Merge remote-tracking branch 'upstream/dev_1.10.1' into bd_dev

Author: BDonnot

grid2op/Episode/CompactEpisodeData.py

@@ -0,0 +1,312 @@
+# Copyright (c) 2019-2020, RTE (https://www.rte-france.com)
+# Addition by Xavier Weiss (@DEUCE1957)
+# This Source Code Form is subject to the terms of the Mozilla Public License, version 2.0.
+# If a copy of the Mozilla Public License, version 2.0 was not distributed with this file,
+# you can obtain one at http://mozilla.org/MPL/2.0/.
+# SPDX-License-Identifier: MPL-2.0
+# This file is part of Grid2Op, Grid2Op a testbed platform to model sequential decision making in power systems.
+import json
+import os
+import warnings
+import copy
+import numpy as np
+import grid2op
+from grid2op.Exceptions import (
+    Grid2OpException,
+    EnvError,
+    IncorrectNumberOfElements,
+    NonFiniteElement,
+)
+from grid2op.Action import ActionSpace
+from grid2op.Observation import ObservationSpace
+
+from pathlib import Path as p
+
+class CompactEpisodeData():
+
+    """
+    This module provides a compact way to serialize/deserialize one episode of a Reinforcement Learning (RL) run.
+    This enables episodes to be replayed, so we can understand the behaviour of the agent. 
+    It is compatible with :class:`EpisodeData` through the "to_dict()" method.
+
+    If enabled when using the :class:`Runner`, the :class:`CompactEpisodeData`
+    will save the information in a structured and compact way.
+    For each unique environment it will store a folder with:
+      - "dict_action_space.json"
+      - "dict_attack_space.json"
+      - "dict_env_modification.json"
+      - "dict_observation_space.json"
+    Then for each episode it stores a single compressed Numpy archive (.npz) file, identified by the chronics ID (e.g. "003").
+    Inside this archive we find:
+      - "actions": actions taken by the :class:`grid2op.BaseAgent.BaseAgent`, each row of this numpy 2d-array is a vector representation of the action
+        taken by the agent at a particular timestep.
+      - "env_actions": represents the modification of the powergrid by the environment, these modification usually concern hazards, maintenance, as well as modification of the generators production
+        setpoint or the loads consumption.
+      - "attacks": actions taken by any opponent present in the RL environment, stored similary to "actions".
+      - "observations": observations of the class :class:`grid2op.BaseObservation.BaseObservation made by the :class:`grid2op.Agent.BaseAgent` after taking an action, stored as a numpy 2d-array
+        where each row corresponds to a vector representation of the observation at that timestep. Note this includes the initial timestep, hence this array is 1 row longer than (e.g.) the actionss.
+      - "rewards": reward received by the :class:`grid2op.Agent.BaseAgent from the :class:`grid2op.Environment` at timestep 't', represented as 1d-array.
+      - "other_rewards": any other rewards logged by the :class:`grid2op.Environment` (but not necessarily passed to the agent), represented as a 2d-array.
+      - "disc_lines": gives which lines have been disconnected during the simulation at each time step. The same convention as for "rewards" has been adopted. This means that the powerlines are
+        disconnected when the :class:`grid2op.Agent.BaseAgent` takes the :class:`grid2op.BaseAction` at timestep 't`.
+      - "times": gives some information about the processor time spent (in seconds), mainly the time taken by
+        :class:`grid2op.Agent.BaseAgent` (and especially its method :func:`grid2op.BaseAgent.act`) and amount of time
+        spent in the :class:`grid2op.Environment.Environment`
+    All of the above can be read back from disk.
+
+    Inputs
+    ----------
+    environment: :class:`grid2op.Environment`
+        The environment we are running, contains most of the metadata required to store the episode.
+    obs: :class:`grid2op.Observation`
+        The initial observation of the environment in the current episode. Used to store the first observation.
+    
+    Examples
+    --------
+    Here is an example on how to use the :class:`CompactEpisodeData` class outside of the :class:`grid2op.Runner.Runner`.
+
+    .. code-block:: python
+        from pathlib import Path as p
