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_percept(self, envelope: Envelope,
expected_step_id: int) -> Message:
"""
Receive the response from the gym environment in the form of an envelope and decode it.
The response is a PERCEPT message containing the usual 'observation', 'reward', 'done', 'info' parameters.
:param expected_step_id: the expected step id
:return: a message received as a response to the action performed in apply_action.
"""
if envelope is not None:
if envelope.protocol_id == 'gym':
gym_msg = GymSerializer().decode(envelope.message)
gym_msg_performative = GymMessage.Performative(
gym_msg.get("performative"))
gym_msg_step_id = gym_msg.get("step_id")
if gym_msg_performative == GymMessage.Performative.PERCEPT and gym_msg_step_id == expected_step_id:
return gym_msg
else:
raise ValueError(
"Unexpected performative or no step_id: {}".format(
gym_msg_performative))
else:
raise ValueError("Unknown protocol_id: {}".format(
envelope.protocol_id))
else:
raise ValueError("Missing envelope.")
def close(self) -> None:
"""
Close the environment.
:return: None
"""
gym_msg = GymMessage(performative=GymMessage.Performative.CLOSE)
gym_bytes = GymSerializer().encode(gym_msg)
envelope = Envelope(to=DEFAULT_GYM, sender=self._agent_public_key, protocol_id=GymMessage.protocol_id,
message=gym_bytes)
self._agent.outbox.put(envelope)
self._disconnect()
def _encode_action(self, action: Action, step_id: int) -> Envelope:
"""
Encode the 'action' sent to the step function as one or several envelopes.
:param action: the action that is the output of an RL algorithm.
:param step_id: the step id
:return: an envelope
"""
gym_msg = GymMessage(performative=GymMessage.Performative.ACT, action=action, step_id=step_id)
gym_bytes = GymSerializer().encode(gym_msg)
envelope = Envelope(to=DEFAULT_GYM, sender=self._agent_public_key, protocol_id=GymMessage.protocol_id,
message=gym_bytes)
return envelope
def reset(self) -> None:
"""
Reset the environment.
:return: None
"""
if not self._agent.multiplexer.is_connected:
self._connect()
gym_msg = GymMessage(performative=GymMessage.Performative.RESET)
gym_bytes = GymSerializer().encode(gym_msg)
envelope = Envelope(to=DEFAULT_GYM, sender=self._agent_public_key, protocol_id=GymMessage.protocol_id,
message=gym_bytes)
self._agent.outbox.put(envelope)
def reset(self) -> None:
"""
Reset the environment.
:return: None
"""
self._step_count = 0
self._is_rl_agent_trained = False
gym_msg = GymMessage(performative=GymMessage.Performative.RESET)
gym_bytes = GymSerializer().encode(gym_msg)
envelope = Envelope(to=DEFAULT_GYM,
sender=self._skill_context.agent_public_key,
protocol_id=GymMessage.protocol_id,
message=gym_bytes)
self._skill_context.outbox.put(envelope)
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))