feat: Implémentation du module logging : un fichier log par voiture par simulation

Author: Cbampeta

scripts/lanch_one_simu.py

@@ -16,10 +16,7 @@
 from CNN1DResNetExtractor import CNN1DResNetExtractor
 # -------------------------------------------------------------------------
 
-def log(s: str):
-    # Conservez votre fonction de log
-    if B_DEBUG:
-        print(s, file=open("/tmp/autotech/logs", "a"))
+
 
 # --- Chemin vers le fichier ONNX ---
 
@@ -39,8 +36,6 @@ def init_onnx_runtime_session(onnx_path: str) -> ort.InferenceSession:
         os.mkdir("/tmp/autotech/")
 
     os.system('if [ -n "$(ls /tmp/autotech)" ]; then rm /tmp/autotech/*; fi')
-    if B_DEBUG:
-        print("Webots started", file=open("/tmp/autotech/logs", "w"))
 
 
     # 2. Initialisation de la session ONNX Runtime

scripts/launch_train_multiprocessing.py

@@ -1,3 +1,4 @@
+import logging
 import os
 import sys
 
@@ -12,30 +13,27 @@
 if simu_path not in sys.path:
     sys.path.insert(0, simu_path)
 
+from Simulateur.config import LOG_LEVEL
 from config import *
 from TemporalResNetExtractor import TemporalResNetExtractor
 from CNN1DResNetExtractor import CNN1DResNetExtractor
 from onnx_utils import *
 
 from WebotsSimulationGymEnvironment import WebotsSimulationGymEnvironment
-if B_DEBUG: from DynamicActionPlotCallback import DynamicActionPlotDistributionCallback
-
-def log(s: str):
-    if B_DEBUG:
-        print(s, file=open("/tmp/autotech/logs", "a"))
-
+if LOG_LEVEL == logging.DEBUG: from DynamicActionPlotCallback import DynamicActionPlotDistributionCallback
 
 
 if __name__ == "__main__":
+
     if not os.path.exists("/tmp/autotech/"):
         os.mkdir("/tmp/autotech/")
 
     os.system('if [ -n "$(ls /tmp/autotech)" ]; then rm /tmp/autotech/*; fi')
-    if B_DEBUG:
-        print("Webots started", file=open("/tmp/autotech/logs", "w"))
+    
 
     def make_env(simulation_rank: int, vehicle_rank: int):
-        log(f"CAREFUL !!! created an SERVER env with {simulation_rank}_{vehicle_rank}")
+        if LOG_LEVEL == logging.DEBUG:
+            print("CAREFUL !!! created an SERVER env with {simulation_rank}_{vehicle_rank}")
         return WebotsSimulationGymEnvironment(simulation_rank, vehicle_rank)
 
     envs = SubprocVecEnv([lambda simulation_rank=simulation_rank, vehicle_rank=vehicle_rank : make_env(simulation_rank, vehicle_rank) for vehicle_rank in range(n_vehicles) for simulation_rank in range(n_simulations)])
@@ -111,7 +109,7 @@ def make_env(simulation_rank: int, vehicle_rank: int):
     print(f"{model.batch_size=}")
     print(f"{model.device=}")
 
-    log(f"SERVER : finished executing")
+    print("SERVER : finished executing")
 
     # obs = envs.reset()
     # while True:
@@ -124,7 +122,7 @@ def make_env(simulation_rank: int, vehicle_rank: int):
         export_onnx(model)
         test_onnx(model)
 
-        if B_DEBUG:
+        if LOG_LEVEL <= logging.DEBUG:
            model.learn(total_timesteps=500_000, callback=DynamicActionPlotDistributionCallback())
         else:
             model.learn(total_timesteps=500_000)

src/Simulateur/WebotsSimulationGymEnvironment.py

@@ -6,9 +6,6 @@
 from config import *
 
 
-def log(s: str):
-    if B_DEBUG:
-        print(s, file=open("/tmp/autotech/logs", "a"))
 class WebotsSimulationGymEnvironment(gym.Env):
     """
     One environment for each vehicle
@@ -19,11 +16,20 @@ class WebotsSimulationGymEnvironment(gym.Env):
 
     def __init__(self, simulation_rank: int, vehicle_rank: int):
 
-        log("vvvvvvvvvvvvvvvvvvvvvvvvvv Initialisation vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv")
+        
         super().__init__()
         self.simulation_rank = simulation_rank
         self.vehicle_rank = vehicle_rank
 
