Merge pull request #48 from Maximellerbach/level-name-to-str

switched level indexes to str, it will be easier to add new tracks to the gym-donkeycar code
tawnkramer · Sep 27, 2020 · 2633a7a · 2633a7a
2 parents 1687f0d + fbc3451
commit 2633a7a
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Showing 2 changed files with 12 additions and 9 deletions.
diff --git a/gym_donkeycar/envs/donkey_env.py b/gym_donkeycar/envs/donkey_env.py
@@ -137,34 +137,34 @@ def is_game_over(self):
 class GeneratedRoadsEnv(DonkeyEnv):
 
     def __init__(self, *args, **kwargs):
-        super(GeneratedRoadsEnv, self).__init__(level=0, *args, **kwargs)
+        super(GeneratedRoadsEnv, self).__init__(level='generated_road', *args, **kwargs)
 
 
 class WarehouseEnv(DonkeyEnv):
 
     def __init__(self, *args, **kwargs):
-        super(WarehouseEnv, self).__init__(level=1, *args, **kwargs)
+        super(WarehouseEnv, self).__init__(level='warehouse', *args, **kwargs)
 
 
 class AvcSparkfunEnv(DonkeyEnv):
 
     def __init__(self, *args, **kwargs):
-        super(AvcSparkfunEnv, self).__init__(level=2, *args, **kwargs)
+        super(AvcSparkfunEnv, self).__init__(level='sparkfun_avc', *args, **kwargs)
 
 
 class GeneratedTrackEnv(DonkeyEnv):
 
     def __init__(self, *args, **kwargs):
-        super(GeneratedTrackEnv, self).__init__(level=3, *args, **kwargs)
+        super(GeneratedTrackEnv, self).__init__(level='generated_track', *args, **kwargs)
 
 
 class MountainTrackEnv(DonkeyEnv):
 
     def __init__(self, *args, **kwargs):
-        super(MountainTrackEnv, self).__init__(level=4, *args, **kwargs)
+        super(MountainTrackEnv, self).__init__(level='mountain_track', *args, **kwargs)
 
 
 class RoboRacingLeagueTrackEnv(DonkeyEnv):
 
     def __init__(self, *args, **kwargs):
-        super(RoboRacingLeagueTrackEnv, self).__init__(level=5, *args, **kwargs)
+        super(RoboRacingLeagueTrackEnv, self).__init__(level='roboracingleague_1', *args, **kwargs)
diff --git a/gym_donkeycar/envs/donkey_sim.py b/gym_donkeycar/envs/donkey_sim.py
@@ -81,7 +81,7 @@ class DonkeyUnitySimHandler(IMesgHandler):
 
     def __init__(self, conf):
         self.conf = conf
-        self.iSceneToLoad = conf["level"]
+        self.SceneToLoad = conf["level"]
         self.loaded = False
         self.max_cte = conf["max_cte"]
         self.timer = FPSTimer()
@@ -320,8 +320,11 @@ def on_recv_scene_names(self, data):
         if data:
             names = data['scene_names']
             logger.debug(f"SceneNames: {names}")
-            print("loading scene", self.iSceneToLoad, names[self.iSceneToLoad])
-            self.send_load_scene(names[self.iSceneToLoad])
+            print("loading scene", self.SceneToLoad)
+            if self.SceneToLoad in names:
+                self.send_load_scene(self.SceneToLoad)
+            else:
+                raise ValueError("Scene name not in scene list")
 
     def send_control(self, steer, throttle):
         if not self.loaded: