def main():
Test()
uus = car("Olaa", 20)
print("|----------------|")
print(uus.get_col)
print("|----------------|")
print(uus.get_txt)
print("|----------------|")
def run(self):
d = Data()
self.data = d.getData()
m = map(self.data)
self.edges = m.getEdges()
c = car(self.data[0])
f = fuzzy()
Y = c.getPosition()
while(Y[1] < 43):
self.mapping(self.edges)
self.draw_car(c.getPosition())
c.sensor(self.edges)
F, L, R = c.getDistance()
self.front_value = tk.Label(windows, text= str(F)).grid(row=2,column=1, sticky=tk.W+tk.E)
self.left_value = tk.Label(windows, text= str(L)).grid(row=3,column=1, sticky=tk.W+tk.E)
self.right_value = tk.Label(windows, text= str(R)).grid(row=4,column=1, sticky=tk.W+tk.E)
c.setWheel(f.system(F, L, R))
c.update_car_direction()
c.update_car_pos()
self.result_figure.clear()
def runner(Total_Spots,base,avg,avg_start,
start_dev,base_dev=.002,inc_dev=.002):
"""(Total_Spots,base%,totalavg%,base std=.002,increment std=.002"""
random.seed()
#initalize variables
no_init = 0
allc = 0
total = []
spot_que = []
wait_que = []
timer = 0
incz = 0
values = []
wait_time = []
total_wait = []
#average and sigma for taking a spot
wait_mu = 20*60
wait_sig = 4*60
increment = random.gauss((2*(avg-base)),inc_dev)/5400
base = random.gauss(base,base_dev)
attempt_prob = base
#print(base) #debug
#Initialize parking lot to values assigned in function call and assign
#to no_init for analysis
no_init = int(random.gauss(avg_start,start_dev))
for i in range(0, no_init):
spot_que.append(car(random.gauss(wait_mu,wait_sig)))
while timer <= 10800:
#assign a value to attempt_prob variable for this iteration
#attempt_prob = random.gauss(0,1)
if timer <= 5400: #<= 5400:
#increase value mu by increment value until *12:30 PM
attempt_prob = attempt_prob + increment
else: #elif timer > (peak + peak_width):
#bring value mu back down to levels started at
attempt_prob = attempt_prob - increment
if (attempt_prob > random.uniform(0,1)):
allc = allc + 1
#A car wants a spot so if there is room then put it in the lot
if len(spot_que) < Total_Spots:
#assign the car a random time before it leaves and add it to lot
spot_que.append(car(random.gauss(wait_mu,wait_sig)))
total.append(1)
#If there is more room and more cars wanting spots
#get the number and add them to lot
i = Total_Spots - len(spot_que)
for k in range(0,i):
#only add them if they are waiting for a spot
if len(wait_que) > 0:
#grab the amount of time they waited
wait_time.append( wait_que[0].get_time())
#remove them from the wait_que
wait_que.pop(0)
spot_que.append(car(random.gauss(wait_mu,wait_sig)))
total.append(1)
#If no spots available car is now driving around for a spot
else:
wait_que.append(wait())
total_wait.append(1)
#Go through cars currently parked in lot
for j in spot_que:
#if timer is above 0, decrement timer
if j.get_time() > 0:
j.det_time()
#if timer == 0 remove car from spot
else:
spot_que.remove(j)
#Since a car left, if there are cars waiting for a spot
#add them to the lot
if len(wait_que) > 0:
wait_time.append( wait_que[0].get_time())
wait_que.pop(0)
spot_que.append(car(random.gauss(wait_mu,wait_sig)))
total.append(1)
#For all the cars now waiting for a spot, incremement their timers
for i in wait_que:
i.inc_time()
"""
print("Time: {}".format(timer))
print("Spots taken: {}".format(len(spot_que)))
