diff --git a/client_V7.py b/client_V7.py
new file mode 100755
index 0000000000000000000000000000000000000000..4b4fbf88985fa8985ccaad184bcce9dabbce6c74
--- /dev/null
+++ b/client_V7.py
@@ -0,0 +1,217 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Tue Jan 12 17:17:49 2021
+
+@author: theob
+"""
+
+import asyncio
+import Gym_new
+import time
+import nest_asyncio
+import numpy as np
+import random
+import math
+import matplotlib.pyplot as plt
+async def main():
+
+ env = Gym_new.Gym()
+ await env.connect_websocket()
+ command = ""
+ #observation, reward, done, info = await env.reset(0.017)
+ # observation, reward, done, info = await env.step("accelerate,steer_right", 0.17)
+ # #actionen sind accelerate, steer_left, steer_right, brake, reverse
+ # print(observation)
+ # print(reward)
+ # print(done)
+ for i in range(random.randrange(0, 50)):
+ #print(i)
+ observationO, rewardO, doneO, infoO = await env.step(command, 0.2)
+
+
+ step_width = 0.02
+ #observationO, rewardO, doneO, infoO = await env.step(command, 0.02)
+ observation, reward, done, info = await env.reset(step_width)
+ speedO = observationO[0]
+ steering_angleO = observationO[1]
+ sensorsO = np.array(observationO[2])
+ sensors_dir = []
+ for i in range(len(sensorsO)):
+ x = (-np.sin(-i*2*np.pi/len(sensorsO)))
+ y = (np.cos(-i*2*np.pi/len(sensorsO)))
+ sensors_dir.append([x,y])
+ sensors_dir =np.array(sensors_dir)
+ sensors_dir_len=sensors_dir*sensorsO[:,np.newaxis]
+ #print(sensors_dir_len)
+ sollwinkel=0
+ sollgeschwindigkeit = 0
+ sensors_old =np.zeros([len(sensorsO), 5])
+ speed_old = np.zeros([1,5])
+ #print(sensors_old)
+ sensors_old[:,0]=sensorsO
+ sensors_old = np.roll(sensors_old,1)
+ #print(sensors_old)
+ zubringer = True
+ abstand_rechts = 2
+ aufgefahren = False
+ change_speed_log = np.array([[0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0]])
+ timeg = 0;
+ i=1
+
+ while(True):
+
+
+ observation, reward, done, info = await env.step(command, step_width)
+
+ command = ""
+ speed = observation[0]
+ steering_angle = observation[1]
+ sensors = np.array(observation[2])
+ sensors_old = np.roll(sensors_old,1)
+ sensors_old[:,0]=sensors
+ speed_old = np.roll(speed_old,1)
+ speed_old[:,0]=speed
+ speed_mean = np.mean(speed_old)
+ #print("Durchschnittsgeschwindigkeit"+str(speed_mean))
+ sensor_change_speed = (sensors_old[:,4]-sensors_old[:,0])/(5*step_width)
+ change_speed_log = np.append(change_speed_log,([np.append(timeg,sensor_change_speed)]),axis = 0)
+ timeg = timeg+step_width
+ #print("Change Speed" + str(sensor_change_speed))
+ #print(sensors_old)
+ sensors_sum = np.sum(np.absolute(sensors))
+ # print("Summe der Sensoren"+str(sensors_sum))
+ sensors_dir_len=sensors_dir*sensors[:,np.newaxis]
+ sensors_dir_speed = sensors_dir*sensor_change_speed[:,np.newaxis]
+ sensors_dir_speed[:,0]-=speed_mean/3.6
+ #print("Sensors Speed mit x Y"+str(sensors_dir_speed))
+ #print(sensors_dir_len)
+ dir_sum = np.sum(sensors_dir_len,axis=0)
+ #print(dir_sum)
+ #aufgefahren = False
+
+ #print("Sensors Sum = "+str(sensors_sum))
+ if(zubringer): #Steuerung für die Auffahrt (sensors_sum < 90) &
+
+ #sollgeschwindigkeit = 90*(2.2*sensors[0]-sensors[4])/13 #1.9 1.7
+ #sollgeschwindigkeit = 90*(2.2*sensors[0]-5)/13
+ sollgeschwindigkeit = 16*(sensors[0]-2.3)
+ try:
+ sollwinkel = 3.7*((dir_sum[0])/13+((sensors[1]+sensors[5])-(sensors[3]+sensors[7]))/13)*(speed/abs(speed))#3.3 3.7
+ except Exception as e:
+ sollwinkel = 3.7*((dir_sum[0])/13+((sensors[1]+sensors[5])-(sensors[3]+sensors[7]))/13)
+ #print("Sollwinkel auffahrt "+str(sollwinkel))
+
+ #print('Sensor Change speed'+ str( sensor_change_speed[7]))
+ #if((sensors_sum>=90)):
+ if((sensor_change_speed[7]<-13)&(reward[0]<247)): #&(sensors_sum>=90)
+ zubringer = False
+ if(not zubringer):
+ weight_s1_s3 = 1
+ weight_s2 = 1
+ #if()
