async_vector_env.py

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'


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, 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

        if (observation_space is None) or (action_space is None):
            dummy_env = env_fns[0]()
            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.time() + timeout
        delta = None
        for pipe in self.parent_pipes:
            delta = max(end_time - time.time(), 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 _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 == '_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 == '_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()