| """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() |
|
|