+ #sollgeschwindigkeit = (50*(2.2*sensors[0]-5)/13)
+ sollgeschwindigkeit = 8.5*(sensors[0]-2.3)
+ if((not aufgefahren)&(sensors[7]>3.5)&(sensors[6]>3)&(sensors[5]>2)&(abstand_rechts<6)):
+ abstand_rechts += 0.1#0.06
+ elif(not aufgefahren):
+ #sollgeschwindigkeit=130*(1-np.exp(-sensors[0]/5))
+ sollgeschwindigkeit = 80 + (sensors[7]-sensors[5])*5
+
+ if((sensors[2]>5)&(abstand_rechts>5)):#sensor[2]>5.5 #not aufgefahren & (abs(sensor_change_speed[1])<10)
+ abstand_rechts = 5.5
+ aufgefahren = True
+ #print("Sensor 3 change_spped"+str(abs(sensor_change_speed[1])))
+ if(aufgefahren&(abs(sensor_change_speed[1])>8)):#&(abstand_rechts>4.5)): #&
+ abstand_rechts = 1#1.5 #0.3*sensor_change_speed[1]/60
+ weight_s1_s3 = 0
+ weight_s2 = 0
+ #time.sleep(1)
+ #time.sleep(0.5)
+ #sollwinkel = 1.3*(dir_sum[0]+16)/13
+ #print("Abstand rechts soll "+str(abstand_rechts))
+ try:
+ sollwinkel = 3.3*(weight_s1_s3*(sensors[1]-sensors[3])/3+weight_s2*(sensors[2]-abstand_rechts)/3)*(speed/abs(speed))#(sensors[7]-sensors[5])/13)
+ except Exception as e:
+ sollwinkel = 3.3*(weight_s1_s3*(sensors[1]-sensors[3])/3+weight_s2*(sensors[2]-abstand_rechts)/3)
+ # print("Sensor 1 "+str(sensors[1]))
+ # print("Sensor 3 "+str(sensors[3]))
+ #print("Sensor 2 "+str(sensors[2]))
+ #print("Sensor 7 "+str(sensors[7]))
+
+
+ #print("Sollwinkel"+str(sollwinkel))
+ if(sollwinkel>steering_angle):
+ # print("steer_right")
+ command +=("steer_right")
+ elif(sollwinkel<steering_angle):
+ # print("steer_left")
+ command +=("steer_left")
+ #print("Sollgeschwindigkeit"+str(sollgeschwindigkeit))
+ if(sollgeschwindigkeit>speed):
+ command += ("accelerate")
+ elif((speed>0) & (sollgeschwindigkeit<speed)):
+ command +=("brake")
+ elif(sollgeschwindigkeit<speed):
+ command +=("reverse")
+
+ if(sensors_sum==0):
+ command +=("reset")
+ # if reward[1] < 0:
+ # env.reset(0.01)
+ #if speed < 50 :
+ # command += ("accelerate")
+
+ # if(sensorsO[1]-sensors[1]>0 ):
+ # command += (",steer_left" )
+ # elif(sensorsO[7]-sensors[7]>0):
+ # command +=("steer_right")
+ # elif ( (sensors[1] + 2 < sensors[7])&(abs(steering_angle)<3) ): #
+ # command += (",steer_left" )
+ # elif ( (sensors[1] > sensors[7]+2)&(abs(steering_angle)<3)): #(sensors[1] > sensors[7]+1)&
+ # command +=("steer_right")
+
+ # else:
+ # if ((sensors[4]-sensorsO[4]>0) & (steering_angle != 0) & (sensors[6] > 2.5) & (sensors[0]>10)):
+ # command +=("steer_left")
+ # elif ((sensors[5]-sensorsO[5]>0) & (steering_angle != 0) & (sensors[2] > 2.5)& (sensors[0]>10)):
+ # command +=("steer_right")
+ #observation, reward, done, info = await env.reset(0.017)
+ observationO, rewardO, doneO, infoO = observation, reward, done, info
+ #print(observation)
+ #print(reward)
+ #print(done)
+ time.sleep(0.05)
+
+ if(done or (reward[1]>50)or (reward[0]<170)):
+ # print(change_speed_log)
+ # print(change_speed_log[:,0])
+ # print(change_speed_log[:,1])
+ # for i in range(1,8):
+ # plt.plot(change_speed_log[:,0],change_speed_log[:,i]) # plotting by columns
+ # plt.plot(change_speed_log[:,0],change_speed_log[:,[2,8]])
+ # plt.legend(['Sensor 1','Sensor 7'])
+ # plt.xlabel('t in Sekunden')
+ # plt.ylabel('ds/dt')
+ # plt.xlim(0.01,12)
+ # plt.show()
+ # f=open('ClientV4Changespeed.csv','ab')
+ # np.savetxt(f,change_speed_log)
+ # f.close()
+ #break
+ f=open('ClientV7TestDone_all_maps.csv','ab')
+ np.savetxt(f,[np.append(done,reward[0])])
+ print(np.append(done,reward[0]))
+ f.close()
+
+ aufgefahren = False
+ zubringer = True
+ observation, reward, done, info = await env.reset(step_width)
+ observation, reward, done, info = await env.reset(step_width)
+ if i == 100:
+ break
+ i+=1
+
+if __name__ == "__main__":
+ nest_asyncio.apply()
+ loop = asyncio.get_event_loop()
+ loop.run_until_complete(main())
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