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arrowrace.js
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arrowrace.js
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// This class holds it all. Not very nice, but it works
class Track {
// Loads the track and displays it
constructor(trackName, cellWidth, maxRounds, epsilon, learningRate, discount) {
// Initializing variables
this.epsilon = epsilon;
this.learningRate = learningRate;
this.discount = discount;
this.maxRounds = maxRounds;
this.cellWidth = cellWidth;
// Set context
this.trackCanvas = document.getElementById('track');
this.trackContext = this.trackCanvas.getContext('2d');
// Initializes the qTable;
this.qTable = new Map();
// Load default track
this.track = new Image();
this.track.src = trackName + '.png';
this.coordinates = [];
this.track.onload = function() {
this.resetTrack();
}.bind(this);
}
// Loads the track (from given file) with error handling and displays it on the canvas
loadTrack(files) {
var fr = new FileReader();
fr.onload = function () {
this.track.src = fr.result;
}.bind(this)
fr.readAsDataURL(files[0]);
this.track = new Image();
this.track.onload = function() {
this.resetTrack();
}.bind(this)
}
// Change the cell width
setWidth(width) {
this.cellWidth = parseInt(width, 10);
this.resetTrack();
}
// Runs the algorithm
run() {
// Resets the Q-table
this.qTable.clear();
// Draw track (without cells, so we can identify the track/border/start&finish)
this.resetTrack(true);
// Get coordinates of the track (x, y), including a start/finish flag
this.coordinates = this.getCoordinates();
if (!this.startAndFinish) {
this.resetTrack();
alert('No start/finish found at coordinates.');
} else {
// For each cell, find the distances to the finish
this.getDistancesToFinish();
// Get the starting point of the track
this.startingPoint = this.getStartingPoint();
this.currentPosition = this.startingPoint;
// Draw track (again, but this time -with- the cells)
this.resetTrack();
// Initialize the number of played rounds/tries
this.rounds = 0;
this.tries = 0;
// Start race
// While if the maxRounds has not yet been reached
while(this.rounds < this.maxRounds) {
this.startNewRace();
}
// Draw the best route found
this.drawBestRoute();
}
}
// Updates the track
resetTrack(noCells) {
// Empty canvas
this.trackContext.clearRect(0, 0, this.trackCanvas.width, this.trackCanvas.height);
// Draw the track
this.trackContext.drawImage(this.track, 0, 0);
// Draw the cells
if (!noCells) {
this.drawCells();
}
}
// Draw the cells / matrix
drawCells() {
this.trackContext.beginPath();
this.trackContext.strokeStyle = 'grey';
this.trackContext.lineWidth = 1;
for(let y=0; y<this.trackCanvas.height; y+=this.cellWidth) {
this.trackContext.moveTo(0, y);
this.trackContext.lineTo(this.trackCanvas.width, y);
}
for(let x=0; x<this.trackCanvas.width; x+=this.cellWidth) {
this.trackContext.moveTo(x, 0);
this.trackContext.lineTo(x, this.trackCanvas.height);
}
this.trackContext.stroke();
}
// Draws the best route currently found
// Basically by finding the best move, execute it according to the games logic,
// findint the best move for the new position, etc.
drawBestRoute() {
// But only if there is a route
if( this.arrow != undefined ) {
this.trackContext.beginPath();
this.trackContext.strokeStyle = 'green';
this.trackContext.moveTo(this.arrow.positions[ 0 ][ 0 ], this.arrow.positions[ 0 ][ 1 ]);
this.trackContext.lineWidth = 10;
let bestArrow = {
speedX: 0,
speedY: 0,
x: this.arrow.positions[ 0 ][ 0 ],
y: this.arrow.positions[ 0 ][ 1 ]
}
let bestAction = this.getBestAction(
this.getState(
bestArrow.x,
bestArrow.y,
bestArrow.speedX,
bestArrow.speedY,
true
)
);
while(bestAction != undefined) {
// Execute action
switch (bestAction) {
case 0: bestArrow.speedX-=this.cellWidth; bestArrow.speedY-=this.cellWidth; break; // top left
case 1: bestArrow.speedY-=this.cellWidth; break; // top
case 2: bestArrow.speedX+=this.cellWidth; bestArrow.speedY-=this.cellWidth; break; // top right
case 3: bestArrow.speedX-=this.cellWidth; break; // left
case 4: break; // center
case 5: bestArrow.speedX+=this.cellWidth; break; // right
case 6: bestArrow.speedX-=this.cellWidth; bestArrow.speedY+=this.cellWidth; break; // bottom left
case 7: bestArrow.speedY+=this.cellWidth; break; // bottom
case 8: bestArrow.speedX+=this.cellWidth; bestArrow.speedY+=this.cellWidth; break; // bottom right
}
// Move with the current speeds
bestArrow.x += bestArrow.speedX;
bestArrow.y += bestArrow.speedY;
this.trackContext.lineTo(bestArrow.x, bestArrow.y);
bestAction = this.getBestAction(
this.getState(
bestArrow.x,
bestArrow.y,
bestArrow.speedX,
bestArrow.speedY,
true
)
);
}
this.trackContext.stroke();
}
}
// Get the coordinates (x, y) of the track, including a start/finish flag and the distance to the finish
getCoordinates() {
// Load track coordinates
let finish = false;
let coordinates = [];
for (let y=0; y<this.trackCanvas.height; y++) {
for (let x=0; x<this.trackCanvas.width; x++) {
// only relevant coordinates
if ((x % this.cellWidth == 0) && (y % this.cellWidth == 0)) {
let pixel = this.trackContext.getImageData(x, y, 1, 1).data;
// Red?
