def download_file(self, s3_key, local_path):
s3_client = self.get_client()
try:
s3_client.download_file(self.bucket, s3_key, local_path)
return True
except botocore.exceptions.ClientError as e:
if e.response['Error']['Code'] == "404":
logger.info(
"Exception [{}] occured on download file-{} from s3 bucket-{} key-{}"
.format(e.response['Error'], local_path, self.bucket,
s3_key))
return False
else:
utils.json_format_logger(
"boto client exception error [{}] occured on download file-{} from s3 bucket-{} key-{}"
.format(e.response['Error'], local_path, self.bucket,
s3_key),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_401))
return False
except Exception as e:
utils.json_format_logger(
"Exception [{}] occcured on download file-{} from s3 bucket-{} key-{}"
.format(e, local_path, self.bucket, s3_key),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_401))
return False
def write_ip_config(self, ip):
try:
s3_client = self.get_client()
data = {"IP": ip}
json_blob = json.dumps(data)
file_handle = io.BytesIO(json_blob.encode())
file_handle_done = io.BytesIO(b'done')
s3_client.upload_fileobj(file_handle, self.bucket, self.config_key)
s3_client.upload_fileobj(file_handle_done, self.bucket,
self.done_file_key)
except botocore.exceptions.ClientError as e:
utils.json_format_logger(
"Write ip config failed to upload to {}, {}".format(
self.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger(
"Write ip config failed to upload to {}, {}".format(
self.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def download_file(self, s3_key, local_path):
s3_client = self.get_client()
try:
s3_client.download_file(self.bucket, s3_key, local_path)
return True
except botocore.exceptions.ClientError as e:
# It is possible that the file isn't there in which case we should return fasle and let the client decide the next action
if e.response['Error']['Code'] == "404":
return False
else:
utils.json_format_logger(
"Unable to download {} from {}: {}".format(
s3_key, self.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger(
"Unable to download {} from {}: {}".format(
s3_key, self.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def store_ip(self, ip_address):
try:
s3_client = self._get_client()
ip_data = {IP_KEY: ip_address}
ip_data_json_blob = json.dumps(ip_data)
ip_data_file_object = io.BytesIO(ip_data_json_blob.encode())
ip_done_file_object = io.BytesIO(b'done')
s3_client.upload_fileobj(ip_data_file_object, self.params.bucket,
self.ip_data_key)
s3_client.upload_fileobj(ip_done_file_object, self.params.bucket,
self.ip_done_key)
except botocore.exceptions.ClientError as e:
utils.json_format_logger(
"Unable to store ip to {}, {}".format(
self.params.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger(
"Unable to store ip to {}, {}".format(self.params.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def download_preset_if_present(self, local_path):
try:
s3_client = self._get_client()
response = s3_client.list_objects(Bucket=self.params.bucket,
Prefix=self.preset_data_key)
# If we don't find a preset, return false
if "Contents" not in response:
return False
success = s3_client.download_file(Bucket=self.params.bucket,
Key=self.preset_data_key,
Filename=local_path)
return success
except botocore.exceptions.ClientError as e:
utils.json_format_logger(
"Unable to download presets from {}, {}".format(
self.params.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger(
"Unable to download presets from {}, {}".format(
self.params.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def upload_model(self, checkpoint_dir):
try:
s3_client = self.get_client()
num_files = 0
for root, _, files in os.walk("./" + checkpoint_dir):
for filename in files:
abs_name = os.path.abspath(os.path.join(root, filename))
s3_client.upload_file(
abs_name, self.bucket, "%s/%s/%s" %
(self.s3_prefix, checkpoint_dir, filename))
num_files += 1
except botocore.exceptions.ClientError as e:
utils.json_format_logger(
"Model failed to upload to {}, {}".format(
self.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger(
"Model failed to upload to {}, {}".format(self.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def download_customer_reward_function(s3_client, reward_file_s3_key):
