main.py

import pygame as py
import neat
import time
import os
import random
from car import Car
from road import Road
from world import World
from NNdraw import NN
from config_variables import *
py.font.init()


bg = py.Surface((WIN_WIDTH, WIN_HEIGHT))
bg.fill(BLACK)


def draw_win(cars, road, world, GEN):
    road.draw(world)
    for car in cars:
        car.draw(world)

    if SCORE_DBG:
        text = STAT_FONT.render("Reward: "+str(int(world.getScore())), 1, WHITE)
        world.win.blit(text, (world.win_width-text.get_width() - 10, 10))
        text = STAT_FONT.render("Gen: "+str(GEN), 1, WHITE)
        world.win.blit(text, (world.win_width-text.get_width() - 10, 50))
    if NEURON_DBG:
        world.bestNN.draw(world)

    py.display.update()
    world.win.blit(bg, (0, 0))


def main(genomes=[], config=[]):
    global GEN
    GEN += 1

    nets = []
    ge = []
    cars = []
    t = 0

    world = World(STARTING_POS, WIN_WIDTH, WIN_HEIGHT)
    world.win.blit(bg, (0, 0))

    NNs = []

    for _, g in genomes:
        net = neat.nn.FeedForwardNetwork.create(g, config)
        nets.append(net)
        cars.append(Car(0, 0, 0))
        g.fitness = 0
        ge.append(g)
        NNs.append(NN(config, g, (90, 210)))

    road = Road(world)
    clock = py.time.Clock()

    run = True
    while run:
        t += 1
        clock.tick(FPS)
        world.updateScore(0)

        for event in py.event.get():
            if event.type == py.QUIT:
                run = False
                py.quit()
                quit()

        (xb, yb) = (0, 0)
        i = 0
        while (i < len(cars)):
            car = cars[i]

            input = car.getInputs(world, road)
            input.append(car.vel/MAX_VEL)
            car.commands = nets[i].activate(tuple(input))

            y_old = car.y
            (x, y) = car.move(road, t)

            if t > 10 and (car.detectCollision(road) or y > world.getBestCarPos()[1] + BAD_GENOME_TRESHOLD or y > y_old or car.vel < 0.1):
                ge[i].fitness -= 1
                cars.pop(i)
                nets.pop(i)
                ge.pop(i)
                NNs.pop(i)
            else:
                ge[i].fitness += -(y - y_old)/100 + \
                    car.vel*SCORE_VEL_MULTIPLIER
                if (ge[i].fitness > world.getScore()):
                    world.updateScore(ge[i].fitness)
                    world.bestNN = NNs[i]
                    world.bestInputs = input
                    world.bestCommands = car.commands
                i += 1

            if y < yb:
                (xb, yb) = (x, y)

        if len(cars) == 0:
            run = False
            break

        world.updateBestCarPos((xb, yb))
        road.update(world)
        draw_win(cars, road, world, GEN)


def run(config_path):
    config = neat.config.Config(neat.DefaultGenome, neat.DefaultReproduction,
                                neat.DefaultSpeciesSet, neat.DefaultStagnation, config_path)

    p = neat.Population(config)

    p.add_reporter(neat.StdOutReporter(True))
    stats = neat.StatisticsReporter()
    p.add_reporter(stats)

    winner = p.run(main, 10000)


if __name__ == "__main__":
    local_dir = os.path.dirname(__file__)
    config_path = os.path.join(local_dir, "config_file.txt")
    run(config_path)