Gym_new.py

import asyncio
import random
import json

import websockets
import logging


class Gym:
    host = None
    port = None
    player = None
    logger = None


    def __init__(self, host ='localhost', port =9080, player ="player1"):
        self.host = host
        self.port = port
        self.player = player
        random.seed()

        self.logger = logging.getLogger('websockets')
        self.logger.setLevel(logging.INFO)
        self.logger.addHandler(logging.StreamHandler())
        print('New gym instance IP:', host, 'Port:', port, 'Playername:', player)
        
    # Call reset function of environment and returns observation, reward, done, info
    # Send data to reset enviroment
    async def reset(self, delta):
        message = json.dumps([['reset'], delta], sort_keys=True, indent=4)
        data = []
        await self.send_websocket(message, data)
        all_information = json.loads(data[0])
        reward = all_information[3]
        observation = all_information[0:3]
        done = all_information[4]
        info = all_information[5]
        return observation, reward, done, info

    # send action to env returns observation, reward, done, info
    # Obeservation is an array with the following information: 
    # [speed, steering-angle, [length of all sensors (starting straight and then clockwise around the car)]]
    # creates JSON object
    async def step(self, action, delta):
        global maxaction
        message = []
        if action.find("accelerate")!=-1:
            message.append( "accelerate")
        if action.find("left")!= -1:
            message.append( "steer_left")
        if action.find("right")!= -1:
            message.append("steer_right")
        if action.find("brake")!= -1:
            message.append("brake")
        if action.find("reverse")!= -1:
            message.append("reverse")
        if action.find("screen_on")!= -1:
            message.append("screen_on")
        if action.find("screen_off")!= -1:
            message.append("screen_off")
        
        message = json.dumps([message,delta], sort_keys=True, indent=4)
        data = []
        
        await self.send_websocket(message, data)
        all_information = json.loads(data[0])
        reward = all_information[3]
        observation = all_information[0:3]
        done = all_information[4]
        info = all_information[5]
        return observation, reward, done, info

    async def connect_websocket(self):
        print("creating Websocket ")
        uri = "ws://localhost:9080"
        self.websocket = await websockets.connect(uri)

    
    async def send_websocket(self, message, data):
            await self.websocket.send(message)
            data.append(await self.websocket.recv())

    async def close_websocket(self):
        await self.websocket.close()