Tianshou/tianshou/data/buffer/manager.py

from collections.abc import Sequence
from typing import Union

import numpy as np
from numba import njit

from tianshou.data import Batch, HERReplayBuffer, PrioritizedReplayBuffer, ReplayBuffer
from tianshou.data.batch import alloc_by_keys_diff, create_value
from tianshou.data.types import RolloutBatchProtocol


class ReplayBufferManager(ReplayBuffer):
    """ReplayBufferManager contains a list of ReplayBuffer with exactly the same configuration.

    These replay buffers have contiguous memory layout, and the storage space each
    buffer has is a shallow copy of the topmost memory.

    :param buffer_list: a list of ReplayBuffer needed to be handled.

    .. seealso::

        Please refer to :class:`~tianshou.data.ReplayBuffer` for other APIs' usage.
    """

    def __init__(self, buffer_list: list[ReplayBuffer] | list[HERReplayBuffer]) -> None:
        self.buffer_num = len(buffer_list)
        self.buffers = np.array(buffer_list, dtype=object)
        offset, size = [], 0
        buffer_type = type(self.buffers[0])
        kwargs = self.buffers[0].options
        for buf in self.buffers:
            assert buf._meta.is_empty()
            assert isinstance(buf, buffer_type)
            assert buf.options == kwargs
            offset.append(size)
            size += buf.maxsize
        self._offset = np.array(offset)
        self._extend_offset = np.array([*offset, size])
        self._lengths = np.zeros_like(offset)
        super().__init__(size=size, **kwargs)
        self._compile()
        self._meta: RolloutBatchProtocol

    def _compile(self) -> None:
        lens = last = index = np.array([0])
        offset = np.array([0, 1])
        done = np.array([False, False])
        _prev_index(index, offset, done, last, lens)
        _next_index(index, offset, done, last, lens)

    def __len__(self) -> int:
        return int(self._lengths.sum())

    def reset(self, keep_statistics: bool = False) -> None:
        self.last_index = self._offset.copy()
        self._lengths = np.zeros_like(self._offset)
        for buf in self.buffers:
            buf.reset(keep_statistics=keep_statistics)

    def _set_batch_for_children(self) -> None:
        for offset, buf in zip(self._offset, self.buffers, strict=True):
            buf.set_batch(self._meta[offset : offset + buf.maxsize])

    def set_batch(self, batch: RolloutBatchProtocol) -> None:
        super().set_batch(batch)
        self._set_batch_for_children()

    def unfinished_index(self) -> np.ndarray:
        return np.concatenate(
            [
                buf.unfinished_index() + offset
                for offset, buf in zip(self._offset, self.buffers, strict=True)
            ],
        )

    def prev(self, index: int | np.ndarray) -> np.ndarray:
        if isinstance(index, list | np.ndarray):
            return _prev_index(
                np.asarray(index),
                self._extend_offset,
                self.done,
                self.last_index,
                self._lengths,
            )
        return _prev_index(
            np.array([index]),
            self._extend_offset,
            self.done,
            self.last_index,
            self._lengths,
        )[0]

    def next(self, index: int | np.ndarray) -> np.ndarray:
        if isinstance(index, list | np.ndarray):
            return _next_index(
                np.asarray(index),
                self._extend_offset,
                self.done,
                self.last_index,
                self._lengths,
            )
        return _next_index(
            np.array([index]),
            self._extend_offset,
            self.done,
            self.last_index,
            self._lengths,
        )[0]

    def update(self, buffer: ReplayBuffer) -> np.ndarray:
        """The ReplayBufferManager cannot be updated by any buffer."""
        raise NotImplementedError

    def add(
        self,
        batch: RolloutBatchProtocol,
        buffer_ids: np.ndarray | list[int] | None = None,
    ) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
        """Add a batch of data into ReplayBufferManager.

        Each of the data's length (first dimension) must equal to the length of
        buffer_ids. By default buffer_ids is [0, 1, ..., buffer_num - 1].

        Return (current_index, episode_reward, episode_length, episode_start_index). If
        the episode is not finished, the return value of episode_length and
        episode_reward is 0.
        """
        # preprocess batch
        new_batch = Batch()
        for key in set(self._reserved_keys).intersection(batch.get_keys()):
            new_batch.__dict__[key] = batch[key]
        batch = new_batch
        batch.__dict__["done"] = np.logical_or(batch.terminated, batch.truncated)
        assert {"obs", "act", "rew", "terminated", "truncated", "done"}.issubset(batch.get_keys())
        if self._save_only_last_obs:
            batch.obs = batch.obs[:, -1]
        if not self._save_obs_next:
            batch.pop("obs_next", None)
        elif self._save_only_last_obs:
            batch.obs_next = batch.obs_next[:, -1]
        # get index
        if buffer_ids is None:
            buffer_ids = np.arange(self.buffer_num)
        ptrs, ep_lens, ep_rews, ep_idxs = [], [], [], []
        for batch_idx, buffer_id in enumerate(buffer_ids):
            ptr, ep_rew, ep_len, ep_idx = self.buffers[buffer_id]._add_index(
                batch.rew[batch_idx],
                batch.done[batch_idx],
            )
            ptrs.append(ptr + self._offset[buffer_id])
            ep_lens.append(ep_len)
            ep_rews.append(ep_rew)
            ep_idxs.append(ep_idx + self._offset[buffer_id])
            self.last_index[buffer_id] = ptr + self._offset[buffer_id]
            self._lengths[buffer_id] = len(self.buffers[buffer_id])
        ptrs = np.array(ptrs)
        try:
            self._meta[ptrs] = batch
        except ValueError:
            batch.rew = batch.rew.astype(float)
            batch.done = batch.done.astype(bool)
            batch.terminated = batch.terminated.astype(bool)
            batch.truncated = batch.truncated.astype(bool)
            if self._meta.is_empty():
                self._meta = create_value(batch, self.maxsize, stack=False)  # type: ignore
            else:  # dynamic key pops up in batch
                alloc_by_keys_diff(self._meta, batch, self.maxsize, False)
            self._set_batch_for_children()
            self._meta[ptrs] = batch
        return ptrs, np.array(ep_rews), np.array(ep_lens), np.array(ep_idxs)

