def _step_single(i, space, a):
if not isinstance(a, collections.Iterable):
a = [a]
if isinstance(action_space, gym.spaces.Box):
action_pb =\
ExternalControl_pb2.Action(continuous=a, done=False)
else:
action_pb =\
ExternalControl_pb2.Action(discrete=a, done=False)
queues[i]['action'].put(action_pb)
def SendActionResult(self, action_result, context):
"""Receive ActionResult proto and send back an action."""
self.queues['action_response'].put(action_result)
if not action_result.done:
try:
action = self.queues['action'].get(timeout=10000.0)
except queue.Empty:
action = ExternalControl_pb2.Action(done=True)
res = ExternalControl_pb2.ActionResult(done=True)
self.queues['action_response'].put(res)
else:
action = ExternalControl_pb2.Action(done=True)
res = ExternalControl_pb2.ActionResult(done=True)
self.queues['action_response'].put(res)
return action
def _terminate_scrimmage(self):
"""Terminates scrimmage instance held by the class.
given how sigints are handled by scrimmage, we need to
shutdown the network to the autonomy in addition to sending a
sigint.
"""
for queues in self.queues:
queues['action'].put(ExternalControl_pb2.Action(done=True))
self.scrimmage_process.poll()
while self.scrimmage_process.returncode is None:
for queues in self.queues:
queues['action'].put(ExternalControl_pb2.Action(done=True))
time.sleep(0.1)
self.scrimmage_process.poll()
def _terminate_scrimmage(self):
"""Terminates scrimmage instance held by the class.
given how sigints are handled by scrimmage, we need to
shutdown the network to the autonomy in addition to sending a
sigint.
"""
if self.scrimmage_process.returncode is None:
try:
os.remove(self.temp_mission_file)
except OSError:
pass
for queues in self.queues:
queues['action'].put(ExternalControl_pb2.Action(done=True))
try:
self.scrimmage_process.kill()
self.scrimmage_process.poll()
while self.scrimmage_process.returncode is None:
self.scrimmage_process.poll()
time.sleep(0.1)
except OSError:
print('could not terminate existing scrimmage process. '
'It may have already shutdown.')
def __init__(self,
enable_gui,
mission_file,
num_actors=1,
port_offset=1,
address="localhost:50051",
gdb_args=""):
"""Create queues for multi-threading."""
self.enable_gui = enable_gui
self.mission_file = mission_file
self.address = address
self.gdb_args = gdb_args
self.num_actors = num_actors
self.port_offset = port_offset
self.rng = None
self.seed = self._seed(None)
queue_names = ['env', 'action', 'action_response']
ip, port = address.split(":")
self.queues = []
self.server_threads = []
for i in range(num_actors):
port = int(port) + i * port_offset
address = ip + ":" + str(port)
self.queues.append({s: queue.Queue() for s in queue_names})
self.server_threads.append(ServerThread(self.queues[-1], address))
self.server_threads[-1].start()
# startup headless version of scrimmage to get the environment
for queues in self.queues:
queues['action'].put(ExternalControl_pb2.Action(done=True))
self.scrimmage_process = self._start_scrimmage(False, True)
environments = \
[self.queues[i]['env'].get() for i in range(num_actors)]
self._terminate_scrimmage()
if len(environments) == 1:
self.action_space, self.observation_space, self.reward_range = \
self._create_spaces(environments[0])
else:
spaces = [self._create_spaces(e) for e in environments]
action_space, observation_space, reward_range = zip(*spaces)
self.action_space = gym.spaces.Tuple(action_space)
self.observation_space = gym.spaces.Tuple(observation_space)
min_rewards, max_rewards = zip(*reward_range)
self.reward_range = (min(min_rewards), max(max_rewards))
signal.signal(signal.SIGINT, self._signal_handler)