class DonkeyUnitySimContoller:
"""
Wrapper for communicating with unity simulation.
:param level: (int) Level index
:param port: (int) Port to use for communicating with the simulator
:param max_cte_error: (float) Max cross track error before reset
"""
def __init__(self, level, port=9090, max_cte_error=3.0):
self.level = level
self.verbose = False
# sensor size - height, width, depth
self.camera_img_size = INPUT_DIM
self.address = ('0.0.0.0', port)
# Socket message handler
self.handler = DonkeyUnitySimHandler(level,
max_cte_error=max_cte_error)
# Create the server to which the unity sim will connect
self.server = SimServer(self.address, self.handler)
# Start the Asynchronous socket handler thread
self.thread = Thread(target=asyncore.loop)
self.thread.daemon = True
self.thread.start()
def close_connection(self):
return self.server.handle_close()
def wait_until_loaded(self):
while not self.handler.loaded:
print("Waiting for sim to start...")
time.sleep(3.0)
def reset(self):
self.handler.reset()
def get_sensor_size(self):
return self.handler.get_sensor_size()
def take_action(self, action):
self.handler.take_action(action)
def get_original_image(self):
return self.handler.original_image
def observe(self):
return self.handler.observe()
def quit(self):
pass
def render(self, mode):
pass
def is_game_over(self):
return self.handler.is_game_over()
def calc_reward(self, done):
return self.handler.calc_reward(done)
class DonkeyUnitySimContoller:
"""
Wrapper for communicating with unity simulation.
:param level: (int) Level index
:param port: (int) Port to use for communicating with the simulator
:param max_cte_error: (float) Max cross track error before reset
:param road_style: (int)
:param seed: (int)
:param turn_increment: (float)
"""
def __init__(self,
level,
port=9090,
max_cte_error=3.0,
road_style=0,
seed=0,
turn_increment=1.0):
self.level = level
self.verbose = False
# sensor size - height, width, depth
self.camera_img_size = INPUT_DIM
self.address = ('0.0.0.0', port)
# Socket message handler
self.handler = DonkeyUnitySimHandler(level,
max_cte_error=max_cte_error,
road_style=road_style,
seed=seed,
turn_increment=turn_increment)
# Create the server to which the unity sim will connect
self.server = SimServer(self.address, self.handler)
# Start the Asynchronous socket handler thread
self.thread = Thread(target=asyncore.loop)
self.thread.daemon = True
self.thread.start()
def close_connection(self):
return self.server.handle_close()
def wait_until_loaded(self):
"""
Wait for a client (Unity simulator).
"""
while not self.handler.loaded:
print(
"Waiting for sim to start..."
"if the simulation is running, press EXIT to go back to the menu"
)
time.sleep(3.0)
self.regen_road()
def reset(self):
self.handler.reset()
def regen_road(self):
self.handler.send_regen_road()
def seed(self, seed):
self.handler.seed = seed
def get_sensor_size(self):
"""
:return: (int, int, int)
"""
return self.handler.get_sensor_size()
def take_action(self, action):
self.handler.take_action(action)
def observe(self):
"""
:return: (np.ndarray)
"""
return self.handler.observe()
def quit(self):
pass
def render(self, mode):
pass
def is_game_over(self):
return self.handler.is_game_over()
def calc_reward(self, done):
return self.handler.calc_reward(done)