LightZero/zoo/bsuite/envs/bsuite_lightzero_env.py

import copy
import os
from datetime import datetime
from typing import Union, Optional, Dict, List

import gymnasium as gym
import matplotlib.pyplot as plt
import numpy as np
import bsuite
from bsuite import sweep
from bsuite.utils import gym_wrapper
from ding.envs import BaseEnv, BaseEnvTimestep
from ding.torch_utils import to_ndarray
from ding.utils import ENV_REGISTRY
from easydict import EasyDict
from matplotlib import animation


@ENV_REGISTRY.register('bsuite_lightzero')
class BSuiteEnv(BaseEnv):
    """
    LightZero version of the Bsuite environment. This class includes methods for resetting, closing, and
    stepping through the environment, as well as seeding for reproducibility, saving replay videos, and generating random
    actions. It also includes properties for accessing the observation space, action space, and reward space of the
    environment.
    """
    config = dict(
        # (str) The gym environment name.
        env_name='memory_len/9',
        # (bool) If True, save the replay as a gif file.
        # Due to the definition of the environment, rendering images of certain sub-environments are meaningless.
        save_replay_gif=False,
        # (str or None) The path to save the replay gif. If None, the replay gif will not be saved.
        replay_path_gif=None,
        # replay_path (str or None): The path to save the replay video. If None, the replay will not be saved.
        # Only effective when env_manager.type is 'base'.
        replay_path=None,
    )

    @classmethod
    def default_config(cls: type) -> EasyDict:
        """
        Overview:
            Return the default configuration of the class.
        Returns:
            - cfg (:obj:`EasyDict`): Default configuration dict.
        """
        cfg = EasyDict(copy.deepcopy(cls.config))
        cfg.cfg_type = cls.__name__ + 'Dict'
        return cfg
    
    def __init__(self, cfg: dict = {}) -> None:
        """
        Initialize the environment with a configuration dictionary. Sets up spaces for observations, actions, and rewards.
        """
        self._cfg = cfg
        self._init_flag = False
        self._env_name = cfg.env_name
        self._replay_path = cfg.replay_path
        self._replay_path_gif = cfg.replay_path_gif
        self._save_replay_gif = cfg.save_replay_gif
        self._save_replay_count = 0

    def reset(self) -> Dict[str, np.ndarray]:
        """
        Reset the environment. If it hasn't been initialized yet, this method also handles that. It also handles seeding
        if necessary. Returns the first observation.
        """
        if not self._init_flag:
            raw_env = bsuite.load_from_id(bsuite_id=self._env_name)
            self._env = gym_wrapper.GymFromDMEnv(raw_env)
            self._observation_space = self._env.observation_space
            self._action_space = self._env.action_space
            self._reward_space = gym.spaces.Box(
                low=self._env.reward_range[0], high=self._env.reward_range[1], shape=(1,), dtype=np.float64
            )
            if self._replay_path is not None:
                timestamp = datetime.now().strftime("%Y%m%d%H%M%S")
                video_name = f'{self._env.spec.id}-video-{timestamp}'
                self._env = gym.wrappers.RecordVideo(
                    self._env,
                    video_folder=self._replay_path,
                    episode_trigger=lambda episode_id: True,
                    name_prefix=video_name
                )
            self._init_flag = True
        if hasattr(self, '_seed') and hasattr(self, '_dynamic_seed') and self._dynamic_seed:
            np_seed = 100 * np.random.randint(1, 1000)
            self._env.seed(self._seed + np_seed)
        elif hasattr(self, '_seed'):
            self._env.seed(self._seed)
        self._observation_space = self._env.observation_space
        obs = self._env.reset()
        if obs.shape[0] == 1:
            obs = obs[0]
        obs = to_ndarray(obs).astype(np.float32)
        self._eval_episode_return = 0
        if self._save_replay_gif:
            self._frames = []

        action_mask = np.ones(self.action_space.n, 'int8')
        obs = {'observation': obs, 'action_mask': action_mask, 'to_play': -1}