print("Cars waiting: {}".format(len(wait_que)))
if timer == 10800:
print("Total cars: {}".format(len(total)))
print("Total waiting: {}".format(len(total_wait)))
print("Total time spent waiting: {}".format(sum(wait_time)))
if len(total_wait) > 0:
print("Average wait time: {} seconds".format(sum(wait_time)/len(total_wait)))
print("Max wait time: {} seconds.".format(max(wait_time)))
"""
timer = timer + 1
if len(total_wait) > 0:
return([len(total),len(total_wait),(sum(wait_time)/len(total_wait)),
max(wait_time),len(wait_que),allc,no_init])
else:
return([len(total),len(total_wait),0, 0,0,allc,no_init])
def run(self):
data4D = open("data/RBFN_params.txt", 'w+')
d = Data() #new object of selected data
self.data = d.getData()
if (self.file_name == 'data/train4dAll.txt'):
x, y = d.getTrainData4d()
elif (self.file_name == 'data/train6dAll.txt'):
x, y = d.getTrainData6d()
else:
x, y = d.getTrainData4d()
#normalize training data
x = d.normalize_input(x)
y = d.normalize_Y(y)
#get input parameters
cross_rate = float(self.e4.get())
mutation_rate = float(self.e3.get())
pop_size = int(self.e2.get())
iterations = int(self.e1.get())
if (self.file_name != 'data/RBFN_params.txt'):
#training weight --start--
rbf = RBF(3, 50, 1) #new object of RBFN
x_dim, w, centers, beta = rbf.get_parameter()
ga = genetic(len(x), cross_rate, mutation_rate, pop_size, x_dim, x,
y, w, centers, beta) #new object of ga
temp = 100
for i in range(0, iterations):
fitness = ga.F()
best_idx = np.argmin(fitness)
if (fitness[best_idx] < temp):
temp = fitness[best_idx]
best_DNA = ga.get_best_DNA(best_idx)
ga.update(best_DNA)
#training weight --end--
ga.w, ga.centers, ga.beta = ga.get_data()
rbf.set_parameter(ga.w, ga.centers, ga.beta)
rbf.train(x, y)
z1 = rbf.predict(x, rbf.get_weight())
y = d.inverse_normalize_Y(y)
z = d.inverse_normalize_Y(z1)
dim, output_W, output_centers, output_beta = rbf.get_parameter()
for i in range(0, len(output_W)): #save trained parameters
print(str(output_W[i][0]),
str(output_centers[i][0]),
str(output_centers[i][1]),
str(output_centers[i][2]),
str(output_beta[i][0]),
file=data4D)
data4D.close()
else:
load_w, load_centers, load_beta = d.load_parameters()
rbf = RBF(3, len(load_centers), 1)
rbf.set_parameter(load_w, load_centers, load_beta)
m = map(self.data) #new object of map
self.edges = m.getEdges()
c = car(self.data[0]) #new object of car
Y = c.getPosition() #get the position of car
self.mapping(self.edges)
while (Y[1] < 43):
self.draw_car(c.getPosition()) #draw car on the window
c.sensor(self.edges) #calculate the distane of front, left, right
F, R, L = c.getDistance()
input_x = []
if (self.file_name == 'data/train4dAll.txt'):
input_x.append([F, R, L])
elif (self.file_name == 'data/train6dAll.txt'):
pos = c.getPosition()
input_x.append([pos[0], pos[1], F, R, L])
else:
input_x.append([F, R, L])
input_x = np.array(input_x)
input_x = d.normalize_input(input_x)
wheel = rbf.predict(input_x,
rbf.get_weight()) #predict the degree of wheel
wheel = d.inverse_normalize_Y(wheel)
if wheel < -40:
wheel = -40
elif wheel > 40:
wheel = 40
c.setWheel(wheel)
c.update_car_direction()
c.update_car_pos()
dimImprevisto = larghezzaSchermo / 20
SCRITTA_MACCHINA = "3CLSA"
SCRITTA_MEZZERIA = "CDS.18"
MAXSPEED = 12
altezzaStriscia = 500
larghezzaStriscia = 800
mezzeria = mezz(0, 1, speed, larghezzaStriscia, altezzaStriscia,
