File size: 12,811 Bytes
05c9ac2 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 |
from unittest import mock
from unittest.mock import Mock, MagicMock, call, ANY
import unittest
import pytest
from queue import Empty as EmptyQueue
from mlagents.trainers.settings import RunOptions
from mlagents.trainers.subprocess_env_manager import (
SubprocessEnvManager,
EnvironmentResponse,
StepResponse,
EnvironmentCommand,
)
from mlagents.trainers.env_manager import EnvironmentStep
from mlagents_envs.base_env import BaseEnv
from mlagents_envs.side_channel.stats_side_channel import StatsAggregationMethod
from mlagents_envs.exception import (
UnityEnvironmentException,
UnityCommunicationException,
)
from mlagents.trainers.tests.simple_test_envs import (
SimpleEnvironment,
UnexpectedExceptionEnvironment,
)
from mlagents.trainers.stats import StatsReporter
from mlagents.trainers.agent_processor import AgentManagerQueue
from mlagents.trainers.tests.check_env_trains import (
check_environment_trains,
DebugWriter,
)
from mlagents.trainers.tests.dummy_config import ppo_dummy_config
def mock_env_factory(worker_id):
return mock.create_autospec(spec=BaseEnv)
class MockEnvWorker:
def __init__(self, worker_id, resp=None):
self.worker_id = worker_id
self.process = None
self.conn = None
self.send = Mock()
self.recv = Mock(return_value=resp)
self.waiting = False
def create_worker_mock(worker_id, step_queue, env_factor, engine_c):
return MockEnvWorker(
worker_id, EnvironmentResponse(EnvironmentCommand.RESET, worker_id, worker_id)
)
class SubprocessEnvManagerTest(unittest.TestCase):
@mock.patch(
"mlagents.trainers.subprocess_env_manager.SubprocessEnvManager.create_worker"
)
def test_environments_are_created(self, mock_create_worker):
mock_create_worker.side_effect = create_worker_mock
run_options = RunOptions()
env = SubprocessEnvManager(mock_env_factory, run_options, 2)
# Creates two processes
env.create_worker.assert_has_calls(
[
mock.call(0, env.step_queue, mock_env_factory, run_options),
mock.call(1, env.step_queue, mock_env_factory, run_options),
]
)
self.assertEqual(len(env.env_workers), 2)
@mock.patch(
"mlagents.trainers.subprocess_env_manager.SubprocessEnvManager.create_worker"
)
def test_reset_passes_reset_params(self, mock_create_worker):
mock_create_worker.side_effect = create_worker_mock
manager = SubprocessEnvManager(mock_env_factory, RunOptions(), 1)
params = {"test": "params"}
manager._reset_env(params)
manager.env_workers[0].send.assert_called_with(
EnvironmentCommand.RESET, (params)
)
@mock.patch(
"mlagents.trainers.subprocess_env_manager.SubprocessEnvManager.create_worker"
)
def test_reset_collects_results_from_all_envs(self, mock_create_worker):
mock_create_worker.side_effect = create_worker_mock
manager = SubprocessEnvManager(mock_env_factory, RunOptions(), 4)
params = {"test": "params"}
res = manager._reset_env(params)
for i, env in enumerate(manager.env_workers):
env.send.assert_called_with(EnvironmentCommand.RESET, (params))
env.recv.assert_called()
# Check that the "last steps" are set to the value returned for each step
self.assertEqual(
manager.env_workers[i].previous_step.current_all_step_result, i
)
assert res == list(map(lambda ew: ew.previous_step, manager.env_workers))
@mock.patch(
"mlagents.trainers.subprocess_env_manager.SubprocessEnvManager.create_worker"
)
def test_training_behaviors_collects_results_from_all_envs(
self, mock_create_worker
):
def create_worker_mock(worker_id, step_queue, env_factor, engine_c):
return MockEnvWorker(
worker_id,
EnvironmentResponse(
