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99 行
3.8 KiB
99 行
3.8 KiB
import logging
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import grpc
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from multiprocessing import Pipe
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from concurrent.futures import ThreadPoolExecutor
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from .communicator import Communicator
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from communicator_objects import UnityToExternalServicer, add_UnityToExternalServicer_to_server
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from communicator_objects import UnityMessage, UnityInput, UnityOutput
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from .exception import UnityTimeOutException
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logging.basicConfig(level=logging.INFO)
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logger = logging.getLogger("unityagents")
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class UnityToExternalServicerImplementation(UnityToExternalServicer):
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def __init__(self):
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self.parent_conn, self.child_conn = Pipe()
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def Initialize(self, request, context):
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self.child_conn.send(request)
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return self.child_conn.recv()
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def Exchange(self, request, context):
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self.child_conn.send(request)
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return self.child_conn.recv()
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class RpcCommunicator(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 grpc communication. Python is the server and Unity the client
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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.worker_id = worker_id
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self.server = None
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self.unity_to_external = None
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self.is_open = False
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def initialize(self, inputs: UnityInput) -> UnityOutput:
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try:
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# Establish communication grpc
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self.server = grpc.server(ThreadPoolExecutor(max_workers=10))
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self.unity_to_external = UnityToExternalServicerImplementation()
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add_UnityToExternalServicer_to_server(self.unity_to_external, self.server)
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self.server.add_insecure_port('[::]:'+str(self.port))
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self.server.start()
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except :
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raise UnityTimeOutException(
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"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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if not self.unity_to_external.parent_conn.poll(30):
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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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aca_param = self.unity_to_external.parent_conn.recv().unity_output
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self.is_open = True
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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.unity_to_external.parent_conn.send(message)
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self.unity_to_external.parent_conn.recv()
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return aca_param
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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.unity_to_external.parent_conn.send(message)
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output = self.unity_to_external.parent_conn.recv()
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if output.header.status != 200:
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return None
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return output.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 grpc connection.
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"""
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if self.is_open:
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message_input = UnityMessage()
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message_input.header.status = 400
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self.unity_to_external.parent_conn.send(message_input)
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self.unity_to_external.parent_conn.close()
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self.server.stop(False)
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self.is_open = False
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