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async_env.py
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async_env.py
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from multiprocessing import Pool
import numpy as np
from PIL import Image
import random
import time
import pygame
import cv2
import sys
import os
ImageScale = 2
def worker_initializer(env_id, env_params, seed, save_frames=False):
from common.wrappers import make_atari, make_atari_cart, wrap_deepmind, wrap_pytorch
from setproctitle import setproctitle
global env, return_unprocessed
return_unprocessed = save_frames
setproctitle('atari-env')
if "NoFrameskip" not in env_id:
env = make_atari_cart(env_id)
else:
env = make_atari(env_id)
env = wrap_deepmind(env, **env_params)
env = wrap_pytorch(env)
random.seed(seed)
seed = random.randint(0, sys.maxsize)
print('reseting env with seed', seed, 'in initializer')
env.seed(seed)
state = env.reset()
env.seed(seed)
print('state shape', state.shape)
def recorder_initializer(path):
from setproctitle import setproctitle
setproctitle('atari-recorder')
global recorder
fourcc = cv2.VideoWriter_fourcc(*'XVID')
recorder = cv2.VideoWriter(os.path.join(path, 'record.avi'),fourcc, 60.0, (84,84), isColor=True)
def display_initializer():
global screen, font, timer, last_reward, last_done
from setproctitle import setproctitle
setproctitle('atari-display')
# enlarge image 2 times
width = 84 * ImageScale
height = 84 * ImageScale
try:
pygame.display.init()
pygame.font.init()
pygame.display.set_caption('game')
font = pygame.font.SysFont('dejavusansmono', 13)
screen = pygame.display.set_mode((width, height))
screen.fill((255, 255, 255))
pygame.display.update()
except Exception as e:
print(e)
time.sleep(120)
raise e
timer = time.time(), 0
last_reward = [0, timer[0]]
last_done = [0, timer[0]]
def worker_step(action):
global env, return_unprocessed
next_state, reward, done, info = env.step(action)
if return_unprocessed:
return next_state, reward, done, info, env.unprocessed_frame
else:
return next_state, reward, done, info
def display_step(pixels, action, reward, epi_reward, done, info):
try:
global screen, font, timer, last_reward, last_done
if pixels.ndim == 3:
pixels = np.transpose(pixels, (1, 2, 0))
# enlarge image by 2X
pixels = np.repeat(pixels, ImageScale, axis=0)
pixels = np.repeat(pixels, ImageScale, axis=1)
# create gray image with extra dimension
if pixels.ndim == 2:
pixels = np.stack((pixels, pixels, pixels), axis=-1)
pygame.surfarray.blit_array(screen, pixels)
# compute fps
start_time, Nframes = timer
Nframes += 1
period = time.time() - start_time
fps = Nframes / period
if period > 1.0:
start_time = time.time()
Nframes = 0
timer = start_time, Nframes
# show information
text_surface = font.render('fps={:6.2f} action={}'.format(fps, action), False, (0,0,255))
screen.blit(text_surface, (0,0))
text_surface = font.render('life={} epi_r={}'.format(info["ale.lives"], epi_reward), False, (0,255,0))
screen.blit(text_surface, (0,20))
def fade_text(text, cur_val, last_val, show_value=True):
if not cur_val:
cur_val = last_val[0]
alpha = int(255 * max(0.75 - (time.time() - last_val[1]), 0) / 0.75)
else:
last_val[0] = cur_val
last_val[1] = time.time()
alpha = 255
if show_value:
if cur_val > 0:
text_surface = font.render("{}={}".format(text, cur_val), False, (0,255,0))
else:
text_surface = font.render("{}={}".format(text, cur_val), False, (255,0,0))
else:
text_surface = font.render("{}".format(text), False, (255,0,0))
text_surface.set_alpha(alpha)
return text_surface
text_surface = fade_text("done", done, last_done, False)
screen.blit(text_surface, (0,40))
text_surface = fade_text("reward", reward, last_reward, True)
screen.blit(text_surface, (50,40))
# update display
pygame.display.flip()
