Tianshou/tianshou/env/vecenv.py

import gym
import numpy as np
from abc import ABC, abstractmethod
from multiprocessing import Process, Pipe
from typing import List, Tuple, Union, Optional, Callable, Any

try:
    import ray
except ImportError:
    pass

from tianshou.env.utils import CloudpickleWrapper


class BaseVectorEnv(ABC, gym.Env):
    """Base class for vectorized environments wrapper. Usage:
    ::

        env_num = 8
        envs = VectorEnv([lambda: gym.make(task) for _ in range(env_num)])
        assert len(envs) == env_num

    It accepts a list of environment generators. In other words, an environment
    generator ``efn`` of a specific task means that ``efn()`` returns the
    environment of the given task, for example, ``gym.make(task)``.

    All of the VectorEnv must inherit :class:`~tianshou.env.BaseVectorEnv`.
    Here are some other usages:
    ::

        envs.seed(2)  # which is equal to the next line
        envs.seed([2, 3, 4, 5, 6, 7, 8, 9])  # set specific seed for each env
        obs = envs.reset()  # reset all environments
        obs = envs.reset([0, 5, 7])  # reset 3 specific environments
        obs, rew, done, info = envs.step([1] * 8)  # step synchronously
        envs.render()  # render all environments
        envs.close()  # close all environments
    """

    def __init__(self, env_fns: List[Callable[[], gym.Env]]) -> None:
        self._env_fns = env_fns
        self.env_num = len(env_fns)
        self._obs = None
        self._rew = None
        self._done = None
        self._info = None

    def __len__(self) -> int:
        """Return len(self), which is the number of environments."""
        return self.env_num

    def __getattribute__(self, key):
        """Switch between the default attribute getter or one
           looking at wrapped environment level depending on the key."""
        if key not in ('observation_space', 'action_space'):
            return super().__getattribute__(key)
        else:
            return self.__getattr__(key)

    @abstractmethod
    def __getattr__(self, key):
        """Try to retrieve an attribute from each individual wrapped
           environment, if it does not belong to the wrapping vector
           environment class."""
        pass

    @abstractmethod
    def reset(self, id: Optional[Union[int, List[int]]] = None):
        """Reset the state of all the environments and return initial
        observations if id is ``None``, otherwise reset the specific
        environments with given id, either an int or a list.
        """
        pass

    @abstractmethod
    def step(self, action: np.ndarray
             ) -> Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
        """Run one timestep of all the environments’ dynamics. When the end of
        episode is reached, you are responsible for calling reset(id) to reset
        this environment’s state.

        Accept a batch of action and return a tuple (obs, rew, done, info).

        :param numpy.ndarray action: a batch of action provided by the agent.

        :return: A tuple including four items:

            * ``obs`` a numpy.ndarray, the agent's observation of current \
                environments
            * ``rew`` a numpy.ndarray, the amount of rewards returned after \
                previous actions
            * ``done`` a numpy.ndarray, whether these episodes have ended, in \
                which case further step() calls will return undefined results
            * ``info`` a numpy.ndarray, contains auxiliary diagnostic \
                information (helpful for debugging, and sometimes learning)
        """
        pass

    @abstractmethod
    def seed(self, seed: Optional[Union[int, List[int]]] = None) -> List[int]:
        """Set the seed for all environments.

        Accept ``None``, an int (which will extend ``i`` to
        ``[i, i + 1, i + 2, ...]``) or a list.

        :return: The list of seeds used in this env's random number \
        generators. The first value in the list should be the "main" seed, or \
        the value which a reproducer pass to "seed".
        """
        pass

    @abstractmethod
    def render(self, **kwargs) -> None:
        """Render all of the environments."""
        pass

    @abstractmethod
    def close(self) -> None:
        """Close all of the environments.

        Environments will automatically close() themselves when garbage
        collected or when the program exits.
        """
        pass


class VectorEnv(BaseVectorEnv):
    """Dummy vectorized environment wrapper, implemented in for-loop.

