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0d80452 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 | # !/usr/bin/env python
# Copyright 2025 The HuggingFace Inc. team.
# All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import logging
import time
from multiprocessing import Event, Queue
from typing import TYPE_CHECKING
from lerobot.utils.import_utils import _grpc_available
from .queue import get_last_item_from_queue
if TYPE_CHECKING or _grpc_available:
import grpc
from lerobot.transport import services_pb2, services_pb2_grpc
from lerobot.transport.utils import receive_bytes_in_chunks, send_bytes_in_chunks
_ServicerBase = services_pb2_grpc.LearnerServiceServicer
else:
grpc = None
services_pb2 = None
services_pb2_grpc = None
receive_bytes_in_chunks = None
send_bytes_in_chunks = None
_ServicerBase = object
MAX_WORKERS = 3 # Stream parameters, send transitions and interactions
SHUTDOWN_TIMEOUT = 10
class LearnerService(_ServicerBase):
"""
Implementation of the LearnerService gRPC service
This service is used to send parameters to the Actor and receive transitions and interactions from the Actor
check transport.proto for the gRPC service definition
"""
def __init__(
self,
shutdown_event: Event, # type: ignore
parameters_queue: Queue,
seconds_between_pushes: float,
transition_queue: Queue,
interaction_message_queue: Queue,
queue_get_timeout: float = 0.001,
):
self.shutdown_event = shutdown_event
self.parameters_queue = parameters_queue
self.seconds_between_pushes = seconds_between_pushes
self.transition_queue = transition_queue
self.interaction_message_queue = interaction_message_queue
self.queue_get_timeout = queue_get_timeout
def StreamParameters( # noqa: N802
self, request: "services_pb2.Empty", context: "grpc.ServicerContext"
):
# TODO: authorize the request
logging.info("[LEARNER] Received request to stream parameters from the Actor")
last_push_time = 0
while not self.shutdown_event.is_set():
time_since_last_push = time.time() - last_push_time
if time_since_last_push < self.seconds_between_pushes:
self.shutdown_event.wait(self.seconds_between_pushes - time_since_last_push)
# Continue, because we could receive a shutdown event,
# and it's checked in the while loop
continue
logging.info("[LEARNER] Push parameters to the Actor")
buffer = get_last_item_from_queue(
self.parameters_queue, block=True, timeout=self.queue_get_timeout
)
if buffer is None:
continue
yield from send_bytes_in_chunks(
buffer,
services_pb2.Parameters,
log_prefix="[LEARNER] Sending parameters",
silent=True,
)
last_push_time = time.time()
logging.info("[LEARNER] Parameters sent")
logging.info("[LEARNER] Stream parameters finished")
return services_pb2.Empty()
def SendTransitions(self, request_iterator, _context: "grpc.ServicerContext"): # noqa: N802
# TODO: authorize the request
logging.info("[LEARNER] Received request to receive transitions from the Actor")
receive_bytes_in_chunks(
request_iterator,
self.transition_queue,
self.shutdown_event,
log_prefix="[LEARNER] transitions",
)
logging.debug("[LEARNER] Finished receiving transitions")
return services_pb2.Empty()
def SendInteractions(self, request_iterator, _context: "grpc.ServicerContext"): # noqa: N802
# TODO: authorize the request
logging.info("[LEARNER] Received request to receive interactions from the Actor")
receive_bytes_in_chunks(
request_iterator,
self.interaction_message_queue,
self.shutdown_event,
log_prefix="[LEARNER] interactions",
)
logging.debug("[LEARNER] Finished receiving interactions")
return services_pb2.Empty()
def Ready(self, request: "services_pb2.Empty", context: "grpc.ServicerContext"): # noqa: N802
return services_pb2.Empty()
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