public void run()
{
bool result;
AgentConnection agentConnection;
InstantiateRequest request;
//simulationState.stdout.Send("CH: entering main loop\n");
tcpListener.Start();
while (!quit)
{
Thread.Sleep(0);
tcpClient = tcpListener.AcceptTcpClient();
agentConnection = new AgentConnection(simulationState, tcpClient);
//simulationState.stdout.Send(String.Format("CH: accepted client.\n"));
if (agentConnection.init())
{
agentConnections.Add(agentConnection);
request = new InstantiateRequest(agentConnection);
simulationState.instantiateRequests.Send(request);
// Block until we get the signal that the agent has been instantiated in the simulation.
// Then, we can start running it's thread and it's perceive-act loop.
if (instantiationResults.Recv(out result))
{
if (result)
{
agentConnection.start();
}
else
{
Debug.Log("CH Error: instantiation unsuccesful.");
}
}
else
{
Debug.LogError("CH Error: instantiation empty.");
}
}
}
//simulationState.stdout.Send("CH: exit main loop.\n");
}
public void run()
{
int agentID = agentState.agentID;
MailBox <PerceptRequest> perceptRequests = simulationState.perceptRequests; //To send percept requests to unity
MailBox <Percept> percepts = agentState.percepts; //To receive percepts from unity
MailBox <Action> actions = agentState.actions; //To send action request to unity
MailBox <ActionResult> results = agentState.results; //To receive action result from unit
Percept percept;
Action action;
ActionResult result;
while (!quit)
{
Thread.Sleep(0);
try {
//Receive request: for perception or action.
receiveRequest(out action);
if (action == null) //Percept request received
{
perceptRequests.Send(new PerceptRequest(agentID, percepts)); // send a percept request to unity
//simulationState.stdout.Send(String.Format("AC {0}: sending percept request.\n", name));
percepts.Recv(out percept); // block until I receive percept from unity
//simulationState.stdout.Send(String.Format("AC {0}: percept ready, sending...\n", name));
sendPercept(percept); // send percept to agent
}
else //Action request received
//simulationState.stdout.Send(String.Format("AC {0}: action received.\n", name));
{
if (action.type == ActionType.goodbye) // if the action is say goodbye, close the connection
{
sendResult(ActionResult.success);
quit = true;
}
else
{
//simulationState.stdout.Send(String.Format("AC {0}: sending action to handler...\n", name));
actions.Send(action); // send action to handler
if (results.Recv(out result)) // get action result from handler
//simulationState.stdout.Send(String.Format("AC {0}: action result received.\n", name));
//Thread.Sleep(action.duration); // sleep for the duration of the action.
//simulationState.stdout.Send(String.Format("AC {0}: sending action result to agent.\n", name));
{
sendResult(result); // send action result to agent
}
}
//sendResult(ActionResult.success); //PETOR
//simulationState.stdout.Send(String.Format("AC {0}: perceive-act loop iteration complete.\n", name));
}
}
catch (System.ObjectDisposedException) {
quit = true;
}
catch (System.IO.IOException) {
quit = true;
}
}
//simulationState.stdout.Send(String.Format("AC {0}: quitting...\n", name));
try {
tcpClient.Close();
//simulationState.stdout.Send(String.Format("AC {0}: Connection closed.\n", name));
}
catch (System.ObjectDisposedException) {
//simulationState.stdout.Send(String.Format("AC {0}: Error while closing connection.\n", name));
}
}