    .. seealso::

        Please refer to :class:`~tianshou.env.BaseVectorEnv` for more detailed
        explanation.
    """

    def __init__(self, env_fns: List[Callable[[], gym.Env]]) -> None:
        super().__init__(env_fns)
        self.envs = [_() for _ in env_fns]

    def __getattr__(self, key):
        return [getattr(env, key) if hasattr(env, key) else None
                for env in self.envs]

    def reset(self, id: Optional[Union[int, List[int]]] = None) -> np.ndarray:
        if id is None:
            self._obs = np.stack([e.reset() for e in self.envs])
        else:
            if np.isscalar(id):
                id = [id]
            for i in id:
                self._obs[i] = self.envs[i].reset()
        return self._obs

    def step(self, action: np.ndarray
             ) -> Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
        assert len(action) == self.env_num
        result = [e.step(a) for e, a in zip(self.envs, action)]
        self._obs, self._rew, self._done, self._info = zip(*result)
        self._obs = np.stack(self._obs)
        self._rew = np.stack(self._rew)
        self._done = np.stack(self._done)
        self._info = np.stack(self._info)
        return self._obs, self._rew, self._done, self._info

    def seed(self, seed: Optional[Union[int, List[int]]] = None) -> List[int]:
        if np.isscalar(seed):
            seed = [seed + _ for _ in range(self.env_num)]
        elif seed is None:
            seed = [seed] * self.env_num
        result = []
        for e, s in zip(self.envs, seed):
            if hasattr(e, 'seed'):
                result.append(e.seed(s))
        return result

    def render(self, **kwargs) -> List[Any]:
        result = []
        for e in self.envs:
            if hasattr(e, 'render'):
                result.append(e.render(**kwargs))
        return result

    def close(self) -> List[Any]:
        return [e.close() for e in self.envs]


def worker(parent, p, env_fn_wrapper):
    parent.close()
    env = env_fn_wrapper.data()
    try:
        while True:
            cmd, data = p.recv()
            if cmd == 'step':
                p.send(env.step(data))
            elif cmd == 'reset':
                p.send(env.reset())
            elif cmd == 'close':
                p.send(env.close())
                p.close()
                break
            elif cmd == 'render':
                p.send(env.render(**data) if hasattr(env, 'render') else None)
            elif cmd == 'seed':
                p.send(env.seed(data) if hasattr(env, 'seed') else None)
            elif cmd == 'getattr':
                p.send(getattr(env, data) if hasattr(env, data) else None)
            else:
                p.close()
                raise NotImplementedError
    except KeyboardInterrupt:
        p.close()


class SubprocVectorEnv(BaseVectorEnv):
    """Vectorized environment wrapper based on subprocess.

    .. seealso::

        Please refer to :class:`~tianshou.env.BaseVectorEnv` for more detailed
        explanation.
    """

    def __init__(self, env_fns: List[Callable[[], gym.Env]]) -> None:
        super().__init__(env_fns)
        self.closed = False
        self.parent_remote, self.child_remote = \
            zip(*[Pipe() for _ in range(self.env_num)])
        self.processes = [
            Process(target=worker, args=(
                parent, child, CloudpickleWrapper(env_fn)), daemon=True)
            for (parent, child, env_fn) in zip(
                self.parent_remote, self.child_remote, env_fns)
        ]
        for p in self.processes:
            p.start()
        for c in self.child_remote:
            c.close()

    def __getattr__(self, key):
        for p in self.parent_remote:
            p.send(['getattr', key])
        return [p.recv() for p in self.parent_remote]

    def step(self, action: np.ndarray
             ) -> Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
        assert len(action) == self.env_num
        for p, a in zip(self.parent_remote, action):
            p.send(['step', a])
        result = [p.recv() for p in self.parent_remote]
        self._obs, self._rew, self._done, self._info = zip(*result)
        self._obs = np.stack(self._obs)
        self._rew = np.stack(self._rew)
        self._done = np.stack(self._done)
        self._info = np.stack(self._info)
        return self._obs, self._rew, self._done, self._info

