Fix windows bug

Update tests to new rlgym

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rlviser-py"
-version = "0.6.7"
+version = "0.6.8"
 edition = "2021"
 description = "Python implementation that manages a UDP connection to RLViser"
 license = "MIT"

gym_renderer.py

@@ -1,4 +1,4 @@
-from typing import Any, Dict
+from typing import Any
 
 import rlviser_py as rlviser
 import RocketSim as rsim
@@ -8,29 +8,36 @@
 
 
 class RLViserRenderer(Renderer[GameState]):
-
- def __init__(self, tick_rate=120/8):
+ def __init__(self, tick_rate=120 / 8):
  rlviser.set_boost_pad_locations(BOOST_LOCATIONS)
  self.tick_rate = tick_rate
  self.packet_id = 0
 
- def render(self, state: GameState, shared_info: Dict[str, Any]) -> Any:
+ def render(self, state: GameState, shared_info: dict[str, Any]) -> Any:
  boost_pad_states = [bool(timer == 0) for timer in state.boost_pad_timers]
 
  ball = rsim.BallState()
  ball.pos = rsim.Vec(*state.ball.position)
  ball.vel = rsim.Vec(*state.ball.linear_velocity)
  ball.ang_vel = rsim.Vec(*state.ball.angular_velocity)
- # ball.rot_mat = rsim.RotMat(*state.ball.rotation_mtx.transpose().flatten())
+ ball.rot_mat = rsim.RotMat(*state.ball.rotation_mtx.transpose().flatten())
 
  car_data = []
  for idx, car in enumerate(state.cars.values()):
  car_state = self._get_car_state(car)
- car_data.append((idx + 1, car.team_num, rsim.CarConfig(car.hitbox_type), car_state))
+ car_data.append(
+ (idx + 1, car.team_num, rsim.CarConfig(car.hitbox_type), car_state)
+ )
 
  self.packet_id += 1
- rlviser.render(tick_count=self.packet_id, tick_rate=self.tick_rate, game_mode=rsim.GameMode.SOCCAR,
- boost_pad_states=boost_pad_states, ball=ball, cars=car_data)
+ rlviser.render(
+ tick_count=self.packet_id,
+ tick_rate=self.tick_rate,
+ game_mode=rsim.GameMode.SOCCAR,
+ boost_pad_states=boost_pad_states,
+ ball=ball,
+ cars=car_data,
+ )
 
  def close(self):
  rlviser.quit()
@@ -46,7 +53,6 @@ def _get_car_state(self, car: Car):
  car_state.demo_respawn_timer = car.demo_respawn_timer
  car_state.is_on_ground = car.on_ground
  car_state.supersonic_time = car.supersonic_time
- # print(car.boost_amount)
  car_state.boost = car.boost_amount * 100
  car_state.time_spent_boosting = car.boost_active_time
  car_state.handbrake_val = car.handbrake
@@ -66,7 +72,4 @@ def _get_car_state(self, car: Car):
  car_state.auto_flip_timer = car.autoflip_timer
  car_state.auto_flip_torque_scale = car.autoflip_direction
 
- if car.bump_victim_id is not None:
- car_state.car_contact_id = car.bump_victim_id
-
  return car_state

pygymtest.py

@@ -29,15 +29,15 @@
  state_mutator=MutatorSequence(
  FixedTeamSizeMutator(blue_size=2, orange_size=2), KickoffMutator()
  ),
- obs_builder=DefaultObs(zero_padding=None),
- action_parser=RepeatAction(LookupTableAction(), repeats=1),
+ obs_builder=DefaultObs(zero_padding=2),
+ action_parser=RepeatAction(LookupTableAction()),
  reward_fn=CombinedReward((GoalReward(), 10.0), (TouchReward(), 0.1)),
  termination_cond=GoalCondition(),
  truncation_cond=AnyCondition(
  TimeoutCondition(timeout=300.0), NoTouchTimeoutCondition(timeout=30.0)
  ),
  transition_engine=RocketSimEngine(),
- renderer=RLViserRenderer(120),
+ renderer=RLViserRenderer(),
  )
 
