/
single_intersection.py
721 lines (598 loc) · 29 KB
/
single_intersection.py
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from __future__ import absolute_import
from __future__ import print_function
from select import select
import termios
import os
import sys
import optparse
import subprocess
import random
import time
#import cv2
import curses
from keras.optimizers import RMSprop, Adam
from keras.layers.recurrent import LSTM
from keras.models import Sequential, load_model
from keras.layers import Dense, Conv2D, Flatten
from keras.callbacks import TensorBoard
#import readscreen3
import numpy as np
import pandas as pd
import datetime
from time import time
import matplotlib.pyplot as plt
def get_options():
optParser = optparse.OptionParser()
optParser.add_option("--nogui", action="store_true",
default=False, help="run the commandline version of sumo")
options, args = optParser.parse_args()
return options
def constrained_sum_sample_pos(n, total):
"""Return a randomly chosen list of n positive integers summing to total.
Each such list is equally likely to occur."""
dividers = sorted(random.sample(range(1, total), n - 1))
return [a - b for a, b in zip(dividers + [total], [0] + dividers)]
def generate_routefile_random(episode_length, total_vehicles):
N_ROADS = 4
division = constrained_sum_sample_pos(N_ROADS, total_vehicles)
traffic = []
for i in np.arange(len(division)):
traffic.append(division[i] * 0.6)
traffic.append(division[i] * 0.2)
traffic.append(division[i] * 0.2)
with open("data/cross.rou.xml", "w") as routes:
print("""<routes>
<route id="r0" edges="51o 1i 2o 52i"/>
<route id="r1" edges="51o 1i 4o 54i"/>
<route id="r2" edges="51o 1i 3o 53i"/>
<route id="r3" edges="54o 4i 3o 53i"/>
<route id="r4" edges="54o 4i 1o 51i"/>
<route id="r5" edges="54o 4i 2o 52i"/>
<route id="r6" edges="52o 2i 1o 51i"/>
<route id="r7" edges="52o 2i 4o 54i"/>
<route id="r8" edges="52o 2i 3o 53i"/>
<route id="r9" edges="53o 3i 4o 54i"/>
<route id="r10" edges="53o 3i 1o 51i"/>
<route id="r11" edges="53o 3i 2o 52i"/>""", file=routes)
for i in np.arange(len(traffic)):
print(
'<flow id="mixed%i" begin="0" end="%i" number="%i" route="r%i" type="mixed" departLane="random" departPosLat="random"/>' % (
i, episode_length, traffic[i], i), file = routes)
print("</routes>", file=routes)
print('TRAFFIC CONFIGURATION - ')
for i in np.arange(len(traffic)):
print('Lane %i - %i' % (i+1, traffic[i]))
# The program looks like this
# <tlLogic id="0" type="static" programID="0" offset="0">
# the locations of the tls are NESW
# <phase duration="31" state="GrGr"/>
# <phase duration="6" state="yryr"/>
# <phase duration="31" state="rGrG"/>
# <phase duration="6" state="ryry"/>
# </tlLogic>
def generate_routefile(left_qty, up_qty):
with open("data/cross.rou.xml", "w") as routes:
print("""<routes>
<!--<vTypeDistribution id="mixed">-->
<!--<vType id="car" vClass="passenger" speedDev="0.2" latAlignment="compact" probability="0.3"/>-->
<!--<vType id="moped" vClass="moped" speedDev="0.4" latAlignment="compact" probability="0.7"/>-->
<!--</vTypeDistribution>-->
<route id="r0" edges="51o 1i 2o 52i"/>
<route id="r1" edges="51o 1i 4o 54i"/>
<route id="r2" edges="51o 1i 3o 53i"/>
<route id="r3" edges="54o 4i 3o 53i"/>
<route id="r4" edges="54o 4i 1o 51i"/>
<route id="r5" edges="54o 4i 2o 52i"/>
