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| import grpc | |
| from typing import Optional | |
| from multiprocessing import Pipe | |
| from sys import platform | |
| import socket | |
| import time | |
| from concurrent.futures import ThreadPoolExecutor | |
| from .communicator import Communicator, PollCallback | |
| from mlagents_envs.communicator_objects.unity_to_external_pb2_grpc import ( | |
| UnityToExternalProtoServicer, | |
| add_UnityToExternalProtoServicer_to_server, | |
| ) | |
| from mlagents_envs.communicator_objects.unity_message_pb2 import UnityMessageProto | |
| from mlagents_envs.communicator_objects.unity_input_pb2 import UnityInputProto | |
| from mlagents_envs.communicator_objects.unity_output_pb2 import UnityOutputProto | |
| from .exception import UnityTimeOutException, UnityWorkerInUseException | |
| class UnityToExternalServicerImplementation(UnityToExternalProtoServicer): | |
| def __init__(self): | |
| self.parent_conn, self.child_conn = Pipe() | |
| def Initialize(self, request, context): | |
| self.child_conn.send(request) | |
| return self.child_conn.recv() | |
| def Exchange(self, request, context): | |
| self.child_conn.send(request) | |
| return self.child_conn.recv() | |
| class RpcCommunicator(Communicator): | |
| def __init__(self, worker_id=0, base_port=5005, timeout_wait=30): | |
| """ | |
| Python side of the grpc communication. Python is the server and Unity the client | |
| :int base_port: Baseline port number to connect to Unity environment over. worker_id increments over this. | |
| :int worker_id: Offset from base_port. Used for training multiple environments simultaneously. | |
| :int timeout_wait: Timeout (in seconds) to wait for a response before exiting. | |
| """ | |
| super().__init__(worker_id, base_port) | |
| self.port = base_port + worker_id | |
| self.worker_id = worker_id | |
| self.timeout_wait = timeout_wait | |
| self.server = None | |
| self.unity_to_external = None | |
| self.is_open = False | |
| self.create_server() | |
| def create_server(self): | |
| """ | |
| Creates the GRPC server. | |
| """ | |
| self.check_port(self.port) | |
| try: | |
| # Establish communication grpc | |
| self.server = grpc.server( | |
| thread_pool=ThreadPoolExecutor(max_workers=10), | |
| options=(("grpc.so_reuseport", 1),), | |
| ) | |
| self.unity_to_external = UnityToExternalServicerImplementation() | |
| add_UnityToExternalProtoServicer_to_server( | |
| self.unity_to_external, self.server | |
| ) | |
| # Using unspecified address, which means that grpc is communicating on all IPs | |
| # This is so that the docker container can connect. | |
| self.server.add_insecure_port("[::]:" + str(self.port)) | |
| self.server.start() | |
| self.is_open = True | |
| except Exception: | |
| raise UnityWorkerInUseException(self.worker_id) | |
| def check_port(self, port): | |
| """ | |
| Attempts to bind to the requested communicator port, checking if it is already in use. | |
| """ | |
| s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) | |
| if platform == "linux" or platform == "linux2": | |
| # On linux, the port remains unusable for TIME_WAIT=60 seconds after closing | |
| # SO_REUSEADDR frees the port right after closing the environment | |
| s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) | |
| try: | |
| s.bind(("localhost", port)) | |
| except OSError: | |
| raise UnityWorkerInUseException(self.worker_id) | |
| finally: | |
| s.close() | |
| def poll_for_timeout(self, poll_callback: Optional[PollCallback] = None) -> None: | |
| """ | |
| Polls the GRPC parent connection for data, to be used before calling recv. This prevents | |
| us from hanging indefinitely in the case where the environment process has died or was not | |
| launched. | |
| Additionally, a callback can be passed to periodically check the state of the environment. | |
| This is used to detect the case when the environment dies without cleaning up the connection, | |
| so that we can stop sooner and raise a more appropriate error. | |
| """ | |
| deadline = time.monotonic() + self.timeout_wait | |
| callback_timeout_wait = self.timeout_wait // 10 | |
| while time.monotonic() < deadline: | |
| if self.unity_to_external.parent_conn.poll(callback_timeout_wait): | |
| # Got an acknowledgment from the connection | |
| return | |
| if poll_callback: | |
| # Fire the callback - if it detects something wrong, it should raise an exception. | |
| poll_callback() | |
| # Got this far without reading any data from the connection, so it must be dead. | |
| raise UnityTimeOutException( | |
| "The Unity environment took too long to respond. Make sure that :\n" | |
| "\t The environment does not need user interaction to launch\n" | |
| '\t The Agents\' Behavior Parameters > Behavior Type is set to "Default"\n' | |
| "\t The environment and the Python interface have compatible versions.\n" | |
| "\t If you're running on a headless server without graphics support, turn off display " | |
| "by either passing --no-graphics option or build your Unity executable as server build." | |
| ) | |
| def initialize( | |
| self, inputs: UnityInputProto, poll_callback: Optional[PollCallback] = None | |
| ) -> UnityOutputProto: | |
| self.poll_for_timeout(poll_callback) | |
| aca_param = self.unity_to_external.parent_conn.recv().unity_output | |
| message = UnityMessageProto() | |
| message.header.status = 200 | |
| message.unity_input.CopyFrom(inputs) | |
| self.unity_to_external.parent_conn.send(message) | |
| self.unity_to_external.parent_conn.recv() | |
| return aca_param | |
| def exchange( | |
| self, inputs: UnityInputProto, poll_callback: Optional[PollCallback] = None | |
| ) -> Optional[UnityOutputProto]: | |
| message = UnityMessageProto() | |
| message.header.status = 200 | |
| message.unity_input.CopyFrom(inputs) | |
| self.unity_to_external.parent_conn.send(message) | |
| self.poll_for_timeout(poll_callback) | |
| output = self.unity_to_external.parent_conn.recv() | |
| if output.header.status != 200: | |
| return None | |
| return output.unity_output | |
| def close(self): | |
| """ | |
| Sends a shutdown signal to the unity environment, and closes the grpc connection. | |
| """ | |
| if self.is_open: | |
| message_input = UnityMessageProto() | |
| message_input.header.status = 400 | |
| self.unity_to_external.parent_conn.send(message_input) | |
| self.unity_to_external.parent_conn.close() | |
| self.server.stop(False) | |
| self.is_open = False | |