+        self.handler = logging.FileHandler(f"/tmp/autotech/Voiture_{self.simulation_rank}_{self.vehicle_rank}.log")
+        self.handler.setFormatter(FORMATTER)
+        self.log = logging.getLogger("SERVER")
+        self.log.setLevel(level=LOG_LEVEL)
+        self.log.addHandler(self.handler)
+
+
+        self.log.info("Initialisation started")
+
         # this is only true if lidar_horizontal_resolution = camera_horizontal_resolution
         box_min = np.zeros([2, context_size, lidar_horizontal_resolution], dtype=np.float32)
         box_max = np.ones([2, context_size, lidar_horizontal_resolution], dtype=np.float32) * 30
@@ -34,7 +40,7 @@ def __init__(self, simulation_rank: int, vehicle_rank: int):
         if not os.path.exists("/tmp/autotech"):
             os.mkdir("/tmp/autotech")
 
-        log(f"SERVER{simulation_rank}_{vehicle_rank} : {simulation_rank}_{vehicle_rank}")
+        self.log.debug(f"Creation of the pipes")
 
         os.mkfifo(f"/tmp/autotech/{simulation_rank}_{vehicle_rank}toserver.pipe")
         os.mkfifo(f"/tmp/autotech/serverto{simulation_rank}_{vehicle_rank}.pipe")
@@ -46,12 +52,13 @@ def __init__(self, simulation_rank: int, vehicle_rank: int):
                 webots {__file__.rsplit('/', 1)[0]}/worlds/piste{simulation_rank % n_map}.wbt --mode=fast --minimize --batch --stdout &
                 echo $! {simulation_rank}_{vehicle_rank} >>/tmp/autotech/simulationranks
             """)
-        log(f"SERVER{simulation_rank}_{vehicle_rank} : serverto{simulation_rank}_{vehicle_rank}.pipe")
+
+        self.log.debug("Connection to the vehicle")
         self.fifo_w = open(f"/tmp/autotech/serverto{simulation_rank}_{vehicle_rank}.pipe", "wb")
-        log(f"SERVER{simulation_rank}_{vehicle_rank} : {simulation_rank}_{vehicle_rank}toserver.pipe")
+        self.log.debug("Connection to the supervisor")
         self.fifo_r = open(f"/tmp/autotech/{simulation_rank}_{vehicle_rank}toserver.pipe", "rb")
 
-        log("----------------------------- Inititalisation ---------------------------------")
+        self.log.info("Initialisation finished\n")
 
     def reset(self, seed=0):
         # basically useless function
@@ -60,26 +67,26 @@ def reset(self, seed=0):
         # this is true for lidar_horizontal_resolution = camera_horizontal_resolution
         self.context = obs = np.zeros([2, context_size, lidar_horizontal_resolution], dtype=np.float32)
         info = {}
-        log(f"SERVER{self.simulation_rank}_{self.vehicle_rank} : finished reset")
+        self.log.info(f"reset finished\n")
         return obs, info
 
     def step(self, action):
 
-        log("vvvvvvvvvvvvvvvvvvvvvvvvvv STEP vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv")
-        log(f"SERVER{self.simulation_rank}_{self.vehicle_rank} : sending {action=}")
+        self.log.info("Starting step")
+        self.log.info(f"sending {action=}")
         self.fifo_w.write(action.tobytes())
         self.fifo_w.flush()
 
         # communication with the supervisor
-        log(f"SERVER{self.simulation_rank}_{self.vehicle_rank} : trying to read the fifo_r")
+        self.log.debug("trying to get info from supervisor")
         cur_state   = np.frombuffer(self.fifo_r.read(np.dtype(np.float32).itemsize * (n_sensors + lidar_horizontal_resolution + camera_horizontal_resolution)), dtype=np.float32)
-        log(f"SERVER{self.simulation_rank}_{self.vehicle_rank} : received {cur_state=}")
+        self.log.info(f"received {cur_state=}")
         reward      = np.frombuffer(self.fifo_r.read(np.dtype(np.float32).itemsize), dtype=np.float32)[0] # scalar
-        log(f"SERVER{self.simulation_rank}_{self.vehicle_rank} : received {reward=}")
+        self.log.info(f"received {reward=}")
         done        = np.frombuffer(self.fifo_r.read(np.dtype(np.bool).itemsize), dtype=np.bool)[0] # scalar
-        log(f"SERVER{self.simulation_rank}_{self.vehicle_rank} : received {done=}")
+        self.log.info(f"received {done=}")
         truncated   = np.frombuffer(self.fifo_r.read(np.dtype(np.bool).itemsize), dtype=np.bool)[0] # scalar
-        log(f"SERVER{self.simulation_rank}_{self.vehicle_rank} : received {truncated=}")
+        self.log.info(f"received {truncated=}")
         info        = {}
 
         cur_state = np.nan_to_num(cur_state[n_sensors:], nan=0., posinf=30.)
@@ -92,8 +99,7 @@ def step(self, action):
             [lidar_obs[None], camera_obs[None]]
         ], axis=1)
 
-        log(f"SERVER{self.simulation_rank}_{self.vehicle_rank} : step over")
-        log("----------------------------- STEP ---------------------------------")
+        self.log.info("step over")
 
         return obs, reward, done, truncated, info
 

src/Simulateur/config.py

@@ -1,5 +1,7 @@
 # just a file that lets us define some constants that are used in multiple files the simulation
 from torch.cuda import is_available
+import logging
+
 
 n_map = 2
 n_simulations = 2
@@ -15,4 +17,5 @@
 lidar_horizontal_resolution = 1024 # DON'T CHANGE THIS VALUE PLS
 camera_horizontal_resolution = 1024 # DON'T CHANGE THIS VALUE PLS
 
-B_DEBUG = True
+LOG_LEVEL = logging.DEBUG
+FORMATTER = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')

src/Simulateur/controllers/controllerVehicleDriver/controllerVehicleDriver.py

@@ -4,6 +4,7 @@
 import os
 import re 
 import sys
+import logging
 
 # add src/Simulateur to sys.path
 path = __file__.rsplit('/', 3)[0]
@@ -12,12 +13,6 @@
 from config import *
 from vehicle import Driver
 
-
-
-def log(s: str):
-    if True:
-        print(s, file=open("/tmp/autotech/logs", "a"))
-
 class VehicleDriver(Driver):
     """
     This class is a subclass of the Driver class and is used to control the vehicle.
@@ -27,6 +22,7 @@ class VehicleDriver(Driver):
     def __init__(self):
         super().__init__()
 
+
         basicTimeStep = int(self.getBasicTimeStep())
         self.sensorTime = basicTimeStep // 4
 
@@ -63,9 +59,15 @@ def __init__(self):
             ).group(1)
         )
 
-        log(f"CLIENT{self.simulation_rank}/{self.i} : serverto{self.simulation_rank}_{self.i}.pipe")
+        self.handler = logging.FileHandler(f"/tmp/autotech/Voiture_{self.simulation_rank}_{self.i}.log")
+        self.handler.setFormatter(FORMATTER)
+        self.log = logging.getLogger("CLIENT")
+        self.log.setLevel(level=LOG_LEVEL)
+        self.log.addHandler(self.handler)
+
+        self.log.debug("Connection to the server")
         self.fifo_r = open(f"/tmp/autotech/serverto{self.simulation_rank}_{self.i}.pipe", "rb")
-        log(f"CLIENT{self.simulation_rank}/{self.i} : {self.simulation_rank}_{self.i}tosupervisor.pipe")
+        self.log.debug("Connection with the supervisor")
         self.fifo_w = open(f"/tmp/autotech/{self.simulation_rank}_{self.i}tosupervisor.pipe", "wb")
 
 
@@ -109,15 +111,16 @@ def step(self):
         # sends observation to the supervisor
 
         # First to be executed
-        log(f"CLIENT{self.simulation_rank}/{self.i} : trying to write obs")
+        
+        self.log.info("Starting step")
         obs = self.observe()
-        log(f"CLIENT{self.simulation_rank}/{self.i} : driver sending {obs=}")
+        self.log.info(f"Observe {obs=}")
         self.fifo_w.write(obs.tobytes())
         self.fifo_w.flush() 
 
-        log(f"CLIENT{self.simulation_rank}/{self.i} : trying to read from fifo")    
+        self.log.debug("Trying to read action from the server")    
         action = np.frombuffer(self.fifo_r.read(np.dtype(np.int64).itemsize * 2), dtype=np.int64)
-        log(f"CLIENT{self.simulation_rank}/{self.i} : received {action=}")
+        self.log.info(f"received {action=}")
 
         # Simulation step
 
@@ -149,6 +152,7 @@ def run(self):
 #----------------Programme principal--------------------
 def main():
     driver = VehicleDriver()
+    driver.log.info("Starting the vehicle driver\n")
     driver.run()