def handle_gym_message(self, envelope: Envelope) -> None:
"""
Forward a message to gym.
:param envelope: the envelope
:return: None
"""
gym_message = GymSerializer().decode(envelope.message)
performative = gym_message.get("performative")
if GymMessage.Performative(
performative) == GymMessage.Performative.ACT:
action = gym_message.get("action")
step_id = gym_message.get("step_id")
observation, reward, done, info = self.gym_env.step(
action) # type: ignore
msg = GymMessage(performative=GymMessage.Performative.PERCEPT,
observation=observation,
reward=reward,
done=done,
info=info,
step_id=step_id)
msg_bytes = GymSerializer().encode(msg)
envelope = Envelope(to=envelope.sender,
sender=DEFAULT_GYM,
protocol_id=GymMessage.protocol_id,
message=msg_bytes)
self._send(envelope)
elif GymMessage.Performative(
performative) == GymMessage.Performative.RESET:
self.gym_env.reset() # type: ignore
elif GymMessage.Performative(
performative) == GymMessage.Performative.CLOSE:
self.gym_env.close() # type: ignore
def decode(self, obj: bytes) -> Message:
"""
Decode the message.
:param obj: the bytes object
:return: the message
"""
json_msg = json.loads(obj.decode("utf-8"))
performative = GymMessage.Performative(json_msg["performative"])
new_body = copy.copy(json_msg)
new_body["type"] = performative
if performative == GymMessage.Performative.ACT:
action_bytes = base64.b64decode(json_msg["action"])
action = pickle.loads(action_bytes)
new_body["action"] = action
new_body["step_id"] = json_msg["step_id"]
elif performative == GymMessage.Performative.PERCEPT:
# observation, reward and info are gym implementation specific, done is boolean
observation_bytes = base64.b64decode(json_msg["observation"])
observation = pickle.loads(observation_bytes)
new_body["observation"] = observation
reward_bytes = base64.b64decode(json_msg["reward"])
reward = pickle.loads(reward_bytes)
new_body["reward"] = reward
info_bytes = base64.b64decode(json_msg["info"])
info = pickle.loads(info_bytes)
new_body["info"] = info
new_body["step_id"] = json_msg["step_id"]
gym_message = GymMessage(performative=performative, body=new_body)
return gym_message
def encode(self, msg: Message) -> bytes:
"""
Decode the message.
:param msg: the message object
:return: the bytes
"""
performative = GymMessage.Performative(msg.get("performative"))
new_body = copy.copy(msg.body)
new_body["performative"] = performative.value
if performative == GymMessage.Performative.ACT:
action = msg.body["action"] # type: Any
action_bytes = base64.b64encode(
pickle.dumps(action)).decode("utf-8")
new_body["action"] = action_bytes
new_body["step_id"] = msg.body["step_id"]
elif performative == GymMessage.Performative.PERCEPT:
# observation, reward and info are gym implementation specific, done is boolean
observation = msg.body["observation"] # type: Any
observation_bytes = base64.b64encode(
pickle.dumps(observation)).decode("utf-8")
new_body["observation"] = observation_bytes
reward = msg.body["reward"] # type: Any
reward_bytes = base64.b64encode(
pickle.dumps(reward)).decode("utf-8")
new_body["reward"] = reward_bytes
info = msg.body["info"] # type: Any
info_bytes = base64.b64encode(pickle.dumps(info)).decode("utf-8")
new_body["info"] = info_bytes
new_body["step_id"] = msg.body["step_id"]
gym_message_bytes = json.dumps(new_body).encode("utf-8")
return gym_message_bytes
def handle_envelope(self, envelope: Envelope) -> None:
"""
Handle envelopes.
:param envelope: the envelope
:return: None
"""
gym_msg = GymSerializer().decode(envelope.message)
gym_msg_performative = GymMessage.Performative(
gym_msg.get("performative"))
if gym_msg_performative == GymMessage.Performative.PERCEPT:
assert self.context.tasks is not None, "Incorrect initialization."
assert len(self.context.tasks) == 1, "Too many tasks loaded!"
gym_task = cast(GymTask, self.context.tasks[0])
gym_task.proxy_env_queue.put(gym_msg)
else:
raise ValueError(
"Unexpected performative or no step_id: {}".format(
gym_msg_performative))
def handle(self, message: Message, sender: str) -> None:
"""
Handle messages.
:param message: the message
:param sender: the sender
:return: None
"""
gym_msg = cast(GymMessage, message)
gym_msg_performative = GymMessage.Performative(
gym_msg.get("performative"))
if gym_msg_performative == GymMessage.Performative.PERCEPT:
assert self.context.tasks is not None, "Incorrect initialization."
assert len(self.context.tasks) == 1, "Too many tasks loaded!"
gym_task = cast(GymTask, self.context.tasks[0])
gym_task.proxy_env_queue.put(gym_msg)
else:
raise ValueError(
"Unexpected performative or no step_id: {}".format(
gym_msg_performative))