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)