def initSimulation(car, state):
# global obstacels
# global all_sprites
obstacles.empty()
all_sprites.empty()
all_sprites.add(car)
car.reInit(lane_idx=random.randint(0, 2))
initObstacles(CONST.OBS_L_TO_R, CONST.OBS_R_TO_L)
# initial state assumes the agent
# has been stationary for a short period
car.updateSensors(obstacles)
def initSimulation(car, state, random_start=False, random_obs=False):
global obstacels
global all_sprites
obstacles.empty()
all_sprites.empty()
all_sprites.add(car)
# This is a super hacky way to try and bias away from initialising the car in 'breaking' state
# when filling replay buffer
# random_start = random.randint(0,len(CONST.ACTION_NAMES)-1)
# random_start = random.randint(0,len(CONST.ACTION_NAMES)-1) if random_start == 3 else random_start
obs_x = [100, 350, 500]
obs_lanes = [1, 2, 3]
if random_obs:
obs_x = np.random.uniform(low=200,
high=CONST.SCREEN_WIDTH * 0.8,
size=3)
obs_lanes = np.random.randint(low=1, high=4, size=3)
rand_x = random.uniform(0, CONST.SCREEN_WIDTH * 0.75)
rand_y = random.randint(1, 3)
valid = False
while not valid:
valid = not (
(rand_y == 1
and abs(rand_x - obs_x[1 - 1]) < 1.5 * CONST.CAR_SAFE_BUBBLE) or
(rand_y == 2
and abs(rand_x - obs_x[2 - 1]) < 1.5 * CONST.CAR_SAFE_BUBBLE) or
(rand_y == 3
and abs(rand_x - obs_x[3 - 1]) < 1.5 * CONST.CAR_SAFE_BUBBLE))
rand_x = random.uniform(0, CONST.SCREEN_WIDTH * 0.75)
rand_y = random.randint(1, 3)
if random_start:
car.reInit(rand_x, rand_y)
else:
car.reInit(-50, 2)
#initObstacles(CONST.OBS_L_TO_R,CONST.OBS_R_TO_L)
initStaticObstacles(xPos=obs_x, lanes=obs_lanes)
# Initial state assumes the agent
# Has been stationary for a short period
car.updateSensors(obstacles)
def initSimulation(car, state, filling_buffer=False, x_dist=0, lane=2):
global obstacels
global all_sprites
obstacles.empty()
all_sprites.empty()
all_sprites.add(car)
state.reset()
# This is a super hacky way to try and bias away from initialising the car in 'breaking' state
# when filling replay buffer
# random_start = random.randint(0,len(CONST.ACTION_NAMES)-1)
# random_start = random.randint(0,len(CONST.ACTION_NAMES)-1) if random_start == 3 else random_start
obs_x = [220]
obs_lanes = [2]
# rand_x = random.uniform(0, CONST.SCREEN_WIDTH*0.75)
# rand_y = random.randint(1,3)
#
# valid = False
# while not valid:
# valid = not ((rand_y == 1 and abs(rand_x - obs_x[1-1]) < 1.5*CONST.CAR_SAFE_BUBBLE) or
# (rand_y == 2 and abs(rand_x - obs_x[2-1]) < 1.5*CONST.CAR_SAFE_BUBBLE) or
# (rand_y == 3 and abs(rand_x - obs_x[3-1]) < 1.5*CONST.CAR_SAFE_BUBBLE))
# rand_x = random.uniform(0, CONST.SCREEN_WIDTH*0.75)
# rand_y = random.randint(1,3)
#
# if filling_buffer:
# car.reInit(rand_x, rand_y)
# else:
lane = 2
x_dist = 0
if filling_buffer:
lane = random.randint(1, 3)
x_dist = int(random.uniform(0, 0.5) * CONST.SCREEN_WIDTH)
while (lane == 2 and abs(x_dist - obs_x[0]) < CONST.CAR_SAFE_BUBBLE):
x_dist = int(random.uniform(0, 0.5) * CONST.SCREEN_WIDTH)
car.reInit(x_dist, lane)
#initObstacles(CONST.OBS_L_TO_R,CONST.OBS_R_TO_L)
initStaticObstacles(xPos=obs_x, lanes=obs_lanes)
# Initial state assumes the agent
# Has been stationary for a short period
car.updateSensors(obstacles)
CONST.ACTION_NAMES[action_idx])
else:
action_idx = np.argmax(qMatrix)
__console_string += "selected action: {0} -- ".format(
CONST.ACTION_NAMES[action_idx])
##### Take action #####
# car.updateAction(2) # apply action selected above
car.updateAction(action_idx) # apply action selected above
all_sprites.update() # Pygame updating sprites
__console_string += "speed: {0} -- ".format(car.speed)
collisions = pygame.sprite.spritecollide(
car, obstacles, False) # Check for agent obstacle collisions
##### Observe new state (s') #####
car.updateSensors(obstacles) # Sensor update
state.update(car.sensor_data) # Update state with new data
##### GET maxQ' from DCNN #####
next_qMatrix = dqnn.getQMat(state.state)
reward = car.reward
# Check for terminal states and override
# Reward to teminal values if necessary
# if car.tail_gaiting:
# reward = CONST.REWARDS['tail_gate']
# pigs_fly = True
# if car.lane_idx == 0:
# reward = CONST.REWARDS['on_sholder']
# pigs_fly = True