reward_function_local_path = os.path.join(CUSTOM_FILES_PATH,
"customer_reward_function.py")
success_reward_function_download = s3_client.download_file(
s3_key=reward_file_s3_key, local_path=reward_function_local_path)
if not success_reward_function_download:
utils.json_format_logger(
"Unable to download the reward function code.",
**utils.build_user_error_dict(
utils.SIMAPP_SIMULATION_WORKER_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
traceback.print_exc()
utils.simapp_exit_gracefully()
def upload_finished_file(self):
try:
s3_client = self._get_client()
s3_client.upload_fileobj(Fileobj=io.BytesIO(b''),
Bucket=self.params.bucket,
Key=self._get_s3_key(SyncFiles.FINISHED.value))
except botocore.exceptions.ClientError as e:
utils.json_format_logger("Unable to upload finished file to {}, {}"
.format(self.params.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger("Unable to upload finished file to {}, {}"
.format(self.params.bucket, e),
**utils.build_system_error_dict(utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def upload_file(self, s3_key, local_path):
s3_client = self.get_client()
try:
s3_client.upload_file(Filename=local_path,
Bucket=self.bucket,
Key=s3_key)
return True
except botocore.exceptions.ClientError as e:
utils.json_format_logger(
"Unable to upload {} to {}: {}".format(
s3_key, self.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
except Exception as e:
utils.json_format_logger(
"Unable to upload {} to {}: {}".format(s3_key, self.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
return False
def _wait_for_ip_upload(self, timeout=600):
s3_client = self.get_client()
time_elapsed = 0
while time_elapsed < timeout:
try:
response = s3_client.list_objects(Bucket=self.bucket,
Prefix=self.done_file_key)
except botocore.exceptions.ClientError as e:
utils.json_format_logger(
"Unable to access {}: {}".format(
self.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger(
"Unable to access {}: {}".format(self.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
if "Contents" in response:
return
time.sleep(1)
time_elapsed += 1
if time_elapsed % 5 == 0:
logger.info(
"Waiting for SageMaker Redis server IP... Time elapsed: %s seconds"
% time_elapsed)
utils.json_format_logger(
"Timed out while attempting to retrieve the Redis IP",
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def upload_hyperparameters(self, hyperparams_json):
try:
s3_client = self.get_client()
file_handle = io.BytesIO(hyperparams_json.encode())
s3_client.upload_fileobj(file_handle, self.bucket,
self.hyperparameters_key)
except botocore.exceptions.ClientError as e:
utils.json_format_logger(
"Hyperparameters failed to upload to {}, {}".format(
self.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger(
"Hyperparameters failed to upload to {}, {}".format(
self.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def get_ip(self):
s3_client = self.get_client()
self._wait_for_ip_upload()
try:
s3_client.download_file(self.bucket, self.config_key, 'ip.json')
with open("ip.json") as f:
ip = json.load(f)["IP"]
return ip
except botocore.exceptions.ClientError as e:
utils.json_format_logger(
"Unable to retrieve redis ip from {}: {}".format(
self.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger(
"Unable to retrieve redis ip from {}: {}".format(
self.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def load_from_store(self, expected_checkpoint_number=-1):
try:
if not os.path.exists(self.params.checkpoint_dir):
os.makedirs(self.params.checkpoint_dir)
while True:
s3_client = self._get_client()
state_file = CheckpointStateFile(os.path.abspath(self.params.checkpoint_dir))
# wait until lock is removed
response = s3_client.list_objects_v2(Bucket=self.params.bucket,
Prefix=self._get_s3_key(SyncFiles.LOCKFILE.value))
if "Contents" not in response:
try:
# fetch checkpoint state file from S3
s3_client.download_file(Bucket=self.params.bucket,
Key=self._get_s3_key(state_file.filename),
Filename=state_file.path)
except Exception as e:
time.sleep(SLEEP_TIME_WHILE_WAITING_FOR_DATA_FROM_TRAINER_IN_SECOND)
continue
else:
time.sleep(SLEEP_TIME_WHILE_WAITING_FOR_DATA_FROM_TRAINER_IN_SECOND)
continue
# check if there's a Finished file
response = s3_client.list_objects_v2(Bucket=self.params.bucket,
