def parallel_collect_trajectories(args,
params,
egoids,
starts,
n_proc,
env_fn=build_env.build_ngsim_env,
max_steps=200,
use_hgail=False,
random_seed=None,
lbd=0.99,
adapt_steps=1):
# build manager and dictionary mapping ego ids to list of trajectories
tf_policy = False
parallel = False
# set policy function
policy_fn = validate_utils.build_policy if tf_policy else algorithms.utils.build_policy
# partition egoids
proc_egoids = utils.partition_list(egoids, n_proc)
if parallel:
manager = mp.Manager()
error_dict = manager.list()
# pool of processes, each with a set of ego ids
pool = mp.Pool(processes=n_proc)
# print(('Creating parallel env Running time: %s Seconds' % (end_time - start_time)))
# run collection
results = []
for pid in range(n_proc):
res = pool.apply_async(collect_trajectories,
args=(args, params, proc_egoids[pid],
starts, error_dict, pid, env_fn,
policy_fn, max_steps, use_hgail,
random_seed, lbd, adapt_steps))
results.append(res)
[res.get() for res in results]
pool.close()
else:
error_dict = []
error_dict = collect_trajectories(args, params, proc_egoids[0], starts,
error_dict, 0, env_fn, policy_fn,
max_steps, use_hgail, random_seed,
lbd, adapt_steps)
# wait for the processes to finish
print("Vehicle Counter: {}".format(Veh_counter))
# let the julia processes finish up
time.sleep(10)
return error_dict[0]
def parallel_collect_trajectories(
args,
params,
egoids,
starts,
n_proc,
env_fn=utils.build_ngsim_env,
max_steps=200,
use_hgail=False,
random_seed=None):
# build manager and dictionary mapping ego ids to list of trajectories
manager = mp.Manager()
trajlist = manager.list()
# set policy function
policy_fn = utils.build_hierarchy if use_hgail else utils.build_policy
# partition egoids
proc_egoids = utils.partition_list(egoids, n_proc)
# pool of processes, each with a set of ego ids
pool = mp.Pool(processes=n_proc)
# run collection
results = []
for pid in range(n_proc):
res = pool.apply_async(
collect_trajectories,
args=(
args,
params,
proc_egoids[pid],
starts,
trajlist,
pid,
env_fn,
policy_fn,
max_steps,
use_hgail,
random_seed
)
)
results.append(res)
# wait for the processes to finish
[res.get() for res in results]
pool.close()
# let the julia processes finish up
time.sleep(20)
return trajlist