gym_util/async_vector_env.py

"""
Back ported methods: call, set_attr from v0.26
Disabled auto-reset after done
Added render method.
"""


import numpy as np
import multiprocessing as mp
import time
import sys
from enum import Enum
from copy import deepcopy

from gym import logger
from gym.vector.vector_env import VectorEnv
from gym.error import (
    AlreadyPendingCallError,
    NoAsyncCallError,
    ClosedEnvironmentError,
    CustomSpaceError,
)
from gym.vector.utils import (
    create_shared_memory,
    create_empty_array,
    write_to_shared_memory,
    read_from_shared_memory,
    concatenate,
    CloudpickleWrapper,
    clear_mpi_env_vars,
)

__all__ = ["AsyncVectorEnv"]


class AsyncState(Enum):
    DEFAULT = "default"
    WAITING_RESET = "reset"
    WAITING_STEP = "step"
    WAITING_CALL = "call"


class AsyncVectorEnv(VectorEnv):
    """Vectorized environment that runs multiple environments in parallel. It
    uses `multiprocessing` processes, and pipes for communication.
    Parameters
    ----------
    env_fns : iterable of callable
        Functions that create the environments.
    observation_space : `gym.spaces.Space` instance, optional
        Observation space of a single environment. If `None`, then the
        observation space of the first environment is taken.
    action_space : `gym.spaces.Space` instance, optional
        Action space of a single environment. If `None`, then the action space
        of the first environment is taken.
    shared_memory : bool (default: `True`)
        If `True`, then the observations from the worker processes are
        communicated back through shared variables. This can improve the
        efficiency if the observations are large (e.g. images).
    copy : bool (default: `True`)
        If `True`, then the `reset` and `step` methods return a copy of the
        observations.
    context : str, optional
        Context for multiprocessing. If `None`, then the default context is used.
        Only available in Python 3.
    daemon : bool (default: `True`)
        If `True`, then subprocesses have `daemon` flag turned on; that is, they
        will quit if the head process quits. However, `daemon=True` prevents
        subprocesses to spawn children, so for some environments you may want
        to have it set to `False`
    worker : function, optional
        WARNING - advanced mode option! If set, then use that worker in a subprocess
        instead of a default one. Can be useful to override some inner vector env
        logic, for instance, how resets on done are handled. Provides high
        degree of flexibility and a high chance to shoot yourself in the foot; thus,
        if you are writing your own worker, it is recommended to start from the code
        for `_worker` (or `_worker_shared_memory`) method below, and add changes
    """

    def __init__(
        self,
        env_fns,
        dummy_env_fn=None,
        observation_space=None,
        action_space=None,
        shared_memory=True,
        copy=True,
        context=None,
        daemon=True,
        worker=None,
    ):
        ctx = mp.get_context(context)
        self.env_fns = env_fns
        self.shared_memory = shared_memory
        self.copy = copy

        # Added dummy_env_fn to fix OpenGL error in Mujoco
        # disable any OpenGL rendering in dummy_env_fn, since it
        # will conflict with OpenGL context in the forked child process
        if dummy_env_fn is None:
            dummy_env_fn = env_fns[0]
        dummy_env = dummy_env_fn()
        self.metadata = dummy_env.metadata

        if (observation_space is None) or (action_space is None):
            observation_space = observation_space or dummy_env.observation_space
            action_space = action_space or dummy_env.action_space
        dummy_env.close()
        del dummy_env
        super(AsyncVectorEnv, self).__init__(
            num_envs=len(env_fns),
            observation_space=observation_space,
            action_space=action_space,
        )

        if self.shared_memory:
            try:
                _obs_buffer = create_shared_memory(
                    self.single_observation_space, n=self.num_envs, ctx=ctx
                )
                self.observations = read_from_shared_memory(
                    _obs_buffer, self.single_observation_space, n=self.num_envs
                )
            except CustomSpaceError:
                raise ValueError(
                    "Using `shared_memory=True` in `AsyncVectorEnv` "
                    "is incompatible with non-standard Gym observation spaces "
                    "(i.e. custom spaces inheriting from `gym.Space`), and is "
                    "only compatible with default Gym spaces (e.g. `Box`, "
                    "`Tuple`, `Dict`) for batching. Set `shared_memory=False` "
                    "if you use custom observation spaces."
                )
        else:
            _obs_buffer = None
            self.observations = create_empty_array(
                self.single_observation_space, n=self.num_envs, fn=np.zeros
            )