Prefix=self._get_s3_key(SyncFiles.FINISHED.value))
if "Contents" in response:
try:
finished_file_path = os.path.abspath(os.path.join(self.params.checkpoint_dir,
SyncFiles.FINISHED.value))
s3_client.download_file(Bucket=self.params.bucket,
Key=self._get_s3_key(SyncFiles.FINISHED.value),
Filename=finished_file_path)
except Exception as e:
pass
# check if there's a Ready file
response = s3_client.list_objects_v2(Bucket=self.params.bucket,
Prefix=self._get_s3_key(SyncFiles.TRAINER_READY.value))
if "Contents" in response:
try:
ready_file_path = os.path.abspath(os.path.join(self.params.checkpoint_dir,
SyncFiles.TRAINER_READY.value))
s3_client.download_file(Bucket=self.params.bucket,
Key=self._get_s3_key(SyncFiles.TRAINER_READY.value),
Filename=ready_file_path)
except Exception as e:
pass
checkpoint_state = state_file.read()
if checkpoint_state is not None:
# if we get a checkpoint that is older that the expected checkpoint, we wait for
# the new checkpoint to arrive.
if checkpoint_state.num < expected_checkpoint_number:
time.sleep(SLEEP_TIME_WHILE_WAITING_FOR_DATA_FROM_TRAINER_IN_SECOND)
continue
response = s3_client.list_objects_v2(Bucket=self.params.bucket,
Prefix=self._get_s3_key(""))
if "Contents" in response:
# Check to see if the desired checkpoint is in the bucket
has_chkpnt = any(list(map(lambda obj: os.path.split(obj['Key'])[1].\
startswith(checkpoint_state.name),
response['Contents'])))
for obj in response["Contents"]:
full_key_prefix = os.path.normpath(self.key_prefix) + "/"
filename = os.path.abspath(os.path.join(self.params.checkpoint_dir,
obj["Key"].\
replace(full_key_prefix, "")))
dirname, basename = os.path.split(filename)
# Download all the checkpoints but not the frozen models since they
# are not necessary
_, file_extension = os.path.splitext(obj["Key"])
if file_extension != '.pb' \
and (basename.startswith(checkpoint_state.name) or not has_chkpnt):
if not os.path.exists(dirname):
os.makedirs(dirname)
s3_client.download_file(Bucket=self.params.bucket,
Key=obj["Key"],
Filename=filename)
# Change the coach checkpoint file to point to the latest available checkpoint,
# also log that we are changing the checkpoint.
if not has_chkpnt:
all_ckpnts = _filter_checkpoint_files(os.listdir(self.params.checkpoint_dir))
if all_ckpnts:
logger.info("%s not in s3 bucket, downloading all checkpoints \
and using %s", checkpoint_state.name, all_ckpnts[-1])
state_file.write(all_ckpnts[-1])
else:
utils.json_format_logger("No checkpoint files found in {}".format(self.params.bucket),
**utils.build_user_error_dict(utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
return True
except botocore.exceptions.ClientError as e:
utils.json_format_logger("Unable to download checkpoint from {}, {}"
.format(self.params.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger("Unable to download checkpoint from {}, {}"
.format(self.params.bucket, e),
**utils.build_system_error_dict(utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def save_to_store(self):
try:
s3_client = self._get_client()
# Delete any existing lock file
s3_client.delete_object(Bucket=self.params.bucket,
Key=self._get_s3_key(
self.params.lock_file))
# We take a lock by writing a lock file to the same location in S3
s3_client.upload_fileobj(Fileobj=io.BytesIO(b''),
Bucket=self.params.bucket,
Key=self._get_s3_key(
self.params.lock_file))
# Start writing the model checkpoints to S3
checkpoint = self._get_current_checkpoint()
if checkpoint:
checkpoint_number = self._get_checkpoint_number(checkpoint)
checkpoint_file = None
for root, _, files in os.walk(self.params.checkpoint_dir):
num_files_uploaded = 0
for filename in files:
# Skip the checkpoint file that has the latest checkpoint number
if filename == CHECKPOINT_METADATA_FILENAME:
checkpoint_file = (root, filename)
continue
if not filename.startswith(str(checkpoint_number)):
continue
# Upload all the other files from the checkpoint directory
abs_name = os.path.abspath(os.path.join(root, filename))
rel_name = os.path.relpath(abs_name,
self.params.checkpoint_dir)
s3_client.upload_file(Filename=abs_name,
Bucket=self.params.bucket,
Key=self._get_s3_key(rel_name))
num_files_uploaded += 1
logger.info("Uploaded {} files for checkpoint {}".format(
num_files_uploaded, checkpoint_number))
