def _fetch_command(self):
""" Wait for command from the server """
poll_status = self.command_poller.poll(self.configuration.timeout *
1000)
if self.configuration.verbosity > 2:
self.logger.info(
f"Worker {self.client_id} polling for commands[idle={self.is_idle}].."
)
if poll_status:
self.unsuccessful_poll_count = 0
message = pb.WorkerCommand()
message.ParseFromString(self.command_socket.recv())
if self.configuration.verbosity > 3:
self.logger.info("Received command {}".format(message.command))
return message
else:
self.unsuccessful_poll_count += 1
if self.unsuccessful_poll_count >= self.configuration.polling_limit:
if self.configuration.verbosity > 2:
self.logger.info("Polling refresh")
self._command_socket_refresh()
return None
def _send_wake_up_call(self):
""" Send a WAKE_UP message to all the clients """
command = pb.WorkerCommand(
command=pb.WorkerCommand.WAKE_UP,
# nonce=numpy_util.random_int64(),
# nonce=self.last_command_nonce
)
# self.last_command_nonce += 1
self._publish_command(command, remember=False)
def send_client_reset(self):
""" Send worker command to reset the environments if they have been already initialized """
command = pb.WorkerCommand(
command=pb.WorkerCommand.RESET_CLIENT,
# nonce=numpy_util.random_int64(),
nonce=self.last_command_nonce,
instance_id=self.instance_id)
self.last_command_nonce += 1
self._publish_command(command)
def close_environments(self):
""" Close all child environments """
if self.is_closed:
raise ServerClosedException("Environment already closed")
self.is_closed = True
command = pb.WorkerCommand(
command=pb.WorkerCommand.CLOSE,
# nonce=numpy_util.random_int64()
nonce=self.last_command_nonce)
self.last_command_nonce += 1
self._publish_command(command)
self.request_socket.close()
self.command_socket.close()
def _fetch_command_fast(self):
""" Wait for command from the server """
poll_status = self.command_poller.poll(0)
if self.configuration.verbosity > 2:
self.logger.info(
f"Worker {self.client_id} FAST polling for commands[idle={self.is_idle}].."
)
if poll_status:
self.unsuccessful_poll_count = 0
message = pb.WorkerCommand()
message.ParseFromString(self.command_socket.recv())
if self.configuration.verbosity > 3:
self.logger.info("Received command {}".format(message.command))
return message
else:
return None
def send_actions(self, actions):
"""
Send actions to the environments.
Wait for their responses.
"""
if self.is_closed:
raise ServerClosedException("Environment already closed")
action_bytes = pickle.dumps(actions)
command = pb.WorkerCommand(
command=pb.WorkerCommand.STEP,
# nonce=numpy_util.random_int64(),
nonce=self.last_command_nonce,
actions=action_bytes)
self.last_command_nonce += 1
self._publish_command(command)
self._reset_frame_buffer()
def reset_environments(self):
"""
Reset all underlying client environments.
Returns an array of observations
"""
if self.is_closed:
raise ServerClosedException("Environment already closed")
command = pb.WorkerCommand(
command=pb.WorkerCommand.RESET,
# nonce=numpy_util.random_int64()
nonce=self.last_command_nonce)
self.last_command_nonce += 1
self._publish_command(command)
self._reset_frame_buffer()
obs, _, _, _ = self.gather_frames()
return obs