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97 行
3.9 KiB
97 行
3.9 KiB
import logging
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import socket
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import struct
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from .communicator import Communicator
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from .communicator_objects import UnityMessage, UnityOutput, UnityInput
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from .exception import UnityTimeOutException
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logger = logging.getLogger("mlagents.envs")
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class SocketCommunicator(Communicator):
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def __init__(self, worker_id=0,
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base_port=5005):
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"""
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Python side of the socket communication
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:int base_port: Baseline port number to connect to Unity environment over. worker_id increments over this.
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:int worker_id: Number to add to communication port (5005) [0]. Used for asynchronous agent scenarios.
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"""
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self.port = base_port + worker_id
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self._buffer_size = 12000
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self.worker_id = worker_id
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self._socket = None
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self._conn = None
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def initialize(self, inputs: UnityInput) -> UnityOutput:
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try:
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# Establish communication socket
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self._socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self._socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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self._socket.bind(("localhost", self.port))
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except:
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raise UnityTimeOutException("Couldn't start socket communication because worker number {} is still in use. "
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"You may need to manually close a previously opened environment "
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"or use a different worker number.".format(str(self.worker_id)))
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try:
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self._socket.settimeout(30)
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self._socket.listen(1)
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self._conn, _ = self._socket.accept()
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self._conn.settimeout(30)
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except :
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raise UnityTimeOutException(
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"The Unity environment took too long to respond. Make sure that :\n"
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"\t The environment does not need user interaction to launch\n"
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"\t The Academy and the External Brain(s) are attached to objects in the Scene\n"
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"\t The environment and the Python interface have compatible versions.")
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message = UnityMessage()
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message.header.status = 200
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message.unity_input.CopyFrom(inputs)
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self._communicator_send(message.SerializeToString())
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initialization_output = UnityMessage()
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initialization_output.ParseFromString(self._communicator_receive())
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return initialization_output.unity_output
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def _communicator_receive(self):
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try:
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s = self._conn.recv(self._buffer_size)
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message_length = struct.unpack("I", bytearray(s[:4]))[0]
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s = s[4:]
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while len(s) != message_length:
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s += self._conn.recv(self._buffer_size)
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except socket.timeout as e:
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raise UnityTimeOutException("The environment took too long to respond.")
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return s
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def _communicator_send(self, message):
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self._conn.send(struct.pack("I", len(message)) + message)
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def exchange(self, inputs: UnityInput) -> UnityOutput:
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message = UnityMessage()
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message.header.status = 200
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message.unity_input.CopyFrom(inputs)
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self._communicator_send(message.SerializeToString())
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outputs = UnityMessage()
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outputs.ParseFromString(self._communicator_receive())
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if outputs.header.status != 200:
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return None
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return outputs.unity_output
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def close(self):
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"""
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Sends a shutdown signal to the unity environment, and closes the socket connection.
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"""
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if self._socket is not None and self._conn is not None:
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message_input = UnityMessage()
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message_input.header.status = 400
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self._communicator_send(message_input.SerializeToString())
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if self._socket is not None:
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self._socket.close()
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self._socket = None
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if self._socket is not None:
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self._conn.close()
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self._conn = None
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