# After all the checkpoint files have been uploaded, we upload the version file.
abs_name = os.path.abspath(
os.path.join(checkpoint_file[0], checkpoint_file[1]))
rel_name = os.path.relpath(abs_name, self.params.checkpoint_dir)
s3_client.upload_file(Filename=abs_name,
Bucket=self.params.bucket,
Key=self._get_s3_key(rel_name))
# Release the lock by deleting the lock file from S3
s3_client.delete_object(Bucket=self.params.bucket,
Key=self._get_s3_key(
self.params.lock_file))
# Upload the frozen graph which is used for deployment
if self.graph_manager:
utils.write_frozen_graph(self.graph_manager)
# upload the model_<ID>.pb to S3. NOTE: there's no cleanup as we don't know the best checkpoint
iteration_id = self.graph_manager.level_managers[0].agents[
'agent'].training_iteration
frozen_graph_fpath = utils.SM_MODEL_OUTPUT_DIR + "/model.pb"
frozen_graph_s3_name = "model_%s.pb" % iteration_id
s3_client.upload_file(
Filename=frozen_graph_fpath,
Bucket=self.params.bucket,
Key=self._get_s3_key(frozen_graph_s3_name))
logger.info("saved intermediate frozen graph: {}".format(
self._get_s3_key(frozen_graph_s3_name)))
# Clean up old checkpoints
checkpoint = self._get_current_checkpoint()
if checkpoint:
checkpoint_number = self._get_checkpoint_number(checkpoint)
checkpoint_number_to_delete = checkpoint_number - 4
# List all the old checkpoint files to be deleted
response = s3_client.list_objects_v2(
Bucket=self.params.bucket,
Prefix=self._get_s3_key(
str(checkpoint_number_to_delete) + "_"))
if "Contents" in response:
num_files = 0
for obj in response["Contents"]:
s3_client.delete_object(Bucket=self.params.bucket,
Key=obj["Key"])
num_files += 1
except botocore.exceptions.ClientError as e:
utils.json_format_logger(
"Unable to upload checkpoint to {}, {}".format(
self.params.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger(
"Unable to upload checkpoint to {}, {}".format(
self.params.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def save_to_store(self):
try:
s3_client = self._get_client()
checkpoint_dir = self.params.checkpoint_dir
# remove lock file if it exists
s3_client.delete_object(Bucket=self.params.bucket, Key=self._get_s3_key(SyncFiles.LOCKFILE.value))
# acquire lock
s3_client.upload_fileobj(Fileobj=io.BytesIO(b''),
Bucket=self.params.bucket,
Key=self._get_s3_key(SyncFiles.LOCKFILE.value))
state_file = CheckpointStateFile(os.path.abspath(checkpoint_dir))
ckpt_state = None
if state_file.exists():
ckpt_state = state_file.read()
checkpoint_file = None
num_files_uploaded = 0
for root, _, files in os.walk(checkpoint_dir):
for filename in files:
if filename == CheckpointStateFile.checkpoint_state_filename:
checkpoint_file = (root, filename)
continue
if filename.startswith(ckpt_state.name):
abs_name = os.path.abspath(os.path.join(root, filename))
rel_name = os.path.relpath(abs_name, checkpoint_dir)
s3_client.upload_file(Filename=abs_name,
Bucket=self.params.bucket,
Key=self._get_s3_key(rel_name))
num_files_uploaded += 1
logger.info("Uploaded {} files for checkpoint {}".format(num_files_uploaded, ckpt_state.num))
