| 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]) | |