class CustomUnityEnv(Wrapper):
GAMES_BETWEEN_RESTARTS = 50
EXECUTABLE_PATH = "C:\\Users\\Alex Thiel\\Google Drive\\Project - 2018 - Deep Reinforcement Learning\\DRL_Playground\\Build\\RobotGame.exe"
observation_space = spaces.Box(0, 0, shape=(84, 84, 1))
action_space = spaces.Discrete(n=NUM_ACTIONS)
def __init__(self):
self.steps_since_restart = 0
self.total_steps_ever = 0
self.latest_total_score = 0
self.total_games = 0
self.episode_rewards = []
# Make sure there aren't any other unity processes running
self._kill_unity()
# Run server
self._open_unity()
self.server = UnityInterface("localhost", 1234)
@property
def env(self):
# This is for fooling the get_wrapper_by_name function
parent = self
class Monitor:
def get_total_steps(self):
return parent.total_steps_ever
def get_episode_rewards(self):
return parent.episode_rewards
return Monitor()
def step(self, action):
"""Return observation, reward, done, info
info is unused"""
self.steps_since_restart += 1
self.total_steps_ever += 1
# Send a state and get a response
with ContextTimer(post_print=False) as timer:
self.server.send_state(action)
is_over, image, new_score = self._get_state()
# # Print FPS?
# if self.total_steps_ever % 1000 == 0:
# print("FPS", 1 / (timer.elapsed + .00001))
# Update the score and log info
reward = new_score - self.latest_total_score
self.latest_total_score = new_score
return image, reward, is_over, None
def reset(self):
"""Return the first observation after reset"""
self.total_games += 1
# Force a restart of the game in case of glitched-out robot
if self.total_games % self.GAMES_BETWEEN_RESTARTS == 0:
self.server.disconnect()
self._kill_unity()
self._open_unity()
self.server.connect()
# Record the previous episodes rewards
self.episode_rewards.append(self.latest_total_score)
# Reset the game
self.server.send_reset()
is_over, image, new_score = self._get_state()
self.latest_total_score = new_score
return image
def close(self):
"""Called after all training is done"""
pass
def _get_state(self):
""""""
is_over, image, new_score = self.server.get_state()
image_gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
image_gray = cv2.resize(image_gray, (84, 84))
image_gray = np.expand_dims(image_gray, axis=2)
return is_over, image_gray, new_score
def _open_unity(self):
print("Running Unity process")
subprocess.Popen([self.EXECUTABLE_PATH])
def _kill_unity(self):
process_name = Path(self.EXECUTABLE_PATH).name
print("Killing Unity process", process_name)
os.system("taskkill /f /im " + process_name)
class UnityALEWrapper(ABC):
def __init__(self, executable_path, action_set, screen_dim, host, port):
"""
:param action_set: An array of integers to send to unity
:param screen_dim: (width, height) of the screen
:param record_data: True/False. If true, images will be saved
"""
self.executable_path = executable_path
self.action_set = action_set
self.screen_dim = screen_dim
self.loadROM()
self.server = UnityInterface(host, port)
self.reset_game()
def kill_process(self):
process_name = Path(self.executable_path).name
print("Killing Unity: ", "taskkill /IM " + process_name)
subprocess.call("taskkill /IM " + process_name)
def act(self, action):
""" Must return the reward """
self.is_game_over, latest_color_frame, new_score = self.server.get_state()
# Calculate reward and store the new score
reward = new_score - self.latest_total_score
self.latest_total_score = new_score
# Convert the latest frame to grayscale
self.latest_frame_bgr = latest_color_frame
self.server.send_state(action)
if reward != 0: print("Received reward of ", reward)
return reward
def getScreenGrayscale(self, screen_buffer):
""" Fill the screen buffer with the latest frame """
gray = cv2.cvtColor(self.latest_frame_bgr, cv2.COLOR_BGR2GRAY)
screen_buffer[...] = gray
def getScreenColor(self, screen_buffer):
""" Fill the screen buffer with the latest frame """
screen_buffer[...] = self.latest_frame_bgr
def reset_game(self):
self.server.get_state()
self.server.send_reset()
self.is_game_over = False
self.latest_total_score = 0
self.latest_frame_bgr = None
def lives(self):
return 1
def game_over(self):
""" Returns True or False """
return self.is_game_over
def getScreenDims(self):
""" Return width, height of the screen"""
return self.screen_dim
def getMinimalActionSet(self):
return self.action_set
# The following functions are only there to maintain compatibility
def setInt(self, *args): pass
def setBool(self, *args): pass
def setFloat(self, *args): pass
def loadROM(self, *args):
print("Starting Unity: ", self.executable_path)
subprocess.Popen([self.executable_path])