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Re-enable parameter push thread in learner server 

- Uncomment and start the param_push_thread
- Restore thread joining for param_push_thread
This commit is contained in:
AdilZouitine 2025-02-17 10:26:33 +00:00
parent 446f434a8e
commit befa1fe9af
4 changed files with 337 additions and 3 deletions
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18
checkport.py Normal file
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@ -0,0 +1,18 @@
import socket
def check_port(host, port):
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
s.connect((host, port))
print(f"Connection successful to {host}:{port}!")
except Exception as e:
print(f"Connection failed to {host}:{port}: {e}")
finally:
s.close()
if __name__ == "__main__":
host = "127.0.0.1" # or "localhost"
port = 51350
check_port(host, port)

48
lerobot/scripts/server/hilserl_pb2.py Normal file
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@ -0,0 +1,48 @@
# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler. DO NOT EDIT!
# NO CHECKED-IN PROTOBUF GENCODE
# source: hilserl.proto
# Protobuf Python Version: 5.29.0
"""Generated protocol buffer code."""
from google.protobuf import descriptor as _descriptor
from google.protobuf import descriptor_pool as _descriptor_pool
from google.protobuf import runtime_version as _runtime_version
from google.protobuf import symbol_database as _symbol_database
from google.protobuf.internal import builder as _builder
_runtime_version.ValidateProtobufRuntimeVersion(
_runtime_version.Domain.PUBLIC,
5,
29,
0,
'',
'hilserl.proto'
)
# @@protoc_insertion_point(imports)
_sym_db = _symbol_database.Default()
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\rhilserl.proto\x12\x08hil_serl\"\x83\x01\n\x10\x41\x63torInformation\x12*\n\ntransition\x18\x01 \x01(\x0b\x32\x14.hil_serl.TransitionH\x00\x12;\n\x13interaction_message\x18\x02 \x01(\x0b\x32\x1c.hil_serl.InteractionMessageH\x00\x42\x06\n\x04\x64\x61ta\"&\n\nTransition\x12\x18\n\x10transition_bytes\x18\x01 \x01(\x0c\"%\n\nParameters\x12\x17\n\x0fparameter_bytes\x18\x01 \x01(\x0c\"7\n\x12InteractionMessage\x12!\n\x19interaction_message_bytes\x18\x01 \x01(\x0c\"\x07\n\x05\x45mpty2\x92\x01\n\x0eLearnerService\x12\x37\n\x0eSendTransition\x12\x14.hil_serl.Transition\x1a\x0f.hil_serl.Empty\x12G\n\x16SendInteractionMessage\x12\x1c.hil_serl.InteractionMessage\x1a\x0f.hil_serl.Empty2\x8c\x01\n\x0c\x41\x63torService\x12\x43\n\x10StreamTransition\x12\x0f.hil_serl.Empty\x1a\x1a.hil_serl.ActorInformation\"\x00\x30\x01\x12\x37\n\x0eSendParameters\x12\x14.hil_serl.Parameters\x1a\x0f.hil_serl.Emptyb\x06proto3')
_globals = globals()
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'hilserl_pb2', _globals)
if not _descriptor._USE_C_DESCRIPTORS:
DESCRIPTOR._loaded_options = None
_globals['_ACTORINFORMATION']._serialized_start=28
_globals['_ACTORINFORMATION']._serialized_end=159
_globals['_TRANSITION']._serialized_start=161
_globals['_TRANSITION']._serialized_end=199
_globals['_PARAMETERS']._serialized_start=201
_globals['_PARAMETERS']._serialized_end=238
_globals['_INTERACTIONMESSAGE']._serialized_start=240
_globals['_INTERACTIONMESSAGE']._serialized_end=295
_globals['_EMPTY']._serialized_start=297
_globals['_EMPTY']._serialized_end=304
_globals['_LEARNERSERVICE']._serialized_start=307
_globals['_LEARNERSERVICE']._serialized_end=453
_globals['_ACTORSERVICE']._serialized_start=456
_globals['_ACTORSERVICE']._serialized_end=596
# @@protoc_insertion_point(module_scope)

269
lerobot/scripts/server/hilserl_pb2_grpc.py Normal file
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@ -0,0 +1,269 @@
# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
"""Client and server classes corresponding to protobuf-defined services."""
import grpc
import warnings
import hilserl_pb2 as hilserl__pb2
GRPC_GENERATED_VERSION = '1.70.0'
GRPC_VERSION = grpc.__version__
_version_not_supported = False
try:
from grpc._utilities import first_version_is_lower
_version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
except ImportError:
_version_not_supported = True
if _version_not_supported:
raise RuntimeError(
f'The grpc package installed is at version {GRPC_VERSION},'
+ f' but the generated code in hilserl_pb2_grpc.py depends on'
+ f' grpcio>={GRPC_GENERATED_VERSION}.'
+ f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+ f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
)
class LearnerServiceStub(object):
"""LearnerService: the Actor calls this to push transitions.
The Learner implements this service.
"""
def __init__(self, channel):
"""Constructor.
Args:
channel: A grpc.Channel.
"""
self.SendTransition = channel.unary_unary(
'/hil_serl.LearnerService/SendTransition',
request_serializer=hilserl__pb2.Transition.SerializeToString,
response_deserializer=hilserl__pb2.Empty.FromString,
_registered_method=True)
self.SendInteractionMessage = channel.unary_unary(
'/hil_serl.LearnerService/SendInteractionMessage',
request_serializer=hilserl__pb2.InteractionMessage.SerializeToString,
response_deserializer=hilserl__pb2.Empty.FromString,
_registered_method=True)
class LearnerServiceServicer(object):
"""LearnerService: the Actor calls this to push transitions.
The Learner implements this service.
"""
def SendTransition(self, request, context):
"""Actor -> Learner to store transitions
"""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def SendInteractionMessage(self, request, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def add_LearnerServiceServicer_to_server(servicer, server):
rpc_method_handlers = {
'SendTransition': grpc.unary_unary_rpc_method_handler(
servicer.SendTransition,
request_deserializer=hilserl__pb2.Transition.FromString,
response_serializer=hilserl__pb2.Empty.SerializeToString,
),
'SendInteractionMessage': grpc.unary_unary_rpc_method_handler(
servicer.SendInteractionMessage,
request_deserializer=hilserl__pb2.InteractionMessage.FromString,
response_serializer=hilserl__pb2.Empty.SerializeToString,
),
}
generic_handler = grpc.method_handlers_generic_handler(
'hil_serl.LearnerService', rpc_method_handlers)
server.add_generic_rpc_handlers((generic_handler,))
server.add_registered_method_handlers('hil_serl.LearnerService', rpc_method_handlers)
# This class is part of an EXPERIMENTAL API.
class LearnerService(object):
"""LearnerService: the Actor calls this to push transitions.
The Learner implements this service.
"""
@staticmethod
def SendTransition(request,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.unary_unary(
request,
target,
'/hil_serl.LearnerService/SendTransition',
hilserl__pb2.Transition.SerializeToString,
hilserl__pb2.Empty.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)
@staticmethod
def SendInteractionMessage(request,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.unary_unary(
request,
target,
'/hil_serl.LearnerService/SendInteractionMessage',
hilserl__pb2.InteractionMessage.SerializeToString,
hilserl__pb2.Empty.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)
class ActorServiceStub(object):
"""ActorService: the Learner calls this to push parameters.
The Actor implements this service.
"""
def __init__(self, channel):
"""Constructor.
Args:
channel: A grpc.Channel.
"""
self.StreamTransition = channel.unary_stream(
'/hil_serl.ActorService/StreamTransition',
request_serializer=hilserl__pb2.Empty.SerializeToString,
response_deserializer=hilserl__pb2.ActorInformation.FromString,
_registered_method=True)
self.SendParameters = channel.unary_unary(
'/hil_serl.ActorService/SendParameters',
request_serializer=hilserl__pb2.Parameters.SerializeToString,
response_deserializer=hilserl__pb2.Empty.FromString,
_registered_method=True)
class ActorServiceServicer(object):
"""ActorService: the Learner calls this to push parameters.
The Actor implements this service.
"""
def StreamTransition(self, request, context):
"""Learner -> Actor to send new parameters
"""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def SendParameters(self, request, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def add_ActorServiceServicer_to_server(servicer, server):
rpc_method_handlers = {
'StreamTransition': grpc.unary_stream_rpc_method_handler(
servicer.StreamTransition,
request_deserializer=hilserl__pb2.Empty.FromString,
response_serializer=hilserl__pb2.ActorInformation.SerializeToString,
),
'SendParameters': grpc.unary_unary_rpc_method_handler(
servicer.SendParameters,
request_deserializer=hilserl__pb2.Parameters.FromString,
response_serializer=hilserl__pb2.Empty.SerializeToString,
),
}
generic_handler = grpc.method_handlers_generic_handler(
'hil_serl.ActorService', rpc_method_handlers)
server.add_generic_rpc_handlers((generic_handler,))
server.add_registered_method_handlers('hil_serl.ActorService', rpc_method_handlers)
# This class is part of an EXPERIMENTAL API.
class ActorService(object):
"""ActorService: the Learner calls this to push parameters.
The Actor implements this service.
"""
@staticmethod
def StreamTransition(request,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.unary_stream(
request,
target,
'/hil_serl.ActorService/StreamTransition',
hilserl__pb2.Empty.SerializeToString,
hilserl__pb2.ActorInformation.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)
@staticmethod
def SendParameters(request,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.unary_unary(
request,
target,
'/hil_serl.ActorService/SendParameters',
hilserl__pb2.Parameters.SerializeToString,
hilserl__pb2.Empty.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)

5
lerobot/scripts/server/learner_server.py
View File

@ -206,9 +206,8 @@ def start_learner_threads(
server_thread.start() server_thread.start()
transition_thread.start() transition_thread.start()
# param_push_thread.start() param_push_thread.start()
param_push_thread.join()
# param_push_thread.join()
transition_thread.join() transition_thread.join()
server_thread.join() server_thread.join()