def _step(self, action_n):
observation_n, reward_n, done_n, info = self.env.step(action_n)
# We want this to be above Mask, so we know whether or not a
# particular index is resetting.
if self.unwrapped.diagnostics:
with pyprofile.push('vnc_env.diagnostics.add_metadata'):
self.unwrapped.diagnostics.add_metadata(
observation_n, info['n'])
return observation_n, reward_n, done_n, info
def add_metadata(self, observation_n, info_n, available_at=None):
"""Mutates the info_n dictionary."""
if self.instance_n is None:
return
with pyprofile.push('vnc_env.diagnostics.Diagnostics.add_metadata'):
async = self.pool.imap_unordered(
self._add_metadata_i,
zip(self.instance_n, observation_n, info_n,
[available_at] * len(observation_n)))
list(async)
def _step(self, action_n):
start = time.time()
with pyprofile.push('vnc_env.Timer.step'):
observation_n, reward_n, done_n, info = self.env.step(action_n)
# Calculate how much time was spent actually doing work
sleep = info.get('stats.throttle.sleep')
if sleep is None or sleep < 0:
sleep = 0
pyprofile.timing('vnc_env.Timer.step.excluding_sleep',
time.time() - start - sleep)
return observation_n, reward_n, done_n, info
def flip(self):
pyprofile.push('vncdriver.numpy_screen.flip_bitmap')
with self.lock:
if self._back_updated:
updates = self._defer
# Flip screens
front_screen, back_screen = self._screens
self._screens = back_screen, front_screen
# Mark ourselves as pending application of updates
self._back_updated = False
# This can be called asynchronously if desired, but it means
# less reliably smooth playback.
#
# reactor.callFromThread(self.update_back)
self.update_back()
else:
updates = []
result = self.peek(), {'vnc_session.framebuffer_updates': updates}
pyprofile.pop()
return result
def _pop_rewarder_session(self, peek_d):
with pyprofile.push('vnc_env.VNCEnv.rewarder_session.pop'):
reward_d, done_d, info_d, err_d = self.rewarder_session.pop(
peek_d=peek_d)
reward_n = []
done_n = []
info_n = []
err_n = []
for name in self.connection_names:
reward_n.append(reward_d.get(name, 0))
done_n.append(done_d.get(name, False))
info_n.append(info_d.get(name, {'env_status.disconnected': True}))
err_n.append(err_d.get(name))
return reward_n, done_n, info_n, err_n
def _substep(self, action_n):
with pyprofile.push('vnc_env.Throttle.step'):
start = time.time()
# Submit the action ASAP, before the thread goes to sleep.
observation_n, reward_n, done_n, info = self.env.step(action_n)
available_at = info[
'throttle.observation.available_at'] = time.time()
if available_at - start > 1:
logger.info('env.step took a long time: %.2fs',
available_at - start)
if not self.skip_metadata and self.diagnostics is not None:
# Run (slow) diagnostics
self.diagnostics.add_metadata(observation_n,
info['n'],
available_at=available_at)
return observation_n, reward_n, done_n, info
def _step_vnc_session(self, compiled_d):
if self._send_actions_over_websockets:
self.rewarder_session.send_action(compiled_d, self.spec.id)
vnc_action_d = {}
else:
vnc_action_d = compiled_d
with pyprofile.push('vnc_env.VNCEnv.vnc_session.step'):
observation_d, info_d, err_d = self.vnc_session.step(vnc_action_d)
observation_n = []
info_n = []
err_n = []
for name in self.connection_names:
observation_n.append(observation_d.get(name))
info_n.append(info_d.get(name))
err_n.append(err_d.get(name))
return observation_n, info_n, err_n
for i in range(args.max_steps):
# print(observation_n)
# user_input.handle_events()
if render:
