Bug fixes in compilation and MoonLanderFixes

Compilation-> Fixing some tyeps errors plus removing "set_mouse_in_window", which is not anymore supported by godot. MoonLander-> Fixing Landing detection and force Lander object to be wake up all the time. (Removing bugs in movement of Lander.)
kimbring2 · Mar 4, 2020 · 31f6da3 · 31f6da3
1 parent 2b865bd
commit 31f6da3
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Showing 7 changed files with 31 additions and 25 deletions.
diff --git a/Environments/LunarLander/Environment.gd b/Environments/LunarLander/Environment.gd
@@ -42,11 +42,15 @@ func read_actions():
 			env_action[0] = 1
 		if Input.is_key_pressed(KEY_ESCAPE):
 			env_action[1] = 1
-	print(env_action)
-	print(agent_action)	
+	#print(env_action)
+	#print(agent_action)	
 	return [agent_action, env_action]
 
 func _process(delta):
+	# Fix sleeping problem with lander
+	# Sometimes it stops moving
+	if $Lander.sleeping:
+		$Lander.sleeping = false
 	if timeout:
 		var actions = read_actions()
 		var agent_action = actions[0]
@@ -60,7 +64,6 @@ func _process(delta):
 
 		if env_action[1] == 1:
 			get_tree().quit()
-
 		$Lander/MainEngine.emitting = false
 		$Lander/LeftEngine.emitting = false
 		$Lander/RightEngine.emitting = false
@@ -115,7 +118,7 @@ func _on_Timer_timeout():
 		reward -= 0.3
 	if $Lander/LeftEngine.emitting or $Lander/RightEngine.emitting: 
 		reward -= 0.03
-	if $Lander.rest:
+	if $Lander.reached_goal:
 		reward += 100.0
 		done = true
 
@@ -127,6 +130,8 @@ func _on_Timer_timeout():
 		mem.sendFloatArray("reward", [reward])
 		mem.sendIntArray("done", [int(done)])
 		sem_observation.post()
+
+
 
 
 func _on_LandingArea_body_entered(body):
@@ -136,4 +141,4 @@ func _on_LandingArea_body_entered(body):
 func _on_LandingArea_body_exited(body):
 	if body.get_instance_id() == $Lander.get_instance_id():
 		in_landing_area = false
-
+
diff --git a/Environments/LunarLander/Ground.gd b/Environments/LunarLander/Ground.gd
@@ -78,4 +78,4 @@ func _draw():
 	var poly = $Polygon2D.get_polygon()
 	for i in range(1 , poly.size()):
 		draw_line(poly[i-1] , poly[i], OutLine , Width)
-	$Polygon2D.draw_line(poly[poly.size() - 1] , poly[0], OutLine , Width)
+	#$Polygon2D.draw_line(poly[poly.size() - 1] , poly[0], OutLine , Width)
diff --git a/Environments/LunarLander/Lander.gd b/Environments/LunarLander/Lander.gd
@@ -15,7 +15,7 @@ var left_engine_power = 1.0
 var right_engine_power = 1.0
 var main_engine_power = 1.0
 
-var rest = false
+var reached_goal = false
 
 #lander state
 var pos_x
@@ -28,6 +28,7 @@ var angle
 var reset = false
 var init_transform
 
+
 func _ready():
 
 	#Getting shapes local indexes
@@ -56,9 +57,9 @@ func _integrate_forces(state):
 		state.set_linear_velocity(Vector2(0.0, 0.0))
 		state.set_angular_velocity(0.0)
 		reset = false
-		
+
 	var glob = state.get_transform()
-		
+
 	if $MainEngine.emitting:
 		var force = glob.basis_xform(Vector2(0.0, -MAIN_ENGINE_MAG))
 		var offset = glob.basis_xform(Vector2(0, 25))
@@ -74,6 +75,7 @@ func _integrate_forces(state):
 		var offset = glob.basis_xform(Vector2(25, -25))
 		apply_impulse(offset, right_engine_power*force)
 
+
 	#Getting colliding shapes indexes
 	right_leg_collided = false
 	left_leg_collided = false
@@ -94,7 +96,9 @@ func _integrate_forces(state):
 	angular_vel = state.get_angular_velocity()
 	angle = glob.get_rotation()
 