<route id="r6" edges="52o 2i 1o 51i"/>
<route id="r7" edges="52o 2i 4o 54i"/>
<route id="r8" edges="52o 2i 3o 53i"/>
<route id="r9" edges="53o 3i 4o 54i"/>
<route id="r10" edges="53o 3i 1o 51i"/>
<route id="r11" edges="53o 3i 2o 52i"/>
<vehicle id='motorcycle0' type='motorcycle' route='r0' depart='5'/>
<vehicle id='motorcycle1' type='motorcycle' route='r1' depart='5'/>
<vehicle id='motorcycle2' type='motorcycle' route='r2' depart='5'/>
<vehicle id='motorcycle3' type='motorcycle' route='r3' depart='5'/>
<vehicle id='motorcycle4' type='motorcycle' route='r4' depart='5'/>
<vehicle id='motorcycle5' type='motorcycle' route='r5' depart='10'/>
<vehicle id='motorcycle6' type='motorcycle' route='r6' depart='10'/>
<vehicle id='motorcycle7' type='motorcycle' route='r7' depart='10'/>
<vehicle id='motorcycle8' type='motorcycle' route='r8' depart='10'/>
<vehicle id='motorcycle9' type='motorcycle' route='r9' depart='10'/>
<vehicle id='passenger10' type='passenger' route='r10' depart='15'/>
<vehicle id='passenger11' type='passenger' route='r11' depart='15'/>
<vehicle id='passenger12' type='passenger' route='r0' depart='15'/>
<vehicle id='passenger13' type='passenger' route='r1' depart='15'/>
<vehicle id='passenger14' type='passenger' route='r2' depart='15'/>
<vehicle id='passenger15' type='passenger' route='r3' depart='20'/>
<vehicle id='passenger16' type='passenger' route='r4' depart='20'/>
<vehicle id='passenger17' type='passenger' route='r5' depart='20'/>
<vehicle id='passenger18' type='passenger' route='r6' depart='20'/>
<vehicle id='passenger19' type='passenger' route='r7' depart='20'/>
<vehicle id='passenger/van20' type='passenger/van' route='r8' depart='25'/>
<vehicle id='passenger/van21' type='passenger/van' route='r9' depart='25'/>
<vehicle id='passenger/van22' type='passenger/van' route='r10' depart='25'/>
<vehicle id='passenger/van23' type='passenger/van' route='r11' depart='25'/>
<vehicle id='passenger/van24' type='passenger/van' route='r0' depart='25'/>
<vehicle id='passenger/van25' type='passenger/van' route='r1' depart='30'/>
<vehicle id='passenger/van26' type='passenger/van' route='r2' depart='30'/>
<vehicle id='passenger/van27' type='passenger/van' route='r3' depart='30'/>
<vehicle id='passenger/van28' type='passenger/van' route='r4' depart='30'/>
<vehicle id='passenger/van29' type='passenger/van' route='r5' depart='30'/>
<vehicle id='truck30' type='truck' route='r6' depart='35'/>
<vehicle id='truck31' type='truck' route='r7' depart='35'/>
<vehicle id='truck32' type='truck' route='r8' depart='35'/>
<vehicle id='truck33' type='truck' route='r9' depart='35'/>
<vehicle id='truck34' type='truck' route='r10' depart='35'/>
<vehicle id='truck35' type='truck' route='r11' depart='40'/>
<vehicle id='truck36' type='truck' route='r0' depart='40'/>
<vehicle id='truck37' type='truck' route='r1' depart='40'/>
<vehicle id='truck38' type='truck' route='r2' depart='40'/>
<vehicle id='truck39' type='truck' route='r3' depart='40'/>
<vehicle id='bus40' type='bus' route='r4' depart='45'/>
<vehicle id='bus41' type='bus' route='r5' depart='45'/>
<vehicle id='bus42' type='bus' route='r6' depart='45'/>
<vehicle id='bus43' type='bus' route='r7' depart='45'/>
<vehicle id='bus44' type='bus' route='r8' depart='45'/>
<vehicle id='bus45' type='bus' route='r9' depart='50'/>
<vehicle id='bus46' type='bus' route='r10' depart='50'/>