    def sample_indices(self, batch_size: int | None) -> np.ndarray:
        # TODO: simplify this code
        if batch_size is not None and batch_size < 0:
            # TODO: raise error instead?
            return np.array([], int)
        if self._sample_avail and self.stack_num > 1:
            all_indices = np.concatenate(
                [
                    buf.sample_indices(0) + offset
                    for offset, buf in zip(self._offset, self.buffers, strict=True)
                ],
            )
            if batch_size == 0:
                return all_indices
            if batch_size is None:
                batch_size = len(all_indices)
            return np.random.choice(all_indices, batch_size)
        if batch_size == 0 or batch_size is None:  # get all available indices
            sample_num = np.zeros(self.buffer_num, int)
        else:
            buffer_idx = np.random.choice(
                self.buffer_num,
                batch_size,
                p=self._lengths / self._lengths.sum(),
            )
            sample_num = np.bincount(buffer_idx, minlength=self.buffer_num)
            # avoid batch_size > 0 and sample_num == 0 -> get child's all data
            sample_num[sample_num == 0] = -1

        return np.concatenate(
            [
                buf.sample_indices(int(bsz)) + offset
                for offset, buf, bsz in zip(self._offset, self.buffers, sample_num, strict=True)
            ],
        )


class PrioritizedReplayBufferManager(PrioritizedReplayBuffer, ReplayBufferManager):
    """PrioritizedReplayBufferManager contains a list of PrioritizedReplayBuffer with exactly the same configuration.

    These replay buffers have contiguous memory layout, and the storage space each
    buffer has is a shallow copy of the topmost memory.

    :param buffer_list: a list of PrioritizedReplayBuffer needed to be handled.

    .. seealso::

        Please refer to :class:`~tianshou.data.ReplayBuffer` for other APIs' usage.
    """

    def __init__(self, buffer_list: Sequence[PrioritizedReplayBuffer]) -> None:
        ReplayBufferManager.__init__(self, buffer_list)  # type: ignore
        kwargs = buffer_list[0].options
        for buf in buffer_list:
            del buf.weight
        PrioritizedReplayBuffer.__init__(self, self.maxsize, **kwargs)


class HERReplayBufferManager(ReplayBufferManager):
    """HERReplayBufferManager contains a list of HERReplayBuffer with exactly the same configuration.

    These replay buffers have contiguous memory layout, and the storage space each
    buffer has is a shallow copy of the topmost memory.

    :param buffer_list: a list of HERReplayBuffer needed to be handled.

    .. seealso::

        Please refer to :class:`~tianshou.data.ReplayBuffer` for other APIs' usage.
    """

    def __init__(self, buffer_list: list[HERReplayBuffer]) -> None:
        super().__init__(buffer_list)

    def _restore_cache(self) -> None:
        for buf in self.buffers:
            buf._restore_cache()

    def save_hdf5(self, path: str, compression: str | None = None) -> None:
        self._restore_cache()
        return super().save_hdf5(path, compression)

    def set_batch(self, batch: RolloutBatchProtocol) -> None:
        self._restore_cache()
        return super().set_batch(batch)

    def update(self, buffer: Union["HERReplayBuffer", "ReplayBuffer"]) -> np.ndarray:
        self._restore_cache()
        return super().update(buffer)

    def add(
        self,
        batch: RolloutBatchProtocol,
        buffer_ids: np.ndarray | list[int] | None = None,
    ) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
        self._restore_cache()
        return super().add(batch, buffer_ids)


@njit
def _prev_index(
    index: np.ndarray,
    offset: np.ndarray,
    done: np.ndarray,
    last_index: np.ndarray,
    lengths: np.ndarray,
) -> np.ndarray:
    index = index % offset[-1]
    prev_index = np.zeros_like(index)
    # disable B905 until strict=True in zip is implemented in numba
    # https://github.com/numba/numba/issues/8943
    for start, end, cur_len, last in zip(  # noqa: B905
        offset[:-1],
        offset[1:],
        lengths,
        last_index,
    ):
        mask = (start <= index) & (index < end)
        correct_cur_len = max(1, cur_len)
        if np.sum(mask) > 0:
            subind = index[mask]
            subind = (subind - start - 1) % correct_cur_len
            end_flag = done[subind + start] | (subind + start == last)
            prev_index[mask] = (subind + end_flag) % correct_cur_len + start
    return prev_index


@njit
def _next_index(
    index: np.ndarray,
    offset: np.ndarray,
    done: np.ndarray,
    last_index: np.ndarray,
    lengths: np.ndarray,
) -> np.ndarray:
    index = index % offset[-1]
    next_index = np.zeros_like(index)
    # disable B905 until strict=True in zip is implemented in numba
    # https://github.com/numba/numba/issues/8943
    for start, end, cur_len, last in zip(  # noqa: B905
        offset[:-1],
        offset[1:],
        lengths,
        last_index,
    ):
        mask = (start <= index) & (index < end)
        correct_cur_len = max(1, cur_len)
        if np.sum(mask) > 0:
            subind = index[mask]
            end_flag = done[subind] | (subind == last)
            next_index[mask] = (subind - start + 1 - end_flag) % correct_cur_len + start
    return next_index