except Exception as e:
# Avoid too many error messages when X is disconnected
print('Error during displaying game play:')
print(e)
import traceback
traceback.print_exc()
print('pixels shape is', pixels.shape)
time.sleep(120)
def recorder_step(pixels, action, reward, epi_reward, done, info):
global recorder
if pixels.ndim == 3:
pixels = np.transpose(pixels, (2, 1, 0))
# RGB to BGR
pixels = pixels[:,:,::-1]
# create gray image with extra dimension
if pixels.ndim == 2:
pixels = np.transpose(pixels)
pixels = np.stack((pixels, pixels, pixels), axis=-1)
pixels = np.ascontiguousarray(pixels)
cv2.putText(pixels, "{} {}".format(action, int(reward)), (0,15), cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (255,0,0))
cv2.putText(pixels, "{} {}".format(int(epi_reward), "D" if done else ""), (0,30), cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (255,0,0))
recorder.write(pixels)
def worker_reset():
global env
return env.reset()
def worker_seed(seed):
global env
return env.seed(seed)
class AsyncEnv(object):
def __init__(self, env_id, result_path, draw=False, record=False, save_frames=False, env_params=None, seed=2019):
self.env_id = env_id
if env_params is None:
env_params = {}
self.env_params = env_params
self.pool = Pool(processes=1, initializer=worker_initializer, initargs=(env_id, env_params, seed, save_frames))
self.draw = draw
self.record = record
self.res = None
self.result_path = result_path
self.save_frames = save_frames
self.episode_counter = 0
self.steps_counter = 0
if draw:
self.display_pool = Pool(processes=1, initializer=display_initializer)
self.draw_res = None
self.last_reward = None
self.last_done = None
self.epi_reward = 0
if record:
self.record_pool = Pool(processes=1, initializer=recorder_initializer, initargs=(result_path,))
if save_frames:
os.makedirs(os.path.join(result_path, "frames/000"), exist_ok=True)
def async_step(self, action):
self.action = action
self.res = self.pool.apply_async(worker_step, (action,))
def wait_step(self):
if self.save_frames:
next_state, reward, done, info, unprocessed_frame = self.res.get()
im = Image.fromarray(unprocessed_frame)
im.save(os.path.join(self.result_path, "frames", "{:03d}".format(self.episode_counter), '{:05d}.bmp'.format(self.steps_counter)))
else:
next_state, reward, done, info = self.res.get()
res = next_state, reward, done, info
if self.draw or self.record:
self.epi_reward += reward
if next_state.shape[0] == 1:
pixels = next_state[0]
elif next_state.shape[0] == 4:
# Frame stack + gray image
pixels = next_state[0]
elif next_state.shape[0] > 4:
# Frame stack + colored image
pixels = next_state[0:3]
else:
pixels = next_state
if self.draw:
if self.draw_res is None or self.draw_res.ready():
# Don't miss any reward or done event even we missed that frame
if reward == 0 and self.last_reward is not None:
reward = self.last_reward
self.last_reward = None
if not done and self.last_done is not None:
done = self.last_done
self.last_done = None
self.draw_res = self.display_pool.apply_async(display_step, (pixels, self.action, reward, self.epi_reward, done, info))
else:
# This frame was skipped, but we save its reward and done states if they are non-zero
if reward != 0:
self.last_reward = reward
if done:
self.last_done = done
if done:
self.epi_reward = 0
if self.record:
self.record_pool.apply_async(recorder_step, (pixels, self.action, reward, self.epi_reward, done, info))
self.steps_counter += 1
return res
def reset(self):
self.episode_counter += 1
self.steps_counter = 0
if self.save_frames:
os.makedirs(os.path.join(self.result_path, "frames", "{:03d}".format(self.episode_counter)), exist_ok=True)
return self.pool.apply(worker_reset)
def seed(self, seed):
return self.pool.apply(worker_seed, (seed, ))