SCRITTA_MEZZERIA)
ListaImpr = []
imprevisto = Imprevisti(speed, dimImprevisto, larghezzaSchermo, altezzaSchermo)
ListaImpr.append(imprevisto)
punteggio = Scritte('0', 'black', 18)
macchina = car(10, 10, speed * 2, 1, 50, SCRITTA_MACCHINA)
fineGioco = 0
def setup():
size(larghezzaSchermo, altezzaSchermo)
for impr in ListaImpr:
impr.createNewImprevisto()
punteggio.setPos(larghezzaSchermo / 2, 15)
frameRate(30)
def draw():
global fineGioco
background(255)
def __init__(self, _id, road, test_type):
self._id = _id
self.road = road
self.journey = 0
Probability = random.random()
if Probability < 0.7:
self.type = TYPE[0]
elif Probability < 0.85:
self.type = TYPE[1]
elif Probability < 0.99:
self.type = TYPE[2]
else:
self.type = TYPE[3]
safeLineError = random.normalvariate(0, 4)
if abs(safeLineError) > 8:
safeLineError = safeLineError / abs(safeLineError) * 8
self.safeLine = self.basicSafeLine = 20 + safeLineError + delta[self.type][2]
reflectTimeError = random.normalvariate(0, 0.1)
if abs(reflectTimeError) > 0.6:
reflectTimeError = reflectTimeError / abs(reflectTimeError) * 0.6
self.reflectTime = basicReflectTime + reflectTimeError + delta[self.type][1]
viewRangeError = random.normalvariate(0, 10)
if abs(viewRangeError) > 40:
viewRangeError = viewRangeError / abs(viewRangeError) * 40
self.viewRange = basicViewRange + viewRangeError + delta[self.type][0]
tmpHoldV = random.normalvariate(road.Vmin + (road.Vmax - road.Vmin) / 3, 8)
if tmpHoldV < road.Vmin:
tmpHoldV = road.Vmin
elif tmpHoldV > road.Vmax * 3 / 5:
tmpHoldV = road.Vmax * 3 / 5
self.holdV = tmpHoldV
tmpMaxV = random.normalvariate(road.Vmin + (road.Vmax - road.Vmin) / 2, 20)
if tmpMaxV < self.holdV:
tmpMaxV = self.holdV
elif tmpMaxV > road.Vmax:
tmpMaxV = road.Vmax
self.maxV = tmpMaxV
self.car = car(self.holdV)
self.pos = (road.piece[0], 0, -self.car.length, 0)
chaseRangeError = random.normalvariate(0, 5)
if abs(chaseRangeError) > 10:
chaseRangeError = chaseRangeError / abs(chaseRangeError) * 10
self.chaseRange = self.basicChaseRange = 50 + chaseRangeError
if road.weather == "wet":
self.viewRange -= 40
self.chaseRange -= 10
self.safeLine += 1
if test_type == "RightHand":
self.FSA = FSA.driveFSA(self)
elif test_type == "NoRule":
self.FSA = No_Rule_FSA.driveFSA(self)
elif test_type == "SpeedFirst":
self.FSA = Speed_First_FSA.driveFSA(self)
elif test_type == "NS":
self.FSA = NS.driveFSA(self)
self.trance = 0.005 + delta[self.type][3]
self.crashTime = 0
self.crash = False
self.option = "move"
def run(self):
d = Data()
self.data = d.getData()
if(self.file_name == 'data/train4dAll.txt'):
x, y = d.getTrainData4d()
elif(self.file_name == 'data/train6dAll.txt'):
x, y = d.getTrainData6d()
else:
x, y = d.getTrainData4d()
print('---------')
print('data:',self.data)
x = d.normalize_input(x)
y = d.normalize_Y(y)
print('x:', x)
print('y:', y)
learn_rate1 = float(self.e4.get())
learn_rate2 = float(self.e3.get())
pop_size = int(self.e2.get())
iterations = int(self.e1.get())
if(self.file_name != 'data/RBFN_params.txt'):
data4D = open("data/RBFN_params.txt",'w+')
#training weight --start--
rbf = RBF(3, 50, 1)
x_dim, w, centers, beta = rbf.get_parameter()
tStart = time.time()
my_pso = pso(pop_size, iterations, learn_rate1, learn_rate2,x_dim, x, y, w, centers, beta)
my_pso.initialize()
print('pso!!!!!!!!!!!!!')
