TorcsCarSimulation/driver.py at main · rafayashfaq/TorcsCarSimulation · GitHub

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import csv
import msgParser
import carState
import carControl
from ai_controller import AIController

class Driver(object):
    def __init__(self, stage):
        self.WARM_UP = 0
        self.QUALIFYING = 1
        self.RACE = 2
        self.UNKNOWN = 3
        self.stage = stage

        self.parser = msgParser.MsgParser()
        self.state = carState.CarState()
        self.control = carControl.CarControl()
        self.ai_controller = AIController()

        self.steer_lock = 0.785398
        self.prev_rpm = None
        self.training_mode = False  # Set to False after training

    def init(self):
        self.angles = [0 for x in range(19)]

        for i in range(5):
            self.angles[i] = -90 + i * 15
            self.angles[18 - i] = 90 - i * 15

        for i in range(5, 9):
            self.angles[i] = -20 + (i - 5) * 5
            self.angles[18 - i] = 20 - (i - 5) * 5

        if not self.training_mode:
            self.ai_controller.load_models()

        return self.parser.stringify({'init': self.angles})

    def drive(self, msg):
        self.state.setFromMsg(msg)

        if self.training_mode:
            self.record_telemetry()
            self.steer()
            self.gear()
            self.speed()
        else:
            try:
                steering, acceleration, gear = self.ai_controller.predict_controls(self.state)
                self.control.setSteer(steering)
                self.control.setAccel(acceleration)
                self.control.setGear(gear)
            except Exception as e:
                print(f"Error in AI control: {e}")
                self.steer()
                self.gear()
                self.speed()

        return self.control.toMsg()

    def record_telemetry(self):
        with open("telemetry_data.csv", mode="a", newline="") as file:
            writer = csv.writer(file)
            if file.tell() == 0:
                writer.writerow([
                    "angle", "trackPos", "speedX", "speedY", "speedZ",
                    "rpm", "gear", "track_edges", "opponents_data",
                    "race_position", "damage", "distance_raced"
                ])
            writer.writerow([
                self.state.angle,
                self.state.trackPos,
                self.state.speedX,
                self.state.speedY,
                self.state.speedZ,
                self.state.rpm,
                self.state.gear,
                self.state.track,
                self.state.opponents,
                self.state.racePos,
                self.state.damage,
                self.state.distRaced
            ])

    def steer(self):
        angle = self.state.angle
        dist = self.state.trackPos
        self.control.setSteer((angle - dist * 0.5) / self.steer_lock)

    def gear(self):
        rpm = self.state.getRpm()
        gear = self.state.getGear()
        speed = self.state.getSpeedX()

        if self.prev_rpm is None:
            up = True
        else:
            up = (self.prev_rpm - rpm) < 0

        if up and rpm > 7000 and gear < 6:
            gear += 1
        elif (not up and rpm < 3000 and gear > 1) or (speed < 40 and gear > 1):
            gear -= 1

        self.prev_rpm = rpm
        self.control.setGear(gear)

    def speed(self):
        track = self.state.getTrack()

        # Look at the five forward-facing sensors (angles roughly –20° to +20°)
        front_distances = track[7:12]
        min_front = min(front_distances)

        # If the road is very clear, floor it
        if min_front > 200:
            accel = 2.0

        # If a gentle bend is coming, back off a little
        elif min_front > 100:
            accel = 0.8

        # If a sharper turn is near, slow further
        elif min_front > 50:
            accel = 0.5

        # If the curve is almost on us, crawl in
        else:
            accel = 0.2

        self.control.setAccel(accel)


    def onShutDown(self):
        pass

    def onRestart(self):
        pass