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import logging
import time
from typing import Dict, Optional, Tuple
from typing_extensions import override
import websockets.sync.client
from openpi_client import base_policy as _base_policy
from openpi_client import msgpack_numpy
class WebsocketClientPolicy(_base_policy.BasePolicy):
"""Implements the Policy interface by communicating with a server over websocket.
See WebsocketPolicyServer for a corresponding server implementation.
"""
def __init__(self, host: str = "0.0.0.0", port: Optional[int] = None, api_key: Optional[str] = None) -> None:
self._uri = f"ws://{host}"
if port is not None:
self._uri += f":{port}"
self._packer = msgpack_numpy.Packer()
self._api_key = api_key
self._ws, self._server_metadata = self._wait_for_server()
def get_server_metadata(self) -> Dict:
return self._server_metadata
def _wait_for_server(self) -> Tuple[websockets.sync.client.ClientConnection, Dict]:
logging.info(f"Waiting for server at {self._uri}...")
while True:
try:
headers = {"Authorization": f"Api-Key {self._api_key}"} if self._api_key else None
conn = websockets.sync.client.connect(
self._uri, compression=None, max_size=None, additional_headers=headers
)
metadata = msgpack_numpy.unpackb(conn.recv())
return conn, metadata
except ConnectionRefusedError:
logging.info("Still waiting for server...")
time.sleep(5)
@override
def infer(self, obs: Dict) -> Dict: # noqa: UP006
data = self._packer.pack(obs)
self._ws.send(data)
response = self._ws.recv()
if isinstance(response, str):
# we're expecting bytes; if the server sends a string, it's an error.
raise RuntimeError(f"Error in inference server:\n{response}")
return msgpack_numpy.unpackb(response)
@override
def reset(self) -> None:
pass
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