{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Using cuda device\n",
      "Logging to ./tensorboard/PPO_1\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "Process ForkServerProcess-2:\n",
      "Process ForkServerProcess-1:\n",
      "Traceback (most recent call last):\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/multiprocessing/process.py\", line 314, in _bootstrap\n",
      "    self.run()\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/multiprocessing/process.py\", line 108, in run\n",
      "    self._target(*self._args, **self._kwargs)\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/site-packages/stable_baselines3/common/vec_env/subproc_vec_env.py\", line 35, in _worker\n",
      "    observation, reward, terminated, truncated, info = env.step(data)\n",
      "ValueError: not enough values to unpack (expected 5, got 4)\n",
      "Traceback (most recent call last):\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/multiprocessing/process.py\", line 314, in _bootstrap\n",
      "    self.run()\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/multiprocessing/process.py\", line 108, in run\n",
      "    self._target(*self._args, **self._kwargs)\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/site-packages/stable_baselines3/common/vec_env/subproc_vec_env.py\", line 35, in _worker\n",
      "    observation, reward, terminated, truncated, info = env.step(data)\n",
      "ValueError: not enough values to unpack (expected 5, got 4)\n",
      "Process ForkServerProcess-4:\n",
      "Traceback (most recent call last):\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/multiprocessing/process.py\", line 314, in _bootstrap\n",
      "    self.run()\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/multiprocessing/process.py\", line 108, in run\n",
      "    self._target(*self._args, **self._kwargs)\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/site-packages/stable_baselines3/common/vec_env/subproc_vec_env.py\", line 35, in _worker\n",
      "    observation, reward, terminated, truncated, info = env.step(data)\n",
      "ValueError: not enough values to unpack (expected 5, got 4)\n",
      "Process ForkServerProcess-3:\n",
      "Traceback (most recent call last):\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/multiprocessing/process.py\", line 314, in _bootstrap\n",
      "    self.run()\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/multiprocessing/process.py\", line 108, in run\n",
      "    self._target(*self._args, **self._kwargs)\n",
      "  File \"/home/frank14f/anaconda3/envs/pycuda_3_10/lib/python3.10/site-packages/stable_baselines3/common/vec_env/subproc_vec_env.py\", line 35, in _worker\n",
      "    observation, reward, terminated, truncated, info = env.step(data)\n",
      "ValueError: not enough values to unpack (expected 5, got 4)\n"
     ]
    },
    {
     "ename": "EOFError",
     "evalue": "",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mEOFError\u001b[0m                                  Traceback (most recent call last)",
      "Cell \u001b[0;32mIn[1], line 24\u001b[0m\n\u001b[1;32m     16\u001b[0m vec_env \u001b[38;5;241m=\u001b[39m SubprocVecEnv(env_fns)\n\u001b[1;32m     18\u001b[0m model \u001b[38;5;241m=\u001b[39m PPO(\n\u001b[1;32m     19\u001b[0m     \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mMlpPolicy\u001b[39m\u001b[38;5;124m\"\u001b[39m, \n\u001b[1;32m     20\u001b[0m     env\u001b[38;5;241m=\u001b[39mvec_env, \n\u001b[1;32m     21\u001b[0m     n_steps\u001b[38;5;241m=\u001b[39m\u001b[38;5;241m64\u001b[39m,\n\u001b[1;32m     22\u001b[0m     tensorboard_log\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m./tensorboard/\u001b[39m\u001b[38;5;124m\"\u001b[39m, \n\u001b[1;32m     23\u001b[0m     verbose\u001b[38;5;241m=\u001b[39m\u001b[38;5;241m1\u001b[39m)\n\u001b[0;32m---> 24\u001b[0m \u001b[43mmodel\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mlearn\u001b[49m\u001b[43m(\u001b[49m\u001b[43mtotal_timesteps\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;241;43m128\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m1000\u001b[39;49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/anaconda3/envs/pycuda_3_10/lib/python3.10/site-packages/stable_baselines3/ppo/ppo.py:315\u001b[0m, in \u001b[0;36mPPO.learn\u001b[0;34m(self, total_timesteps, callback, log_interval, tb_log_name, reset_num_timesteps, progress_bar)\u001b[0m\n\u001b[1;32m    306\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mlearn\u001b[39m(\n\u001b[1;32m    307\u001b[0m     \u001b[38;5;28mself\u001b[39m: SelfPPO,\n\u001b[1;32m    308\u001b[0m     total_timesteps: \u001b[38;5;28mint\u001b[39m,\n\u001b[0;32m   (...)\u001b[0m\n\u001b[1;32m    313\u001b[0m     progress_bar: \u001b[38;5;28mbool\u001b[39m \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mFalse\u001b[39;00m,\n\u001b[1;32m    314\u001b[0m ) \u001b[38;5;241m-\u001b[39m\u001b[38;5;241m>\u001b[39m SelfPPO:\n\u001b[0;32m--> 315\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[38;5;28;43msuper\u001b[39;49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mlearn\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m    316\u001b[0m \u001b[43m        \u001b[49m\u001b[43mtotal_timesteps\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mtotal_timesteps\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    317\u001b[0m \u001b[43m        \u001b[49m\u001b[43mcallback\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mcallback\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    318\u001b[0m \u001b[43m        \u001b[49m\u001b[43mlog_interval\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mlog_interval\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    319\u001b[0m \u001b[43m        \u001b[49m\u001b[43mtb_log_name\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mtb_log_name\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    320\u001b[0m \u001b[43m        \u001b[49m\u001b[43mreset_num_timesteps\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mreset_num_timesteps\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    321\u001b[0m \u001b[43m        \u001b[49m\u001b[43mprogress_bar\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mprogress_bar\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    322\u001b[0m \u001b[43m    \u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/anaconda3/envs/pycuda_3_10/lib/python3.10/site-packages/stable_baselines3/common/on_policy_algorithm.py:277\u001b[0m, in \u001b[0;36mOnPolicyAlgorithm.learn\u001b[0;34m(self, total_timesteps, callback, log_interval, tb_log_name, reset_num_timesteps, progress_bar)\u001b[0m\n\u001b[1;32m    274\u001b[0m \u001b[38;5;28;01massert\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39menv \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m\n\u001b[1;32m    276\u001b[0m \u001b[38;5;28;01mwhile\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mnum_timesteps \u001b[38;5;241m<\u001b[39m total_timesteps:\n\u001b[0;32m--> 277\u001b[0m     continue_training \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mcollect_rollouts\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43menv\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mcallback\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mrollout_buffer\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mn_rollout_steps\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mn_steps\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    279\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m continue_training:\n\u001b[1;32m    280\u001b[0m         \u001b[38;5;28;01mbreak\u001b[39;00m\n",
