CartPole2dAsync.cs

using System.Threading.Tasks;
using Gym.Environments.Envs.Classic;
using Gym.Rendering.WinForm;
using OneOf;
using RLMatrix;

public class CartPole2dAsync : IEnvironmentAsync<float[,]>
{
    public int stepCounter { get; set; }
    public int maxSteps { get; set; }
    public bool isDone { get; set; }
    public OneOf<int, (int, int)> stateSize { get; set; }
    public int[] actionSize { get; set; }

    private CartPoleEnv myEnv;
    private float[,] myState;

    public CartPole2dAsync()
    {
        Task.Run(async () => await InitialiseAsync()).Wait(); // Initialize in constructor asynchronously
    }

    public Task<float[,]> GetCurrentState()
    {
        return Task.FromResult(myState ?? new float[2, 2]);
    }

    public async Task InitialiseAsync()
    {
        myEnv = new CartPoleEnv(WinFormEnvViewer.Factory);
        stepCounter = 0;
        maxSteps = 100000;
        stateSize = (2, 2);
        actionSize = new int[] { myEnv.ActionSpace.Shape.Size };
        await Task.Run(() => myEnv.Reset()); // Assuming Reset is not async; wrap in Task.Run
        isDone = false;
        myState = new float[2, 2]; // Initialize state with default values
    }

    public Task Reset()
    {
        return Task.Run(() =>
        {
            myEnv.Reset(); // Assuming Reset is not async; wrap in Task.Run
            myState = new float[2, 2];
            isDone = false;
            stepCounter = 0;
        });
    }

    public Task<(float, bool)> Step(int[] actionsIds)
    {
        return Task.Run(() =>
        {
            if (isDone)
                Reset().Wait(); // Reset if done

            var actionId = actionsIds[0];
            var (observation, reward, done, information) = myEnv.Step(actionId);
            SixLabors.ImageSharp.Image img = myEnv.Render();

            float[] observationArray = observation.ToFloatArray();
            myState[0, 0] = observationArray[0];
            myState[0, 1] = observationArray[1];
            myState[1, 0] = observationArray[2];
            myState[1, 1] = observationArray[3];

            isDone = done;
            stepCounter++;

            if (stepCounter > maxSteps)
                isDone = true;

            if (isDone)
                reward = 0;

            return (reward, isDone);
        });
    }

    ~CartPole2dAsync()
    {
        myEnv.CloseEnvironment();
        myEnv.Dispose();
    }
}