fitness = my_pso.training()
tEnd = time.time()
print('It cost', (tEnd - tStart), ' sec.')
print('fitness: ', fitness)
theta, w, centers, beta = my_pso.get_parameter()
rbf.set_parameter(theta, w, centers, beta)
rbf.train(x,y)
z1 = rbf.predict(x, rbf.get_weight())
print('predict_z', z1)
y = d.inverse_normalize_Y(y)
z = d.inverse_normalize_Y(z1)
print('inverse_z', z)
dim, output_W, output_centers, output_beta = rbf.get_parameter()
print('output_W:',output_W)
for i in range(0, len(output_W)):
print(str(output_W[i][0]), str(output_centers[i][0]),str(output_centers[i][1]),str(output_centers[i][2]), str(output_beta[i][0]),file=data4D)
data4D.close()
else:
load_w, load_centers, load_beta = d.load_parameters()
rbf = RBF(3, len(load_centers), 1)
rbf.set_parameter(0.5, load_w, load_centers, load_beta)
print('rbf_W:', rbf.get_weight())
m = map(self.data)
self.edges = m.getEdges()
c = car(self.data[0])
Y = c.getPosition()
self.mapping(self.edges)
data4 = open("/Users/chengshu-yu/Documents/train4D.txt",'w+')
data6 = open("/Users/chengshu-yu/Documents/train6D.txt",'w+')
while(Y[1] < 43):
self.draw_car(c.getPosition())
print('car direction:', c.getDirection(), ', wheel degree: ', c.getWheel())
c.sensor(self.edges)
F, R, L = c.getDistance()
input_x = []
if(self.file_name == 'data/train4dAll.txt'):
input_x.append([F, R, L])
elif(self.file_name == 'data/train6dAll.txt'):
pos = c.getPosition()
input_x.append([pos[0], pos[1], F, R, L])
else:
input_x.append([F, R, L])
input_x = np.array(input_x)
input_x = d.normalize_input(input_x)
print('input_x:', input_x)
wheel = rbf.predict(input_x, rbf.get_weight())
print('predict_wheel:', wheel)
wheel = d.inverse_normalize_Y(wheel)
print('inverse wheel:', wheel)
if wheel < -40:
wheel = -40
elif wheel > 40:
wheel = 40
print('-----------front right left:', input_x, '-----------')
print('-----------predict wheel:', wheel, '-----------')
c.setWheel(wheel)
c.update_car_direction()
c.update_car_pos()
print(str(F),' ',str(R),' ',str(L),' ',str(c.getDirection()),file=data4)
print(str(c.getPosX()),'',str(c.getPosY()),' ',str(F),' ',str(R),' ',str(L),' ',str(c.getDirection()),file=data6)
data4.close()
data6.close()
from Car import car
from my_electric_car import ElectricCar
my_bettle = car('volkswagen', 'beetle', 2019)
print(my_bettle.get_description_name())
my_tesla = ElectricCar('tesla', 'roadster', 2019)
print(my_tesla.get_description_name())
from Car import car
my_car = car("Mercedes AMG", "$1000")
my_car.print_info()
from Car import car car = car(12, 20, 31) car.move_forward()
from Car import car
cc=car('audi', 'a4', str(2016))
print(cc.get_name())