  # simulate 2 episodes
@@ -48,17 +48,15 @@
  t0 = time.time()
  while True:
  actions = {}
- for agent_id, action_space in env.action_spaces.items():
- # agent.act(obs) | Your agent should go here
- actions[agent_id] = np.random.randint(action_space, size=(1,))
+ for agent_id, (type, action_spaces) in env.action_spaces.items():
+ actions[agent_id] = np.random.randint(action_spaces, size=(1,))
 
- for _ in range(8):
- obs_dict, reward_dict, terminated_dict, truncated_dict = env.step(
- actions
- )
- env.render()
- time.sleep(max(0, t0 + steps / (120 * game_speed) - time.time()))
- steps += 1
+ obs_dict, reward_dict, terminated_dict, truncated_dict = env.step(
+ actions
+ )
+ env.render()
+ time.sleep(15 / 120 / game_speed)
+ steps += 1
 
  for agent_id, reward in reward_dict.items():
  ep_reward[agent_id] += reward

rlviser_py.pyi

@@ -1,28 +1,28 @@
-from typing import Sequence, Optional, Tuple
+from typing import Sequence, Optional
 
-from RocketSim import BallState, CarState, GameMode
+from RocketSim import BallState, CarState, GameMode, CarConfig
 
-type TVec3 = Tuple[float, float, float]
+type TVec3 = tuple[float, float, float]
 """
 The items are (X, Y, Z) respectively
 """
-type TRotmat = Tuple[TVec3, TVec3, TVec3]
+type TRotmat = tuple[TVec3, TVec3, TVec3]
 """
 The items are (forward, right, up) respectively
 """
-type TBall = Tuple[TVec3, TRotmat, TVec3, TVec3]
+type TBall = tuple[TVec3, TRotmat, TVec3, TVec3]
 """
 The items are (location, rotation, velocity, angular velocity) respectively
 """
-type TCar = Tuple[int, TVec3, TRotmat, TVec3, TVec3, float, bool, bool, bool, float]
+type TCar = tuple[int, TVec3, TRotmat, TVec3, TVec3, float, bool, bool, bool, float]
 """
 The items are (car_id, location, rotation, velocity, angular velocity, boost, has jumped, has double jumped, has flipped, demo respawn timer) respectively
 """
 
 def set_boost_pad_locations(locations: Sequence[TVec3]) -> ...:
  pass
 
-def get_state_set() -> Optional[Tuple[Sequence[float], TBall, Sequence[TCar]]]:
+def get_state_set() -> Optional[tuple[Sequence[float], TBall, Sequence[TCar]]]:
  """
  Sequence[float] - Boost pad states, 0 for full and some positive value for the time in seconds until it respawns
  TBall - Ball state
@@ -61,7 +61,12 @@ def report_game_paused(paused: bool) -> ...:
  """
  pass
 
-def render(tick_count: int, tick_rate: float, game_mode: GameMode, boost_pad_states: Sequence[bool], ball: BallState, cars: Sequence[Tuple[int, CarState]]) -> ...:
+type CarData = tuple[int, int, CarConfig, CarState]
+"""
+The items are (car_id, team, car_config, car_state) respectively
+"""
+
+def render(tick_count: int, tick_rate: float, game_mode: GameMode, boost_pad_states: Sequence[bool], ball: BallState, cars: Sequence[CarData]) -> ...:
  pass
 
 def quit() -> ...:

src/socket.rs

@@ -91,7 +91,21 @@ impl SocketHandler {
 
  match packet_type {
  UdpPacketTypes::GameState => {
- self.socket.peek_from(&mut min_game_state_buf)?;
+ #[cfg(windows)]
+ {
+ while let Err(e) = self.socket.peek_from(&mut min_game_state_buf) {
+ if let Some(code) = e.raw_os_error() {
+ if code == 10040 {
+ break;
+ }
+ }
+ }
+ }
+
+ #[cfg(not(windows))]
+ {
+ while self.socket.peek_from(&mut min_game_state_buf).is_err() {}
+ }
 
  let num_bytes = GameState::get_num_bytes(&min_game_state_buf);
  game_state_buffer.resize(num_bytes, 0);