def __init__(self, host):
self.host = host
self.id = random_id()
self.ping_msg = construct_action(self.id)
self.robot_sock = make_push_socket(host)
self.robot_sock.send_string(self.ping_msg)
self.cam = SubCameraMaster(host)
def step(self, action, with_observation=True):
assert len(action) == 2
msg = construct_action(self.id, action=action)
# run action on robot
self.robot_sock.send_string(msg)
print("sent action:", msg)
# return last known camera image #FIXME: this must be non-blocking and re-send ping if necessary
if with_observation:
return self.cam.get_img_blocking()
else:
return None
def step(self, action, with_observation=True):
assert len(action) == 2 or len(action) == 5
msg = construct_action(self.id, action=action)
# before we send an action, we zero the last
# observation to prevent caching errors
self.cam.empty_cache()
# run action on robot
self.robot_sock.send_string(msg)
# print("sent action:", msg)
# return last known camera image #FIXME: this must be non-blocking and re-send ping if necessary
if with_observation:
return self._failsafe_observe(msg)
else:
return None
def __init__(self, host, silent=False):
self.host = host
self.silent = silent
# Create a somewhat random ID for this connection.
# The randomness isn't super important since there
# will only ever be 1-2 clients connected to the same
# server
self.id = random_id()
# Construct a "hello world" messag
self.ping_msg = construct_action(self.id)
# Initialize the PUSH socket
self.robot_sock = make_push_socket(host)
self.cam = SubCameraMaster(host, silent=self.silent)
# We have to wait for the thread to launch
self.cam.wait_until_ready()
# say hi to the robot
self._ping()
import time
import numpy as np
from duckietown_slimremote.helpers import random_id, timer
from duckietown_slimremote.networking import get_ip, construct_action, make_push_socket
robot_sock = make_push_socket("quacksparrow.local")
own_id = random_id()
own_ip = get_ip()
msg = construct_action(own_id, own_ip)
# print("sending init", msg)
# robot_sock.send_string(msg)
timings = []
start = time.time()
while True:
action = np.random.uniform(-1, 1, 2)
msg = construct_action(own_id, own_ip, action)
robot_sock.send_string(msg)
timings, start = timer(timings, start, prefix="action")
time.sleep(0.01) # not necessary anymore
# msg = construct_action(own_id, own_ip, (0.5,-0.5))
# robot_sock.send_string(msg)
def reset(self):
msg = construct_action(self.id, action=RESET)
self.robot_sock.send_string(msg)
obs, _, _, _ = self.observe()
return obs
def reset(self):
msg = construct_action(self.id, action=RESET)
self.robot_sock.send_string(msg)
print("sent reset")
