| extends "res://addons/godot_rl_agents/sync.gd" | |
| ## Adds the control mode selection from: https://github.com/edbeeching/godot_rl_agents_plugin/pull/19 | |
| enum ControlModes {HUMAN, TRAINING, ONNX_INFERENCE} | |
| var control_mode: ControlModes = ControlModes.TRAINING | |
| func _initialize(): | |
| _get_agents() | |
| _obs_space = agents[0].get_obs_space() | |
| _action_space = agents[0].get_action_space() | |
| args = _get_args() | |
| Engine.physics_ticks_per_second = _get_speedup() * 60 | |
| Engine.time_scale = _get_speedup() * 1.0 | |
| prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up) | |
| _set_heuristic("human") | |
| match control_mode: | |
| ControlModes.TRAINING: | |
| connected = connect_to_server() | |
| if connected: | |
| _set_heuristic("model") | |
| _handshake() | |
| _send_env_info() | |
| else: | |
| push_warning("Couldn't connect to Python server, using human controls instead. ", | |
| "Did you start the training server using e.g. `gdrl` from the console?") | |
| ControlModes.ONNX_INFERENCE: | |
| assert(FileAccess.file_exists(onnx_model_path), "Onnx Model Path set on Sync node does not exist: %s" % onnx_model_path) | |
| onnx_model = ONNXModel.new(onnx_model_path, 1) | |
| _set_heuristic("model") | |
| ControlModes.HUMAN: | |
| _reset_all_agents() | |
| _set_seed() | |
| _set_action_repeat() | |
| initialized = true | |