+        from grid2op.Agent import DoNothingAgent
+        env = grid2op.make(""rte_case14_realistic")
+        obs = env.reset()
+        ep_id = env.chronics_handler.get_name()
+        data_dir = p.cwd() # CHANGE THIS TO DESIRED LOCATION ON DISK
+        agent = DoNothingAgent(env.action_space)
+        reward = 0.0
+        episode_store = CompactEpisodeData(env, obs)
+        for t in range(env.max_episode_duration()):
+            start = time.perf_counter()
+            act = agent.act(obs, reward)
+            obs, reward, done, info = env.step(act)
+            duration = time.perf_counter() - start
+            episode_store.update(t, env, act, obs, reward, duration, info)
+        # Store Episode Data to file (compactly)
+        episode_store.to_disk()
+        # Load Episode Data from disk by referring to the specific episode ID
+        episode_store.from_disk(ep_id)
+    """
+        
+    def __init__(self, env, obs, exp_dir, ep_id:str=None):
+        """
+        Creates Dictionary of Numpy Arrays for storing the details of a Grid2Op Episode (actions, observations, etc.).
+        Pre-allocating the arrays like this is more efficient than appending to a mutable datatype (like a list).
+        For the initial timestep, an extra observation is stored (the initial state of the Environment). 
+
+        Args:
+            env (grid2op.Environment): Current Grid2Op Environment, used to grab static attributes.
+            obs (grid2op.Observation): Initial Observation (before agent is active)
+            exp_dir (pathlib.Path): Where experiment data is stored
+            ep_id (str | None): If provided tries to load previously stored episode from disk.
+        
+        Returns:
+            dict<str:obj>: Contains all data to fully represent what happens in an episode
+        """
+        if exp_dir is not None:
+            self.exp_dir = p(exp_dir)
+        else:
+            self.exp_dir = None
+        self.array_names = ("actions", "env_actions", "attacks", "observations", "rewards", "other_rewards", "disc_lines", "times")
+        self.space_names = ("observation_space", "action_space", "attack_space", "env_modification_space")
+        if ep_id is None:
+            self.ep_id = env.chronics_handler.get_name()
+            max_no_of_timesteps = int(env.max_episode_duration())
+            
+            # Numpy Arrays
+            self.actions = np.full((max_no_of_timesteps, env.action_space.n), fill_value=np.NaN, dtype=np.float16)
+            self.env_actions = np.full((max_no_of_timesteps, env._helper_action_env.n), fill_value=np.NaN, dtype=np.float32)
+            self.attacks = np.full((max_no_of_timesteps, env._opponent_action_space.n), fill_value=0.0, dtype=np.float32)
+            self.observations = np.full((max_no_of_timesteps + 1, len(obs.to_vect())),fill_value=np.NaN,dtype=np.float32)
+            self.rewards = np.full(max_no_of_timesteps, fill_value=np.NaN, dtype=np.float32)
+            self.other_reward_names = list(sorted(env.other_rewards.keys()))
+            self.other_rewards = np.full((max_no_of_timesteps, len(self.other_reward_names)), fill_value=np.NaN, dtype=np.float32)
+            self.disc_lines = np.full((max_no_of_timesteps, env.backend.n_line), fill_value=np.NaN, dtype=np.bool_)
+            self.times = np.full(max_no_of_timesteps, fill_value=np.NaN, dtype=np.float32)
+            
+            self.disc_lines_templ = np.full((1, env.backend.n_line), fill_value=False, dtype=np.bool_)
+            # AttackTempl: Not used, kept for comptabiility with EpisodeData
+            self.attack_templ = np.full((1, env._oppSpace.action_space.size()), fill_value=0.0, dtype=np.float32)
+
+            self.legal = np.full(max_no_of_timesteps, fill_value=True, dtype=np.bool_)
+            self.ambiguous = np.full(max_no_of_timesteps, fill_value=False, dtype=np.bool_)
+            self.n_cols = env.action_space.n + env._helper_action_env.n + len(obs.to_vect()) + env.backend.n_line + env._oppSpace.action_space.size() + 6
+
+            # Store First Observation
+            self.observations[0] = obs.to_vect()
+            self.game_over_timestep = max_no_of_timesteps
+
+            # JSON-serializable Objects
+            self.observation_space=env.observation_space
