Gymnasium/gym/vector/tests/test_shared_memory.py

import pytest
import numpy as np

from multiprocessing.sharedctypes import SynchronizedArray
from multiprocessing import Array, Process
from collections import OrderedDict

from gym.spaces import Tuple, Dict
from gym.vector.utils.spaces import _BaseGymSpaces
from gym.vector.tests.utils import spaces

from gym.vector.utils.shared_memory import (create_shared_memory,
    read_from_shared_memory, write_to_shared_memory)

expected_types = [
    Array('d', 1), Array('f', 1), Array('f', 3), Array('f', 4), Array('B', 1), Array('B', 32 * 32 * 3),
    Array('i', 1), (Array('i', 1), Array('i', 1)), (Array('i', 1), Array('f', 2)),
    Array('B', 3), Array('B', 19),
    OrderedDict([
        ('position', Array('i', 1)),
        ('velocity', Array('f', 1))
    ]),
    OrderedDict([
        ('position', OrderedDict([('x', Array('i', 1)), ('y', Array('i', 1))])),
        ('velocity', (Array('i', 1), Array('B', 1)))
    ])
]

@pytest.mark.parametrize('n', [1, 8])
@pytest.mark.parametrize('space,expected_type', list(zip(spaces, expected_types)),
    ids=[space.__class__.__name__ for space in spaces])
def test_create_shared_memory(space, expected_type, n):
    def assert_nested_type(lhs, rhs, n):
        assert type(lhs) == type(rhs)
        if isinstance(lhs, (list, tuple)):
            assert len(lhs) == len(rhs)
            for lhs_, rhs_ in zip(lhs, rhs):
                assert_nested_type(lhs_, rhs_, n)

        elif isinstance(lhs, (dict, OrderedDict)):
            assert set(lhs.keys()) ^ set(rhs.keys()) == set()
            for key in lhs.keys():
                assert_nested_type(lhs[key], rhs[key], n)

        elif isinstance(lhs, SynchronizedArray):
            # Assert the length of the array
            assert len(lhs[:]) == n * len(rhs[:])
            # Assert the data type
            assert type(lhs[0]) == type(rhs[0])

        else:
            raise TypeError('Got unknown type `{0}`.'.format(type(lhs)))

    shared_memory = create_shared_memory(space, n=n)
    assert_nested_type(shared_memory, expected_type, n=n)


@pytest.mark.parametrize('space', spaces,
    ids=[space.__class__.__name__ for space in spaces])
def test_write_to_shared_memory(space):

    def assert_nested_equal(lhs, rhs):
        assert isinstance(rhs, list)
        if isinstance(lhs, (list, tuple)):
            for i in range(len(lhs)):
                assert_nested_equal(lhs[i], [rhs_[i] for rhs_ in rhs])

        elif isinstance(lhs, (dict, OrderedDict)):
            for key in lhs.keys():
                assert_nested_equal(lhs[key], [rhs_[key] for rhs_ in rhs])

        elif isinstance(lhs, SynchronizedArray):
            assert np.all(np.array(lhs[:]) == np.stack(rhs, axis=0).flatten())

        else:
            raise TypeError('Got unknown type `{0}`.'.format(type(lhs)))

    def write(i, shared_memory, sample):
        write_to_shared_memory(i, sample, shared_memory, space)

    shared_memory_n8 = create_shared_memory(space, n=8)
    samples = [space.sample() for _ in range(8)]

    processes = [Process(target=write, args=(i, shared_memory_n8,
        samples[i])) for i in range(8)]

    for process in processes:
        process.start()
    for process in processes:
        process.join()

    assert_nested_equal(shared_memory_n8, samples)


@pytest.mark.parametrize('space', spaces,
    ids=[space.__class__.__name__ for space in spaces])
def test_read_from_shared_memory(space):

    def assert_nested_equal(lhs, rhs, space, n):
        assert isinstance(rhs, list)
        if isinstance(space, Tuple):
            assert isinstance(lhs, tuple)
            for i in range(len(lhs)):
                assert_nested_equal(lhs[i], [rhs_[i] for rhs_ in rhs],
                    space.spaces[i], n)

        elif isinstance(space, Dict):
            assert isinstance(lhs, OrderedDict)
            for key in lhs.keys():
                assert_nested_equal(lhs[key], [rhs_[key] for rhs_ in rhs],
                    space.spaces[key], n)

        elif isinstance(space, _BaseGymSpaces):
            assert isinstance(lhs, np.ndarray)
            assert lhs.shape == ((n,) + space.shape)
            assert lhs.dtype == space.dtype
            assert np.all(lhs == np.stack(rhs, axis=0))

        else:
            raise TypeError('Got unknown type `{0}`'.format(type(space)))

    def write(i, shared_memory, sample):
        write_to_shared_memory(i, sample, shared_memory, space)

    shared_memory_n8 = create_shared_memory(space, n=8)
    memory_view_n8 = read_from_shared_memory(shared_memory_n8, space, n=8)
    samples = [space.sample() for _ in range(8)]

    processes = [Process(target=write, args=(i, shared_memory_n8,
        samples[i])) for i in range(8)]

    for process in processes:
        process.start()
    for process in processes:
        process.join()

    assert_nested_equal(memory_view_n8, samples, space, n=8)