      "File \u001b[0;32m~/anaconda3/envs/pycuda_3_10/lib/python3.10/site-packages/stable_baselines3/common/on_policy_algorithm.py:194\u001b[0m, in \u001b[0;36mOnPolicyAlgorithm.collect_rollouts\u001b[0;34m(self, env, callback, rollout_buffer, n_rollout_steps)\u001b[0m\n\u001b[1;32m    189\u001b[0m     \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m    190\u001b[0m         \u001b[38;5;66;03m# Otherwise, clip the actions to avoid out of bound error\u001b[39;00m\n\u001b[1;32m    191\u001b[0m         \u001b[38;5;66;03m# as we are sampling from an unbounded Gaussian distribution\u001b[39;00m\n\u001b[1;32m    192\u001b[0m         clipped_actions \u001b[38;5;241m=\u001b[39m np\u001b[38;5;241m.\u001b[39mclip(actions, \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39maction_space\u001b[38;5;241m.\u001b[39mlow, \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39maction_space\u001b[38;5;241m.\u001b[39mhigh)\n\u001b[0;32m--> 194\u001b[0m new_obs, rewards, dones, infos \u001b[38;5;241m=\u001b[39m \u001b[43menv\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mstep\u001b[49m\u001b[43m(\u001b[49m\u001b[43mclipped_actions\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    196\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mnum_timesteps \u001b[38;5;241m+\u001b[39m\u001b[38;5;241m=\u001b[39m env\u001b[38;5;241m.\u001b[39mnum_envs\n\u001b[1;32m    198\u001b[0m \u001b[38;5;66;03m# Give access to local variables\u001b[39;00m\n",
      "File \u001b[0;32m~/anaconda3/envs/pycuda_3_10/lib/python3.10/site-packages/stable_baselines3/common/vec_env/base_vec_env.py:206\u001b[0m, in \u001b[0;36mVecEnv.step\u001b[0;34m(self, actions)\u001b[0m\n\u001b[1;32m    199\u001b[0m \u001b[38;5;250m\u001b[39m\u001b[38;5;124;03m\"\"\"\u001b[39;00m\n\u001b[1;32m    200\u001b[0m \u001b[38;5;124;03mStep the environments with the given action\u001b[39;00m\n\u001b[1;32m    201\u001b[0m \n\u001b[1;32m    202\u001b[0m \u001b[38;5;124;03m:param actions: the action\u001b[39;00m\n\u001b[1;32m    203\u001b[0m \u001b[38;5;124;03m:return: observation, reward, done, information\u001b[39;00m\n\u001b[1;32m    204\u001b[0m \u001b[38;5;124;03m\"\"\"\u001b[39;00m\n\u001b[1;32m    205\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mstep_async(actions)\n\u001b[0;32m--> 206\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mstep_wait\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/anaconda3/envs/pycuda_3_10/lib/python3.10/site-packages/stable_baselines3/common/vec_env/subproc_vec_env.py:129\u001b[0m, in \u001b[0;36mSubprocVecEnv.step_wait\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    128\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mstep_wait\u001b[39m(\u001b[38;5;28mself\u001b[39m) \u001b[38;5;241m-\u001b[39m\u001b[38;5;241m>\u001b[39m VecEnvStepReturn:\n\u001b[0;32m--> 129\u001b[0m     results \u001b[38;5;241m=\u001b[39m [remote\u001b[38;5;241m.\u001b[39mrecv() \u001b[38;5;28;01mfor\u001b[39;00m remote \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mremotes]\n\u001b[1;32m    130\u001b[0m     \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mwaiting \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mFalse\u001b[39;00m\n\u001b[1;32m    131\u001b[0m     obs, rews, dones, infos, \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mreset_infos \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mzip\u001b[39m(\u001b[38;5;241m*\u001b[39mresults)  \u001b[38;5;66;03m# type: ignore[assignment]\u001b[39;00m\n",
      "File \u001b[0;32m~/anaconda3/envs/pycuda_3_10/lib/python3.10/site-packages/stable_baselines3/common/vec_env/subproc_vec_env.py:129\u001b[0m, in \u001b[0;36m<listcomp>\u001b[0;34m(.0)\u001b[0m\n\u001b[1;32m    128\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mstep_wait\u001b[39m(\u001b[38;5;28mself\u001b[39m) \u001b[38;5;241m-\u001b[39m\u001b[38;5;241m>\u001b[39m VecEnvStepReturn:\n\u001b[0;32m--> 129\u001b[0m     results \u001b[38;5;241m=\u001b[39m [\u001b[43mremote\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mrecv\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m \u001b[38;5;28;01mfor\u001b[39;00m remote \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mremotes]\n\u001b[1;32m    130\u001b[0m     \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mwaiting \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mFalse\u001b[39;00m\n\u001b[1;32m    131\u001b[0m     obs, rews, dones, infos, \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mreset_infos \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mzip\u001b[39m(\u001b[38;5;241m*\u001b[39mresults)  \u001b[38;5;66;03m# type: ignore[assignment]\u001b[39;00m\n",
      "File \u001b[0;32m~/anaconda3/envs/pycuda_3_10/lib/python3.10/multiprocessing/connection.py:250\u001b[0m, in \u001b[0;36m_ConnectionBase.recv\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    248\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_check_closed()\n\u001b[1;32m    249\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_check_readable()\n\u001b[0;32m--> 250\u001b[0m buf \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_recv_bytes\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    251\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m _ForkingPickler\u001b[38;5;241m.\u001b[39mloads(buf\u001b[38;5;241m.\u001b[39mgetbuffer())\n",
      "File \u001b[0;32m~/anaconda3/envs/pycuda_3_10/lib/python3.10/multiprocessing/connection.py:414\u001b[0m, in \u001b[0;36mConnection._recv_bytes\u001b[0;34m(self, maxsize)\u001b[0m\n\u001b[1;32m    413\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21m_recv_bytes\u001b[39m(\u001b[38;5;28mself\u001b[39m, maxsize\u001b[38;5;241m=\u001b[39m\u001b[38;5;28;01mNone\u001b[39;00m):\n\u001b[0;32m--> 414\u001b[0m     buf \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_recv\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;241;43m4\u001b[39;49m\u001b[43m)\u001b[49m\n\u001b[1;32m    415\u001b[0m     size, \u001b[38;5;241m=\u001b[39m struct\u001b[38;5;241m.\u001b[39munpack(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m!i\u001b[39m\u001b[38;5;124m\"\u001b[39m, buf\u001b[38;5;241m.\u001b[39mgetvalue())\n\u001b[1;32m    416\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m size \u001b[38;5;241m==\u001b[39m \u001b[38;5;241m-\u001b[39m\u001b[38;5;241m1\u001b[39m:\n",
      "File \u001b[0;32m~/anaconda3/envs/pycuda_3_10/lib/python3.10/multiprocessing/connection.py:383\u001b[0m, in \u001b[0;36mConnection._recv\u001b[0;34m(self, size, read)\u001b[0m\n\u001b[1;32m    381\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m n \u001b[38;5;241m==\u001b[39m \u001b[38;5;241m0\u001b[39m:\n\u001b[1;32m    382\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m remaining \u001b[38;5;241m==\u001b[39m size:\n\u001b[0;32m--> 383\u001b[0m         \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mEOFError\u001b[39;00m\n\u001b[1;32m    384\u001b[0m     \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m    385\u001b[0m         \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mOSError\u001b[39;00m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mgot end of file during message\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n",
      "\u001b[0;31mEOFError\u001b[0m: "
     ]
    }
   ],
   "source": [
    "import os\n",
    "os.environ['MKL_THREADING_LAYER'] = 'GNU'\n",
    "import numpy as np\n",
    "import gymnasium as gym\n",
    "from env_pinball import CustomEnv\n",
    "from stable_baselines3 import PPO\n",
    "from stable_baselines3.common.vec_env import SubprocVecEnv\n",
    "\n",
    "def make_env(gpu_id):\n",
    "    def _init():\n",
    "        os.environ[\"CUDA_VISIBLE_DEVICES\"] = str(gpu_id)\n",
    "        return CustomEnv(devicenum=gpu_id)\n",
    "    return _init\n",
    "\n",
    "env_fns = [make_env(i) for i in range(4)]\n",
    "vec_env = SubprocVecEnv(env_fns)\n",
    "\n",
    "model = PPO(\n",
    "    \"MlpPolicy\", \n",
    "    env=vec_env, \n",
    "    n_steps=64,\n",
    "    tensorboard_log=\"./tensorboard/\", \n",
    "    verbose=1)\n",
    "model.learn(total_timesteps=64*1000)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "vec_env = model.get_env()\n",
    "obs = vec_env.reset()\n",
    "\n",
    "n_steps = 0\n",
    "list_reward = {}\n",
    "terminated = False\n",
    "truncated = False\n",
    "while n_steps < 500 and not terminated and not truncated:\n",
    "    n_steps += 1\n",
    "    action, _states = model.predict(observation=obs)\n",
    "    obs, rewards, dones, info = vec_env.step(action)\n",
    "    list_reward[n_steps] = rewards"
   ]
  }
 ],
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