+            self.action_space=env.action_space
+            self.attack_space=env._opponent_action_space
+            self.env_modification_space=env._helper_action_env
+            
+            # Special JSON-Serializable Object: Episode MetaData
+            self.meta = dict(
+                chronics_path = self.ep_id, 
+                chronics_max_timestep = max_no_of_timesteps,
+                game_over_timestep = self.game_over_timestep,
+                other_reward_names = self.other_reward_names,
+                grid_path = env._init_grid_path,
+                backend_type = type(env.backend).__name__,
+                env_type = type(env).__name__,
+                env_seed = (env.seed_used.item() if env.seed_used.ndim == 0 else list(env.seed_used)) if isinstance(env.seed_used, np.ndarray) else env.seed_used,
+                agent_seed = self.action_space.seed_used,
+                nb_timestep_played = 0,
+                cumulative_reward = 0.0,
+            )
+        elif exp_dir is not None:
+            self.load_metadata(ep_id)
+            self.load_spaces()
+            self.load_arrays(ep_id)
+        
+    def update(self, t:int, env, action,
+               obs, reward:float, done:bool, duration:float, info):
+        """
+        Update the arrays in the Episode Store for each step of the environment.
+        Args:
+            t (int): Current time step
+            env (grid2op.Environment): State of Environment
+            action (grid2op.Action): Action agent took on the Environment
+            obs (grid2op.Observation): Observed result of action on Environment
+            reward (float): Numeric reward returned by Environment for the given action
+            duration (float): Time in seconds needed to choose and execute the action
+            info (dict<str:np.array>): Dictionary containing information on legality and ambiguity of action
+        """
+        self.actions[t - 1] = action.to_vect()
+        self.env_actions[t - 1] = env._env_modification.to_vect()
+        self.observations[t] = obs.to_vect()
+        opp_attack = env._oppSpace.last_attack
+        if opp_attack is not None:
+            self.attacks[t - 1] = opp_attack.to_vect()
+        self.rewards[t - 1] = reward
+        if "disc_lines" in info:
+            arr = info["disc_lines"]
+            if arr is not None:
+                self.disc_lines[t - 1] = arr
+            else:
+                self.disc_lines[t - 1] = self.disc_lines_templ
+        if "rewards" in info:
+            for i, other_reward_name in enumerate(self.other_reward_names):
+                self.other_rewards[t-1, i] = info["rewards"][other_reward_name]
+        self.times[t - 1] = duration
+        self.legal[t - 1] = not info["is_illegal"]
+        self.ambiguous[t - 1] = info["is_ambiguous"]
+        if done:
+            self.game_over_timestep = t
+        # Update metadata
+        self.meta.update(
+            nb_timestep_played = t,
+            cumulative_reward = self.meta["cumulative_reward"] + float(reward),
+        )
+        return self.meta["cumulative_reward"]
+    
+    def asdict(self):
+        """
+        Return the Episode Store as a dictionary.
+        Compatible with Grid2Op's internal EpisodeData format as keyword arguments.
+        """
+        # Other rewards in Grid2op's internal Episode Data is a list of dictionaries, so we convert to that format
+        other_rewards = [{other_reward_name:float(self.other_rewards[t, i]) for i, other_reward_name in enumerate(self.other_reward_names)} for t in range(len(self.times))]
+        return dict(actions=self.actions, env_actions=self.env_actions,
+                    observations=self.observations,
+                    rewards=self.rewards, 
+                    other_rewards=other_rewards,
+                    disc_lines=self.disc_lines, times=self.times,
+                    disc_lines_templ=self.disc_lines_templ, attack_templ=self.attack_templ,
+                    attack=self.attacks, legal=self.legal, ambiguous=self.ambiguous,
+                    observation_space=self.observation_space, action_space=self.action_space,
+                    attack_space=self.attack_space, helper_action_env=self.env_modification_space)
+    
+    def store_metadata(self):
