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351 行
13 KiB
351 行
13 KiB
from typing import Dict, NamedTuple, List, Any, Optional, Callable, Set
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import cloudpickle
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import enum
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from mlagents_envs.environment import UnityEnvironment
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from mlagents_envs.exception import (
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UnityCommunicationException,
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UnityTimeOutException,
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UnityEnvironmentException,
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UnityCommunicatorStoppedException,
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)
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from multiprocessing import Process, Pipe, Queue
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from multiprocessing.connection import Connection
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from queue import Empty as EmptyQueueException
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from mlagents_envs.base_env import BaseEnv, BehaviorName, BehaviorSpec
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from mlagents_envs import logging_util
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from mlagents.trainers.env_manager import EnvManager, EnvironmentStep, AllStepResult
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from mlagents_envs.timers import (
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TimerNode,
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timed,
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hierarchical_timer,
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reset_timers,
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get_timer_root,
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)
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from mlagents.trainers.settings import ParameterRandomizationSettings
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from mlagents.trainers.action_info import ActionInfo
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from mlagents_envs.side_channel.environment_parameters_channel import (
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EnvironmentParametersChannel,
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)
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from mlagents_envs.side_channel.engine_configuration_channel import (
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EngineConfigurationChannel,
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EngineConfig,
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)
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from mlagents_envs.side_channel.stats_side_channel import (
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StatsSideChannel,
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EnvironmentStats,
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)
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from mlagents_envs.side_channel.side_channel import SideChannel
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logger = logging_util.get_logger(__name__)
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class EnvironmentCommand(enum.Enum):
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STEP = 1
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BEHAVIOR_SPECS = 2
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ENVIRONMENT_PARAMETERS = 3
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RESET = 4
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CLOSE = 5
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ENV_EXITED = 6
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class EnvironmentRequest(NamedTuple):
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cmd: EnvironmentCommand
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payload: Any = None
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class EnvironmentResponse(NamedTuple):
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cmd: EnvironmentCommand
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worker_id: int
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payload: Any
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class StepResponse(NamedTuple):
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all_step_result: AllStepResult
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timer_root: Optional[TimerNode]
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environment_stats: EnvironmentStats
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class UnityEnvWorker:
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def __init__(self, process: Process, worker_id: int, conn: Connection):
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self.process = process
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self.worker_id = worker_id
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self.conn = conn
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self.previous_step: EnvironmentStep = EnvironmentStep.empty(worker_id)
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self.previous_all_action_info: Dict[str, ActionInfo] = {}
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self.waiting = False
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def send(self, cmd: EnvironmentCommand, payload: Any = None) -> None:
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try:
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req = EnvironmentRequest(cmd, payload)
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self.conn.send(req)
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except (BrokenPipeError, EOFError):
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raise UnityCommunicationException("UnityEnvironment worker: send failed.")
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def recv(self) -> EnvironmentResponse:
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try:
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response: EnvironmentResponse = self.conn.recv()
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if response.cmd == EnvironmentCommand.ENV_EXITED:
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env_exception: Exception = response.payload
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raise env_exception
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return response
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except (BrokenPipeError, EOFError):
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raise UnityCommunicationException("UnityEnvironment worker: recv failed.")
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def close(self):
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try:
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self.conn.send(EnvironmentRequest(EnvironmentCommand.CLOSE))
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except (BrokenPipeError, EOFError):
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logger.debug(
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f"UnityEnvWorker {self.worker_id} got exception trying to close."
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)
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pass
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logger.debug(f"UnityEnvWorker {self.worker_id} joining process.")
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self.process.join()
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def worker(
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parent_conn: Connection,
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step_queue: Queue,
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pickled_env_factory: str,
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worker_id: int,
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engine_configuration: EngineConfig,
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log_level: int = logging_util.INFO,
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) -> None:
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env_factory: Callable[
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[int, List[SideChannel]], UnityEnvironment
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] = cloudpickle.loads(pickled_env_factory)
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env_parameters = EnvironmentParametersChannel()
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engine_configuration_channel = EngineConfigurationChannel()
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engine_configuration_channel.set_configuration(engine_configuration)
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stats_channel = StatsSideChannel()
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env: BaseEnv = None
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# Set log level. On some platforms, the logger isn't common with the
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# main process, so we need to set it again.
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logging_util.set_log_level(log_level)
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def _send_response(cmd_name: EnvironmentCommand, payload: Any) -> None:
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parent_conn.send(EnvironmentResponse(cmd_name, worker_id, payload))
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def _generate_all_results() -> AllStepResult:
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all_step_result: AllStepResult = {}
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for brain_name in env.behavior_specs:
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all_step_result[brain_name] = env.get_steps(brain_name)
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return all_step_result
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try:
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env = env_factory(
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worker_id, [env_parameters, engine_configuration_channel, stats_channel]
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)
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while True:
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req: EnvironmentRequest = parent_conn.recv()
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if req.cmd == EnvironmentCommand.STEP:
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all_action_info = req.payload
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for brain_name, action_info in all_action_info.items():
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if len(action_info.action) != 0:
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env.set_actions(brain_name, action_info.action)
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env.step()
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all_step_result = _generate_all_results()
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# The timers in this process are independent from all the processes and the "main" process
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# So after we send back the root timer, we can safely clear them.
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# Note that we could randomly return timers a fraction of the time if we wanted to reduce
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# the data transferred.
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# TODO get gauges from the workers and merge them in the main process too.
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env_stats = stats_channel.get_and_reset_stats()
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step_response = StepResponse(
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all_step_result, get_timer_root(), env_stats
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)
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step_queue.put(
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EnvironmentResponse(
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EnvironmentCommand.STEP, worker_id, step_response
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)
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)
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reset_timers()
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elif req.cmd == EnvironmentCommand.BEHAVIOR_SPECS:
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_send_response(EnvironmentCommand.BEHAVIOR_SPECS, env.behavior_specs)
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elif req.cmd == EnvironmentCommand.ENVIRONMENT_PARAMETERS:
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for k, v in req.payload.items():
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if isinstance(v, ParameterRandomizationSettings):
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v.apply(k, env_parameters)
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elif req.cmd == EnvironmentCommand.RESET:
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env.reset()
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all_step_result = _generate_all_results()
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_send_response(EnvironmentCommand.RESET, all_step_result)
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elif req.cmd == EnvironmentCommand.CLOSE:
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break
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except (
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KeyboardInterrupt,
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UnityCommunicationException,
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UnityTimeOutException,
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UnityEnvironmentException,
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UnityCommunicatorStoppedException,
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) as ex:
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logger.info(f"UnityEnvironment worker {worker_id}: environment stopping.")
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step_queue.put(
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EnvironmentResponse(EnvironmentCommand.ENV_EXITED, worker_id, ex)
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)
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_send_response(EnvironmentCommand.ENV_EXITED, ex)
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finally:
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# If this worker has put an item in the step queue that hasn't been processed by the EnvManager, the process
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# will hang until the item is processed. We avoid this behavior by using Queue.cancel_join_thread()
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# See https://docs.python.org/3/library/multiprocessing.html#multiprocessing.Queue.cancel_join_thread for
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# more info.
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logger.debug(f"UnityEnvironment worker {worker_id} closing.")
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step_queue.cancel_join_thread()
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step_queue.close()
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if env is not None:
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env.close()
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logger.debug(f"UnityEnvironment worker {worker_id} done.")
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class SubprocessEnvManager(EnvManager):
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def __init__(
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self,
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env_factory: Callable[[int, List[SideChannel]], BaseEnv],
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engine_configuration: EngineConfig,
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n_env: int = 1,
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):
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super().__init__()
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self.env_workers: List[UnityEnvWorker] = []
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self.step_queue: Queue = Queue()
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for worker_idx in range(n_env):
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self.env_workers.append(
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self.create_worker(
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worker_idx, self.step_queue, env_factory, engine_configuration
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)
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)
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@staticmethod
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def create_worker(
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worker_id: int,
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step_queue: Queue,
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env_factory: Callable[[int, List[SideChannel]], BaseEnv],
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engine_configuration: EngineConfig,
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) -> UnityEnvWorker:
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parent_conn, child_conn = Pipe()
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# Need to use cloudpickle for the env factory function since function objects aren't picklable
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# on Windows as of Python 3.6.
