def initialize(self, inputs: UnityInputProto) -> UnityOutputProto:
self.poll_for_timeout()
aca_param = self.unity_to_external.parent_conn.recv().unity_output
message = UnityMessageProto()
message.header.status = 200
message.unity_input.CopyFrom(inputs)
self.unity_to_external.parent_conn.send(message)
self.unity_to_external.parent_conn.recv()
return aca_param
def exchange(self, inputs: UnityInputProto) -> Optional[UnityOutputProto]:
message = UnityMessageProto()
message.header.status = 200
message.unity_input.CopyFrom(inputs)
self.unity_to_external.parent_conn.send(message)
self.poll_for_timeout()
output = self.unity_to_external.parent_conn.recv()
if output.header.status != 200:
return None
return output.unity_output
def close(self):
"""
Sends a shutdown signal to the unity environment, and closes the grpc connection.
"""
if self.is_open:
message_input = UnityMessageProto()
message_input.header.status = 400
self.unity_to_external.parent_conn.send(message_input)
self.unity_to_external.parent_conn.close()
self.server.stop(False)
self.is_open = False