        self.parent_pipes, self.processes = [], []
        self.error_queue = ctx.Queue()
        target = _worker_shared_memory if self.shared_memory else _worker
        target = worker or target
        with clear_mpi_env_vars():
            for idx, env_fn in enumerate(self.env_fns):
                parent_pipe, child_pipe = ctx.Pipe()
                process = ctx.Process(
                    target=target,
                    name="Worker<{0}>-{1}".format(type(self).__name__, idx),
                    args=(
                        idx,
                        CloudpickleWrapper(env_fn),
                        child_pipe,
                        parent_pipe,
                        _obs_buffer,
                        self.error_queue,
                    ),
                )

                self.parent_pipes.append(parent_pipe)
                self.processes.append(process)

                process.daemon = daemon
                process.start()
                child_pipe.close()

        self._state = AsyncState.DEFAULT
        self._check_observation_spaces()

    def seed(self, seeds=None):
        self._assert_is_running()
        if seeds is None:
            seeds = [None for _ in range(self.num_envs)]
        if isinstance(seeds, int):
            seeds = [seeds + i for i in range(self.num_envs)]
        assert len(seeds) == self.num_envs

        if self._state != AsyncState.DEFAULT:
            raise AlreadyPendingCallError(
                "Calling `seed` while waiting "
                "for a pending call to `{0}` to complete.".format(self._state.value),
                self._state.value,
            )

        for pipe, seed in zip(self.parent_pipes, seeds):
            pipe.send(("seed", seed))
        _, successes = zip(*[pipe.recv() for pipe in self.parent_pipes])
        self._raise_if_errors(successes)

    def reset_async(self):
        self._assert_is_running()
        if self._state != AsyncState.DEFAULT:
            raise AlreadyPendingCallError(
                "Calling `reset_async` while waiting "
                "for a pending call to `{0}` to complete".format(self._state.value),
                self._state.value,
            )

        for pipe in self.parent_pipes:
            pipe.send(("reset", None))
        self._state = AsyncState.WAITING_RESET

    def reset_wait(self, timeout=None):
        """
        Parameters
        ----------
        timeout : int or float, optional
            Number of seconds before the call to `reset_wait` times out. If
            `None`, the call to `reset_wait` never times out.
        Returns
        -------
        observations : sample from `observation_space`
            A batch of observations from the vectorized environment.
        """
        self._assert_is_running()
        if self._state != AsyncState.WAITING_RESET:
            raise NoAsyncCallError(
                "Calling `reset_wait` without any prior " "call to `reset_async`.",
                AsyncState.WAITING_RESET.value,
            )

        if not self._poll(timeout):
            self._state = AsyncState.DEFAULT
            raise mp.TimeoutError(
                "The call to `reset_wait` has timed out after "
                "{0} second{1}.".format(timeout, "s" if timeout > 1 else "")
            )

        results, successes = zip(*[pipe.recv() for pipe in self.parent_pipes])
        self._raise_if_errors(successes)
        self._state = AsyncState.DEFAULT

        if not self.shared_memory:
            self.observations = concatenate(
                results, self.observations, self.single_observation_space
            )

        return deepcopy(self.observations) if self.copy else self.observations

    def step_async(self, actions):
        """
        Parameters
        ----------
        actions : iterable of samples from `action_space`
            List of actions.
        """
        self._assert_is_running()
        if self._state != AsyncState.DEFAULT:
            raise AlreadyPendingCallError(
                "Calling `step_async` while waiting "
                "for a pending call to `{0}` to complete.".format(self._state.value),
                self._state.value,
            )

        for pipe, action in zip(self.parent_pipes, actions):
            pipe.send(("step", action))
        self._state = AsyncState.WAITING_STEP