    def reset(self, id: Optional[Union[int, List[int]]] = None) -> np.ndarray:
        if id is None:
            for p in self.parent_remote:
                p.send(['reset', None])
            self._obs = np.stack([p.recv() for p in self.parent_remote])
            return self._obs
        else:
            if np.isscalar(id):
                id = [id]
            for i in id:
                self.parent_remote[i].send(['reset', None])
            for i in id:
                self._obs[i] = self.parent_remote[i].recv()
            return self._obs

    def seed(self, seed: Optional[Union[int, List[int]]] = None) -> List[int]:
        if np.isscalar(seed):
            seed = [seed + _ for _ in range(self.env_num)]
        elif seed is None:
            seed = [seed] * self.env_num
        for p, s in zip(self.parent_remote, seed):
            p.send(['seed', s])
        return [p.recv() for p in self.parent_remote]

    def render(self, **kwargs) -> List[Any]:
        for p in self.parent_remote:
            p.send(['render', kwargs])
        return [p.recv() for p in self.parent_remote]

    def close(self) -> List[Any]:
        if self.closed:
            return []
        for p in self.parent_remote:
            p.send(['close', None])
        result = [p.recv() for p in self.parent_remote]
        self.closed = True
        for p in self.processes:
            p.join()
        return result


class RayVectorEnv(BaseVectorEnv):
    """Vectorized environment wrapper based on
    `ray <https://github.com/ray-project/ray>`_. However, according to our
    test, it is about two times slower than
    :class:`~tianshou.env.SubprocVectorEnv`.

    .. seealso::

        Please refer to :class:`~tianshou.env.BaseVectorEnv` for more detailed
        explanation.
    """

    def __init__(self, env_fns: List[Callable[[], gym.Env]]) -> None:
        super().__init__(env_fns)
        try:
            if not ray.is_initialized():
                ray.init()
        except NameError:
            raise ImportError(
                'Please install ray to support RayVectorEnv: pip3 install ray')
        self.envs = [
            ray.remote(gym.Wrapper).options(num_cpus=0).remote(e())
            for e in env_fns]

    def __getattr__(self, key):
        return ray.get([e.getattr.remote(key) for e in self.envs])

    def step(self, action: np.ndarray
             ) -> Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
        assert len(action) == self.env_num
        result = ray.get([e.step.remote(a) for e, a in zip(self.envs, action)])
        self._obs, self._rew, self._done, self._info = zip(*result)
        self._obs = np.stack(self._obs)
        self._rew = np.stack(self._rew)
        self._done = np.stack(self._done)
        self._info = np.stack(self._info)
        return self._obs, self._rew, self._done, self._info

    def reset(self, id: Optional[Union[int, List[int]]] = None) -> np.ndarray:
        if id is None:
            result_obj = [e.reset.remote() for e in self.envs]
            self._obs = np.stack(ray.get(result_obj))
        else:
            result_obj = []
            if np.isscalar(id):
                id = [id]
            for i in id:
                result_obj.append(self.envs[i].reset.remote())
            for _, i in enumerate(id):
                self._obs[i] = ray.get(result_obj[_])
        return self._obs

    def seed(self, seed: Optional[Union[int, List[int]]] = None) -> List[int]:
        if not hasattr(self.envs[0], 'seed'):
            return []
        if np.isscalar(seed):
            seed = [seed + _ for _ in range(self.env_num)]
        elif seed is None:
            seed = [seed] * self.env_num
        return ray.get([e.seed.remote(s) for e, s in zip(self.envs, seed)])

    def render(self, **kwargs) -> List[Any]:
        if not hasattr(self.envs[0], 'render'):
            return [None for e in self.envs]
        return ray.get([e.render.remote(**kwargs) for e in self.envs])

    def close(self) -> List[Any]:
        return ray.get([e.close.remote() for e in self.envs])