mirror of
https://github.com/gryf/coach.git
synced 2025-12-17 11:10:20 +01:00
8e812ef82f
* CoachInterface + tutorial * Some improvements and typo fixes * merge tutorial 0 and 4 * typo fix + additional tutorial changes * tutorial changes * added reading signals and experiment path argument
443 lines
15 KiB
Python
443 lines
15 KiB
Python
#
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# Copyright (c) 2017 Intel Corporation
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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import atexit
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import datetime
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import os
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import re
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import shutil
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import signal
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import time
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import uuid
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from subprocess import Popen, PIPE
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from typing import Union
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from PIL import Image
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from pandas import DataFrame
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from six.moves import input
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global failed_imports
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failed_imports = []
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class Colors(object):
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PURPLE = '\033[95m'
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CYAN = '\033[96m'
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DARKCYAN = '\033[36m'
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BLUE = '\033[94m'
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GREEN = '\033[92m'
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YELLOW = '\033[93m'
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RED = '\033[91m'
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WHITE = '\033[37m'
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BG_RED = '\033[41m'
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BG_GREEN = '\033[42m'
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BG_YELLOW = '\033[43m'
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BG_BLUE = '\033[44m'
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BG_PURPLE = '\033[45m'
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BG_CYAN = '\033[30;46m'
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BG_WHITE = '\x1b[30;47m'
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BG_RESET = '\033[49m'
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BOLD = '\033[1m'
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UNDERLINE_ON = '\033[4m'
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UNDERLINE_OFF = '\033[24m'
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END = '\033[0m'
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# prints to screen with a prefix identifying the origin of the print
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class ScreenLogger(object):
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def __init__(self, name, use_colors=True):
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self.name = name
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self.set_use_colors(use_colors)
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def set_use_colors(self, use_colors):
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self._use_colors = use_colors
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if use_colors:
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self._prefix_success = Colors.GREEN
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self._prefix_warning = Colors.YELLOW
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self._prefix_error = Colors.RED
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self._prefix_title = Colors.BG_CYAN
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self._prefix_ask = Colors.BG_CYAN
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self._suffix = Colors.END
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else:
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self._prefix_success = ""
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self._prefix_warning = "!! "
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self._prefix_error = "!!!! "
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self._prefix_title = "## "
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self._prefix_ask = ""
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self._suffix = ""
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def separator(self):
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print("")
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print("--------------------------------")
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print("")
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def log(self, data):
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print(data)
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def log_dict(self, data, prefix=""):
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if self._use_colors:
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str = "{}{}{} - ".format(Colors.PURPLE, prefix, Colors.END)
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for k, v in data.items():
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str += "{}{}: {}{} ".format(Colors.BLUE, k, Colors.END, v)
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print(str)
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else:
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logentries = []
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for k, v in data.items():
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logentries.append("{}={}".format(k, v))
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logline = "{}> {}".format(prefix, ", ".join(logentries))
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print(logline)
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def log_title(self, title):
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print("{}{}{}".format(self._prefix_title, title, self._suffix))
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def success(self, text):
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print("{}{}{}".format(self._prefix_success, text, self._suffix))
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def warning(self, text):
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print("{}{}{}".format(self._prefix_warning, text, self._suffix))
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def error(self, text, crash=True):
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print("{}{}{}".format(self._prefix_error, text, self._suffix))
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if crash:
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exit(1)
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def ask_input(self, title):
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return input("{}{}{}".format(self._prefix_ask, title, self._suffix))
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def ask_input_with_timeout(self, title, timeout, msg_if_timeout='Timeout expired.'):
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class TimeoutExpired(Exception):
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pass
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def timeout_alarm_handler(signum, frame):
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raise TimeoutExpired
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signal.signal(signal.SIGALRM, timeout_alarm_handler)
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signal.alarm(timeout)
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try:
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return input("{}{}{}".format(Colors.BG_CYAN, title, Colors.END))
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except TimeoutExpired:
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self.warning(msg_if_timeout)
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finally:
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signal.alarm(0)
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def ask_yes_no(self, title: str, default: Union[None, bool] = None):
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"""
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Ask the user for a yes / no question and return True if the answer is yes and False otherwise.
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The function will keep asking the user for an answer until he answers one of the possible responses.
