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 __init__(self, level, time_step=0.05, port=9090, max_cte=5.0, verbose=False, cam_resolution=(120, 160, 3)): self.address = ('0.0.0.0', port) self.handler = DonkeyUnitySimHandler(level, time_step=time_step, max_cte=max_cte, verbose=verbose, cam_resolution=cam_resolution) try: self.server = SimServer(self.address, self.handler) except OSError: print('raising custom error') raise SimFailed("failed to listen on address %s" % self.address) self.thread = Thread(target=asyncore.loop) self.thread.daemon = True self.thread.start()
def __init__(self, level, time_step=0.05, port=9090): self.level = level self.time_step = time_step self.verbose = False self.wait_time_for_obs = 0.1 # sensor size - height, width, depth self.camera_img_size = (80, 160, 3) self.address = ('0.0.0.0', port) self.handler = DonkeyUnitySimHandler(level, time_step=time_step) self.server = SimServer(self.address, self.handler) self.thread = Thread(target=asyncore.loop) self.thread.daemon = True self.thread.start()
def go(filename, address, constant_throttle, gif): model = load_model(filename) #In this mode, looks like we have to compile it model.compile("sgd", "mse") movie_handler = None if gif != "none": movie_handler = GifCreator(gif) #setup the server handler = DonkeySimMsgHandler(model, constant_throttle, movie_handler) server = SimServer(address, handler) try: #asyncore.loop() will keep looping as long as any asyncore dispatchers are alive asyncore.loop() except KeyboardInterrupt: #unless some hits Ctrl+C and then we get this interrupt print('stopping')