# Note the first time you call render, it'll be relatively
# slow and you'll have some aggregated rewards. We could
# open the render() window before `reset()`, but that's
# confusing since it pops up a black window for the
# duration of the reset.
env.render()
action_n = agent(observation_n, reward_n, done_n)
# Take an action
with pyprofile.push('env.step'):
observation_n, reward_n, done_n, info = env.step(action_n)
episode_length += 1
if not all(r is None
for r in reward_n): # checks if we connected the rewarder
episode_score += np.array(reward_n)
for i, ob in enumerate(observation_n):
if ob is not None and (not isinstance(ob, dict)
or ob['vision'] is not None):
observation_count[i] += 1
scores = {}
lengths = {}
observations = {}
for i, done in enumerate(done_n):
def add_metadata(self, observation, info, available_at=None):
"""Extract metadata from a pixel observation and add it to the info
"""
observation = observation['vision']
if observation is None: return
if self.network is not None and not self.network.active():
return
elif self.metadata_decoder is None:
return
elif observation is None:
return
# should return a dict with now/probe_received_at keys
with pyprofile.push(
'vnc_env.diagnostics.DiagnosticsInstance.add_metadata.decode'):
metadata = self.metadata_decoder.decode(observation,
available_at=available_at)
if metadata is False:
# No metadata ready, though it doesn't mean parsing failed
metadata = None
elif metadata is None:
if self.could_read_metadata:
self.could_read_metadata = False
extra_logger.info(
'[%s] Stopped being able to read metadata (expected when environment resets)',
self.label)
elif not self.could_read_metadata:
self.could_read_metadata = True
extra_logger.info('[%s] Started being able to read metadata',
self.label)
if self.metadata_decoder.flag_synchronous and metadata is not None:
info['diagnostics.image_remote_time'] = metadata['now']
local_now = time.time()
if self.network is None:
# Assume the clock skew is zero. Should only be run on the
# same machine as the VNC server, such as the jiminy
# instance inside of the environmenth containers.
real_clock_skew = self.zero_clock_skew
else:
# Note: this is a 2-length vector of (min, max), so anything added to
# it is also going to be a 2-length vector.
# Most of the diagnostics below are, but you have to look carefully.
real_clock_skew = self.network.reversed_clock_skew()
# Store real clock skew here
info['stats.gauges.diagnostics.clock_skew'] = real_clock_skew
if self.ignore_clock_skew:
clock_skew = self.zero_clock_skew
else:
clock_skew = real_clock_skew
if metadata is not None:
# We'll generally update the observation timestamp infrequently
if self.last_observation_timestamp == metadata['now']:
delta = None
else:
# We just got a new timestamp in the observation!
self.last_observation_timestamp = metadata['now']
observation_now = metadata['now']
delta = observation_now - metadata['available_at']
# Subtract *local* time it was received from the *remote* time
# displayed. Negate and reverse order to fix time ordering.
info['stats.gauges.diagnostics.lag.observation'] = -(
delta + clock_skew)[[1, 0]]
# if self.network is None:
# # The rest of diagnostics need the network, so we're done here
# return
probe_received_at = metadata['probe_received_at']
if probe_received_at == 0 or self.disable_action_probes:
# Happens when the env first starts
self.probe_received_at = None
elif self.probe_received_at is None: # this also would work for the equality case
self.probe_received_at = probe_received_at
elif self.probe_received_at != probe_received_at and self.probe_sent_at is None:
logger.info(
'[%s] Probe is marked as received at %s, but probe_sent_at is None. This is surprising. (HINT: do you have multiple jiminy instances talking to the same environment?)',
self.label, probe_received_at)
elif self.probe_received_at != probe_received_at:
extra_logger.debug('[%s] Next probe received: old=%s new=%s',
self.label, self.probe_received_at,
probe_received_at)
self.probe_received_at = probe_received_at
# Subtract the *local* time we sent it from the *remote* time it was received
self.action_latency_skewed = probe_received_at - self.probe_sent_at
self.probe_sent_at = None
if self.action_latency_skewed:
action_lag = self.action_latency_skewed + clock_skew
self.action_latency_skewed = None
else:
action_lag = None
info['stats.gauges.diagnostics.lag.action'] = action_lag
local_now = time.time()
# Look at when the remote believed it parsed the score (not
# all envs send this currently).
#
# Also, if we received no new rewards, then this values is
# None. This could indicate a high reward latency (bad,
# uncommon), or that the agent is calling step faster than new
# rewards are coming in (good, common).
remote_score_now = info.get('rewarder.lag.observation.timestamp')
if remote_score_now is not None:
delta = remote_score_now - local_now
info['stats.gauges.diagnostics.lag.reward'] = -(delta +
clock_skew)[[1, 0]]
# Look at when the remote send the message, so we know how
# long it's taking for messages to get to us.
rewarder_message_now = info.get('reward_buffer.remote_time')
if rewarder_message_now:
delta = rewarder_message_now - local_now
info['stats.gauges.diagnostics.lag.rewarder_message'] = -(
delta + clock_skew)[[1, 0]]
def write_item(self, item):
with pyprofile.push('recording.write'):
l = json.dumps(item, skipkeys=True, default=self.json_encode)
self.log_f.write(l + '\n')
self.log_f.flush()
def _reset(self):
with pyprofile.push('vnc_env.Timer.reset'):
return self.env.reset()