+        """
+        Store this Episode's meta data to disk.
+        """
+        print({k:(v,type(v)) for k,v in self.meta.items()})
+        with open(self.exp_dir / f"{self.ep_id}_metadata.json", "w", encoding="utf-8") as f:
+            json.dump(self.meta, f, indent=4, sort_keys=True)
+    
+    def load_metadata(self, ep_id:str):
+        """
+        Load metadata from a specific Episode.
+        """
+        with open(self.exp_dir / f"{ep_id}_metadata.json", "r", encoding="utf-8") as f:
+            self.meta = json.load(f)
+            self.other_reward_names = self.meta["other_reward_names"]
+            self.game_over_timestep = self.meta["game_over_timestep"]
+    
+    def store_spaces(self):
+        """
+        Store the Observation, Action, Environment and Opponent spaces to disk.
+        """
+        for space_name in self.space_names:
+            with open(self.exp_dir / f"dict_{space_name}.json", "w", encoding="utf-8") as f:
+                json.dump(getattr(self, space_name).cls_to_dict(), f, indent=4, sort_keys=True)
+
+    def load_spaces(self):
+        """
+        Load the Observation, Action, Environment and Opponent spaces from disk
+        """
+        for space_name in self.space_names:
+            with open(self.exp_dir / f"dict_{space_name}.json", "r", encoding="utf-8") as f:
+                if space_name == "observation_space":
+                    setattr(self, space_name, ObservationSpace.from_dict(json.load(f)))
+                else:
+                    setattr(self, space_name, ActionSpace.from_dict(json.load(f)))
+    
+    def store_arrays(self):
+        """
+        Store compressed versions of the Actions, Observations, Rewards, Attacks and other metadata 
+        to disk as a compressed numpy archive (single file per episode).
+        """
+        np.savez_compressed(self.exp_dir / f"{self.ep_id}.npz", **{array_name: getattr(self, array_name) for array_name in self.array_names})
+
+    def load_arrays(self, ep_id:str):
+        """
+        Load Actions, Observations, Rewards, Attacks and other metadata from disk
+        for a specific Episode ID (identified by Chronics name)
+        """
+        arrays = np.load(self.exp_dir / f"{ep_id}.npz")
+        for array_name in self.array_names:
+            setattr(self, array_name, arrays[array_name])
+        self.ep_id = ep_id
+    
+    def to_disk(self):
+        """
+        Store this EpisodeStore object instance to disk (as .json and .npz files)
+        """
+        if self.exp_dir is not None:
+            # Store Episode metadata
+            self.store_metadata()
+            # Store Spaces (values are static, so only save once per experiment)
+            if len([f for f in self.exp_dir.glob("*.json")]) != 4:
+                self.store_spaces()
+            # Store Arrays as Compressed Numpy archive
+            self.store_arrays()
+
+    @classmethod
+    def from_disk(cls, path, ep_id:str):
+        """
+        Load EpisodeStore data from disk for a specific episode.
+        """
+        return cls(env=None, obs=None, exp_dir=p(path), ep_id=ep_id)
+
+    @staticmethod
+    def list_episode(path):
+        """
+        From a given path, extracts the episodes that can be loaded
+
+        Parameters
+        ----------
+        path: ``str``
+            The path where to look for data coming from "episode"
+
+        Returns
+        -------
+        res: ``list``
+            A list of possible episodes. Each element of this list is a tuple: (full_path, episode_name)
+        """
+        return [(str(full_path), full_path.stem) for full_path in path.glob("*.npz")]
+    
+    def __len__(self):
+        return self.game_over_timestep

grid2op/Episode/EpisodeReplay.py

@@ -15,7 +15,7 @@
 from grid2op.Exceptions import Grid2OpException
 from grid2op.PlotGrid.PlotMatplot import PlotMatplot
 from grid2op.Episode.EpisodeData import EpisodeData
-
+from grid2op.Episode.CompactEpisodeData import CompactEpisodeData
 
 class EpisodeReplay(object):
     """

grid2op/Episode/__init__.py

@@ -1,6 +1,7 @@
 __all__ = ["EpisodeData"]
 
 from grid2op.Episode.EpisodeData import EpisodeData
+from grid2op.Episode.CompactEpisodeData import CompactEpisodeData
 
 # Try to import optional module
 try: