working , rc release !

car.py

@@ -1,3 +1,4 @@
+import datetime
 import math
 import numpy as np
 import random
@@ -10,6 +11,7 @@ from params import (
     CAR_MAX_FITNESS,
     CAR_SIZE,
     CAR_STEERING_FACTOR,
+    MAX_RUN_TIME,
     VISION_LENGTH,
     VISION_SPAN,
     THROTTLE_POWER,
@@ -59,6 +61,7 @@ class Car(pygame.sprite.Sprite):
         self.probe_brain()
         self.run = True
         self.distance_run = 0
+        self.creation_dt = datetime.datetime.now()
 
     def reset_car_pos(self):
         self.rect.center = (
@@ -107,7 +110,9 @@ class Car(pygame.sprite.Sprite):
         )
         self.update_sensors()
         self.distance_run += int(distance(old_center, self.rect.center))
-        self.brain.fitness = int(math.sqrt(self.distance_run))
+        self.brain.fitness = int(
+            math.sqrt(self.distance_run)
+        )  # - 2  # penalize jittering
 
     def probe_lines_proximity(self, lines):
         # print(self.center_sensor, lines[0])
@@ -123,7 +128,7 @@ class Car(pygame.sprite.Sprite):
                         pygame.draw.circle(screen, (125, 125, 255), ip, 4, 2)
                     dist = int(distance(ip, self.rect.center))
                     self.probes[idx] = min(dist, self.probes[idx])
-                    if dist < 1.2 * self.speed or self.speed < 0.01:
+                    if dist < 1 * self.speed or self.speed < 0.01:
                         self.run = False
                         self.speed = 0
                         # print(f'Car {id(self)} crashed')
@@ -135,8 +140,8 @@ class Car(pygame.sprite.Sprite):
 
     def probe_brain(self):
         res = self.brain.predict(np.array(self.probes))
-        self.heading_change = res[0] * 15
+        self.heading_change = res[0] * 30
-        self.throttle = res[1] * 10
+        self.throttle = res[1] * 5
 
     def update(self):
         # rotate
@@ -145,7 +150,14 @@ class Car(pygame.sprite.Sprite):
         self.rect = self.image.get_rect()
         self.rect.center = old_center
         self.update_position()
-        if self.speed < 0.01 or self.brain.fitness > CAR_MAX_FITNESS:
+        run_time = (datetime.datetime.now() - self.creation_dt).seconds
+        if run_time > MAX_RUN_TIME:
+            print("RUNTIME EXCEEDED")
+        if (
+            self.speed < 0.01
+            or self.brain.fitness > CAR_MAX_FITNESS
+            or run_time > MAX_RUN_TIME
+        ):
             self.run = False
             print(f"Car {id(self)} crashed")
         # print(

main.py

@@ -7,12 +7,12 @@ import time
 from car import Car
 from genetics import genetic_selection, genetic_reproduction
 from maps import map1
-from params import CELL_COLOR, screen
+from params import CELL_COLOR, GX, GY, screen
 
 
 # https://medium.com/intel-student-ambassadors/demystifying-genetic-algorithms-to-enhance-neural-networks-cde902384b6e
 clock = pygame.time.Clock()
-
+font = pygame.font.SysFont("hack", 24)
 
 map_lines = map1
 
@@ -40,6 +40,8 @@ def run_round(all_cars):
 
         for line in map_lines:
             pygame.draw.line(screen, (255, 255, 255), line[0], line[1])
+        text = font.render(f"Generation {loop}", True, (128, 128, 128))
+        screen.blit(text, (GX - 50 - text.get_width(), text.get_height() // 2))
 
         pygame.display.flip()
         clock.tick(48)
@@ -66,7 +68,9 @@ def run_round(all_cars):
         pygame.display.flip()
 
 
+loop = 0
 while True:
+    loop += 1
     run_round(all_cars)
-    pygame.display.flip()
+    # pygame.display.flip()
-    clock.tick(24)
+    # clock.tick(24)

maps.py

@@ -5,15 +5,18 @@ def generate_map_1():
     path = [
         (25, int(GY - 25)),
         (int(GX / 2), int(GY - 25)),
-        (int(GX / 2 + 75), int(GY - 150)),
+        (int(GX / 2 + 75), int(GY - 130)),
         (int(GX / 2 + 150), int(GY - 150)),
         (int(GX - 75), int(GY / 2)),
         (int(GX - 100), int(GY / 2 - 75)),
         (int(GX - 100), int(GY / 2 - 150)),
         (int(GX - 50), int(GY / 4)),
         (int(3 * GX / 4 - 50), int(50)),
-        (int(50), int(50)),
+        (int(150), int(75)),
+        (int(50), int(150)),
         (int(100), int(GY / 2)),
+        (int(120), int(GY / 2) + 75),
+        (25, int(GY - 150)),
         (25, int(GY - 25)),
     ]
 
@@ -21,14 +24,17 @@ def generate_map_1():
         (100, int(GY - 85)),
         (int(GX / 2 - 50), int(GY - 85)),
         (int(GX / 2 + 50), int(GY - 210)),
-        (int(GX / 2 + 110), int(GY - 210)),
+        (int(GX / 2 + 110), int(GY - 220)),
         (int(GX - 170), int(GY / 2 + 30)),
         (int(GX - 200), int(GY / 2 - 20)),
         (int(GX - 200), int(GY / 2 - 200)),
         (int(GX - 170), int(GY / 4 - 20)),
         (int(3 * GX / 4 - 100), int(120)),
-        (int(120), int(120)),
+        (int(180), int(140)),
+        (int(120), int(180)),
         (int(175), int(GY / 2)),
+        (int(220), int(GY / 2) + 100),
+        (100, int(GY - 120)),
         (100, int(GY - 85)),
     ]
 

params.py

@@ -10,7 +10,8 @@ CAR_SIZE = 20
 CAR_MAX_SPEED = 100
 CAR_MAX_FITNESS = 100
 CAR_STEERING_FACTOR = 10
-VISION_LENGTH = 60
+MAX_RUN_TIME = 60
+VISION_LENGTH = 100
 VISION_SPAN = 35  # degrees
 THROTTLE_POWER = 3