abs_name = os.path.abspath(os.path.join(checkpoint_file[0], checkpoint_file[1]))
rel_name = os.path.relpath(abs_name, checkpoint_dir)
s3_client.upload_file(Filename=abs_name,
Bucket=self.params.bucket,
Key=self._get_s3_key(rel_name))
# upload Finished if present
if os.path.exists(os.path.join(checkpoint_dir, SyncFiles.FINISHED.value)):
s3_client.upload_fileobj(Fileobj=io.BytesIO(b''),
Bucket=self.params.bucket,
Key=self._get_s3_key(SyncFiles.FINISHED.value))
# upload Ready if present
if os.path.exists(os.path.join(checkpoint_dir, SyncFiles.TRAINER_READY.value)):
s3_client.upload_fileobj(Fileobj=io.BytesIO(b''),
Bucket=self.params.bucket,
Key=self._get_s3_key(SyncFiles.TRAINER_READY.value))
# release lock
s3_client.delete_object(Bucket=self.params.bucket, Key=self._get_s3_key(SyncFiles.LOCKFILE.value))
# Upload the frozen graph which is used for deployment
if self.graph_manager:
self.write_frozen_graph(self.graph_manager)
# upload the model_<ID>.pb to S3. NOTE: there's no cleanup as we don't know the best checkpoint
for agent_params in self.graph_manager.agents_params:
iteration_id = self.graph_manager.level_managers[0].agents[agent_params.name].training_iteration
frozen_graph_fpath = os.path.join(SM_MODEL_OUTPUT_DIR, agent_params.name, "model.pb")
frozen_name = "model_{}.pb".format(iteration_id)
frozen_graph_s3_name = frozen_name if len(self.graph_manager.agents_params) == 1 \
else os.path.join(agent_params.name, frozen_name)
s3_client.upload_file(Filename=frozen_graph_fpath,
Bucket=self.params.bucket,
Key=self._get_s3_key(frozen_graph_s3_name))
logger.info("saved intermediate frozen graph: {}".format(self._get_s3_key(frozen_graph_s3_name)))
# Clean up old checkpoints
if ckpt_state:
checkpoint_number_to_delete = ckpt_state.num - NUM_MODELS_TO_KEEP
# List all the old checkpoint files to be deleted
response = s3_client.list_objects_v2(Bucket=self.params.bucket,
Prefix=self._get_s3_key(""))
if "Contents" in response:
for obj in response["Contents"]:
_, basename = os.path.split(obj["Key"])
if basename.startswith("{}_".format(checkpoint_number_to_delete)):
s3_client.delete_object(Bucket=self.params.bucket,
Key=obj["Key"])
except botocore.exceptions.ClientError as e:
utils.json_format_logger("Unable to upload checkpoint to {}, {}"
.format(self.params.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger("Unable to upload checkpoint to {}, {}"
.format(self.params.bucket, e),
**utils.build_system_error_dict(utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def download_model(self, checkpoint_dir):
s3_client = self.get_client()
filename = "None"
try:
filename = os.path.abspath(
os.path.join(checkpoint_dir, "checkpoint"))
if not os.path.exists(checkpoint_dir):
os.makedirs(checkpoint_dir)
while True:
response = s3_client.list_objects_v2(Bucket=self.bucket,
Prefix=self._get_s3_key(
self.lock_file))
if "Contents" not in response:
# If no lock is found, try getting the checkpoint
try:
s3_client.download_file(
Bucket=self.bucket,
Key=self._get_s3_key("checkpoint"),
Filename=filename)