    def step_wait(self, timeout=None):
        """
        Parameters
        ----------
        timeout : int or float, optional
            Number of seconds before the call to `step_wait` times out. If
            `None`, the call to `step_wait` never times out.
        Returns
        -------
        observations : sample from `observation_space`
            A batch of observations from the vectorized environment.
        rewards : `np.ndarray` instance (dtype `np.float_`)
            A vector of rewards from the vectorized environment.
        dones : `np.ndarray` instance (dtype `np.bool_`)
            A vector whose entries indicate whether the episode has ended.
        infos : list of dict
            A list of auxiliary diagnostic information.
        """
        self._assert_is_running()
        if self._state != AsyncState.WAITING_STEP:
            raise NoAsyncCallError(
                "Calling `step_wait` without any prior call " "to `step_async`.",
                AsyncState.WAITING_STEP.value,
            )

        if not self._poll(timeout):
            self._state = AsyncState.DEFAULT
            raise mp.TimeoutError(
                "The call to `step_wait` has timed out after "
                "{0} second{1}.".format(timeout, "s" if timeout > 1 else "")
            )

        results, successes = zip(*[pipe.recv() for pipe in self.parent_pipes])
        self._raise_if_errors(successes)
        self._state = AsyncState.DEFAULT
        observations_list, rewards, dones, infos = zip(*results)

        if not self.shared_memory:
            self.observations = concatenate(
                observations_list, self.observations, self.single_observation_space
            )

        return (
            deepcopy(self.observations) if self.copy else self.observations,
            np.array(rewards),
            np.array(dones, dtype=np.bool_),
            infos,
        )

    def close_extras(self, timeout=None, terminate=False):
        """
        Parameters
        ----------
        timeout : int or float, optional
            Number of seconds before the call to `close` times out. If `None`,
            the call to `close` never times out. If the call to `close` times
            out, then all processes are terminated.
        terminate : bool (default: `False`)
            If `True`, then the `close` operation is forced and all processes
            are terminated.
        """
        timeout = 0 if terminate else timeout
        try:
            if self._state != AsyncState.DEFAULT:
                logger.warn(
                    "Calling `close` while waiting for a pending "
                    "call to `{0}` to complete.".format(self._state.value)
                )
                function = getattr(self, "{0}_wait".format(self._state.value))
                function(timeout)
        except mp.TimeoutError:
            terminate = True

        if terminate:
            for process in self.processes:
                if process.is_alive():
                    process.terminate()
        else:
            for pipe in self.parent_pipes:
                if (pipe is not None) and (not pipe.closed):
                    pipe.send(("close", None))
            for pipe in self.parent_pipes:
                if (pipe is not None) and (not pipe.closed):
                    pipe.recv()

        for pipe in self.parent_pipes:
            if pipe is not None:
                pipe.close()
        for process in self.processes:
            process.join()

    def _poll(self, timeout=None):
        self._assert_is_running()
        if timeout is None:
            return True
        end_time = time.perf_counter() + timeout
        delta = None
        for pipe in self.parent_pipes:
            delta = max(end_time - time.perf_counter(), 0)
            if pipe is None:
                return False
            if pipe.closed or (not pipe.poll(delta)):
                return False
        return True

    def _check_observation_spaces(self):
        self._assert_is_running()
        for pipe in self.parent_pipes:
            pipe.send(("_check_observation_space", self.single_observation_space))
        same_spaces, successes = zip(*[pipe.recv() for pipe in self.parent_pipes])
        self._raise_if_errors(successes)
        if not all(same_spaces):
            raise RuntimeError(
                "Some environments have an observation space "
                "different from `{0}`. In order to batch observations, the "
                "observation spaces from all environments must be "
                "equal.".format(self.single_observation_space)
            )

    def _assert_is_running(self):
        if self.closed:
            raise ClosedEnvironmentError(
                "Trying to operate on `{0}`, after a "
                "call to `close()`.".format(type(self).__name__)
            )

    def _raise_if_errors(self, successes):
        if all(successes):
            return

        num_errors = self.num_envs - sum(successes)
        assert num_errors > 0
        for _ in range(num_errors):
            index, exctype, value = self.error_queue.get()
            logger.error(
                "Received the following error from Worker-{0}: "
                "{1}: {2}".format(index, exctype.__name__, value)
            )
            logger.error("Shutting down Worker-{0}.".format(index))
            self.parent_pipes[index].close()
            self.parent_pipes[index] = None

        logger.error("Raising the last exception back to the main process.")
        raise exctype(value)
    
    def call_async(self, name: str, *args, **kwargs):
        """Calls the method with name asynchronously and apply args and kwargs to the method.

