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extends Node
# --fixed-fps 2000 --disable-render-loop
var action_repeat = 8
var n_action_steps = 0
const MAJOR_VERSION := "0"
const MINOR_VERSION := "1"
const DEFAULT_PORT := 11008
var client
var connected = false
var message_center
var should_connect = true
var agents
var need_to_send_obs = false
@onready var start_time = Time.get_ticks_msec()
func _ready():
_get_agents()
connected = connect_to_server()
if connected:
_set_heuristic("model")
_handshake()
_send_env_info()
else:
_set_heuristic("human")
func _get_agents():
agents = get_tree().get_nodes_in_group("AGENT")
func _set_heuristic(heuristic):
for agent in agents:
agent.set_heuristic(heuristic)
func _handshake():
print("performing handshake")
var json_dict = _get_dict_json_message()
assert(json_dict["type"] == "handshake")
var major_version = json_dict["major_version"]
var minor_version = json_dict["minor_version"]
if major_version != MAJOR_VERSION:
print("WARNING: major verison mismatch ", major_version, " ", MAJOR_VERSION)
if minor_version != MINOR_VERSION:
print("WARNING: major verison mismatch ", minor_version, " ", MINOR_VERSION)
func _get_dict_json_message():
# returns a dictionary from of the most recent message
# this is not waiting
while client.get_available_bytes() == 0:
if client.get_status() == 3:
print("server disconnected status 3, closing")
get_tree().quit()
return null
if !client.is_connected_to_host():
print("server disconnected, closing")
get_tree().quit()
return null
OS.delay_usec(10)
var message = client.get_string()
var test_json_conv = JSON.new()
test_json_conv.parse(message).result
var json_data = test_json_conv.get_data()
return json_data
func _send_dict_as_json_message(dict):
client.put_string(JSON.new().stringify(dict))
func _send_env_info():
var json_dict = _get_dict_json_message()
assert(json_dict["type"] == "env_info")
var message = {
"type" : "env_info",
"obs_size": agents[0].get_obs_size(),
"action_space":agents[0].get_action_space(),
"n_agents": len(agents)
}
_send_dict_as_json_message(message)
func connect_to_server():
print("trying to connect to server")
client = StreamPeerTCP.new()
client.set_no_delay(true)
#set_process(true)
var ip = "localhost"
var port = _get_port()
var connect = client.connect_to_host(ip, port)
print(connect, client.get_status())
return client.get_status() == 2
func _get_port():
print("getting command line arguments")
var arguments = {}
for argument in OS.get_cmdline_args():
# Parse valid command-line arguments into a dictionary
if argument.find("=") > -1:
var key_value = argument.split("=")
arguments[key_value[0].lstrip("--")] = key_value[1]
print("got port ", arguments.get("port", DEFAULT_PORT))
return int(arguments.get("port", DEFAULT_PORT))
func disconnect_from_server():
client.disconnect_from_host()
func _physics_process(delta):
# two modes, human control, agent control
# pause tree, send obs, get actions, set actions, unpause tree
if n_action_steps % action_repeat != 0:
n_action_steps += 1
return
n_action_steps += 1
if connected:
get_tree().set_pause(true)
if need_to_send_obs:
need_to_send_obs = false
var reward = _get_reward_from_agents()
var done = _get_done_from_agents()
_reset_agents_if_done() # this ensures the new observation is from the next env instance
var obs = _get_obs_from_agents()
var reply = {
"type": "step",
"obs": obs,
"reward": reward,
"done": done
}
_send_dict_as_json_message(reply)
var handled = handle_message()
else:
_reset_agents_if_done()
func handle_message() -> bool:
# get json message: reset, step, close
var message = _get_dict_json_message()
if message["type"] == "close":
print("received close message, closing game")
get_tree().quit()
get_tree().set_pause(false)
return true
if message["type"] == "reset":
_reset_all_agents()
var obs = _get_obs_from_agents()
var reply = {
"type": "reset",
"obs": obs
}
_send_dict_as_json_message(reply)
return handle_message()
if message["type"] == "action":
var action = message["action"]
_set_agent_actions(action)
need_to_send_obs = true
get_tree().set_pause(false)
return true
print("message was not handled")
return false
func _reset_agents_if_done():
for agent in agents:
agent.reset_if_done()
func _reset_all_agents():
for agent in agents:
agent.reset()
func _get_obs_from_agents():
var obs = []
for agent in agents:
obs.append(agent.get_obs())
return obs
func _get_reward_from_agents():
var rewards = []
for agent in agents:
rewards.append(agent.get_reward())
return rewards
func _get_done_from_agents():
var dones = []
for agent in agents:
dones.append(agent.get_done())
return dones
func _set_agent_actions(actions):
for i in range(len(actions)):
agents[i].set_action(actions[i])
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