def speed_test(args):
import roombasim.pittras.config
cfg.load(roombasim.pittras.config)
n = args.frames
print('Starting speed test [{} frames]'.format(n))
e = Environment()
e.reset()
d = cfg.AGENT([13,10], 0)
e.agent = d
start = time.time()
i = 0
el = 0
while i < n:
el += 1/60.
e.update(1/60., el)
i += 1
end = time.time()
dur = end - start
mul = n / dur
print('Processing {} frames took {} seconds'.format(n, dur))
print('Speed of {} fps'.format(mul))
def keyboard_demo(args):
import roombasim.pittras.config
from roombasim.ai import KeyboardController, KeyboardTask
cfg.load(roombasim.pittras.config)
# setup mission
environment = Environment()
environment.reset()
# setup agent
agent = cfg.AGENT([1.5,1.5], 0)
environment.agent = agent
# create window so the keyboard can access it
window = Display(environment)
# setup controller
controller = KeyboardController(window=window)
def update_func(delta, elapsed):
environment.update(delta, elapsed)
controller.frame_update(delta, elapsed, environment)
window.set_update_func(update_func)
config = pyglet.gl.Config(sample_buffers=1, samples=4)
pyglet.app.run()
def nographics_test(args):
import roombasim.pittras.config
cfg.load(roombasim.pittras.config)
n = args.rounds
print('Starting {} rounds'.format(n))
e = Environment()
good_exits = []
bad_exits = []
scores = []
for i in range(n):
e.reset()
print('Round {}'.format(i))
for elapsed in np.arange(0, 10 * 60, 1 / 60.):
e.update(1 / 60., 1000 * elapsed)
good_exits.append(e.good_exits)
bad_exits.append(e.bad_exits)
scores.append(e.score)
with open(args.stats_file, 'w') as f:
f.write(', '.join(map(str, good_exits)) + '\n')
f.write(', '.join(map(str, bad_exits)) + '\n')
f.write(', '.join(map(str, scores)) + '\n')
print('Done')
def run_controller(args):
config, err = _load_class(args.config)
if (config is None):
print("Couldn't load config path: " + str(args.config))
print('See the following error:\n')
print(err)
return
else:
cfg.load(config)
controller_p, err = _load_class(args.controller)
if (controller_p is None):
print("Couldn't load class: " + str(args.controller))
print('See the following error:\n')
print(err)
return
else:
print("Loaded Controller: " + str(controller_p))
# initialize controller
controller = controller_p()
# setup mission
environment = Environment()
environment.reset()
# setup agent
location = args.start_location
agent = cfg.AGENT([location[0],location[1]], 0, location[2])
environment.agent = agent
# create window so the keyboard can access it
if args.timescale:
window = Display(environment, args.timescale)
else:
window = Display(environment)
def update_func(delta, elapsed):
environment.update(delta, elapsed)
controller.frame_update(delta, elapsed, environment)
window.set_update_func(update_func)
config = pyglet.gl.Config(sample_buffers=1, samples=4)
pyglet.app.run()
def human_player(args):
'''
Run the environment, letting a human control the drone
'''
if args.num_targets != None:
cfg.MISSION_NUM_TARGETS = args.num_targets
if args.num_obstacles != None:
cfg.MISSION_NUM_OBSTACLES = args.num_obstacles
if args.target_spawn_radius != None:
cfg.MISSION_TARGET_SPAWN_RADIUS = args.target_spawn_radius
if args.obstacle_spawn_radius != None:
cfg.MISSION_OBSTACLE_SPAWN_RADIUS = args.obstacle_spawn_radius
import roombasim.pittras.config
cfg.load(roombasim.pittras.config)
# setup mission
environment = Environment()
environment.reset()
# setup agent
agent = cfg.AGENT([1.5,1.5], 0)
environment.agent = agent
config = pyglet.gl.Config(sample_buffers=1, samples=4)
if args.timescale:
window = Display(environment, args.timescale)
else:
window = Display(environment)
from roombasim.pittras.ai import MouseController
mouse_controller = MouseController()
window.set_click_callback(mouse_controller.mouse_callback)
def update_func(delta, elapsed):
environment.update(delta, elapsed)
mouse_controller.frame_update(delta, elapsed, environment)
window.set_update_func(update_func)
pyglet.app.run()
def run_demo(args):
'''
Runs a visual demo of roomba movement
'''
if args.num_targets != None:
cfg.MISSION_NUM_TARGETS = args.num_targets
if args.num_obstacles != None:
cfg.MISSION_NUM_OBSTACLES = args.num_obstacles
if args.target_spawn_radius != None:
cfg.MISSION_TARGET_SPAWN_RADIUS = args.target_spawn_radius
if args.obstacle_spawn_radius != None:
cfg.MISSION_OBSTACLE_SPAWN_RADIUS = args.obstacle_spawn_radius
import roombasim.pittras.config
cfg.load(roombasim.pittras.config)
# setup mission
environment = Environment()
environment.reset()
# setup agent
agent = cfg.AGENT([13,10], 0)
environment.agent = agent
config = pyglet.gl.Config(sample_buffers=1, samples=4)
if args.timescale:
window = Display(environment, args.timescale)
else:
window = Display(environment)
def update_func(delta, elapsed):
environment.update(delta, elapsed)
window.set_update_func(update_func)
pyglet.app.run()
