byte[] GenerateMessage()
{
Message msg = new Message();
msg.reward = PlayerPrefs.GetFloat("Reward");
msg.image = sensor.GetRgbImages();
msg.depth = sensor.GetDepthImages();
switch (lastAction)
{
case "0":
msg.rotation = PlayerPrefs.GetFloat("Rotation Speed");
break;
case "1":
msg.rotation = -PlayerPrefs.GetFloat("Rotation Speed");
break;
case "2":
msg.movement = PlayerPrefs.GetFloat("Movement Speed");
break;
default:
break;
}
return(packer.Pack(msg));
}
byte[] GenerateMessage()
{
Message msg = new Message();
msg.reward = PlayerPrefs.GetFloat("Reward");
msg.image = sensor.GetRgbImages();
msg.depth = sensor.GetDepthImages();
return(packer.Pack(msg));
}
public void PushAgentState(State s)
{
byte[] msg = packer.Pack(s);
mutAgent.WaitOne();
agentMessageQueue.Enqueue(msg);
mutAgent.ReleaseMutex();
}
void FixedUpdate()
{
if (!ws.IsConnected)
{
Debug.Log("not connected:" + url);
return;
}
if (lastSendTime + cycleTimeStepSize <= Time.time)
{
lastSendTime = Time.time;
if (Time.time - episodeStartTime > episodeTimeLength)
{
TimeOver();
}
if (agent.state.endEpisode)
{
StartNewEpisode();
}
agent.UpdateState();
var packer = new MsgPack.CompiledPacker();
byte[] msg = packer.Pack(agent.state);
received.Reset();
ws.Send(msg);
received.WaitOne();
OnCycleUpdateAfterReceiveAction();
}
}