except Exception as e:
time.sleep(2)
continue
else:
time.sleep(2)
continue
ckpt = CheckpointState()
if os.path.exists(filename):
contents = open(filename, 'r').read()
text_format.Merge(contents, ckpt)
rel_path = ckpt.model_checkpoint_path
checkpoint = int(rel_path.split('_Step')[0])
response = s3_client.list_objects_v2(
Bucket=self.bucket, Prefix=self._get_s3_key(rel_path))
if "Contents" in response:
num_files = 0
for obj in response["Contents"]:
filename = os.path.abspath(
os.path.join(
checkpoint_dir, obj["Key"].replace(
self.model_checkpoints_prefix, "")))
s3_client.download_file(Bucket=self.bucket,
Key=obj["Key"],
Filename=filename)
num_files += 1
return
except botocore.exceptions.ClientError as e:
utils.json_format_logger(
"Unable to download model {} from {}: {}".format(
filename, self.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger(
"Unable to download model {} from {}: {}".format(
filename, self.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def load_from_store(self, expected_checkpoint_number=-1):
try:
filename = os.path.abspath(
os.path.join(self.params.checkpoint_dir,
CHECKPOINT_METADATA_FILENAME))
if not os.path.exists(self.params.checkpoint_dir):
os.makedirs(self.params.checkpoint_dir)
# CT: remove all prior checkpoint files to save local storage space
if len(os.listdir(self.params.checkpoint_dir)) > 0:
files_to_remove = os.listdir(self.params.checkpoint_dir)
utils.json_format_logger('Removing %d old checkpoint files' %
len(files_to_remove))
for f in files_to_remove:
try:
os.unlink(
os.path.abspath(
os.path.join(self.params.checkpoint_dir, f)))
except Exception as e:
# swallow errors
pass
while True:
s3_client = self._get_client()
# Check if there's a finished file
response = s3_client.list_objects_v2(
Bucket=self.params.bucket,
Prefix=self._get_s3_key(SyncFiles.FINISHED.value))
if "Contents" in response:
finished_file_path = os.path.abspath(
os.path.join(self.params.checkpoint_dir,
SyncFiles.FINISHED.value))
s3_client.download_file(Bucket=self.params.bucket,
Key=self._get_s3_key(
SyncFiles.FINISHED.value),
Filename=finished_file_path)
return False
# Check if there's a lock file
response = s3_client.list_objects_v2(
Bucket=self.params.bucket,
Prefix=self._get_s3_key(self.params.lock_file))
if "Contents" not in response:
try:
# If no lock is found, try getting the checkpoint
s3_client.download_file(
Bucket=self.params.bucket,
Key=self._get_s3_key(CHECKPOINT_METADATA_FILENAME),
Filename=filename)
except Exception as e:
utils.json_format_logger(
"Sleeping {} seconds while lock file is present".
format(
SLEEP_TIME_WHILE_WAITING_FOR_DATA_FROM_TRAINER_IN_SECOND
))
time.sleep(
SLEEP_TIME_WHILE_WAITING_FOR_DATA_FROM_TRAINER_IN_SECOND
)
continue
else:
utils.json_format_logger(
"Sleeping {} seconds while lock file is present".
format(
SLEEP_TIME_WHILE_WAITING_FOR_DATA_FROM_TRAINER_IN_SECOND
))
time.sleep(
SLEEP_TIME_WHILE_WAITING_FOR_DATA_FROM_TRAINER_IN_SECOND
)
continue
checkpoint = self._get_current_checkpoint()
if checkpoint:
checkpoint_number = self._get_checkpoint_number(checkpoint)
