def create_env(task_index):
""" Creates and returns an Environment which contains a single
sender-receiver connection. The environment is run inside mahimahi
shells. The environment knows the best cwnd to pass to the expert policy.
"""
best_cwnds_file = path.join(project_root.DIR, 'dagger', 'best_cwnds.yml')
best_cwnd_map = yaml.load(open(best_cwnds_file))
if task_index == 0:
trace_path = path.join(project_root.DIR, 'env', '0.57mbps-poisson.trace')
mm_cmd = 'mm-delay 28 mm-loss uplink 0.0477 mm-link %s %s --uplink-queue=droptail --uplink-queue-args=packets=14' % (trace_path, trace_path)
best_cwnd = 5
elif task_index == 1:
trace_path = path.join(project_root.DIR, 'env', '2.64mbps-poisson.trace')
mm_cmd = 'mm-delay 88 mm-link %s %s --uplink-queue=droptail --uplink-queue-args=packets=130' % (trace_path, trace_path)
best_cwnd = 40
elif task_index == 2:
trace_path = path.join(project_root.DIR, 'env', '3.04mbps-poisson.trace')
mm_cmd = 'mm-delay 130 mm-link %s %s --uplink-queue=droptail --uplink-queue-args=packets=426' % (trace_path, trace_path)
best_cwnd = 70
elif task_index <= 18:
bandwidth = [5, 10, 20, 50]
delay = [10, 20, 40, 80]
cartesian = [(b, d) for b in bandwidth for d in delay]
bandwidth, delay = cartesian[task_index - 3]
uplink_trace, downlink_trace = prepare_traces(bandwidth)
mm_cmd = 'mm-delay %d mm-link %s %s' % (delay, uplink_trace, downlink_trace)
best_cwnd = best_cwnd_map[bandwidth][delay]
elif task_index == 19:
trace_path = path.join(project_root.DIR, 'env', '100.42mbps.trace')
mm_cmd = 'mm-delay 27 mm-link %s %s --uplink-queue=droptail --uplink-queue-args=packets=173' % (trace_path, trace_path)
best_cwnd = 500
elif task_index == 20:
trace_path = path.join(project_root.DIR, 'env', '77.72mbps.trace')
mm_cmd = 'mm-delay 51 mm-loss uplink 0.0006 mm-link %s %s --uplink-queue=droptail --uplink-queue-args=packets=94' % (trace_path, trace_path)
best_cwnd = 690
elif task_index == 21:
trace_path = path.join(project_root.DIR, 'env', '114.68mbps.trace')
mm_cmd = 'mm-delay 45 mm-link %s %s --uplink-queue=droptail --uplink-queue-args=packets=450' % (trace_path, trace_path)
best_cwnd = 870
elif task_index <= 29:
bandwidth = [100, 200]
delay = [10, 20, 40, 80]
cartesian = [(b, d) for b in bandwidth for d in delay]
bandwidth, delay = cartesian[task_index - 26]
uplink_trace, downlink_trace = prepare_traces(bandwidth)
mm_cmd = 'mm-delay %d mm-link %s %s' % (delay, uplink_trace, downlink_trace)
best_cwnd = best_cwnd_map[bandwidth][delay]
env = Environment(mm_cmd)
env.best_cwnd = best_cwnd
return env
def load_task(filename: str, render: bool, fallback: bool) -> Environment:
"""Загружает параметры задачи из json-файла filename"""
with open(filename, 'r') as fp:
td: TaskData = json.load(fp, object_hook=task_json_parse)
E = Environment(render, fallback)
E.load_task(td)
log()['PYBULLET'].log('environment loaded successfully')
return E
def create_env(task_index):
bandwidth = int(np.linspace(30, 60, num=4, dtype=np.int)[task_index])
delay = 25
queue = None
uplink_trace, downlink_trace = prepare_traces(bandwidth)
mm_cmd = ('mm-delay %d mm-link %s %s' %
(delay, uplink_trace, downlink_trace))
if queue is not None:
mm_cmd += (' --downlink-queue=droptail '
'--downlink-queue-args=packets=%d' % queue)
env = Environment(mm_cmd)
env.setup()
return env
def create_env(task_index):
bandwidth_list = [100, 200]
delay_list = [5, 10, 20]
# queue = [100,200,400]
# loss = [0.0001,0.001,0.01]
loss_list = [0.1, 0.001]
cartesian = [(b, d, k) for b in bandwidth_list for d in delay_list
for k in loss_list]
bandwidth, delay, loss = cartesian[task_index]
# sys.stderr.write('\nhesy debug: env len is %d\n' % len(cartesian))
uplink_trace, downlink_trace = prepare_traces(bandwidth)
mm_cmd = 'mm-delay %d mm-loss uplink %f mm-link %s %s' % (
delay, loss, uplink_trace, downlink_trace)
"""
bandwidth = int(np.linspace(30, 60, num=4, dtype=np.int)[task_index])
delay = 25
queue = None
uplink_trace, downlink_trace = prepare_traces(bandwidth)
mm_cmd = ('mm-delay %d mm-link %s %s' %
(delay, uplink_trace, downlink_trace))
if queue is not None:
mm_cmd += (' --downlink-queue=droptail '
'--downlink-queue-args=packets=%d' % queue)
"""
env = Environment(mm_cmd)
#env.setup()
return env
def create_env():
uplink_trace = path.join(project_root.DIR, 'env', '12mbps.trace')
downlink_trace = uplink_trace
mahimahi_cmd = (
'mm-delay 20 mm-link %s %s '
'--downlink-queue=droptail --downlink-queue-args=packets=200' %
(uplink_trace, downlink_trace))
env = Environment(mahimahi_cmd)
return env
def load_task(filename, render, fallback):
"""Загружает параметры задачи из json-файла filename"""
with open(filename, 'r') as fp:
task_data = json.load(fp, object_hook=task_json_parse)
# получение путей к urdf и sdf файлам
urdf_filename = filename.parent / pathlib.Path(task_data['urdf_name'])
if task_data['sdf_name'] is None:
sdf_filename = None
else:
sdf_filename = filename.parent / pathlib.Path(task_data['sdf_name'])
E = Environment(render, fallback,
None if sdf_filename is None else str(sdf_filename))
E.set_endpoint(task_data['endpoint'])
E.add_robot(filename=str(urdf_filename),
eff_name=task_data['effector_name'],
pos=task_data['pos'],
orn=task_data['orn'],
fixed=task_data['fixed_base'],
kin_eps=task_data['eps'])
if task_data['dofs'] is not None:
E.robot.state = task_data['dofs']
log()['PYBULLET'].log('environment loaded successfully')
return E, task_data['endpoint'], task_data['emp_best']
from fastapi import FastAPI
from ariadne.asgi import GraphQL
from gql import schema
from env.environment import Environment
env = Environment()
app = FastAPI()
app.mount("/graphql", GraphQL(schema, debug=True))