        return obs


    def step(self, action: np.ndarray) -> BaseEnvTimestep:
        """
        Overview:
            Perform a step in the environment using the provided action, and return the next state of the environment.
            The next state is encapsulated in a BaseEnvTimestep object, which includes the new observation, reward,
            done flag, and info dictionary.
        Arguments:
            - action (:obj:`np.ndarray`): The action to be performed in the environment. 
        Returns:
            - timestep (:obj:`BaseEnvTimestep`): An object containing the new observation, reward, done flag,
              and info dictionary.
        .. note::
            - The cumulative reward (`_eval_episode_return`) is updated with the reward obtained in this step.
            - If the episode ends (done is True), the total reward for the episode is stored in the info dictionary
              under the key 'eval_episode_return'.
            - An action mask is created with ones, which represents the availability of each action in the action space.
            - Observations are returned in a dictionary format containing 'observation', 'action_mask', and 'to_play'.
        """
        if self._save_replay_gif:
            self._frames.append(self._env.render(mode='rgb_array'))

        obs, rew, done, info = self._env.step(action)
        self._eval_episode_return += rew
        if done:
            info['eval_episode_return'] = self._eval_episode_return
            if self._save_replay_gif:
                if not os.path.exists(self._replay_path_gif):
                    os.makedirs(self._replay_path_gif)
                timestamp = datetime.now().strftime("%Y%m%d%H%M%S")
                path = os.path.join(
                    self._replay_path_gif,
                    'episode_{}_seed{}_{}.gif'.format(self._save_replay_count, self._seed, timestamp)
                )
                self.display_frames_as_gif(self._frames, path)
                print(f'save episode {self._save_replay_count} in {self._replay_path_gif}!')
                self._save_replay_count += 1
        if obs.shape[0] == 1:
            obs = obs[0]
        obs = to_ndarray(obs)
        rew = to_ndarray([rew])  # wrapped to be transfered to an array with shape (1,)

        action_mask = np.ones(self.action_space.n, 'int8')
        obs = {'observation': obs, 'action_mask': action_mask, 'to_play': -1}

        return BaseEnvTimestep(obs, rew, done, info)

    def config_info(self) -> dict:
        config_info = sweep.SETTINGS[self._env_name]  # additional info that are specific to each env configuration
        config_info['num_episodes'] = self._env.bsuite_num_episodes
        return config_info
    
    def close(self) -> None:
        """
        Close the environment, and set the initialization flag to False.
        """
        if self._init_flag:
            self._env.close()
        self._init_flag = False

    def seed(self, seed: int, dynamic_seed: bool = True) -> None:
        """
        Set the seed for the environment's random number generator. Can handle both static and dynamic seeding.
        """
        self._seed = seed
        self._dynamic_seed = dynamic_seed
        np.random.seed(self._seed)

    def enable_save_replay(self, replay_path: Optional[str] = None) -> None:
        """
        Enable the saving of replay videos. If no replay path is given, a default is used.
        """
        if replay_path is None:
            replay_path = './video'
        self._replay_path = replay_path

    @staticmethod
    def display_frames_as_gif(frames: list, path: str) -> None:
        patch = plt.imshow(frames[0])
        plt.axis('off')

        def animate(i):
            patch.set_data(frames[i])

        anim = animation.FuncAnimation(plt.gcf(), animate, frames=len(frames), interval=5)
        anim.save(path, writer='imagemagick', fps=20)

    def random_action(self) -> np.ndarray:
        """
         Generate a random action using the action space's sample method. Returns a numpy array containing the action.
         """
        random_action = self.action_space.sample()
        random_action = to_ndarray([random_action], dtype=np.int64)
        return random_action

    @property
    def observation_space(self) -> gym.spaces.Space:
        """
        Property to access the observation space of the environment.
        """
        return self._observation_space

    @property
    def action_space(self) -> gym.spaces.Space:
        """
        Property to access the action space of the environment.
        """
        return self._action_space

    @property
    def reward_space(self) -> gym.spaces.Space:
        """
        Property to access the reward space of the environment.
        """
        return self._reward_space

    @staticmethod
    def create_collector_env_cfg(cfg: dict) -> List[dict]:
        collector_env_num = cfg.pop('collector_env_num')
        cfg = copy.deepcopy(cfg)
        cfg.is_train = True
        return [cfg for _ in range(collector_env_num)]

    @staticmethod
    def create_evaluator_env_cfg(cfg: dict) -> List[dict]:
        evaluator_env_num = cfg.pop('evaluator_env_num')
        cfg = copy.deepcopy(cfg)
        cfg.is_train = False
        return [cfg for _ in range(evaluator_env_num)]

    def __repr__(self) -> str:
        """
        String representation of the environment.
        """
        return "LightZero BSuite Env({})".format(self._env_name)