EnvironmentCommand.RESET, worker_id, {f"key{worker_id}": worker_id}
),
)
mock_create_worker.side_effect = create_worker_mock
manager = SubprocessEnvManager(mock_env_factory, RunOptions(), 4)
res = manager.training_behaviors
for env in manager.env_workers:
env.send.assert_called_with(EnvironmentCommand.BEHAVIOR_SPECS)
env.recv.assert_called()
for worker_id in range(4):
assert f"key{worker_id}" in res
assert res[f"key{worker_id}"] == worker_id
@mock.patch(
"mlagents.trainers.subprocess_env_manager.SubprocessEnvManager.create_worker"
)
def test_step_takes_steps_for_all_non_waiting_envs(self, mock_create_worker):
mock_create_worker.side_effect = create_worker_mock
manager = SubprocessEnvManager(mock_env_factory, RunOptions(), 3)
manager.step_queue = Mock()
manager.step_queue.get_nowait.side_effect = [
EnvironmentResponse(EnvironmentCommand.STEP, 0, StepResponse(0, None, {})),
EnvironmentResponse(EnvironmentCommand.STEP, 1, StepResponse(1, None, {})),
EmptyQueue(),
]
step_mock = Mock()
last_steps = [Mock(), Mock(), Mock()]
manager.env_workers[0].previous_step = last_steps[0]
manager.env_workers[1].previous_step = last_steps[1]
manager.env_workers[2].previous_step = last_steps[2]
manager.env_workers[2].waiting = True
manager._take_step = Mock(return_value=step_mock)
res = manager._step()
for i, env in enumerate(manager.env_workers):
if i < 2:
env.send.assert_called_with(EnvironmentCommand.STEP, step_mock)
manager.step_queue.get_nowait.assert_called()
# Check that the "last steps" are set to the value returned for each step
self.assertEqual(
manager.env_workers[i].previous_step.current_all_step_result, i
)
assert res == [
manager.env_workers[0].previous_step,
manager.env_workers[1].previous_step,
]
@mock.patch(
"mlagents.trainers.subprocess_env_manager.SubprocessEnvManager.create_worker"
)
def test_crashed_env_restarts(self, mock_create_worker):
crashing_worker = MockEnvWorker(
0, EnvironmentResponse(EnvironmentCommand.RESET, 0, 0)
)
restarting_worker = MockEnvWorker(
0, EnvironmentResponse(EnvironmentCommand.RESET, 0, 0)
)
healthy_worker = MockEnvWorker(
1, EnvironmentResponse(EnvironmentCommand.RESET, 1, 1)
)
mock_create_worker.side_effect = [
crashing_worker,
healthy_worker,
restarting_worker,
]
manager = SubprocessEnvManager(mock_env_factory, RunOptions(), 2)
manager.step_queue = Mock()
manager.step_queue.get_nowait.side_effect = [
EnvironmentResponse(
EnvironmentCommand.ENV_EXITED,
0,
UnityCommunicationException("Test msg"),
),
EnvironmentResponse(EnvironmentCommand.CLOSED, 0, None),
EnvironmentResponse(EnvironmentCommand.STEP, 1, StepResponse(0, None, {})),
EmptyQueue(),
EnvironmentResponse(EnvironmentCommand.STEP, 0, StepResponse(1, None, {})),
EnvironmentResponse(EnvironmentCommand.STEP, 1, StepResponse(2, None, {})),
EmptyQueue(),
]
step_mock = Mock()
last_steps = [Mock(), Mock(), Mock()]
assert crashing_worker is manager.env_workers[0]
assert healthy_worker is manager.env_workers[1]
crashing_worker.previous_step = last_steps[0]
crashing_worker.waiting = True
healthy_worker.previous_step = last_steps[1]
healthy_worker.waiting = True
manager._take_step = Mock(return_value=step_mock)
manager._step()
healthy_worker.send.assert_has_calls(
[
call(EnvironmentCommand.ENVIRONMENT_PARAMETERS, ANY),
call(EnvironmentCommand.RESET, ANY),
call(EnvironmentCommand.STEP, ANY),
]
)
restarting_worker.send.assert_has_calls(
[
call(EnvironmentCommand.ENVIRONMENT_PARAMETERS, ANY),
call(EnvironmentCommand.RESET, ANY),
call(EnvironmentCommand.STEP, ANY),
]
)
@mock.patch("mlagents.trainers.subprocess_env_manager.SubprocessEnvManager._step")
