def draw_cars(self):
"""Call the update the positions and draw each car."""
for car in self.cars:
car.update()
car.draw()
for car in self.cars:
if car.solution.fittest:
car.draw()
def driving(qRead):
global state
global running
while running:
s = state
if s == DRIVING:
#start the car if it is stopped
if car.stopped:
car.start()
try:
#read the steering angle from the remote control and update the car
angle = qRead.get(True, 0.2)
car.steeringAngle = angle
car.update()
except queue.Empty as e:
print('Timeout on get angle from queue')
elif s == AI:
#start the car if it is stopped
if car.stopped:
car.start()
#use the neural network to compute the steering angle from the current video frame
angle = car_ai.compute_steering_angle(cap)
print("angle " + str(angle))
car.steeringAngle = angle
car.update()
elif s == LD:
#start the car if it is stopped
if car.stopped:
car.start()
#use the lane algorithm to compute the steering angle from the current video frame
angle = car_ai.computeSteeringAngleWithHough(cap)
print("angle " + str(angle))
car.steeringAngle = angle
car.update()
else:
if not car.stopped:
#stop the car
print('STOP CAR')
car.stop()
def run(self):
screen = pygame.display.set_mode(self.window_size)
stat_font = pygame.font.Font(None, 24)
stat_color = (255, 255, 0)
stat_pos = (self.window_size[0] - 200, 20)
running = True
stop_trial = False
total_time = 0.0
generation_number = 1
while running:
# time_passed = self.clock.tick(self.max_fps) * .001
time_passed = self.clock.tick() * .001
total_time += time_passed
# Handle events.
for event in pygame.event.get():
if event.type is pygame.QUIT:
running = False
elif event.type is pygame.KEYDOWN:
if event.key is pygame.K_ESCAPE:
running = False
elif event.key is pygame.K_r:
stop_trial = True
elif event.type is pygame.MOUSEMOTION or event.type is pygame.MOUSEBUTTONDOWN:
pos = event.pos
pressed = pygame.mouse.get_pressed()
if pressed[0]: # Left mouse button.
self.map.set_cell_at(pos, True)
elif pressed[2]: # Right mouse button.
self.map.set_cell_at(pos, False)
# Update the objects.
nr_cars_alive = 0
for car in self.cars:
car.move(time_passed)
car.update(time_passed)
if not car.crashed:
nr_cars_alive += 1
# Draw the objects.
screen.fill(self.background_color)
self.map.draw(screen)
for car in self.cars:
car.draw(screen)
fps = stat_font.render("FPS: %3.0f" % self.clock.get_fps(), True,
stat_color)
screen.blit(fps, stat_pos)
time = stat_font.render("Time: %2.0f" % total_time, True,
stat_color)
screen.blit(time,
(stat_pos[0], stat_pos[1] + stat_font.get_linesize()))
gen = stat_font.render("Generation: %3d" % generation_number, True,
stat_color)
screen.blit(
gen, (stat_pos[0], stat_pos[1] + 2 * stat_font.get_linesize()))
alive = stat_font.render("Alive: %3d" % nr_cars_alive, True,
stat_color)
screen.blit(
alive,
(stat_pos[0], stat_pos[1] + 3 * stat_font.get_linesize()))
pygame.display.flip()
# Check if the current run is over.
if total_time >= 20.0 or nr_cars_alive is 0 or stop_trial:
stop_trial = False
total_time = 0.0
generation_number += 1
self.evolve()
import car
import time
car.init()
car.start()
for angle in range(0, 180, 10):
car.steeringAngle = float(angle)
car.update()
time.sleep(1)
car.stop()
car.cleanup()
def update(self):
""" Update all the active objects """
for car in d.cars:
if not car.dead:
car.update()