        Args:
            name: Name of the method or property to call.
            *args: Arguments to apply to the method call.
            **kwargs: Keyword arguments to apply to the method call.

        Raises:
            ClosedEnvironmentError: If the environment was closed (if :meth:`close` was previously called).
            AlreadyPendingCallError: Calling `call_async` while waiting for a pending call to complete
        """
        self._assert_is_running()
        if self._state != AsyncState.DEFAULT:
            raise AlreadyPendingCallError(
                "Calling `call_async` while waiting "
                f"for a pending call to `{self._state.value}` to complete.",
                self._state.value,
            )

        for pipe in self.parent_pipes:
            pipe.send(("_call", (name, args, kwargs)))
        self._state = AsyncState.WAITING_CALL

    def call_wait(self, timeout = None) -> list:
        """Calls all parent pipes and waits for the results.

        Args:
            timeout: Number of seconds before the call to `step_wait` times out.
                If `None` (default), the call to `step_wait` never times out.

        Returns:
            List of the results of the individual calls to the method or property for each environment.

        Raises:
            NoAsyncCallError: Calling `call_wait` without any prior call to `call_async`.
            TimeoutError: The call to `call_wait` has timed out after timeout second(s).
        """
        self._assert_is_running()
        if self._state != AsyncState.WAITING_CALL:
            raise NoAsyncCallError(
                "Calling `call_wait` without any prior call to `call_async`.",
                AsyncState.WAITING_CALL.value,
            )

        if not self._poll(timeout):
            self._state = AsyncState.DEFAULT
            raise mp.TimeoutError(
                f"The call to `call_wait` has timed out after {timeout} second(s)."
            )

        results, successes = zip(*[pipe.recv() for pipe in self.parent_pipes])
        self._raise_if_errors(successes)
        self._state = AsyncState.DEFAULT

        return results

    def call(self, name: str, *args, **kwargs):
        """Call a method, or get a property, from each parallel environment.

        Args:
            name (str): Name of the method or property to call.
            *args: Arguments to apply to the method call.
            **kwargs: Keyword arguments to apply to the method call.

        Returns:
            List of the results of the individual calls to the method or property for each environment.
        """
        self.call_async(name, *args, **kwargs)
        return self.call_wait()
    

    def call_each(self, name: str, 
            args_list: list=None, 
            kwargs_list: list=None, 
            timeout = None):
        n_envs = len(self.parent_pipes)
        if args_list is None:
            args_list = [[]] * n_envs
        assert len(args_list) == n_envs

        if kwargs_list is None:
            kwargs_list = [dict()] * n_envs
        assert len(kwargs_list) == n_envs

        # send
        self._assert_is_running()
        if self._state != AsyncState.DEFAULT:
            raise AlreadyPendingCallError(
                "Calling `call_async` while waiting "
                f"for a pending call to `{self._state.value}` to complete.",
                self._state.value,
            )

        for i, pipe in enumerate(self.parent_pipes):
            pipe.send(("_call", (name, args_list[i], kwargs_list[i])))
        self._state = AsyncState.WAITING_CALL

        # receive
        self._assert_is_running()
        if self._state != AsyncState.WAITING_CALL:
            raise NoAsyncCallError(
                "Calling `call_wait` without any prior call to `call_async`.",
                AsyncState.WAITING_CALL.value,
            )

        if not self._poll(timeout):
            self._state = AsyncState.DEFAULT
            raise mp.TimeoutError(
                f"The call to `call_wait` has timed out after {timeout} second(s)."
            )

        results, successes = zip(*[pipe.recv() for pipe in self.parent_pipes])
        self._raise_if_errors(successes)
        self._state = AsyncState.DEFAULT

        return results


    def set_attr(self, name: str, values):
        """Sets an attribute of the sub-environments.

        Args:
            name: Name of the property to be set in each individual environment.
            values: Values of the property to be set to. If ``values`` is a list or
                tuple, then it corresponds to the values for each individual
                environment, otherwise a single value is set for all environments.