if (pixel[0] > 250) {
// Blue and green?
if (pixel[1] > 250 && pixel[2] > 250) {
// White = Track
finish = false;
} else {
// Red = Start/Finish
finish = true;
}
// Add coordinate to array
let coordinate = {
x: x,
y: y,
finish: finish
}
coordinates.push( coordinate );
}
}
}
}
// Check if start/finish is found
if (!coordinates.some(element => element.finish == true)) {
this.startAndFinish = false;
} else {
this.startAndFinish = true;
}
return coordinates;
}
// Finds the distance to the finish for each coordinate
// Works by working from the finish, back to the start
getDistancesToFinish() {
// Add the distance to the finish
// Set the start/finish itself to 0
for(let i=0; i<this.coordinates.length; i++) {
if (this.coordinates[i].finish) {
this.coordinates[i].cellsToFinish = 0
}
}
// Now set the distance to 1 for every cell that is 1 distance away to the left
for(let i=0; i<this.coordinates.length; i++) {
if (this.coordinates[i].cellsToFinish == 0) {
// Found a finish, find the cells left to it
for(let q=0; q<this.coordinates.length; q++) {
if (
(this.coordinates[i].x - this.cellWidth == this.coordinates[q].x && // 1 cell to the left
this.coordinates[i].y == this.coordinates[q].y) ||
(this.coordinates[i].x - this.cellWidth == this.coordinates[q].x && // 1 cell to the left and up
this.coordinates[i].y - this.cellWidth == this.coordinates[q].y) ||
(this.coordinates[i].x - this.cellWidth == this.coordinates[q].x && // 1 cell to the left and down
this.coordinates[i].y + this.cellWidth == this.coordinates[q].y)
) {
this.coordinates[q].cellsToFinish = 1;
}
}
}
}
let currentDistance = 1;
// Keep setting the distance, until every distance is set
while (this.coordinates.some(coordinate => coordinate.cellsToFinish == undefined)) {
// Now set the distance to the rest... :)
for(let i=0; i<this.coordinates.length; i++) {
if (this.coordinates[i].cellsToFinish == currentDistance) {
// Found a cell with this distance, now find the cells next to it
for(let q=0; q<this.coordinates.length; q++) {
if (
(this.coordinates[i].x - this.cellWidth == this.coordinates[q].x && // 1 cell to the left
this.coordinates[i].y == this.coordinates[q].y) ||
(this.coordinates[i].x - this.cellWidth == this.coordinates[q].x && // 1 cell to the left and up
this.coordinates[i].y - this.cellWidth == this.coordinates[q].y) ||
(this.coordinates[i].x - this.cellWidth == this.coordinates[q].x && // 1 cell to the left and down
this.coordinates[i].y + this.cellWidth == this.coordinates[q].y) ||
(this.coordinates[i].x == this.coordinates[q].x && // 1 cell up
this.coordinates[i].y - this.cellWidth == this.coordinates[q].y) ||
(this.coordinates[i].x == this.coordinates[q].x && // 1 cell down
this.coordinates[i].y + this.cellWidth == this.coordinates[q].y) ||
(this.coordinates[i].x + this.cellWidth == this.coordinates[q].x && // 1 cell to the right
this.coordinates[i].y == this.coordinates[q].y) ||
(this.coordinates[i].x + this.cellWidth == this.coordinates[q].x && // 1 cell to the right and up
this.coordinates[i].y - this.cellWidth == this.coordinates[q].y) ||
(this.coordinates[i].x + this.cellWidth == this.coordinates[q].x && // 1 cell to the right and down
this.coordinates[i].y + this.cellWidth == this.coordinates[q].y)
) {
if (this.coordinates[q].cellsToFinish == undefined) { // Only if cellsToFinish is not (yet) defined
this.coordinates[q].cellsToFinish = currentDistance+1;
}
}
}
}
}
// Next step
currentDistance++;
}
// Save maximum distance
this.maximumDistance = currentDistance+1;
}
// Returns the starting point based on the coordinates
getStartingPoint() {
// Starting point is
// - the middle of all coordinates
// - which have a start/finish flag
// - and are in the rightmost position