-	if state.get_linear_velocity().length()<1.0 and state.get_angular_velocity()<0.01:
-		rest = true
+
+	if left_leg_collided and right_leg_collided and get_parent().in_landing_area:
+		reached_goal = true
 	else:
-		rest = false
+		reached_goal = false
+
diff --git a/GodotPlatform/x11_shared.cpp b/GodotPlatform/x11_shared.cpp
@@ -2041,15 +2041,11 @@ void X11_shared::process_xevents() {
 			case LeaveNotify: {
 				if (main_loop && !mouse_mode_grab)
 					main_loop->notification(MainLoop::NOTIFICATION_WM_MOUSE_EXIT);
-				if (input)
-					input->set_mouse_in_window(false);
 
 			} break;
 			case EnterNotify: {
 				if (main_loop && !mouse_mode_grab)
 					main_loop->notification(MainLoop::NOTIFICATION_WM_MOUSE_ENTER);
-				if (input)
-					input->set_mouse_in_window(true);
 			} break;
 			case FocusIn:
 				minimized = false;

diff --git a/PythonModule/src/cGodotSharedInterface.cpp b/PythonModule/src/cGodotSharedInterface.cpp
@@ -25,7 +25,7 @@ void cSharedMemoryTensor::sendInt(const std::string &name, torch::Tensor T){
         ERROR("Variable already exists");
     }
     try{
-        const ShmemAllocator alloc_inst (segment->get_segment_manager());
+        const ShmemAllocatorInt alloc_inst (segment->get_segment_manager());
         IntVector *myvector = segment->construct<IntVector>(name.c_str())(alloc_inst);
         myvector->resize(T.size(0));
         myvector->assign(T.data<int>(), T.data<int>() + T.size(0));
@@ -45,7 +45,7 @@ void cSharedMemoryTensor::sendFloat(const std::string &name, torch::Tensor T){
         ERROR("Variable already exists");
     }
     try{
-        const ShmemAllocator alloc_inst (segment->get_segment_manager());
+        const ShmemAllocatorFloat alloc_inst (segment->get_segment_manager());
         FloatVector *myvector = segment->construct<FloatVector>(name.c_str())(alloc_inst);
         myvector->resize(T.size(0));
         myvector->assign(T.data<float>(), T.data<float>() + T.size(0));
@@ -136,4 +136,4 @@ void cSharedMemorySemaphore::wait(){
         std::cout<<ex.what()<<std::endl;
     }
     // std::cout<<"wait semaphore "<<*name<<std::endl;
-}
+}
diff --git a/PythonModule/src/cGodotSharedInterface.h b/PythonModule/src/cGodotSharedInterface.h
@@ -9,9 +9,10 @@
 
 using namespace boost::interprocess;
 
-typedef allocator<int, managed_shared_memory::segment_manager>  ShmemAllocator;
-typedef std::vector<int, ShmemAllocator> IntVector;
-typedef std::vector<float, ShmemAllocator> FloatVector;
+typedef allocator<int, managed_shared_memory::segment_manager>  ShmemAllocatorInt;
+typedef allocator<float, managed_shared_memory::segment_manager>  ShmemAllocatorFloat;
+typedef std::vector<int, ShmemAllocatorInt> IntVector;
+typedef std::vector<float, ShmemAllocatorFloat> FloatVector;
 
 struct TensorDescription{
     std::string type;       //Tensor scalar type
@@ -55,4 +56,4 @@ class cSharedMemorySemaphore{
 #define CHECK_CONTIGUOUS(x) AT_ASSERTM(x.is_contiguous(), #x " must be contiguous")
 #define CHECK_TYPE(x,y) AT_ASSERTM(x.dtype()==y, #x " wrong tensor type")
 #define CHECK_CPU_INPUT(x) CHECK_CPU(x); CHECK_CONTIGUOUS(x)
-#define CHECK_CPU_INPUT_TYPE(x, y) CHECK_CPU(x); CHECK_CONTIGUOUS(x); CHECK_TYPE(x, y)
+#define CHECK_CPU_INPUT_TYPE(x, y) CHECK_CPU(x); CHECK_CONTIGUOUS(x); CHECK_TYPE(x, y)
diff --git a/setup.py b/setup.py
@@ -3,7 +3,7 @@
 import argparse
 from shutil import copyfile, copytree, rmtree
 
-GODOT_PATH = "/home/lupoglaz/Projects/godot"
+GODOT_PATH = os.environ["GODOT_PATH"]
 
 def patch_script(filename, patched_line):
 	lines = []
@@ -66,4 +66,4 @@ def install_python_module():
 if __name__=='__main__':
 	install_module(godot_root=GODOT_PATH)
 	install_platform(godot_root=GODOT_PATH)
-	install_python_module()
+	install_python_module()