Torcs---Reinforcement-Learning-using-Q-Learning/GetState2.py at master · A-Raafat/Torcs---Reinforcement-Learning-using-Q-Learning · GitHub

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# coding: utf-8
"""
Created on Mon Feb 05 18:36:08 2018

@author: Ahmed Raafat
"""
import itertools


Speed=[0,20,40,80,85,90,95,100,105,110,115,120,125,130,140,160]   #Discretized Speed
Distance=[-1,0,5,10,20,30,40,50,60,70,80,90,100,120,140,200]   #Discretized Distance

SpeedList  = list(itertools.product([0,1], repeat=4))          #Makes a list of combinations 0000 to 1111
DistList   = list(itertools.product([0,1], repeat=4))


def DiscSpeed(x):       #Takes the speed y and descritizes it into the values of Speed's list
    if   x <10                 : y=0   #Handling exceptions
    elif x >=10    and x<30    : y=20
    elif x >=30    and x<60    : y=40
    elif x >=60    and x<82.5  : y=80
    elif x >=82.5  and x<87.5  : y=85
    elif x >=87.5  and x<92.5  : y=90
    elif x >=92.5  and x<97.5  : y=95
    elif x >=97.5  and x<102.5 : y=100
    elif x >=102.5 and x<107.5 : y=105
    elif x >=107.5 and x<112.5 : y=110
    elif x >=112.5 and x<117.5 : y=115
    elif x >=117.5 and x<122.5 : y=120
    elif x >=122.5 and x<127.5 : y=125
    elif x >=127.5 and x<135   : y=130
    elif x >=135   and x<150   : y=140
    elif x >=150               : y=160
    return y


def DiscDist(y):         #Takes the distance y and descritizes it into the values of Distanc's list
    if   y<0             : x=-1
    elif y>=0 and y<1    : x=0
    elif y>=1 and y<3    : x=2
    elif y>=3 and y<5    : x=4
    elif y>=5 and y<7    : x=6
    elif y>=7 and y<9    : x=8
    elif y>=9 and y<15   : x=10
    elif y>=15 and y<25  : x=20
    elif y>=25 and y<35  : x=30
    elif y>=35 and y<45  : x=40
    elif y>=45 and y<55  : x=50
    elif y>=55 and y<65  : x=60
    elif y>=65 and y<75  : x=70
    elif y>=75 and y<140 : x=80
    elif y>=140          : x=200

    return x


#def DiscTrack(y):
#    if    y<-1.4               : x=-2
#   elif  y>-1.4   and y<=-0.7   : x=-0.8
#    elif  y>-0.7   and y<=-0.5   : x=-0.6
#    elif  y>-0.5   and y<=-0.3   : x=-0.4
#    elif  y>-0.3   and y<=-0.15  : x=-0.2
#    elif  y>-0.15  and y<=-0.075 : x=-0.1
#    elif  y>-0.075 and y<=-0.025 : x=-0.05
#    elif  y>-0.025 and y<=0.025  : x=0
#    elif  y<=0.075 and y>0.025   : x=0.05
#    elif  y<=0.15  and y>0.075   : x=0.1
#    elif  y<=0.3   and y>0.15    : x=0.2
#    elif  y<=0.5   and y>0.3     : x=0.4
#    elif  y<=0.7   and y>0.5     : x=0.6
#    elif  y<=1.4   and y>0.7     : x=0.8
#    elif  y>1.4                : x=2

#    return x


def DiscDist(y):         #Takes the distance y and descritizes it into the values of Distanc's list
    if   y<0                 : x=-1
    elif y<2.5               : x=0
    elif y>=2.5  and y<7.5   : x=5
    elif y>=7.5  and y<15    : x=10
    elif y>=15   and y<25    : x=20
    elif y>=25   and y<35    : x=30
    elif y>=35   and y<45    : x=40
    elif y>=45   and y<55    : x=50
    elif y>=55   and y<65    : x=60
    elif y>=65   and y<75    : x=70
    elif y>=75   and y<85    : x=80
    elif y>=85   and y<95    : x=90
    elif y>=95   and y<110   : x=100
    elif y>=110  and y<130   : x=120
    elif y>=130  and y<170   : x=140
    elif y>=170              : x=200

    return x


def State (speed,track,trackpos):      #Takes speed after and trackpos after being discretized and outputs the state
                              #in one list form (completely coded state)
    t7=(track[6]+track[7]+track[8])/float(3)            #To reduce dimentionality we take the average of 3 sensors
    t11=(track[10]+track[11]+track[12])/float(3)

    maxsensor=max(track[5],t7,track[9],t11,track[13])  #Taking maximum sensor reading to guide the car for the steering direction

    if   maxsensor==track[5] : z=[1,0,0]         #encoding
    elif maxsensor==t7       : z=[1,1,0]
    elif maxsensor==track[9] : z=[0,1,0]
    elif maxsensor==t11      : z=[0,1,1]
    elif maxsensor==track[13]: z=[0,0,1]

    if   maxsensor==-1 and trackpos >0 : z=[0,0,0] #right
    elif maxsensor==-1 and trackpos <0 : z=[1,1,1] #left
    #Adding  coded speed with coded maxsensor in z with coded distance
    #SpeedList has the 16 combinations, speed.index returns the index of the discretized speed to code it with its index in speed's list
    b=tuple(SpeedList[Speed.index(DiscSpeed(speed))])+tuple(z)+tuple(DistList[Distance.index(DiscDist(maxsensor))])
    #print(b)
    return list(b)