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corridor.py
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corridor.py
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from nn import *
class bcolors:
HEADER = '\033[95m'
BLUE = '\033[94m'
GREEN = '\033[92m'
WARNING = '\033[93m'
RED = '\033[91m'
ENDC = '\033[0m'
def color_disable():
bcolors.HEADER = ''
bcolors.BLUE = ''
bcolors.GREEN = ''
bcolors.WARNING = ''
bcolors.RED = ''
bcolors.ENDC = ''
test_map="""
XXXXXXXXXXXXXXXXXXXXXXXX
X X
X X
X X
X XX
X XXXXX
X X XXXXXXXXX
X X X X
X X X X
XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX XX
X XXXXXX
X X
XXXXXXXX X
X X
X X
X +X
XXXX
"""
class map_world:
def __init__(self,map):
self.map=map.split("\n")[1:-1]
self.dist=0
self.rx=1
self.ry=1
self.heading=2
self.orientations=[(-1,0),(-1,-1),(0,-1),(1,-1),(1,0),(1,1),(0,1),(-1,1)]
self.sensors=[-2,-1,0,1,2]
self.symbol=["-","\\","|","/","-","\\","|","/"]
self.gx=0
self.gy=0
self.score=100000.0
self.speed=0
for y in range(len(self.map)):
for x in range(len(self.map[y])):
if self.map[y][x]=="+":
self.gx=x
self.gy=y
def run_step(self,brain,step):
brain.load_inputs(self.get_sensors()+[1])
brain.activate()
brain.activate()
outputs=brain.get_outputs()
mxout = max(outputs)
if(outputs[1]==mxout):
self.move()
elif(outputs[0]==mxout):
self.turn(-1)
else:
self.turn(1)
dist = (self.rx-self.gx)**2+(self.ry-self.gy)**2
self.score=min(self.score,dist)
if(self.score==1 and self.speed==0):
self.speed=step
def turn(self,offset):
self.heading+=offset
def move(self):
self.heading=self.heading % len(self.orientations)
dx,dy=self.orientations[self.heading]
nx=self.rx+dx
ny=self.ry+dy
if(self.map[ny][nx]==" "):
self.rx=nx
self.ry=ny
self.dist+=1
def render(self):
new_map = []
for k in self.map:
row=[]
for c in k:
if(c=="X"):
c=bcolors.BLUE+"X"+bcolors.ENDC
row.append(c)
new_map.append(row)
new_map[self.ry][self.rx]=bcolors.RED+self.symbol[self.heading%len(self.symbol)]+bcolors.ENDC
sensors = self.get_sensors_raw()
for k in range(len(sensors)):
orientation=(self.heading+self.sensors[k])%len(self.orientations)
dx,dy=self.orientations[orientation]
sx=self.rx+dx
sy=self.ry+dy
for z in range(1,sensors[k]):
new_map[sy][sx]=bcolors.GREEN+"*"+bcolors.ENDC
sx+=dx
sy+=dy
rendered="\n".join(["".join(k) for k in new_map])
rendered+="\n"
for k in range(len(sensors)):
rendered+="Sensor %d:" % k
bars=bcolors.BLUE+"+"*sensors[k]+bcolors.ENDC+"\n"
rendered+=bars
return rendered
def get_sensors(self):
return [k/5.0 for k in self.get_sensors_raw()]
def get_sensors_raw(self):
sensors=[]
for k in self.sensors:
dx,dy=self.orientations[(self.heading+k)%len(self.orientations)]
sx,sy=self.rx,self.ry
dist=0
while(dist<5):
if(self.map[sy][sx]!=" "):
break
dist+=1
sx+=dx
sy+=dy
sensors.append(dist)
return sensors
def map_evaluate(genome,render=False):
brain = genome.make_brain()
brain.clear()
world=map_world(test_map)
for k in xrange(300):
world.run_step(brain,k)
if(render):
os.system("clear")
print world.render()
print "Timestep: ", k
time.sleep(0.1)
score=2000-world.score
if(world.speed!=0):
score+=(300-world.speed)*10
return score
fname=sys.argv[2]
replay=False
if(sys.argv[1]=="load"):
replay=True
if(replay):
a=open(fname,"r")
best=pickle.load(a)
map_evaluate(best,True)
else:
population=[]
for k in range(300):
population.append(dna(6,3))
best = run_ga(population,map_evaluate,200)
a=open(fname,"w")
pickle.dump(best,a)