void EnvironmentStep()
{
if (stepCount % DecisionPeriod == 0)
{
var actionReq = new BrainActionRequest();
foreach (KeyValuePair <int, RemoteAction> agent in m_RemoteAgents)
{
float[] lowerObs = agent.Value.remoteAgent.GetLowerObservations();
float[] upperObs = agent.Value.remoteAgent.GetUpperObservations();
var obs = new Observations()
{
};
obs.LowerObservations.AddRange(lowerObs);
obs.UpperObservations.AddRange(upperObs);
obs.ArucoMarkerID = agent.Value.remoteAgent.m_ArucoMarkerID;
actionReq.Observations.Add(obs);
}
// Send sensor data to remote brain
brainActionRes = brainServerClient.GetAction(actionReq);
MakeActions(brainActionRes);
}
else if (TakeActionsBetweenDecisions)
{
MakeActions(brainActionRes);
}
stepCount++;
}
public override Task <BrainActionResponse> GetAction(BrainActionRequest req, ServerCallContext context)
{
try
{
foreach (var actionReq in req.Observations)
{
var lowerObsList = new List <float>();
lowerObsList.AddRange(actionReq.LowerObservations);
var upperObsList = new List <float>();
upperObsList.AddRange(actionReq.UpperObservations);
// Set observations to remote agent.
agentDict[actionReq.ArucoMarkerID].SetObservations(lowerObsList.ToArray(), upperObsList.ToArray());
agentDict[actionReq.ArucoMarkerID].RequestDecision();
}
var brainActionRes = new BrainActionResponse();
foreach (KeyValuePair <int, RemoteAIRobotAgent> agent in agentDict)
{
int action = -1;
while (action < 0)
{
action = agent.Value.GetDecidedAction();
if (action != -1)
{
break;
}
Thread.Sleep(3);
}
var newAction = new RobotAction()
{
Action = action, ArucoMarkerID = agent.Key
};
brainActionRes.Actions.Add(newAction);
}
// Send remote agents action back.
return(Task.FromResult(brainActionRes));
}
catch (Exception error)
{
Debug.Log(error);
var brainActionResFail = new BrainActionResponse();
foreach (KeyValuePair <int, RemoteAIRobotAgent> agent in agentDict)
{
var newAction = new RobotAction()
{
Action = 0, ArucoMarkerID = agent.Key
};
brainActionResFail.Actions.Add(newAction);
}
return(Task.FromResult(brainActionResFail));
}
}
public BrainActionResponse GetAction(BrainActionRequest actionReqs)
{
var actions = _client.GetAction(actionReqs);
return(actions);
}