@mock.patch(
"mlagents.trainers.subprocess_env_manager.SubprocessEnvManager.training_behaviors",
new_callable=mock.PropertyMock,
)
@mock.patch(
"mlagents.trainers.subprocess_env_manager.SubprocessEnvManager.create_worker"
)
def test_advance(self, mock_create_worker, training_behaviors_mock, step_mock):
brain_name = "testbrain"
action_info_dict = {brain_name: MagicMock()}
mock_create_worker.side_effect = create_worker_mock
env_manager = SubprocessEnvManager(mock_env_factory, RunOptions(), 3)
training_behaviors_mock.return_value = [brain_name]
agent_manager_mock = mock.Mock()
mock_policy = mock.Mock()
agent_manager_mock.policy_queue.get_nowait.side_effect = [
mock_policy,
mock_policy,
AgentManagerQueue.Empty(),
]
env_manager.set_agent_manager(brain_name, agent_manager_mock)
step_info_dict = {brain_name: (Mock(), Mock())}
env_stats = {
"averaged": (1.0, StatsAggregationMethod.AVERAGE),
"most_recent": (2.0, StatsAggregationMethod.MOST_RECENT),
}
step_info = EnvironmentStep(step_info_dict, 0, action_info_dict, env_stats)
step_mock.return_value = [step_info]
env_manager.process_steps(env_manager.get_steps())
# Test add_experiences
env_manager._step.assert_called_once()
agent_manager_mock.add_experiences.assert_called_once_with(
step_info.current_all_step_result[brain_name][0],
step_info.current_all_step_result[brain_name][1],
0,
step_info.brain_name_to_action_info[brain_name],
)
# Test policy queue
assert env_manager.policies[brain_name] == mock_policy
assert agent_manager_mock.policy == mock_policy
@pytest.mark.parametrize("num_envs", [1, 4])
def test_subprocess_env_endtoend(num_envs):
def simple_env_factory(worker_id, config):
env = SimpleEnvironment(["1D"], action_sizes=(0, 1))
return env
env_manager = SubprocessEnvManager(simple_env_factory, RunOptions(), num_envs)
# Run PPO using env_manager
check_environment_trains(
simple_env_factory(0, []),
{"1D": ppo_dummy_config()},
env_manager=env_manager,
success_threshold=None,
)
# Note we can't check the env's rewards directly (since they're in separate processes) so we
# check the StatsReporter's debug stat writer's last reward.
assert isinstance(StatsReporter.writers[0], DebugWriter)
assert all(
val > 0.7 for val in StatsReporter.writers[0].get_last_rewards().values()
)
env_manager.close()
class CustomTestOnlyException(Exception):
pass
@pytest.mark.parametrize("num_envs", [1, 4])
def test_subprocess_failing_step(num_envs):
def failing_step_env_factory(_worker_id, _config):
env = UnexpectedExceptionEnvironment(
["1D"], use_discrete=True, to_raise=CustomTestOnlyException
)
return env
env_manager = SubprocessEnvManager(failing_step_env_factory, RunOptions())
# Expect the exception raised to be routed back up to the top level.
with pytest.raises(CustomTestOnlyException):
check_environment_trains(
failing_step_env_factory(0, []),
{"1D": ppo_dummy_config()},
env_manager=env_manager,
success_threshold=None,
)
env_manager.close()
@pytest.mark.parametrize("num_envs", [1, 4])
def test_subprocess_env_raises_errors(num_envs):
def failing_env_factory(worker_id, config):
import time
# Sleep momentarily to allow time for the EnvManager to be waiting for the
# subprocess response. We won't be able to capture failures from the subprocess
# that cause it to close the pipe before we can send the first message.
time.sleep(0.5)
raise UnityEnvironmentException()
env_manager = SubprocessEnvManager(failing_env_factory, RunOptions(), num_envs)
with pytest.raises(UnityEnvironmentException):
env_manager.reset()
env_manager.close()
|