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pickled_env_factory = cloudpickle.dumps(env_factory)
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child_process = Process(
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target=worker,
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args=(
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child_conn,
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step_queue,
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pickled_env_factory,
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worker_id,
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engine_configuration,
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logger.level,
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),
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)
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child_process.start()
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return UnityEnvWorker(child_process, worker_id, parent_conn)
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def _queue_steps(self) -> None:
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for env_worker in self.env_workers:
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if not env_worker.waiting:
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env_action_info = self._take_step(env_worker.previous_step)
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env_worker.previous_all_action_info = env_action_info
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env_worker.send(EnvironmentCommand.STEP, env_action_info)
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env_worker.waiting = True
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def _step(self) -> List[EnvironmentStep]:
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# Queue steps for any workers which aren't in the "waiting" state.
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self._queue_steps()
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worker_steps: List[EnvironmentResponse] = []
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step_workers: Set[int] = set()
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# Poll the step queue for completed steps from environment workers until we retrieve
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# 1 or more, which we will then return as StepInfos
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while len(worker_steps) < 1:
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try:
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while True:
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step: EnvironmentResponse = self.step_queue.get_nowait()
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if step.cmd == EnvironmentCommand.ENV_EXITED:
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env_exception: Exception = step.payload
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raise env_exception
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self.env_workers[step.worker_id].waiting = False
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if step.worker_id not in step_workers:
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worker_steps.append(step)
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step_workers.add(step.worker_id)
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except EmptyQueueException:
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pass
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step_infos = self._postprocess_steps(worker_steps)
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return step_infos
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def _reset_env(self, config: Optional[Dict] = None) -> List[EnvironmentStep]:
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while any(ew.waiting for ew in self.env_workers):
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if not self.step_queue.empty():
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step = self.step_queue.get_nowait()
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self.env_workers[step.worker_id].waiting = False
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# Send config to environment
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self.set_env_parameters(config)
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# First enqueue reset commands for all workers so that they reset in parallel
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for ew in self.env_workers:
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ew.send(EnvironmentCommand.RESET, config)
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# Next (synchronously) collect the reset observations from each worker in sequence
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for ew in self.env_workers:
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ew.previous_step = EnvironmentStep(ew.recv().payload, ew.worker_id, {}, {})
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return list(map(lambda ew: ew.previous_step, self.env_workers))
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def set_env_parameters(self, config: Dict = None) -> None:
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"""
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Sends environment parameter settings to C# via the
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EnvironmentParametersSidehannel for each worker.
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:param config: Dict of environment parameter keys and values
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"""
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for ew in self.env_workers:
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ew.send(EnvironmentCommand.ENVIRONMENT_PARAMETERS, config)
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@property
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def training_behaviors(self) -> Dict[BehaviorName, BehaviorSpec]:
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self.env_workers[0].send(EnvironmentCommand.BEHAVIOR_SPECS)
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return self.env_workers[0].recv().payload
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def close(self) -> None:
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logger.debug("SubprocessEnvManager closing.")
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self.step_queue.close()
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self.step_queue.join_thread()
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for env_worker in self.env_workers:
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env_worker.close()
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def _postprocess_steps(
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self, env_steps: List[EnvironmentResponse]
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) -> List[EnvironmentStep]:
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step_infos = []
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timer_nodes = []
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for step in env_steps:
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payload: StepResponse = step.payload
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env_worker = self.env_workers[step.worker_id]
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new_step = EnvironmentStep(
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payload.all_step_result,
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step.worker_id,
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env_worker.previous_all_action_info,
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payload.environment_stats,
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)
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step_infos.append(new_step)
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env_worker.previous_step = new_step
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if payload.timer_root:
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timer_nodes.append(payload.timer_root)
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if timer_nodes:
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with hierarchical_timer("workers") as main_timer_node:
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for worker_timer_node in timer_nodes:
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main_timer_node.merge(
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worker_timer_node, root_name="worker_root", is_parallel=True
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)
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return step_infos
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@timed
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def _take_step(self, last_step: EnvironmentStep) -> Dict[BehaviorName, ActionInfo]:
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all_action_info: Dict[str, ActionInfo] = {}
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for brain_name, step_tuple in last_step.current_all_step_result.items():
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if brain_name in self.policies:
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all_action_info[brain_name] = self.policies[brain_name].get_action(
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step_tuple[0], last_step.worker_id
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)
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return all_action_info
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