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v1.0.3; fix multiprocess global variables bug

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wty-yy
2026-01-02 11:06:06 +08:00
parent 82683ba394
commit c81bdec934
4 changed files with 69 additions and 52 deletions
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104
robogauge/tasks/pipeline/stress_pipeline.py
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@@ -38,54 +38,66 @@ GOALS = {
}
def run_pipeline(args, progress_queue, data):
args = deepcopy(args)
task_id = data['task_id']
search = data['search_max_level']
task_label = f"[{data['terrain_name']}] M:{data['base_mass']} F:{data['friction']}"
progress_data = ProgressData(
task_id=task_id,
msg_prefix=task_label + ' ',
progress_queue=progress_queue
)
try:
args = deepcopy(args)
task_id = data['task_id']
search = data['search_max_level']
task_label = f"[{data['terrain_name']}] M:{data['base_mass']} F:{data['friction']}"
progress_data = ProgressData(
task_id=task_id,
msg_prefix=task_label + ' ',
progress_queue=progress_queue
)
args.friction = data['friction']
args.frictions = [data['friction']]
args.base_mass = data['base_mass']
args.base_masses = [data['base_mass']]
args.task_name = f"{data['task_robot_model']}.{data['terrain_name']}"
args.experiment_name = f"{args.experiment_name}_{data['terrain_name']}_M{data['base_mass']}_F{data['friction']}"
if search is True:
args.goals = GOALS['level_pipeline']
args.spawn_type = "level_search"
level, level_results = LevelPipeline(args, console_output=False, progress_data=progress_data).run()
if level == 0: # no valid level found
report_progress(progress_data, ProgressTypes.FINISH, desc=f"❌ Failed (Lv 0)")
results = {
'success': False,
'results': level_results,
'data': data,
'level': 0,
}
return results
report_progress(progress_data, ProgressTypes.RESET, total=0, desc=f"✅ Found Lv {level} -> Running")
progress_data.msg_prefix += f"(Lv {level}) "
else:
level = None # flat terrain
args.friction = data['friction']
args.frictions = [data['friction']]
args.base_mass = data['base_mass']
args.base_masses = [data['base_mass']]
args.task_name = f"{data['task_robot_model']}.{data['terrain_name']}"
args.experiment_name = f"{args.experiment_name}_{data['terrain_name']}"
args.level = level
args.goals = GOALS['multi_pipeline']
args.spawn_type = "level_eval"
results = {
'success': True,
'results': MultiPipeline(args, console_output=False, progress_data=progress_data).run(),
'data': data,
'level': level,
}
report_progress(progress_data, ProgressTypes.FINISH, desc=f"✅ Done (Lv {level})")
return results
args.experiment_name = f"{args.experiment_name}_{data['terrain_name']}_M{data['base_mass']}_F{data['friction']}"
if search is True:
args.goals = GOALS['level_pipeline']
args.spawn_type = "level_search"
level, level_results = LevelPipeline(args, console_output=False, progress_data=progress_data).run()
if level == 0: # no valid level found
report_progress(progress_data, ProgressTypes.FINISH, desc=f"❌ Failed (Lv 0)")
results = {
'success': False,
'results': level_results,
'data': data,
'level': 0,
}
return results
report_progress(progress_data, ProgressTypes.RESET, total=0, desc=f"✅ Found Lv {level} -> Running")
progress_data.msg_prefix += f"(Lv {level}) "
else:
level = None # flat terrain
args.task_name = f"{data['task_robot_model']}.{data['terrain_name']}"
args.experiment_name = f"{args.experiment_name}_{data['terrain_name']}"
args.level = level
args.goals = GOALS['multi_pipeline']
args.spawn_type = "level_eval"
results = {
'success': True,
'results': MultiPipeline(args, console_output=False, progress_data=progress_data).run(),
'data': data,
'level': level,
}
report_progress(progress_data, ProgressTypes.FINISH, desc=f"✅ Done (Lv {level})")
return results
except Exception as e:
error_context = (
f"\n{'='*20} 💥 CRASH CONTEXT 💥 {'='*20}\n"
f"Terrain : {data.get('terrain_name')}\n"
f"Friction : {data.get('friction')}\n"
f"Base Mass : {data.get('base_mass')}\n"
f"Task ID : {data.get('task_id')}\n"
f"Original Error: {str(e)}\n"
f"{'='*60}"
)
raise RuntimeError(error_context) from e
class StressPipeline:
def __init__(self, args):