# if we get a checkpoint that is older that the expected checkpoint, we wait for
# the new checkpoint to arrive.
if checkpoint_number < expected_checkpoint_number:
time.sleep(
SLEEP_TIME_WHILE_WAITING_FOR_DATA_FROM_TRAINER_IN_SECOND
)
continue
# Found a checkpoint to be downloaded
response = s3_client.list_objects_v2(
Bucket=self.params.bucket,
Prefix=self._get_s3_key(
checkpoint.model_checkpoint_path))
if "Contents" in response:
num_files = 0
for obj in response["Contents"]:
# Get the local filename of the checkpoint file
full_key_prefix = os.path.normpath(
self.key_prefix) + "/"
filename = os.path.abspath(
os.path.join(
self.params.checkpoint_dir,
obj["Key"].replace(full_key_prefix, "")))
s3_client.download_file(Bucket=self.params.bucket,
Key=obj["Key"],
Filename=filename)
num_files += 1
return True
except botocore.exceptions.ClientError as e:
utils.json_format_logger(
"Unable to download checkpoint from {}, {}".format(
self.params.bucket, e.response['Error']['Code']),
**utils.build_user_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
utils.simapp_exit_gracefully()
except Exception as e:
utils.json_format_logger(
"Unable to download checkpoint from {}, {}".format(
self.params.bucket, e),
**utils.build_system_error_dict(
utils.SIMAPP_S3_DATA_STORE_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
utils.simapp_exit_gracefully()
def infer_reward_state(self, steering_angle, speed):
try:
self.set_next_state()
except Exception as ex:
utils.json_format_logger(
"Unable to retrieve image from queue: {}".format(ex),
**utils.build_system_error_dict(
utils.SIMAPP_ENVIRONMENT_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_500))
# Read model state from Gazebo
model_state = self.get_model_state('racecar', '')
model_orientation = Rotation.from_quat([
model_state.pose.orientation.x, model_state.pose.orientation.y,
model_state.pose.orientation.z, model_state.pose.orientation.w
])
model_location = np.array([
model_state.pose.position.x,
model_state.pose.position.y,
model_state.pose.position.z]) + \
model_orientation.apply(RELATIVE_POSITION_OF_FRONT_OF_CAR)
model_point = Point(model_location[0], model_location[1])
model_heading = model_orientation.as_euler('zyx')[0]
# Read the wheel locations from Gazebo
left_rear_wheel_state = self.get_link_state('racecar::left_rear_wheel',
'')
left_front_wheel_state = self.get_link_state(
'racecar::left_front_wheel', '')
right_rear_wheel_state = self.get_link_state(
'racecar::right_rear_wheel', '')
right_front_wheel_state = self.get_link_state(
'racecar::right_front_wheel', '')
wheel_points = [
Point(left_rear_wheel_state.link_state.pose.position.x,
left_rear_wheel_state.link_state.pose.position.y),
Point(left_front_wheel_state.link_state.pose.position.x,
left_front_wheel_state.link_state.pose.position.y),
Point(right_rear_wheel_state.link_state.pose.position.x,
right_rear_wheel_state.link_state.pose.position.y),
Point(right_front_wheel_state.link_state.pose.position.x,
right_front_wheel_state.link_state.pose.position.y)
]
# Project the current location onto the center line and find nearest points
current_ndist = self.center_line.project(model_point, normalized=True)
prev_index, next_index = self.find_prev_next_waypoints(current_ndist)
distance_from_prev = model_point.distance(
Point(self.center_line.coords[prev_index]))
distance_from_next = model_point.distance(
Point(self.center_line.coords[next_index]))
closest_waypoint_index = (
prev_index, next_index)[distance_from_next < distance_from_prev]
# Compute distance from center and road width
nearest_point_center = self.center_line.interpolate(current_ndist,
normalized=True)
nearest_point_inner = self.inner_border.interpolate(
self.inner_border.project(nearest_point_center))
nearest_point_outer = self.outer_border.interpolate(
self.outer_border.project(nearest_point_center))