let startingPoint;
// First, get all the possible start/finish coordinates
let startCandidates = [];
let rightMostX = 0;
for( let i=0; i<this.coordinates.length; i++) {
if ( this.coordinates[ i ].finish == true ) {
startCandidates.push( this.coordinates[ i ] );
if ( this.coordinates[ i ].x > rightMostX ) {
rightMostX = this.coordinates[ i ].x
}
}
}
// Now, filter only those most to the right
startCandidates = startCandidates.filter( item => {
return item.x == rightMostX;
})
// And pick the 'middle' one
startingPoint = startCandidates[ Math.floor(startCandidates.length/2) ];
return startingPoint;
}
// Race until death or finish
startNewRace() {
// Updates the tries
this.tries++;
// Setup a new arrow: no speed and only one position: its starting point
this.arrow = {
speedX: 0,
speedY: 0,
positions: [
[ this.startingPoint.x, this.startingPoint.y ]
]
}
this.takeAStep();
}
// Take a step until death or finish
takeAStep() {
var restart = false;
while (!restart) {
// Save old state
let oldState = this.getState(
this.arrow.positions[ this.arrow.positions.length-1 ][ 0 ],
this.arrow.positions[ this.arrow.positions.length-1 ][ 1 ],
this.arrow.speedX,
this.arrow.speedY
);
// Define next action with Epsilon-greedy
let action;
if (Math.random() < this.epsilon) {
// Select best action
action = this.getBestAction(oldState);
} else {
// Do a random action
action = Math.floor(Math.random() * Math.floor(9));
}
// Execute action
switch (action) {
case 0: this.arrow.speedX-=this.cellWidth; this.arrow.speedY-=this.cellWidth; break; // top left
case 1: this.arrow.speedY-=this.cellWidth; break; // top
case 2: this.arrow.speedX+=this.cellWidth; this.arrow.speedY-=this.cellWidth; break; // top right
case 3: this.arrow.speedX-=this.cellWidth; break; // left
case 4: break; // center
case 5: this.arrow.speedX+=this.cellWidth; break; // right
case 6: this.arrow.speedX-=this.cellWidth; this.arrow.speedY+=this.cellWidth; break; // bottom left
case 7: this.arrow.speedY+=this.cellWidth; break; // bottom
case 8: this.arrow.speedX+=this.cellWidth; this.arrow.speedY+=this.cellWidth; break; // bottom right
}
// Move with the current speeds current direction
let newPosition = [
this.arrow.positions[ this.arrow.positions.length-1 ][ 0 ] + this.arrow.speedX,
this.arrow.positions[ this.arrow.positions.length-1 ][ 1 ] + this.arrow.speedY
]
this.arrow.positions.push(newPosition);
// Determine value
let value = 0;
// Crashed?
if (this.isCrashed()) {
value = -1000;
restart = true;
}
// Finised the wrong way?
if(this.isFinishedTheWrongWay()) {
value = -1000
restart = true;
}
// Finished the right way?
if (this.isFinishedTheRightWay()) {
value = 1000;
restart = true;
}
// Still going? Value depends on size of the step taken
if (value == 0) {
value = this.getLastStepSize() * 10;
}
// Save new state
let newState = this.getState(
this.arrow.positions[ this.arrow.positions.length-1 ][ 0 ],
this.arrow.positions[ this.arrow.positions.length-1 ][ 1 ],
this.arrow.speedX,
this.arrow.speedY
);
// Update Q-table
this.updateQTable(oldState, newState, action, value);
}
}
// You can off course just turn around an cross the finish :)
// Detection is done by saying that crossing more than 1/4 of the distance in once step is suspicous enough
isFinishedTheWrongWay() {
if (this.getLastStepSize() > this.maximumDistance/4 ) {
return true;
} else {
return false;
}
}
// You also can finish like a real pro
isFinishedTheRightWay() {
// Finishing right can be by going over the finish:
// this is detected by a huge negative distance, more than 3/4 of the total distance
if (-this.getLastStepSize() > this.maximumDistance*3/4 ) {
return true;
}
// It also can be by landing precisely on the finish.
