar(dt, velocity)
return task.cont
def reward_loop(self, task):
self.reward_count += 1
if self.reward_count <= self.config['num_beeps']:
if self.reward:
# log this
print 'give a bloody reward already'
self.reward.pumpOut()
print 'give reward'
return task.again
else:
self.end_loop()
return task.done
def move_avatar(self, dt, velocity):
# print 'velocity', self.velocity
self.avatar.setH(self.avatar.getH() - velocity[0] * 1.1)
move = LVector3(0, velocity[1], 0)
self.avatar.setPos(self.avatar, move * dt * self.vel_base)
def give_reward(self):
# clear the background
self.base.setBackgroundColor(0.41, 0.41, 0.41)
print 'give first reward'
self.reward_count = 1
if self.reward:
# log this
self.reward.pumpOut()
self.gave_reward = self.base.taskMgr.doMethodLater(self.config['pump_delay'], self.reward_loop, 'reward_loop')
def end_loop(self):
print 'end loop'
# clear avatar map
# if there is a match set, return to center of color gradient,
# set new match, if applicable
self.set_next_trial()
def set_next_trial(self):
print 'set next trial'
# move avatar back to beginning position, only matters for
# showing card for next color match
# self.avatar.set_pos(-10, -10, 2)
# start the game
self.start_loop()
def check_key_map(self):
if self.config['colors'][0]:
if self.inputs.key_map['r']:
self.config['match_direction'] = ['right']
elif self.inputs.key_map['r'] is not None:
self.config['match_direction'] = ['left']
elif self.config['colors'][1]:
if self.inputs.key_map['f']:
self.config['match_direction'] = ['front']
elif self.inputs.key_map['f'] is not None:
self.config['match_direction'] = ['back']
def setup_display2(self, display_node):
print 'setup display2'
props = WindowProperties()
props.set_cursor_hidden(True)
props.set_foreground(False)
if self.config.get('resolution'):
props.setSize(700, 700)
props.setOrigin(-int(self.config['resolution'][0] - 5), 5)
else:
props.setSize(300, 300)
props.setOrigin(10, 10)
window2 = self.base.openWindow(props=props, aspectRatio=1)
lens = OrthographicLens()
lens.set_film_size(2, 2)
lens.setNearFar(-100, 100)
self.render2d = NodePath('render2d')
self.render2d.attach_new_node(display_node)
camera2d = self.base.makeCamera(window2)
camera2d.setPos(0, -10, 0)
camera2d.node().setLens(lens)
camera2d.reparentTo(self.render2d)
def __init__(self, config=None):
# keep track of velocity, this allows me to counteract joystick with keyboard
self.velocity = LVector3(0)
if config is None:
self.config = {}
execfile('config.py', self.config)
else:
self.config = config
self.reward = None
if pydaq:
self.reward = pydaq.GiveReward()
self.reward_count = 0
# self.color_map always corresponds to (r, g, b)
# does not change during game, each game uses a particular color space
self.color_dict = square.make_color_map(self.config['colors'])
# sets the range of colors for this map
self.c_range = self.config['c_range']
# color variables (make dictionary?)
# color_list is set in beginning, and then after that this is only
# called again for non-random (training)
self.color_list = square.set_start_position_colors(self.config)
self.color_match = [0, 0, 0]
self.color_tolerance = []
self.last_avt, self.avt_factor = square.translate_color_map(self.config, self.color_dict, self.color_list)
print 'starting avt position', self.last_avt
print 'map avatar factor', self.avt_factor
self.random = True
if self.config.get('match_direction'):
self.random = False
# adjustment to speed so corresponds to gobananas task
# 7 seconds to cross original environment
# speed needs to be adjusted to both speed in original
# environment and c_range of colors
# self.speed = 0.05 * (self.c_range[1] - self.c_range[0])
# speed is own variable, so can be changed during training.
self.speed = self.config['speed']
# map avatar variables
self.render2d = None
self.match_square = None
self.map_avt_node = []
# need a multiplier to the joystick output to tolerable speed
self.vel_base = 3
self.max_vel = [500, 500, 0]
self.card = None
self.base = ShowBase()
self.base.disableMouse()
# assume we are showing windows unless proven otherwise
if self.config.get('win', True):
# only need inputs if we have a window
self.inputs = Inputs(self.base)
props = WindowProperties()
props.setCursorHidden(True)
props.setForeground(True)
print self.config.get('resolution')
if self.config.get('resolution'):
props.set_size(int(self.config['resolution'][0]), int(self.config['resolution'][1]))
props.set_origin(0, 0)
else:
props.set_size(600, 600)
props.set_origin(400, 50)
self.base.win.requestProperties(props)
# print self.base.win.get_size()
# setup color map on second window
sq_node = square.setup_square(self.config)
self.setup_display2(sq_node)
# print 'background color', self.base.getBackgroundColor()
# create the avatar
self.avatar = NodePath(ActorNode("avatar"))
self.avatar.reparentTo(self.base.render)
self.avatar.setH(self.base.camera.getH())
self.base.camera.reparentTo(self.avatar)
self.base.camera.setPos(0, 0, 0)
# initialize task variables
self.frame_task = None
self.started_game = None
self.showed_match = None
self.gave_reward = None
# initialize and start the game
self.set_next_trial()