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e042d72 | 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 | """Minimal OpenEnv WebSocket client used by the replay and calibration scripts."""
import json
from urllib.parse import urlsplit, urlunsplit
from websockets.sync.client import connect
def ws_url(base_url: str) -> str:
parts = urlsplit(base_url.rstrip("/"))
scheme = "wss" if parts.scheme == "https" else "ws"
return urlunsplit((scheme, parts.netloc, parts.path + "/ws", "", ""))
class Session:
def __init__(self, base_url: str, timeout: float = 30):
self.timeout = timeout
self.sock = connect(ws_url(base_url), open_timeout=timeout, close_timeout=5, max_size=2**22)
def _send(self, message: dict) -> dict:
self.sock.send(json.dumps(message))
response = json.loads(self.sock.recv(timeout=self.timeout))
if response.get("type") != "observation":
raise RuntimeError(f"unexpected response: {response}")
data = response["data"]
reward = data.get("reward")
assert isinstance(data.get("done"), bool), data
assert reward is None or (isinstance(reward, (int, float)) and 0 <= reward <= 1), data
return data
def reset(self, **kwargs) -> dict:
return self._send({"type": "reset", "data": kwargs})
def step(self, action: dict) -> dict:
return self._send({"type": "step", "data": action})
def close(self):
self.sock.close()
def __enter__(self):
return self
def __exit__(self, *exc):
self.close()
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