import cherrypy
import argparse
from ws4py.server.cherrypyserver import WebSocketPlugin, WebSocketTool
from ws4py.websocket import WebSocket
import msgpack
import io
from PIL import Image
import threading
from .tensor import *
import numpy as np
from chainer import Variable, FunctionSet, optimizers
from PIL import ImageOps
class Root(object):
@cherrypy.expose
def index(self):
return 'some HTML with a websocket javascript connection'
@cherrypy.expose
def ws(self):
# you can access the class instance through
handler = cherrypy.request.ws_handler
workout= None
depth_image=None
Depth_dim=32*32
def DepthImage():
return Tensor(value=np.asarray(depth_image).reshape(Depth_dim))
def Concat(y,x=None):
if x is None:
x = Tensor.context
#print x.value.mean()
#print y.value.sum()
dat = np.r_[x.value,y.value];
#print dat.sum();
x = Variable(dat, volatile=True)
t = ChainerTensor(x )
t.use()
return t
class AgentServer(WebSocket):
agent_initialized = False
cycle_counter = 0
thread_event = threading.Event()
trainer = None
mode='none'
reward=None
log_file = 'log_reward.log'
reward_sum = 0
def received_message(self, m):
global depth_image
payload = m.data
dat = msgpack.unpackb(payload)
screen = Image.open(io.BytesIO(bytearray(dat['image'])))
x = screen
reward = dat['reward']
end_episode = dat['endEpisode']
depth_image = ImageOps.grayscale(Image.open(io.BytesIO(bytearray(dat['depth']))))
if not self.agent_initialized:
self.agent_initialized = True
AgentServer.mode='start'
action = workout(x)
self.send(str(action))
with open(self.log_file, 'w') as the_file:
the_file.write('cycle, episode_reward_sum \n')
else:
self.thread_event.wait()
self.cycle_counter += 1
self.reward_sum += reward
if end_episode:
AgentServer.mode='end'
workout(x)
#self.agent.agent_end(reward)
AgentServer.mode='start'
#action = self.agent.agent_start(image) # TODO
action = workout(x)
self.send(str(action))
with open(self.log_file, 'a') as the_file:
the_file.write(str(self.cycle_counter) +
',' + str(self.reward_sum) + '\n')
self.reward_sum = 0
else:
#action, rl_action, eps, Q_now, obs_array, returnAction = self.agent.agent_step(reward, image)
#self.agent.agent_step_after(reward, image, rl_action, eps, Q_now, obs_array, returnAction)
AgentServer.mode='step'
ag,action, eps, Q_now, obs_array = workout(x)
self.send(str(action))
ag.step_after(reward, action, eps, Q_now, obs_array)
self.thread_event.set()
def StartAgent(trainer=None,port=8765):
global workout
workout = trainer
cherrypy.config.update({'server.socket_port': port})
WebSocketPlugin(cherrypy.engine).subscribe()
cherrypy.tools.websocket = WebSocketTool()
cherrypy.config.update({'engine.autoreload.on': False})
config = {'/ws': {'tools.websocket.on': True,
'tools.websocket.handler_cls': AgentServer}}
cherrypy.quickstart(Root(), '/', config)