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A default answer can be passed and will be selected if the user presses enter
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:param title: The question to ask the user
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:param default: the default answer
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:return: True / False according to the users answer
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"""
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default_answer = 'y/n'
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if default == True:
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default_answer = 'Y/n'
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elif default == False:
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default_answer = 'y/N'
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while True:
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answer = input("{}{}{} ({})".format(self._prefix_ask, title, self._suffix, default_answer))
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if answer == "yes" or answer == "YES" or answer == "y" or answer == "Y":
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return True
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elif answer == "no" or answer == "NO" or answer == "n" or answer == "N":
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return False
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elif answer == "":
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if default is not None:
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return default
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def change_terminal_title(self, title: str):
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"""
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Changes the title of the terminal window
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:param title: The new title
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:return: None
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"""
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if self._use_colors:
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print("\x1b]2;{}\x07".format(title))
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else:
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print("Title: %s" % title)
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class BaseLogger(object):
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def __init__(self):
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self.data = DataFrame()
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self.csv_path = ''
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self.start_time = None
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self.time = None
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self.experiments_path = ""
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self.last_line_idx_written_to_csv = 0
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self.experiment_name = ""
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self.index_name = "Index"
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def set_current_time(self, time):
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self.time = time
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def create_signal_value(self, signal_name, value, overwrite=True, time=None):
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if self.index_name == signal_name:
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return False # make sure that we don't create duplicate signals
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if self.last_line_idx_written_to_csv != 0:
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assert signal_name in self.data.columns
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if not time:
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time = self.time
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# create only if it doesn't already exist
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if overwrite or not self.signal_value_exists(time, signal_name):
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self.data.loc[time, signal_name] = value
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return True
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return False
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def change_signal_value(self, signal_name, time, value):
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# change only if it already exists
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if self.signal_value_exists(time, signal_name):
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self.data.loc[time, signal_name] = value
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return True
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return False
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def signal_value_exists(self, signal_name, time):
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try:
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value = self.get_signal_value(time, signal_name)
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if value != value: # value is nan
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return False
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except:
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return False
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return True
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def get_signal_value(self, signal_name, time=None):
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if not time:
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time = self.time
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return self.data.loc[time, signal_name]
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def dump_output_csv(self, append=True):
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self.data.index.name = self.index_name
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if len(self.data.index) == 1:
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self.start_time = time.time()
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if os.path.exists(self.csv_path) and append:
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self.data[self.last_line_idx_written_to_csv:].to_csv(self.csv_path, mode='a', header=False)
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else:
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self.data.to_csv(self.csv_path)
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self.last_line_idx_written_to_csv = len(self.data.index)
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def get_current_wall_clock_time(self):
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if self.start_time:
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return time.time() - self.start_time
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else:
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self.start_time = time.time()
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return 0
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def update_wall_clock_time(self, index):
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self.create_signal_value('Wall-Clock Time', self.get_current_wall_clock_time(), time=index)
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class EpisodeLogger(BaseLogger):
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def __init__(self):
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super().__init__()
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self.worker_dir_path = ''
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self.index_name = "Episode Steps"
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def set_logger_filenames(self, _experiments_path, logger_prefix='', task_id=None, add_timestamp=False, filename=''):
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self.experiments_path = _experiments_path
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# set file names
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if task_id is not None:
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filename += "worker_{}.".format(task_id)
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# add timestamp
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if add_timestamp:
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filename += logger_prefix
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self.worker_dir_path = os.path.join(_experiments_path, '{}'.format(filename))
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if not os.path.exists(self.worker_dir_path):
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os.makedirs(self.worker_dir_path)
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def set_episode_idx(self, episode_idx):
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self.data = DataFrame()
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self.csv_path = os.path.join(self.worker_dir_path, 'episode_{}.csv'.format(episode_idx))
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self.last_line_idx_written_to_csv = 0
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class Logger(BaseLogger):
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def __init__(self, index_name='Episode #'):
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super().__init__()
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self.doc_path = ''
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self.index_name = index_name
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def set_index_name(self, index_name):
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self.index_name = index_name
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def set_logger_filenames(self, _experiments_path, logger_prefix='', task_id=None, add_timestamp=False, filename=''):
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self.experiments_path = _experiments_path
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# set file names
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if task_id is not None:
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filename += "worker_{}.".format(task_id)
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# add timestamp
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if add_timestamp:
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filename += logger_prefix
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# add an index to the file in case there is already an experiment running with the same timestamp
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path_exists = True
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idx = 0
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while path_exists:
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self.csv_path = os.path.join(_experiments_path, '{}_{}.csv'.format(filename, idx))
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self.doc_path = os.path.join(_experiments_path, '{}_{}.json'.format(filename, idx))
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path_exists = os.path.exists(self.csv_path) or os.path.exists(self.doc_path)
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idx += 1
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def dump_documentation(self, parameters):
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if not os.path.exists(os.path.dirname(self.doc_path)):
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os.makedirs(self.experiments_path)
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with open(self.doc_path, 'w') as outfile:
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outfile.write(parameters)
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#######################################################################################################################
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#################################### Module Related Methods/Vars ######################################################
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#######################################################################################################################
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global experiment_path
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experiment_path = None
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global experiment_name
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experiment_name = None
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time_started = datetime.datetime.now()
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def two_digits(num):
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return '%02d' % num
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def create_gif(images, fps=10, name="Gif"):
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global experiment_path
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output_file = '{}_{}.gif'.format(datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S'), name)
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output_dir = os.path.join(experiment_path, 'gifs')
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if not os.path.exists(output_dir):
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os.makedirs(output_dir)
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output_path = os.path.join(output_dir, output_file)
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pil_images = [Image.fromarray(image) for image in images]
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pil_images[0].save(output_path, save_all=True, append_images=pil_images[1:], duration=1.0 / fps, loop=0)
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def create_mp4(images, fps=10, name="mp4"):
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global experiment_path
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output_file = '{}_{}.mp4'.format(datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S'), name)
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output_dir = os.path.join(experiment_path, 'videos')
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if not os.path.exists(output_dir):
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os.makedirs(output_dir)
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output_path = os.path.join(output_dir, output_file)
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shape = 'x'.join([str(d) for d in images[0].shape[:2][::-1]])
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command = ['ffmpeg',
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'-y',
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'-f', 'rawvideo',
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'-s', shape,
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'-pix_fmt', 'rgb24',
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'-r', str(fps),
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'-i', '-',
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'-vcodec', 'libx264',
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'-pix_fmt', 'yuv420p',
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output_path]
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p = Popen(command, stdin=PIPE, stderr=PIPE)
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for image in images:
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p.stdin.write(image.tostring())
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p.stdin.close()
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p.wait()
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def remove_experiment_dir():
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shutil.rmtree(experiment_path)
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def summarize_experiment():
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screen.separator()
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screen.log_title("Results stored at: {}".format(experiment_path))
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screen.log_title("Total runtime: {}".format(datetime.datetime.now() - time_started))
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# TODO: reimplement the following code to print out the max reward during the training
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# if 'Training Reward' in self.data.keys() and 'Evaluation Reward' in self.data.keys():
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# screen.log_title("Max training reward: {}, max evaluation reward: {}".format(
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# self.data['Training Reward'].max(), self.data['Evaluation Reward'].max()))
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screen.separator()
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if screen.ask_yes_no("Do you want to discard the experiment results (Warning: this cannot be undone)?", False):
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remove_experiment_dir()
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elif screen.ask_yes_no("Do you want to specify a different experiment name to save to?", False):
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new_name = get_experiment_name()
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old_path = experiment_path
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new_path = get_experiment_path(new_name, create_path=False)
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shutil.move(old_path, new_path)
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screen.log_title("Results moved to: {}".format(new_path))
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def get_experiment_name(initial_experiment_name=None):
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global experiment_name
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match = None
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while match is None:
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if initial_experiment_name is None:
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msg_if_timeout = "Timeout waiting for experiement name."
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experiment_name = screen.ask_input_with_timeout("Please enter an experiment name: ", 60, msg_if_timeout)
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else:
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experiment_name = initial_experiment_name
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if not experiment_name:
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experiment_name = ''
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experiment_name = experiment_name.replace(" ", "_")
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match = re.match("^$|^[\w -/]{1,1000}$", experiment_name)
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if match is None:
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screen.error('Experiment name must be composed only of alphanumeric letters, '
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'underscores and dashes and should not be longer than 1000 characters.')
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experiment_name = match.group(0)
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return experiment_name
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def get_experiment_path(experiment_name, initial_experiment_path=None, create_path=True):
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global experiment_path
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if not initial_experiment_path:
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initial_experiment_path = './experiments/'
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general_experiments_path = os.path.join(initial_experiment_path, experiment_name)
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cur_date = time_started.date()
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cur_time = time_started.time()
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if not os.path.exists(general_experiments_path) and create_path:
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os.makedirs(general_experiments_path)
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experiment_path = os.path.join(general_experiments_path, '{}_{}_{}-{}_{}'
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.format(two_digits(cur_date.day), two_digits(cur_date.month),
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cur_date.year, two_digits(cur_time.hour),
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two_digits(cur_time.minute)))
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i = 0
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while True:
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if os.path.exists(experiment_path):
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experiment_path = os.path.join(general_experiments_path, '{}_{}_{}-{}_{}_{}'
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.format(cur_date.day, cur_date.month, cur_date.year, cur_time.hour,
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cur_time.minute, i))
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i += 1
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else:
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if create_path:
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os.makedirs(experiment_path)
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return experiment_path
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global screen
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screen = ScreenLogger("")
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