distance_from_center = nearest_point_center.distance(model_point)
distance_from_inner = nearest_point_inner.distance(model_point)
distance_from_outer = nearest_point_outer.distance(model_point)
track_width = nearest_point_inner.distance(nearest_point_outer)
is_left_of_center = (distance_from_outer < distance_from_inner) if self.reverse_dir \
else (distance_from_inner < distance_from_outer)
# Convert current progress to be [0,100] starting at the initial waypoint
if self.reverse_dir:
current_progress = self.start_ndist - current_ndist
else:
current_progress = current_ndist - self.start_ndist
if current_progress < 0.0: current_progress = current_progress + 1.0
current_progress = 100 * current_progress
if current_progress < self.prev_progress:
# Either: (1) we wrapped around and have finished the track,
delta1 = current_progress + 100 - self.prev_progress
# or (2) for some reason the car went backwards (this should be rare)
delta2 = self.prev_progress - current_progress
current_progress = (self.prev_progress, 100)[delta1 < delta2]
# Car is off track if all wheels are outside the borders
wheel_on_track = [self.road_poly.contains(p) for p in wheel_points]
all_wheels_on_track = all(wheel_on_track)
any_wheels_on_track = any(wheel_on_track)
# Compute the reward
if any_wheels_on_track:
done = False
params = {
'all_wheels_on_track': all_wheels_on_track,
'x': model_point.x,
'y': model_point.y,
'heading': model_heading * 180.0 / math.pi,
'distance_from_center': distance_from_center,
'progress': current_progress,
'steps': self.steps,
'speed': speed,
'steering_angle': steering_angle * 180.0 / math.pi,
'track_width': track_width,
'waypoints': list(self.center_line.coords),
'closest_waypoints': [prev_index, next_index],
'is_left_of_center': is_left_of_center,
'is_reversed': self.reverse_dir
}
try:
reward = float(self.reward_function(params))
except Exception as e:
utils.json_format_logger(
"Exception {} in customer reward function. Job failed!".
format(e),
**utils.build_user_error_dict(
utils.SIMAPP_SIMULATION_WORKER_EXCEPTION,
utils.SIMAPP_EVENT_ERROR_CODE_400))
traceback.print_exc()
sys.exit(1)
else:
done = True
reward = CRASHED
# Reset if the car position hasn't changed in the last 2 steps
prev_pnt_dist = min(model_point.distance(self.prev_point),
model_point.distance(self.prev_point_2))
if prev_pnt_dist <= 0.0001 and self.steps % NUM_STEPS_TO_CHECK_STUCK == 0:
done = True
reward = CRASHED # stuck
# Simulation jobs are done when progress reaches 100
if current_progress >= 100:
done = True
# Keep data from the previous step around
self.prev_point_2 = self.prev_point
self.prev_point = model_point
self.prev_progress = current_progress
# Set the reward and done flag
self.reward = reward
self.reward_in_episode += reward
self.done = done
# Trace logs to help us debug and visualize the training runs
# btown TODO: This should be written to S3, not to CWL.
logger.info(
'SIM_TRACE_LOG:%d,%d,%.4f,%.4f,%.4f,%.2f,%.2f,%d,%.4f,%s,%s,%.4f,%d,%.2f,%s\n'
%
(self.episodes, self.steps, model_location[0], model_location[1],
model_heading, self.steering_angle, self.speed, self.action_taken,
self.reward, self.done, all_wheels_on_track, current_progress,
closest_waypoint_index, self.track_length, time.time()))
metrics = {
"episodes": self.episodes,
"steps": self.steps,
"x": model_location[0],
"y": model_location[1],
"heading": model_heading,
"steering_angle": self.steering_angle,
"speed": self.speed,
"action": self.action_taken,
"reward": self.reward,
"done": self.done,
"all_wheels_on_track": all_wheels_on_track,
"current_progress": current_progress,
"closest_waypoint_index": closest_waypoint_index,
"track_length": self.track_length,
"time": time.time()
}
self.log_to_datadog(rewards)
# Terminate this episode when ready
if done and node_type == SIMULATION_WORKER:
self.finish_episode(current_progress)