<vehicle id='bus47' type='bus' route='r11' depart='50'/>
<vehicle id='bus48' type='bus' route='r0' depart='50'/>
<vehicle id='bus49' type='bus' route='r1' depart='50'/>
<vehicle id='bicycle50' type='bicycle' route='r2' depart='55'/>
<vehicle id='bicycle51' type='bicycle' route='r3' depart='55'/>
<vehicle id='bicycle52' type='bicycle' route='r4' depart='55'/>
<vehicle id='bicycle53' type='bicycle' route='r5' depart='55'/>
<vehicle id='bicycle54' type='bicycle' route='r6' depart='55'/>
<vehicle id='bicycle55' type='bicycle' route='r7' depart='60'/>
<vehicle id='bicycle56' type='bicycle' route='r8' depart='60'/>
<vehicle id='bicycle57' type='bicycle' route='r9' depart='60'/>
<vehicle id='bicycle58' type='bicycle' route='r10' depart='60'/>
<vehicle id='bicycle59' type='bicycle' route='r11' depart='60'/>
<vehicle id='motorcycle60' type='motorcycle' route='r0' depart='65'/>
<vehicle id='motorcycle61' type='motorcycle' route='r1' depart='65'/>
<vehicle id='motorcycle62' type='motorcycle' route='r2' depart='65'/>
<vehicle id='motorcycle63' type='motorcycle' route='r3' depart='65'/>
<vehicle id='motorcycle64' type='motorcycle' route='r4' depart='65'/>
<vehicle id='motorcycle65' type='motorcycle' route='r5' depart='70'/>
<vehicle id='motorcycle66' type='motorcycle' route='r6' depart='70'/>
<vehicle id='motorcycle67' type='motorcycle' route='r7' depart='70'/>
<vehicle id='motorcycle68' type='motorcycle' route='r8' depart='70'/>
<vehicle id='motorcycle69' type='motorcycle' route='r9' depart='70'/>
<vehicle id='passenger70' type='passenger' route='r10' depart='75'/>
<vehicle id='passenger71' type='passenger' route='r11' depart='75'/>
<vehicle id='passenger72' type='passenger' route='r0' depart='75'/>
<vehicle id='passenger73' type='passenger' route='r1' depart='75'/>
<vehicle id='passenger74' type='passenger' route='r2' depart='75'/>
<vehicle id='passenger75' type='passenger' route='r3' depart='80'/>
<vehicle id='passenger76' type='passenger' route='r4' depart='80'/>
<vehicle id='passenger77' type='passenger' route='r5' depart='80'/>
<vehicle id='passenger78' type='passenger' route='r6' depart='80'/>
<vehicle id='passenger79' type='passenger' route='r7' depart='80'/>
<vehicle id='passenger/van80' type='passenger/van' route='r8' depart='85'/>
<vehicle id='passenger/van81' type='passenger/van' route='r9' depart='85'/>
<vehicle id='passenger/van82' type='passenger/van' route='r10' depart='85'/>
<vehicle id='passenger/van83' type='passenger/van' route='r11' depart='85'/>
<vehicle id='passenger/van84' type='passenger/van' route='r0' depart='85'/>
<vehicle id='passenger/van85' type='passenger/van' route='r1' depart='90'/>
<vehicle id='passenger/van86' type='passenger/van' route='r2' depart='90'/>
<vehicle id='passenger/van87' type='passenger/van' route='r3' depart='90'/>
<vehicle id='passenger/van88' type='passenger/van' route='r4' depart='90'/>
<vehicle id='passenger/van89' type='passenger/van' route='r5' depart='90'/>
<vehicle id='truck90' type='truck' route='r6' depart='95'/>
<vehicle id='truck91' type='truck' route='r7' depart='95'/>
<vehicle id='truck92' type='truck' route='r8' depart='95'/>
<vehicle id='truck93' type='truck' route='r9' depart='95'/>
<vehicle id='truck94' type='truck' route='r10' depart='95'/>
<vehicle id='truck95' type='truck' route='r11' depart='100'/>
<vehicle id='truck96' type='truck' route='r0' depart='100'/>
<vehicle id='truck97' type='truck' route='r1' depart='100'/>
<vehicle id='truck98' type='truck' route='r2' depart='100'/>
<vehicle id='truck99' type='truck' route='r3' depart='100'/>
<vehicle id='bus100' type='bus' route='r4' depart='105'/>
<vehicle id='bus101' type='bus' route='r5' depart='105'/>
<vehicle id='bus102' type='bus' route='r6' depart='105'/>
<vehicle id='bus103' type='bus' route='r7' depart='105'/>
<vehicle id='bus104' type='bus' route='r8' depart='105'/>
<vehicle id='bus105' type='bus' route='r9' depart='110'/>
<vehicle id='bus106' type='bus' route='r10' depart='110'/>
<vehicle id='bus107' type='bus' route='r11' depart='110'/>
<vehicle id='bus108' type='bus' route='r0' depart='110'/>
<vehicle id='bus109' type='bus' route='r1' depart='110'/>
<vehicle id='bicycle110' type='bicycle' route='r2' depart='115'/>
<vehicle id='bicycle111' type='bicycle' route='r3' depart='115'/>
<vehicle id='bicycle112' type='bicycle' route='r4' depart='115'/>
<vehicle id='bicycle113' type='bicycle' route='r5' depart='115'/>
<vehicle id='bicycle114' type='bicycle' route='r6' depart='115'/>
<vehicle id='bicycle115' type='bicycle' route='r7' depart='120'/>
<vehicle id='bicycle116' type='bicycle' route='r8' depart='120'/>
<vehicle id='bicycle117' type='bicycle' route='r9' depart='120'/>
<vehicle id='bicycle118' type='bicycle' route='r10' depart='120'/>
<vehicle id='bicycle119' type='bicycle' route='r11' depart='120'/>
<vehicle id='motorcycle120' type='motorcycle' route='r0' depart='125'/>
<vehicle id='motorcycle121' type='motorcycle' route='r1' depart='125'/>
<vehicle id='motorcycle122' type='motorcycle' route='r2' depart='125'/>
<vehicle id='motorcycle123' type='motorcycle' route='r3' depart='125'/>
<vehicle id='motorcycle124' type='motorcycle' route='r4' depart='125'/>
<vehicle id='motorcycle125' type='motorcycle' route='r5' depart='130'/>
<vehicle id='motorcycle126' type='motorcycle' route='r6' depart='130'/>
<vehicle id='motorcycle127' type='motorcycle' route='r7' depart='130'/>
<vehicle id='motorcycle128' type='motorcycle' route='r8' depart='130'/>
<vehicle id='motorcycle129' type='motorcycle' route='r9' depart='130'/>
<vehicle id='passenger130' type='passenger' route='r10' depart='135'/>
<vehicle id='passenger131' type='passenger' route='r11' depart='135'/>
<vehicle id='passenger132' type='passenger' route='r0' depart='135'/>
<vehicle id='passenger133' type='passenger' route='r1' depart='135'/>
<vehicle id='passenger134' type='passenger' route='r2' depart='135'/>
<vehicle id='passenger135' type='passenger' route='r3' depart='140'/>
<vehicle id='passenger136' type='passenger' route='r4' depart='140'/>
<vehicle id='passenger137' type='passenger' route='r5' depart='140'/>
<vehicle id='passenger138' type='passenger' route='r6' depart='140'/>
<vehicle id='passenger139' type='passenger' route='r7' depart='140'/>
<vehicle id='passenger/van140' type='passenger/van' route='r8' depart='145'/>
<vehicle id='passenger/van141' type='passenger/van' route='r9' depart='145'/>
<vehicle id='passenger/van142' type='passenger/van' route='r10' depart='145'/>
<vehicle id='passenger/van143' type='passenger/van' route='r11' depart='145'/>
<vehicle id='passenger/van144' type='passenger/van' route='r0' depart='145'/>
<vehicle id='passenger/van145' type='passenger/van' route='r1' depart='150'/>
<vehicle id='passenger/van146' type='passenger/van' route='r2' depart='150'/>
<vehicle id='passenger/van147' type='passenger/van' route='r3' depart='150'/>
<vehicle id='passenger/van148' type='passenger/van' route='r4' depart='150'/>
<vehicle id='passenger/van149' type='passenger/van' route='r5' depart='150'/>
<vehicle id='truck150' type='truck' route='r6' depart='155'/>
<vehicle id='truck151' type='truck' route='r7' depart='155'/>
<vehicle id='truck152' type='truck' route='r8' depart='155'/>
<vehicle id='truck153' type='truck' route='r9' depart='155'/>
<vehicle id='truck154' type='truck' route='r10' depart='155'/>
<vehicle id='truck155' type='truck' route='r11' depart='160'/>
<vehicle id='truck156' type='truck' route='r0' depart='160'/>
<vehicle id='truck157' type='truck' route='r1' depart='160'/>
<vehicle id='truck158' type='truck' route='r2' depart='160'/>
<vehicle id='truck159' type='truck' route='r3' depart='160'/>
<vehicle id='bus160' type='bus' route='r4' depart='165'/>
<vehicle id='bus161' type='bus' route='r5' depart='165'/>
<vehicle id='bus162' type='bus' route='r6' depart='165'/>
<vehicle id='bus163' type='bus' route='r7' depart='165'/>
<vehicle id='bus164' type='bus' route='r8' depart='165'/>
<vehicle id='bus165' type='bus' route='r9' depart='170'/>
<vehicle id='bus166' type='bus' route='r10' depart='170'/>
<vehicle id='bus167' type='bus' route='r11' depart='170'/>
<vehicle id='bus168' type='bus' route='r0' depart='170'/>
<vehicle id='bus169' type='bus' route='r1' depart='170'/>
<vehicle id='bicycle170' type='bicycle' route='r2' depart='175'/>
<vehicle id='bicycle171' type='bicycle' route='r3' depart='175'/>
<vehicle id='bicycle172' type='bicycle' route='r4' depart='175'/>
<vehicle id='bicycle173' type='bicycle' route='r5' depart='175'/>
<vehicle id='bicycle174' type='bicycle' route='r6' depart='175'/>
<vehicle id='bicycle175' type='bicycle' route='r7' depart='180'/>
<vehicle id='bicycle176' type='bicycle' route='r8' depart='180'/>
<vehicle id='bicycle177' type='bicycle' route='r9' depart='180'/>
<vehicle id='bicycle178' type='bicycle' route='r10' depart='180'/>
<vehicle id='bicycle179' type='bicycle' route='r11' depart='180'/>
<vehicle id='motorcycle180' type='motorcycle' route='r0' depart='185'/>
<vehicle id='motorcycle181' type='motorcycle' route='r1' depart='185'/>
<vehicle id='motorcycle182' type='motorcycle' route='r2' depart='185'/>
<vehicle id='motorcycle183' type='motorcycle' route='r3' depart='185'/>
<vehicle id='motorcycle184' type='motorcycle' route='r4' depart='185'/>
<vehicle id='motorcycle185' type='motorcycle' route='r5' depart='190'/>
<vehicle id='motorcycle186' type='motorcycle' route='r6' depart='190'/>
<vehicle id='motorcycle187' type='motorcycle' route='r7' depart='190'/>
<vehicle id='motorcycle188' type='motorcycle' route='r8' depart='190'/>
<vehicle id='motorcycle189' type='motorcycle' route='r9' depart='190'/>
<vehicle id='passenger190' type='passenger' route='r10' depart='195'/>
<vehicle id='passenger191' type='passenger' route='r11' depart='195'/>
<vehicle id='passenger192' type='passenger' route='r0' depart='195'/>
<vehicle id='passenger193' type='passenger' route='r1' depart='195'/>
<vehicle id='passenger194' type='passenger' route='r2' depart='195'/>
<vehicle id='passenger195' type='passenger' route='r3' depart='200'/>
<vehicle id='passenger196' type='passenger' route='r4' depart='200'/>
<vehicle id='passenger197' type='passenger' route='r5' depart='200'/>
<vehicle id='passenger198' type='passenger' route='r6' depart='200'/>
<vehicle id='passenger199' type='passenger' route='r7' depart='200'/>
</routes>
""", file=routes)
lastVeh = 0
vehNr = 0
try:
sys.path.append(os.path.join(os.path.dirname(
__file__), '..', '..', '..', '..', "tools")) # tutorial in tests
sys.path.append(os.path.join(os.environ.get("SUMO_HOME", os.path.join(
os.path.dirname(__file__), "..", "..", "..")), "tools")) # tutorial in docs
from sumolib import checkBinary # noqa
except ImportError:
sys.exit(
"please declare environment variable 'SUMO_HOME' as the root directory of your sumo installation (it should contain folders 'bin', 'tools' and 'docs')")
options = get_options()
# this script has been called from the command line. It will start sumo as a
# server, then connect and run
if options.nogui:
sumoBinary = checkBinary('sumo')
else:
sumoBinary = checkBinary('sumo-gui')
# first, generate the route file for this simulation
# this is the normal way of using traci. sumo is started as a
# subprocess and then the python script connects and runs
print("TraCI Started")
# State = State_Lengths()
# print(State.get_tails())
# states = State.get_tails
# runner = Runner()
# print(Runner().run)
def getPhaseState(transition_time):
num_lanes = 4
num_phases = 4
phase = traci.trafficlight.getPhase("0")
phaseState = np.zeros((transition_time,num_lanes,num_phases))
for i in range(transition_time):
for j in range(num_lanes):
phaseState[i][j][phase] = 1
return phaseState
def getState(transition_time): # made the order changes
newState = []
# transition_time_step_leftcount = 0
# transition_time_step_rightcount = 0
# transition_time_step_topcount = 0
# transition_time_step_bottomcount = 0
for _ in range(transition_time):
traci.simulationStep()
leftcount = 0
rightcount = 0
topcount = 0
bottomcount = 0
vehicleList = traci.vehicle.getIDList()
print("Traffic : ")
for id in vehicleList:
x, y = traci.vehicle.getPosition(id)
if x < 110 and x > 60 and y < 130 and y > 120:
leftcount += 1
else:
if x < 120 and x > 110 and y < 110 and y > 60:
bottomcount += 1
else:
if x < 180 and x > 130 and y < 120 and y > 110:
rightcount += 1
else:
if x < 130 and x > 120 and y < 180 and y > 130:
topcount += 1
print("Left : ", leftcount)
print("Right : ", rightcount)
print("Top : ", topcount)
print("Bottom : ", bottomcount)
# transition_time_step_bottomcount+= bottomcount
# transition_time_step_leftcount+= leftcount
# transition_time_step_rightcount+= rightcount
# transition_time_step_topcount+= topcount
state = [bottomcount / 40,
rightcount / 40,
topcount / 40,
leftcount / 40
]
newState.insert(0, state)
# print (state)
# df = pd.DataFrame([[, 2]], columns=['a', 'b'])
# params_dict =
newState = np.array(newState)
phaseState = getPhaseState(transition_time)
newState = np.dstack((newState, phaseState))
newState = np.expand_dims(newState, axis=0)
return newState
print("here")
import traci
def makeMove(action, transition_time):
if action == 1:
traci.trafficlight.setPhase("0", (int(traci.trafficlight.getPhase("0")) + 1) % 4)
# traci.simulationStep()
# traci.simulationStep()
# traci.simulationStep()
# traci.simulationStep()
return getState(transition_time)
def getReward(this_state, this_new_state):
num_lanes = 4
qLengths1 = []
qLengths2 = []
for i in range(num_lanes):
qLengths1.append(this_state[0][0][i][0])
qLengths2.append(this_new_state[0][0][i][0])
qLengths11 = [x + 1 for x in qLengths1]
qLengths21 = [x + 1 for x in qLengths2]
q1 = np.prod(qLengths11)
q2 = np.prod(qLengths21)
# print("Old State with product : ", q1)
#
# print("New State with product : ", q2)
#
#
# if q1 > q2:
# this_reward = 1
# else:
# this_reward = -1
this_reward = q1 - q2
if this_reward > 0:
this_reward = 1
elif this_reward < 0:
this_reward = -1
elif q2 > 1:
this_reward = -1
else:
this_reward = 0
return this_reward
def getRewardAbsolute(this_state, this_new_state):
num_lanes = 4
qLengths1 = []
qLengths2 = []
for i in range(num_lanes):
qLengths1.append(this_state[0][0][i][0])
qLengths2.append(this_new_state[0][0][i][0])
qLengths11 = [x + 1 for x in qLengths1]
qLengths21 = [x + 1 for x in qLengths2]
q1 = np.prod(qLengths11)
q2 = np.prod(qLengths21)
# print("Old State with product : ", q1)
#
# print("New State with product : ", q2)
#
#
# if q1 > q2:
# this_reward = 1
# else:
# this_reward = -1
this_reward = q1 - q2
this_reward_cubic = this_reward * this_reward * this_reward
return this_reward_cubic
def build_model(transition_time):
num_hidden_units_cnn = 10
num_actions = 2
model = Sequential()
model.add(Conv2D(num_hidden_units_cnn, kernel_size=(transition_time, 1), strides=1, activation='relu', input_shape=(transition_time, 4,5)))
# model.add(LSTM(8))
model.add(Flatten())
model.add(Dense(20, activation='relu'))
model.add(Dense(num_actions, activation='linear'))
opt = RMSprop(lr=0.00025)
model.compile(loss='mse', optimizer=opt)
return model
def getWaitingTime(laneID):
return traci.lane.getWaitingTime(laneID)
num_episode = 16
discount_factor = 0.9
#epsilon = 1
epsilon_start = 1
epsilon_end = 0.4
epsilon_decay_steps = 3000
Average_Q_lengths = []
params_dict = [] #for graph writing
sum_q_lens = 0
AVG_Q_len_perepisode = []
transition_time = 8
target_update_time = 20
q_estimator_model = build_model(transition_time)
target_estimator_model = build_model(transition_time)
replay_memory_init_size = 350
replay_memory_size = 8000
batch_size = 32
print(q_estimator_model.summary())
epsilons = np.linspace(epsilon_start, epsilon_end, epsilon_decay_steps)
#generate_routefile_random(episode_time, num_vehicles)
#generate_routefile(290,10)
traci.start([sumoBinary, "-c", "data/cross.sumocfg",
"--tripinfo-output", "tripinfo.xml"])
traci.trafficlight.setPhase("0", 0)
nA = 2
target_estimator_model.set_weights(q_estimator_model.get_weights())
replay_memory = []
for _ in range(replay_memory_init_size):
if traci.simulation.getMinExpectedNumber() <= 0:
traci.load(["--start", "-c", "data/cross.sumocfg",
"--tripinfo-output", "tripinfo.xml"])
state = getState(transition_time)
action = np.random.choice(np.arange(nA))
new_state = makeMove(action,transition_time)
reward = getRewardAbsolute(state,new_state)
replay_memory.append([state,action,reward,new_state])
print(len(replay_memory))
total_t = 0
for episode in range(num_episode):
traci.load(["--start", "-c", "data/cross.sumocfg",
"--tripinfo-output", "tripinfo.xml"])
traci.trafficlight.setPhase("0", 0)
state = getState(transition_time)
