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nes_env.py
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nes_env.py
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import logging
import os
import multiprocessing
import signal
import subprocess
import tempfile
from distutils import spawn
from threading import Thread, Lock
from time import sleep
import numpy as np
import gym
from gym import utils, spaces
from gym.utils import seeding
SEARCH_PATH = os.pathsep.join([os.environ['PATH'], '/usr/games', '/usr/local/games'])
FCEUX_PATH = spawn.find_executable('fceux', SEARCH_PATH)
if FCEUX_PATH is None:
raise gym.error.DependencyNotInstalled("fceux is required. Try installing with apt-get install fceux.")
logger = logging.getLogger(__name__)
# Constants
NUM_ACTIONS = 6
# Singleton pattern
class NesLock:
class __NesLock:
def __init__(self):
self.lock = multiprocessing.Lock()
instance = None
def __init__(self):
if not NesLock.instance:
NesLock.instance = NesLock.__NesLock()
def get_lock(self):
return NesLock.instance.lock
class NesEnv(gym.Env, utils.EzPickle):
metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 30}
def __init__(self):
utils.EzPickle.__init__(self)
self.rom_path = ''
self.screen_height = 224
self.screen_width = 256
self.action_space = spaces.MultiDiscrete([1] * NUM_ACTIONS)
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self.launch_vars = {}
self.cmd_args = ['--xscale 2', '--yscale 2', '-f 0']
self.lua_path = []
self.subprocess = None
self.fceux_pid = None
self.no_render = True
self.viewer = None
# Pipes
self.pipe_name = ''
self.path_pipe_prefix = os.path.join(tempfile.gettempdir(), 'smb-fifo')
self.path_pipe_in = '' # Input pipe (maps to fceux out-pipe and to 'in' file)
self.path_pipe_out = '' # Output pipe (maps to fceux in-pipe and to 'out' file)
self.pipe_out = None
self.lock_out = Lock()
self.disable_in_pipe = False
self.disable_out_pipe = False
self.launch_vars['pipe_name'] = ''
self.launch_vars['pipe_prefix'] = self.path_pipe_prefix
# Other vars
self.is_initialized = 0 # Used to indicate fceux has been launched and is running
self.is_exiting = 0 # Used to stop the listening thread
self.last_frame = 0 # Last processed frame
self.reward = 0 # Reward for last action
self.episode_reward = 0 # Total rewards for episode
self.is_finished = False
self.screen = np.zeros(shape=(self.screen_height, self.screen_width, 3), dtype=np.uint8)
self.info = {}
self.level = 0
self._reset_info_vars()
self.first_step = False
self.lock = (NesLock()).get_lock()
self.temp_lua_path = ""
# Seeding
self.curr_seed = 0
self._seed()
def _configure(self, rom_path=None, lock=None):
if rom_path is not None:
self.rom_path = rom_path
if lock is not None:
self.lock = lock
def _create_pipes(self):
# Creates named pipe for inter-process communication
self.pipe_name = seeding.hash_seed(None) % 2 ** 32
self.launch_vars['pipe_name'] = self.pipe_name
if not self.disable_out_pipe:
self.path_pipe_out = '%s-out.%d' % (self.path_pipe_prefix, self.pipe_name)
os.mkfifo(self.path_pipe_out)
# Launching a thread that will listen to incoming pipe
# Thread exits if self.is_exiting = 1 or pipe_in is closed
if not self.disable_in_pipe:
thread_incoming = Thread(target=self._listen_to_incoming_pipe, kwargs={'pipe_name': self.pipe_name})
thread_incoming.start()
# Cannot open output pipe now, otherwise it will block until
# a reader tries to open the file in read mode - Must launch fceux first
def _write_to_pipe(self, message):
# Writes to output file (to communicate action to game)
if self.disable_out_pipe or self.is_exiting == 1:
return
with self.lock_out:
try:
if self.pipe_out is None:
self.pipe_out = open(self.path_pipe_out, 'w', 1)
self.pipe_out.write(message + '\n')
except IOError:
self.pipe_out = None
def _close_pipes(self):
# Closes named pipes
with self.lock_out:
if self.pipe_out is not None:
pipe_out = self.pipe_out
self.pipe_out = None
try:
pipe_out.close()
except BrokenPipeError:
pass
if os.path.exists(self.path_pipe_out):
try:
os.remove(self.path_pipe_out)
except OSError:
pass
self.pipe_name = ''
self.launch_vars['pipe_name'] = self.pipe_name
self.path_pipe_in = ''
self.path_pipe_out = ''
def _process_pipe_message(self, message):
# To be overridden by game - Processes incoming messages
pass
def _listen_to_incoming_pipe(self, pipe_name):
# Listens to incoming messages
self.path_pipe_in = '%s-in.%d' % (self.path_pipe_prefix, self.pipe_name)
if not os.path.exists(self.path_pipe_in):
os.mkfifo(self.path_pipe_in)
try:
pipe_in = open(self.path_pipe_in, 'r', 1)
except IOError:
pipe_in = None
buffer = ''
while pipe_in is not None and 0 == self.is_exiting:
# Readline sometimes break a line in 2
# Using ! to indicate end of message
message = pipe_in.readline().rstrip()
if len(message) > 0:
buffer += message
if message[-1:-2:-1] == '!':
try:
self._process_pipe_message(buffer[:-1])
except:
pass
if 'exit' == buffer[-5:-1]:
break
buffer = ''
# Closing pipe
if pipe_in is not None:
try:
pipe_in.close()
except BrokenPipeError:
pass
if os.path.exists(self.path_pipe_in):
try:
os.remove(self.path_pipe_in)
except OSError:
pass
self.is_exiting = 0
def _launch_fceux(self):
# Making sure ROM file is valid
if '' == self.rom_path or not os.path.isfile(self.rom_path):
raise gym.error.Error('Unable to find ROM. Please download the game from the web and configure the rom path by ' +
'calling env.configure(rom_path=path_to_file)')
# Creating pipes
self._create_pipes()
# Creating temporary lua file
self.temp_lua_path = os.path.join('/tmp', str(seeding.hash_seed(None) % 2 ** 32) + '.lua')
temp_lua_file = open(self.temp_lua_path, 'w', 1)
for k, v in list(self.launch_vars.items()):
temp_lua_file.write('%s = "%s";\n' % (k, v))
i = 0
for script in self.lua_path:
temp_lua_file.write('f_%d = assert (loadfile ("%s"));\n' % (i, script))
temp_lua_file.write('f_%d ();\n' % i)
i += 1
temp_lua_file.close()
# Resetting variables
self.last_frame = 0
self.reward = 0
self.episode_reward = 0
self.is_finished = False
self.screen = np.zeros(shape=(self.screen_height, self.screen_width, 3), dtype=np.uint8)
self._reset_info_vars()
# Loading fceux
args = [FCEUX_PATH]
args.extend(self.cmd_args[:])
args.extend(['--loadlua', self.temp_lua_path])
args.append(self.rom_path)
args.extend(['>/dev/null', '2>/dev/null', '&'])
self.subprocess = subprocess.Popen("/bin/bash", shell=False, universal_newlines=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
stdout, stderr = self.subprocess.communicate(' '.join(args) + "\necho $!")
self.fceux_pid = int(stdout)
if 0 == self.subprocess.returncode:
self.is_initialized = 1
if not self.disable_out_pipe:
with self.lock_out:
try:
self.pipe_out = open(self.path_pipe_out, 'w', 1)
except IOError:
self.pipe_out = None
# Removing lua file
sleep(1) # Sleeping to make sure fceux has time to load file before removing
if os.path.isfile(self.temp_lua_path):
try:
os.remove(self.temp_lua_path)
except OSError:
pass
else:
self.is_initialized = 0
raise gym.error.Error('Unable to start fceux. Command: %s' % (' '.join(args)))
def _reset_info_vars(self):
# Overridable - To reset the information variables
self.info = {}
def _start_episode(self):
# Overridable - Starts a new episode
return
def _get_reward(self):
# Overridable - Returns the reward for the last action
return self.reward
def _get_episode_reward(self):
# Overridable - Returns the total reward earned for the episode
return self.episode_reward
def _get_is_finished(self):
