coach/environments/environment_wrapper.py

#
# Copyright (c) 2017 Intel Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#

import numpy as np
from utils import *
from configurations import Preset
from renderer import Renderer
import operator
import time


class EnvironmentWrapper(object):
    def __init__(self, tuning_parameters):
        """
        :param tuning_parameters:
        :type tuning_parameters: Preset
        """
        # env initialization
        self.game = []
        self.actions = {}
        self.state = []
        self.reward = 0
        self.done = False
        self.default_action = 0
        self.last_action_idx = 0
        self.episode_idx = 0
        self.last_episode_time = time.time()
        self.info = []
        self.action_space_low = 0
        self.action_space_high = 0
        self.action_space_abs_range = 0
        self.actions_description = {}
        self.discrete_controls = True
        self.action_space_size = 0
        self.key_to_action = {}
        self.width = 1
        self.height = 1
        self.is_state_type_image = True
        self.measurements_size = 0
        self.phase = RunPhase.TRAIN
        self.tp = tuning_parameters
        self.record_video_every = self.tp.visualization.record_video_every
        self.env_id = self.tp.env.level
        self.video_path = self.tp.visualization.video_path
        self.is_rendered = self.tp.visualization.render
        self.seed = self.tp.seed
        self.frame_skip = self.tp.env.frame_skip
        self.human_control = self.tp.env.human_control
        self.wait_for_explicit_human_action = False
        self.is_rendered = self.is_rendered or self.human_control
        self.game_is_open = True
        self.renderer = Renderer()

    @property
    def measurements(self):
        assert False

    @measurements.setter
    def measurements(self, value):
        assert False

    @property
    def observation(self):
        assert False

    @observation.setter
    def observation(self, value):
        assert False

    def _idx_to_action(self, action_idx):
        """
        Convert an action index to one of the environment available actions.
        For example, if the available actions are 4,5,6 then this function will map 0->4, 1->5, 2->6
        :param action_idx: an action index between 0 and self.action_space_size - 1
        :return: the action corresponding to the requested index
        """
        return self.actions[action_idx]

    def _action_to_idx(self, action):
        """
        Convert an environment action to one of the available actions of the wrapper.
        For example, if the available actions are 4,5,6 then this function will map 4->0, 5->1, 6->2
        :param action: the environment action
        :return: an action index between 0 and self.action_space_size - 1, or -1 if the action does not exist
        """
        for key, val in self.actions.items():
            if val == action:
                return key
        return -1

    def get_action_from_user(self):
        """
        Get an action from the user keyboard
        :return: action index
        """
        if self.wait_for_explicit_human_action:
            while len(self.renderer.pressed_keys) == 0:
                self.renderer.get_events()

        if self.key_to_action == {}:
            # the keys are the numbers on the keyboard corresponding to the action index
            if len(self.renderer.pressed_keys) > 0:
                action_idx = self.renderer.pressed_keys[0] - ord("1")
                if 0 <= action_idx < self.action_space_size:
                    return action_idx
        else:
            # the keys are mapped through the environment to more intuitive keyboard keys
            # key = tuple(self.renderer.pressed_keys)
            # for key in self.renderer.pressed_keys:
            for env_keys in self.key_to_action.keys():
                if set(env_keys) == set(self.renderer.pressed_keys):
                    return self.key_to_action[env_keys]

        # return the default action 0 so that the environment will continue running
        return self.default_action

    def step(self, action_idx):
        """
        Perform a single step on the environment using the given action
        :param action_idx: the action to perform on the environment
        :return: A dictionary containing the state, reward, done flag and action
        """
        self.last_action_idx = action_idx

        self._take_action(action_idx)

        self._update_state()

        if self.is_rendered:
            self.render()

        self.state = self._preprocess_state(self.state)

        return {'state': self.state,
                'reward': self.reward,
                'done': self.done,
                'action': self.last_action_idx,
                'info': self.info}

    def render(self):
        """
        Call the environment function for rendering to the screen
        """
        self.renderer.render_image(self.get_rendered_image())

    def reset(self, force_environment_reset=False):
        """
        Reset the environment and all the variable of the wrapper
        :param force_environment_reset: forces environment reset even when the game did not end
        :return: A dictionary containing the state, reward, done flag and action
        """
        self._restart_environment_episode(force_environment_reset)
        self.last_episode_time = time.time()
        self.done = False
        self.episode_idx += 1
        self.reward = 0.0
        self.last_action_idx = 0
        self._update_state()

        # render before the preprocessing of the state, so that the image will be in its original quality
        if self.is_rendered:
            self.render()

        # TODO BUG: if the environment has not been reset, _preprocessed_state will be running on an already preprocessed state
        # TODO: see also _update_state above
        self.state = self._preprocess_state(self.state)

        return {'state': self.state,
                'reward': self.reward,
                'done': self.done,
                'action': self.last_action_idx,
                'info': self.info}

    def get_random_action(self):
        """
        Returns an action picked uniformly from the available actions
        :return: a numpy array with a random action
        """
        if self.discrete_controls:
            return np.random.choice(self.action_space_size)
        else:
            return np.random.uniform(self.action_space_low, self.action_space_high)

    def change_phase(self, phase):
        """
        Change the current phase of the run.
        This is useful when different behavior is expected when testing and training
        :param phase: The running phase of the algorithm
        :type phase: RunPhase
        """
        self.phase = phase

    def get_available_keys(self):
        """
        Return a list of tuples mapping between action names and the keyboard key that triggers them
        :return: a list of tuples mapping between action names and the keyboard key that triggers them
        """
        available_keys = []
        if self.key_to_action != {}:
            for key, idx in sorted(self.key_to_action.items(), key=operator.itemgetter(1)):
                if key != ():
                    key_names = [self.renderer.get_key_names([k])[0] for k in key]
                    available_keys.append((self.actions_description[idx], ' + '.join(key_names)))
        elif self.discrete_controls:
            for action in range(self.action_space_size):
                available_keys.append(("Action {}".format(action + 1), action + 1))
        return available_keys

    # The following functions define the interaction with the environment.
    # Any new environment that inherits the EnvironmentWrapper class should use these signatures.
    # Some of these functions are optional - please read their description for more details.

    def _take_action(self, action_idx):
        """
        An environment dependent function that sends an action to the simulator.
        :param action_idx: the action to perform on the environment
        :return: None
        """
        pass

    def _preprocess_state(self, state):
        """
        Do initial state preprocessing such as cropping, rgb2gray, rescale etc.
        Implementing this function is optional.
        :param state: a raw state from the environment
        :return: the preprocessed state
        """
        return state

    def _update_state(self):
        """
        Updates the state from the environment.
        Should update self.state, self.reward, self.done and self.info
        :return: None
        """
        pass

    def _restart_environment_episode(self, force_environment_reset=False):
        """
        :param force_environment_reset: Force the environment to reset even if the episode is not done yet.
        :return:
        """
        pass

    def get_rendered_image(self):
        """
        Return a numpy array containing the image that will be rendered to the screen.
        This can be different from the state. For example, mujoco's state is a measurements vector.
        :return: numpy array containing the image that will be rendered to the screen
        """
        return self.state['observation']