counter = 0
stride = 0
delay_data_avg = []
delay_data_min = []
delay_data_max = []
delay_data_time = []
while traci.simulation.getMinExpectedNumber() > 0:
print("Episode # ", episode)
# print("Waiting time on lane 1i_0 = ",getWaitingTime("1i_0"))
print("Inside episode counter", counter)
counter += 1
total_t += 1
# batch_experience = experience[:batch_history]
if total_t % target_update_time == 0:
target_estimator_model.set_weights(q_estimator_model.get_weights())
q_val = q_estimator_model.predict(state)
print(q_val)
epsilon = epsilons[min(total_t, epsilon_decay_steps-1)]
print("Epsilon -", epsilon)
policy_s = np.ones(nA) * epsilon / nA
policy_s[np.argmax(q_val)] = 1 - epsilon + (epsilon / nA)
action = np.random.choice(np.arange(nA), p=policy_s)
same_action_count = 0
for temp in reversed(replay_memory):
if temp[1] == 0:
same_action_count += 1
else:
break
if same_action_count == 20:
action = 1
print("SAME ACTION PENALTY")
if np.argmax(q_val) != action:
print("RANDOM CHOICE TAKEN")
else:
print("POLICY FOLLOWED ")
new_state = makeMove(action, transition_time)
reward = getRewardAbsolute(state, new_state)
vehicleList = traci.vehicle.getIDList()
num_vehicles = len(vehicleList)
if num_vehicles:
avg = 0
max = 0
mini = 100
for id in vehicleList:
time = traci.vehicle.getAccumulatedWaitingTime(id)
if time > max:
max = time
if time < mini:
mini = time
avg += time
avg /= num_vehicles
delay_data_avg.append(avg)
delay_data_max.append(max)
delay_data_min.append(mini)
delay_data_time.append(traci.simulation.getCurrentTime() / 1000)
if len(replay_memory) == replay_memory_size:
replay_memory.pop(0)
replay_memory.append([state, action, reward, new_state])
print("Memory Length :", len(replay_memory))
sum_q_lens += np.average(new_state)
samples = random.sample(replay_memory, batch_size)
'''
states_batch, action_batch, reward_batch, next_states_batch = map(np.array, zip(*samples))
q_values_next = target_estimator_model.predict(next_states_batch)
targets_batch = reward_batch + discount_factor * np.amax(
q_values_next, axis=1)
states_batch = np.array(states_batch)
loss = q_estimator_model.update(states_batch, action_batch, targets_batch)
'''
# CODE FOR UPDATE REMAINING, REST DONE!
x_batch, y_batch = [], []
for inst_state, inst_action, inst_reward, inst_next_state in samples:
y_target = q_estimator_model.predict(inst_state)
q_val_next = target_estimator_model.predict(inst_next_state)
y_target[0][inst_action] = inst_reward + discount_factor * np.amax(
q_val_next, axis=1
)
x_batch.append(inst_state[0])
y_batch.append(y_target[0])
q_estimator_model.fit(np.array(x_batch), np.array(y_batch), batch_size=len(x_batch), verbose=0)
####
'''
oracle = np.zeros((1, nA))
oracle[:] = q_val[:]
print(reward)
oracle[0][action] = (
reward + gamma * np.max(model.predict((np.array(experience)).reshape((1, num_history, 5)))))
print(oracle)
model.fit((np.array(old_experience)).reshape((1, num_history, 5)), oracle, verbose=1)
'''
state = new_state
AVG_Q_len_perepisode.append(sum_q_lens / 702)
sum_q_lens = 0
q_estimator_model.save('models/single intersection models/tradeoff_models_absreward_cubic/model_{}.h5'.format(episode))
print(AVG_Q_len_perepisode)
# import matplotlib.pyplot as plt
#
# plt.plot([x for x in range(num_episode)],[AVG_Q_len_perepisode], 'ro')
# plt.axis([0, num_episode, 0, 10])
# plt.show()