class RobotEnvironment(Environment):
indim = 2
outdim = 9
robotstarted = False
def __init__(self, polelength=None):
self.robotServer = RobotServer()
self.robotServer.getConnection()
self.sensors = [0,0,0,0,0,0,0,0,0]
self.action = [0,0]
def getSensors(self):
return self.sensors
def updateSensors(self):
state = self.robotServer.getRobotState()
stateVars = state.split(",")
stateVars = map(float, stateVars)
self.sensors = stateVars
def performAction(self, action):
self.action = action
self.step()
def step(self):
self.robotServer.sendAction(self.action[0], self.action[1])
self.updateSensors()
def reset(self):
self.sensors = [0,0,0,0,0,0,0,0,0]
self.action = [0,0]
def start(self):
msg = self.robotServer.readMessage()
if(msg == "Start?"):
self.robotServer.sendStart()
msg = self.robotServer.readMessage()
if(msg == "Starting"):
return True
def end(self):
self.robotServer.sendEnd()