        Raises:
            ValueError: Values must be a list or tuple with length equal to the number of environments.
            AlreadyPendingCallError: Calling `set_attr` while waiting for a pending call to complete.
        """
        self._assert_is_running()
        if not isinstance(values, (list, tuple)):
            values = [values for _ in range(self.num_envs)]
        if len(values) != self.num_envs:
            raise ValueError(
                "Values must be a list or tuple with length equal to the "
                f"number of environments. Got `{len(values)}` values for "
                f"{self.num_envs} environments."
            )

        if self._state != AsyncState.DEFAULT:
            raise AlreadyPendingCallError(
                "Calling `set_attr` while waiting "
                f"for a pending call to `{self._state.value}` to complete.",
                self._state.value,
            )

        for pipe, value in zip(self.parent_pipes, values):
            pipe.send(("_setattr", (name, value)))
        _, successes = zip(*[pipe.recv() for pipe in self.parent_pipes])
        self._raise_if_errors(successes)

    def render(self, *args, **kwargs):
        return self.call('render', *args, **kwargs)



def _worker(index, env_fn, pipe, parent_pipe, shared_memory, error_queue):
    assert shared_memory is None
    env = env_fn()
    parent_pipe.close()
    try:
        while True:
            command, data = pipe.recv()
            if command == "reset":
                observation = env.reset()
                pipe.send((observation, True))
            elif command == "step":
                observation, reward, done, info = env.step(data)
                # if done:
                #     observation = env.reset()
                pipe.send(((observation, reward, done, info), True))
            elif command == "seed":
                env.seed(data)
                pipe.send((None, True))
            elif command == "close":
                pipe.send((None, True))
                break
            elif command == "_call":
                name, args, kwargs = data
                if name in ["reset", "step", "seed", "close"]:
                    raise ValueError(
                        f"Trying to call function `{name}` with "
                        f"`_call`. Use `{name}` directly instead."
                    )
                function = getattr(env, name)
                if callable(function):
                    pipe.send((function(*args, **kwargs), True))
                else:
                    pipe.send((function, True))
            elif command == "_setattr":
                name, value = data
                setattr(env, name, value)
                pipe.send((None, True))

            elif command == "_check_observation_space":
                pipe.send((data == env.observation_space, True))
            else:
                raise RuntimeError(
                    "Received unknown command `{0}`. Must "
                    "be one of {`reset`, `step`, `seed`, `close`, "
                    "`_check_observation_space`}.".format(command)
                )
    except (KeyboardInterrupt, Exception):
        error_queue.put((index,) + sys.exc_info()[:2])
        pipe.send((None, False))
    finally:
        env.close()


def _worker_shared_memory(index, env_fn, pipe, parent_pipe, shared_memory, error_queue):
    assert shared_memory is not None
    env = env_fn()
    observation_space = env.observation_space
    parent_pipe.close()
    try:
        while True:
            command, data = pipe.recv()
            if command == "reset":
                observation = env.reset()
                write_to_shared_memory(
                    index, observation, shared_memory, observation_space
                )
                pipe.send((None, True))
            elif command == "step":
                observation, reward, done, info = env.step(data)
                # if done:
                #     observation = env.reset()
                write_to_shared_memory(
                    index, observation, shared_memory, observation_space
                )
                pipe.send(((None, reward, done, info), True))
            elif command == "seed":
                env.seed(data)
                pipe.send((None, True))
            elif command == "close":
                pipe.send((None, True))
                break
            elif command == "_call":
                name, args, kwargs = data
                if name in ["reset", "step", "seed", "close"]:
                    raise ValueError(
                        f"Trying to call function `{name}` with "
                        f"`_call`. Use `{name}` directly instead."
                    )
                function = getattr(env, name)
                if callable(function):
                    pipe.send((function(*args, **kwargs), True))
                else:
                    pipe.send((function, True))
            elif command == "_setattr":
                name, value = data
                setattr(env, name, value)
                pipe.send((None, True))
            elif command == "_check_observation_space":
                pipe.send((data == observation_space, True))
            else:
                raise RuntimeError(
                    "Received unknown command `{0}`. Must "
                    "be one of {`reset`, `step`, `seed`, `close`, "
                    "`_check_observation_space`}.".format(command)
                )
    except (KeyboardInterrupt, Exception):
        error_queue.put((index,) + sys.exc_info()[:2])
        pipe.send((None, False))
    finally:
        env.close()