# Overridable - Returns a flag to indicate if the episode is finished
return self.is_finished
def _get_state(self):
# Overridable - Returns the state
return self.screen.copy()
def _get_info(self):
# Overridable - Returns the other variables
return self.info
def step(self, action):
if 0 == self.is_initialized:
return self._get_state(), 0, self._get_is_finished(), {}
if NUM_ACTIONS != len(action):
logger.warn('NES action list must contain %d items. Padding missing items with 0' % NUM_ACTIONS)
old_action = action
action = [0] * NUM_ACTIONS
for i in range(len(old_action)):
action[i] = old_action[i]
# Blocking until game sends ready
loop_counter = 0
restart_counter = 0
if not self.disable_in_pipe:
while 0 == self.last_frame:
loop_counter += 1
sleep(0.001)
if 0 == self.is_initialized:
break
if loop_counter >= 20000:
# Game not properly launched, relaunching
restart_counter += 1
loop_counter = 0
if restart_counter > 5:
self.close()
return self._get_state(), 0, True, {}
else:
self.reset()
sleep(5)
elif loop_counter % 2500 == 0 and loop_counter > 4900:
# Incoming pipe not opened properly, reopening
thread_incoming = Thread(target=self._listen_to_incoming_pipe, kwargs={'pipe_name': self.pipe_name})
thread_incoming.start()
start_frame = self.last_frame
# Sending no-ops if in first step
if self.first_step:
self.first_step = False
self.curr_seed = seeding.hash_seed(self.curr_seed) % 256
self._write_to_pipe('noop_%d#%d' % (start_frame, self.curr_seed))
# Sending commands and resetting reward to 0
self.reward = 0
self._write_to_pipe('commands_%d#%s' % (start_frame, ','.join([str(i) for i in action])))
# Waiting for frame to be processed (self.last_frame will be increased when done)
loop_counter = 0
if not self.disable_in_pipe:
while self.last_frame <= start_frame and not self.is_finished:
loop_counter += 1
sleep(0.001)
if 0 == self.is_initialized:
break
if loop_counter >= 20000:
# Game stuck, returning
# Likely caused by fceux incoming pipe not working
logger.warn('Closing episode (appears to be stuck). See documentation for how to handle this issue.')
self._terminate_fceux()
return self._get_state(), 0, True, {'ignore': True}
# Getting results
reward = self._get_reward()
state = self._get_state()
is_finished = self._get_is_finished()
info = self._get_info()
return state, reward, is_finished, info
def reset(self):
self._terminate_fceux()
if 1 == self.is_initialized:
self.close()
self.last_frame = 0
self.reward = 0
self.episode_reward = 0
self.is_finished = False
self.first_step = True
self._reset_info_vars()
with self.lock:
self._launch_fceux()
self._closed = False
self._start_episode()
self.screen = np.zeros(shape=(self.screen_height, self.screen_width, 3), dtype=np.uint8)
return self._get_state()
def _render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
# If we don't None out this reference pyglet becomes unhappy
self.viewer = None
return
if mode == 'human' and self.no_render:
return
img = self.screen.copy() # Always rendering screen (as opposed to state)
if img is None:
img = np.zeros(shape=(self.screen_height, self.screen_width, 3), dtype=np.uint8)
if mode == 'rgb_array':
return img
elif mode == 'human':
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.SimpleImageViewer()
self.viewer.imshow(img)
def close(self):
self.is_exiting = 1
self._write_to_pipe('exit')
sleep(0.05)
self._terminate_fceux()
sleep(0.001)
self._close_pipes()
self.last_frame = 0
self.reward = 0
self.episode_reward = 0
self.is_finished = False
self.screen = np.zeros(shape=(self.screen_height, self.screen_width, 3), dtype=np.uint8)
self._reset_info_vars()
self.is_initialized = 0
def _terminate_fceux(self):
if self.subprocess is not None:
try:
os.kill(self.fceux_pid, signal.SIGKILL)
except OSError as e:
cmd = "kill -9 $(ps -ef | grep 'fceux' | grep " + self.temp_lua_path + " | awk '{print $2}')"
os.system(cmd)
pass
self.subprocess = None
def _seed(self, seed=None):
self.curr_seed = seeding.hash_seed(seed) % 256
return [self.curr_seed]
def _get_rgb_from_palette(self, palette):
rgb = {
'00': (116, 116, 116),
'01': (36, 24, 140),
'02': (0, 0, 168),
'03': (68, 0, 156),
'04': (140, 0, 116),
'05': (168, 0, 16),
'06': (164, 0, 0),
'07': (124, 8, 0),
'08': (64, 44, 0),
'09': (0, 68, 0),
'0A': (0, 80, 0),
'0B': (0, 60, 20),
'0C': (24, 60, 92),
'0D': (0, 0, 0),
'0E': (0, 0, 0),
'0F': (0, 0, 0),
'10': (188, 188, 188),
'11': (0, 112, 236),
'12': (32, 56, 236),
'13': (128, 0, 240),
'14': (188, 0, 188),
'15': (228, 0, 88),
'16': (216, 40, 0),
'17': (200, 76, 12),
'18': (136, 112, 0),
'19': (0, 148, 0),
'1A': (0, 168, 0),
'1B': (0, 144, 56),
'1C': (0, 128, 136),
'1D': (0, 0, 0),
'1E': (0, 0, 0),
'1F': (0, 0, 0),
'20': (252, 252, 252),
'21': (60, 188, 252),
'22': (92, 148, 252),
'23': (204, 136, 252),
'24': (244, 120, 252),
'25': (252, 116, 180),
'26': (252, 116, 96),
'27': (252, 152, 56),
'28': (240, 188, 60),
'29': (128, 208, 16),
'2A': (76, 220, 72),
'2B': (88, 248, 152),
'2C': (0, 232, 216),
'2D': (120, 120, 120),
'2E': (0, 0, 0),
'2F': (0, 0, 0),
'30': (252, 252, 252),
'31': (168, 228, 252),
'32': (196, 212, 252),
'33': (212, 200, 252),
'34': (252, 196, 252),
'35': (252, 196, 216),
'36': (252, 188, 176),
'37': (252, 216, 168),
'38': (252, 228, 160),
'39': (224, 252, 160),
'3A': (168, 240, 188),
'3B': (176, 252, 204),
'3C': (156, 252, 240),
'3D': (196, 196, 196),
'3E': (0, 0, 0),
'3F': (0, 0, 0),
'40': (87, 87, 87),
'41': (27, 18, 105),
'42': (0, 0, 126),
'43': (51, 0, 117),
'44': (105, 0, 87),
'45': (126, 0, 12),
'46': (123, 0, 0),
'47': (93, 6, 0),
'48': (48, 33, 0),
'49': (0, 51, 0),
'4A': (0, 60, 0),
'4B': (0, 45, 15),
'4C': (18, 45, 69),
'4D': (0, 0, 0),
'4E': (0, 0, 0),
'4F': (0, 0, 0),
'50': (141, 141, 141),
'51': (0, 84, 177),
'52': (24, 42, 177),
'53': (96, 0, 180),
'54': (141, 0, 141),
'55': (171, 0, 66),
'56': (162, 30, 0),
'57': (150, 57, 9),
'58': (102, 84, 0),
'59': (0, 111, 0),
'5A': (0, 126, 0),
'5B': (0, 108, 42),
'5C': (0, 96, 102),
'5D': (0, 0, 0),
'5E': (0, 0, 0),
'5F': (0, 0, 0),
'60': (189, 189, 189),
'61': (45, 141, 189),
'62': (69, 111, 189),
'63': (153, 102, 189),
'64': (183, 90, 189),
'65': (189, 87, 135),
'66': (189, 87, 72),
'67': (189, 114, 42),
'68': (180, 141, 45),
'69': (96, 156, 12),
'6A': (57, 165, 54),
'6B': (66, 186, 114),
'6C': (0, 174, 162),
'6D': (90, 90, 90),
'6E': (0, 0, 0),
'6F': (0, 0, 0),
'70': (189, 189, 189),
'71': (126, 171, 189),
'72': (147, 159, 189),
'73': (159, 150, 189),
'74': (189, 147, 189),
'75': (189, 147, 162),
'76': (189, 141, 132),
'77': (189, 162, 126),
'78': (189, 171, 120),
'79': (168, 189, 120),
'7A': (126, 180, 141),
'7B': (132, 189, 153),
'7C': (117, 189, 180),
'7D': (147, 147, 147),
'7E': (0, 0, 0),
'7F': (0, 0, 0),
}
if palette.upper() in rgb:
return rgb[palette.upper()]
else:
return 0, 0, 0
class MetaNesEnv(NesEnv):
def __init__(self, average_over=10, passing_grade=600, min_tries_for_avg=5, num_levels=0):
NesEnv.__init__(self)
self.average_over = average_over
self.passing_grade = passing_grade
self.min_tries_for_avg = min_tries_for_avg # Need to use at least this number of tries to calc avg
self.num_levels = num_levels
self.scores = [[]] * self.num_levels
self.locked_levels = [True] * self.num_levels # Locking all levels but the first
self.locked_levels[0] = False
self.total_reward = 0
self.find_new_level = False
self._unlock_levels()
def _get_next_level(self):
# Finds the unlocked level with the lowest average
averages = self.get_scores()
lowest_level = 0 # Defaulting to first level
lowest_score = 1001
for i in range(self.num_levels):
if not self.locked_levels[i]:
if averages[i] < lowest_score:
lowest_level = i
lowest_score = averages[i]
return lowest_level
def _unlock_levels(self):
averages = self.get_scores()
for i in range(self.num_levels - 2, -1, -1):
if self.locked_levels[i + 1] and averages[i] >= self.passing_grade:
self.locked_levels[i + 1] = False
return
def _start_episode(self):
if 0 == len(self.scores[self.level]):
self.scores[self.level] = [0] * self.min_tries_for_avg
else:
self.scores[self.level].insert(0, 0)
self.scores[self.level] = self.scores[self.level][:self.min_tries_for_avg]
self.is_new_episode = True
return NesEnv._start_episode(self)
def change_level(self, new_level=None):
self.find_new_level = False
if new_level is not None and self.locked_levels[new_level] == False:
self.level = new_level
else:
self.level = self._get_next_level()
self._write_to_pipe('changelevel#' + str(self.level))
self.reset()
def _get_standard_reward(self, episode_reward):
# Can be overridden
std_reward = episode_reward
std_reward = min(1000, std_reward) # Cannot be more than 1,000
std_reward = max(0, std_reward) # Cannot be less than 0
return std_reward
def get_total_reward(self):
# Returns the sum of the average of all levels
total_score = 0
passed_levels = 0
for i in range(self.num_levels):
if len(self.scores[i]) > 0:
level_total = 0
level_count = min(len(self.scores[i]), self.average_over)
for j in range(level_count):
level_total += self.scores[i][j]
level_average = level_total / level_count
if level_average >= 990:
passed_levels += 1
total_score += level_average
# Bonus for passing all levels (50 * num of levels)
if self.num_levels == passed_levels:
total_score += self.num_levels * 50
return round(total_score, 4)
def _calculate_reward(self, episode_reward, prev_total_reward):
# Calculates the action reward and the new total reward
std_reward = self._get_standard_reward(episode_reward)
self.scores[self.level][0] = std_reward
total_reward = self.get_total_reward()
reward = total_reward - prev_total_reward
return reward, total_reward
def get_scores(self):
# Returns a list with the averages per level
averages = [0] * self.num_levels
for i in range(self.num_levels):
if len(self.scores[i]) > 0:
level_total = 0
level_count = min(len(self.scores[i]), self.average_over)
for j in range(level_count):
level_total += self.scores[i][j]
level_average = level_total / level_count
averages[i] = round(level_average, 4)
return averages
def reset(self):
# Reset is called on first step() after level is finished
# or when change_level() is called. Returning if neither have been called to
# avoid resetting the level twice
if self.find_new_level:
return
self.last_frame = 0
self.reward = 0
self.episode_reward = 0
self.is_finished = False
self._reset_info_vars()
if 0 == self.is_initialized:
self._launch_fceux()
self._closed = False
self._start_episode()
self.screen = np.zeros(shape=(self.screen_height, self.screen_width, 3), dtype=np.uint8)
return self._get_state()
def step(self, action):
# Changing level
if self.find_new_level:
self.change_level()
obs, step_reward, is_finished, info = NesEnv.step(self, action)
reward, self.total_reward = self._calculate_reward(self._get_episode_reward(), self.total_reward)
# First step() after new episode returns the entire total reward
# because stats_recorder resets the episode score to 0 after reset() is called
if self.is_new_episode:
reward = self.total_reward
self.is_new_episode = False
info["level"] = self.level
info["scores"] = self.get_scores()
info["total_reward"] = round(self.total_reward, 4)
info["locked_levels"] = self.locked_levels
# Indicating new level required
if is_finished:
self._unlock_levels()
self.find_new_level = True
return obs, reward, is_finished, info