// And this should be from a position close to the finish
if (
this.getDistanceToFinish(
this.arrow.positions[ this.arrow.positions.length-2 ][ 0 ],
this.arrow.positions[ this.arrow.positions.length-2 ][ 1 ]
) != 0 &&
this.getDistanceToFinish(
this.arrow.positions[ this.arrow.positions.length-1 ][ 0 ],
this.arrow.positions[ this.arrow.positions.length-1 ][ 1 ]
) == 0 &&
this.getDistanceToFinish(
this.arrow.positions[ this.arrow.positions.length-2 ][ 0 ],
this.arrow.positions[ this.arrow.positions.length-2 ][ 1 ]
) < (this.maximumDistance/4)
) {
this.rounds++;
return true;
}
return false;
}
// Returns the difference in distance to the finish by the last move
getLastStepSize() {
// Get the distance before the last move
let distanceBefore = this.getDistanceToFinish(
this.arrow.positions[ this.arrow.positions.length-2 ][ 0 ],
this.arrow.positions[ this.arrow.positions.length-2 ][ 1 ]
);
// Special rule for the first move, since the finish (0 distance), is also the start (maximum distance)
if (distanceBefore == 0) {
distanceBefore = this.maximumDistance;
}
// Get the distance after the last move
let distanceAfter = this.getDistanceToFinish(
this.arrow.positions[ this.arrow.positions.length-1 ][ 0 ],
this.arrow.positions[ this.arrow.positions.length-1 ][ 1 ]
);
return distanceBefore - distanceAfter;
}
// Returns the distance to the finish, based on coordinates
getDistanceToFinish(x, y) {
for (let i=0; i<this.coordinates.length; i++) {
if (
this.coordinates[i].x == x &&
this.coordinates[i].y == y
) {
return this.coordinates[i].cellsToFinish;
}
}
}
// Update Q-table based on the Q-function
updateQTable(oldState, newState, action, value) {
let valuesOldState = this.qTable.get(oldState);
// If oldstate isn't found, create 'empty' values
if (valuesOldState==undefined) {
valuesOldState = [];
for(let i=0; i<9; i++) {
valuesOldState.push(0);
}
}
let max;
(this.qTable.get(newState)==undefined) ? max = 0 : max = Math.max(...this.qTable.get(newState));
// Q function
valuesOldState[ action ] =
Math.round(
valuesOldState[ action ] +
(this.learningRate *
(value +
this.discount * max -
valuesOldState[ action ])
)
);
this.qTable.set(oldState, valuesOldState);
}
// Check if the arrow is crashed (outside track coordinates)
// True: crashed :(
// False: still ok :)
isCrashed() {
let coordinates = this.coordinates.find( element =>
element.x == this.arrow.positions[ this.arrow.positions.length-1 ][ 0 ] &&
element.y == this.arrow.positions[ this.arrow.positions.length-1 ][ 1 ]
);
return( coordinates === undefined );
}
// Gets the current state of the arrow
getState(xPos, yPos, speedX, speedY) {
return xPos + '-' +
yPos + '-' +
speedX + '-' +
speedY;
}
// Return best action based on the state
getBestAction(state, notRandom) {
let values = this.qTable.get(state);
if (values==undefined) {
if (!notRandom) {
return undefined;
} else {
// State not found, return random action
return Math.floor(Math.random() * Math.floor(9));
}
} else {
// State is found
// If there is at least 1 action with a positive value, return best action
if (Math.max(...values) > 0 ) {
return values.indexOf(Math.max(...values));
}
// If there are only actions with negative values, return the 'best' action
if (Math.max(...values) < 0 ) {
return values.indexOf(Math.max(...values));
}
// There are 1 or more actions with zero values, return on of those randomly
let action;
do {
action = Math.floor(Math.random() * Math.floor(9));
} while(values[action] != 0);
return action;
}
}
}
// Default settings/track
track = new Track(
'track1', // Trackname
40, // Initial width of a cell in pixels
100, // Times with a finish before it stops
0.7, // Epsilon
1, // Learning rate
0.9 // Discout
);
// Starting the algoritm
document.getElementById("start").addEventListener("click", runAlgorithm);
function runAlgorithm() {
track.run();
}
// Upload of an user's own track
document.getElementById("file").addEventListener("change", handleFileChange, false);
function handleFileChange() {
track.loadTrack(this.files);
}
// Input of the cell width
document.getElementById("size").addEventListener("change", handleSizeChange, false);
function handleSizeChange() {
track.setWidth(this.value);
}