def run(self):
self.render()
self.userThread = UserThread(self.model.junior, self.model)
self.userThread.start()
self.iteration = 0
while not self.isGameOver():
self.resetTimes()
startTime = time.time()
self.printStats()
self.otherCarUpdate()
self.calculateError()
duration = time.time() - startTime
timeToSleep = Const.SECONDS_PER_HEARTBEAT - duration
# self.checkLate(timeToSleep)
timeToSleep = max(0.01, timeToSleep)
Display.graphicsSleep(timeToSleep)
self.iteration += 1
if not self.userThread.quit and not self.isLearning:
self.outputGameResult()
self.userThread.stop()
Display.graphicsSleep(0.1)
self.userThread.join()
return self.userThread.quit
class Controller(object):
def __init__(self):
self.layout = Layout(Const.WORLD)
Display.initGraphics(self.layout)
self.model = Model(self.layout)
self.carChanges = {}
self.errorCounter = Counter()
self.consecutiveLate = 0
def learn(self, learner):
self.isLearning = True
self.learner = learner
return self.run()
def drive(self):
self.isLearning = False
return self.run()
def run(self):
self.render()
self.userThread = UserThread(self.model.junior, self.model)
self.userThread.start()
self.iteration = 0
while not self.isGameOver():
self.resetTimes()
startTime = time.time()
self.printStats()
self.otherCarUpdate()
self.calculateError()
duration = time.time() - startTime
timeToSleep = Const.SECONDS_PER_HEARTBEAT - duration
# self.checkLate(timeToSleep)
timeToSleep = max(0.01, timeToSleep)
Display.graphicsSleep(timeToSleep)
self.iteration += 1
if not self.userThread.quit and not self.isLearning:
self.outputGameResult()
self.userThread.stop()
Display.graphicsSleep(0.1)
self.userThread.join()
return self.userThread.quit
def freezeFrame(self):
while True:
keys = Display.getKeys()
if 'q' in keys: return
Display.graphicsSleep(0.1)
def outputGameResult(self):
collided = self.userThread.hasCollided()
for car in self.model.getCars():
Display.drawCar(car)
print '*********************************'
print '* GAME OVER *'
if collided:
print '* CAR CRASH!!!!!'
else:
print '* You Win!'
print '*********************************'
def isGameOver(self):
if self.isLearning:
keys = Display.getKeys()
if 'q' in keys:
self.userThread.quit = True
return True
return self.iteration > Const.TRAIN_ITERATIONS
if self.userThread.quit:
return True
if self.userThread.victory:
return True
return self.userThread.hasCollided()
def round(self, num):
return round(num * 1000) / 1000.0
def checkLate(self, timeToSleep):
secsLate = self.round(-timeToSleep)
if secsLate > 0:
self.consecutiveLate += 1
if self.consecutiveLate < 3: return
print '*****************************'
print 'WARNING: Late to update (' + str(secsLate) + 's)'
print 'Infer time: ' + str(self.round(self.inferTime))
print 'Action time: ' + str(self.round(self.actionTime))
print 'Update time: ' + str(self.round(self.updateTime))
print 'Draw time: ' + str(self.round(self.drawTime))
print '*****************************'
else:
self.consecutiveLate = 0
def resetTimes(self):
self.actionTime = 0
self.inferTime = 0
self.drawTime = 0
self.updateTime = 0
def printStats(self):
if self.isLearning: return
if self.iteration == 0: return
if self.iteration % Const.REPORT_ITER != 0: return
print '-------------'
print 'iteration ' + str(self.iteration)
error = self.errorCounter.getMean() * Const.BELIEF_TILE_SIZE
print 'error: ' + str(error)
print'--------------'
print ''
def juniorUpdate(self):
junior = self.model.junior
junior.action()
self.move([junior])
def otherCarUpdate(self):
if True or Const.INFERENCE != 'none':
self.infer()
self.act()
self.move(self.model.getOtherCars())
def observe(self):
if self.isLearning: return
juniorX = self.model.junior.pos.x
juniorY = self.model.junior.pos.y
for car in self.model.getOtherCars():
observation = car.getObservation(self.model.junior)
obsDist = observation.getDist()
inference = car.getInference()
inference.observe(juniorX, juniorY, obsDist)
def elapseTime(self):
if self.isLearning: return
if Const.CARS_PARKED: return
for car in self.model.getOtherCars():
inference = car.getInference()
inference.elapseTime()
def updateBeliefs(self):
if self.isLearning: return
beliefs = []
for car in self.model.getOtherCars():
belief = car.getInference().getBelief()
color = car.getColor()
Display.updateBelief(color, belief)
beliefs.append(belief)
self.model.setProbCar(beliefs)
def infer(self):
start = time.time()
try:
self.elapseTime()
self.observe()
except Exception, e:
print 'caught'
traceback.print_exc()
Display.raiseEndGraphics()
Display.graphicsSleep(0.01)
self.userThread.quit = True
inferEnd = time.time()
self.inferTime += inferEnd - start
self.updateBeliefs()
self.drawTime += time.time() - inferEnd
