diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 0000000..5978e67 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,113 @@ +name: CI + +on: + push: + branches: [main] + pull_request: + workflow_dispatch: + +concurrency: + group: ci-${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + lint: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: astral-sh/setup-uv@v5 + with: + enable-cache: true + - name: Run pre-commit + run: uvx pre-commit run --all-files --show-diff-on-failure + + test: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: astral-sh/setup-uv@v5 + with: + enable-cache: true + - name: Sync + run: uv sync --frozen + - name: Test + run: uv run pytest -q + + # The claim this repository makes is that the protocol can be spoken by + # something that is not this codebase. That is worth nothing as an + # assertion in a README, so it is checked on every change: build the C++ + # client, confirm it links no third-party library, and drive a server that + # grades it against SPEC.md clause by clause. + cross-language: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: astral-sh/setup-uv@v5 + with: + enable-cache: true + - name: Sync + run: uv sync --frozen + + # No -Werror: a newer compiler finding a new warning should be visible + # in the log, not a red build on a change that did not cause it. + - name: Build the C++ reference client + run: > + g++ -std=c++17 -O2 -Wall -Wextra + -o /tmp/plugrl_client examples/plugrl_client.cpp + + - name: It links nothing but the C++ and C runtimes + run: | + ldd /tmp/plugrl_client + if ldd /tmp/plugrl_client | grep -vE \ + 'linux-vdso|libstdc\+\+|libgcc_s|libc\.so|libm\.so|ld-linux'; then + echo "::error::the client picked up a third-party dependency" + exit 1 + fi + + - name: C++ client conforms to SPEC.md + run: | + uv run --with websockets examples/conformance_server.py \ + --port 8765 --steps 10 --horizon 4 --action-dim 7 --timeout 120 & + server=$! + for _ in $(seq 30); do + (echo > /dev/tcp/127.0.0.1/8765) 2>/dev/null && break + sleep 1 + done + /tmp/plugrl_client 127.0.0.1 8765 10 + wait $server + + # The action dtype is the environment's and is never renegotiated, so a + # client has to read the typestr. A client that hard-codes float32 still + # passes every clause the server can see - it sends valid messages - and + # only misreads what comes back. This is the check that catches it: the + # server sends float64 actions whose values encode the horizon position, + # so the client's own output says whether it decoded them. + - name: ... and reads the action typestr rather than assuming float32 + run: | + uv run --with websockets examples/conformance_server.py \ + --port 8766 --steps 3 --horizon 2 --action-dim 3 \ + --action-dtype float64 --timeout 120 & + server=$! + for _ in $(seq 30); do + (echo > /dev/tcp/127.0.0.1/8766) 2>/dev/null && break + sleep 1 + done + /tmp/plugrl_client 127.0.0.1 8766 3 | tee /tmp/out.txt + wait $server + grep -q 'dtype= /dev/tcp/127.0.0.1/8767) 2>/dev/null && break + sleep 1 + done + uv run --with websockets examples/raw_client.py \ + --host 127.0.0.1 --port 8767 --steps 10 + wait $server diff --git a/.gitignore b/.gitignore index 9aab686..e488c26 100644 --- a/.gitignore +++ b/.gitignore @@ -8,4 +8,4 @@ dist/ .mypy_cache/ .ruff_cache/ .coverage -.coverage.* \ No newline at end of file +.coverage.* diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..50921db --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,18 @@ +repos: + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v5.0.0 + hooks: + - id: trailing-whitespace + - id: end-of-file-fixer + - id: check-yaml + - id: check-toml + - id: check-added-large-files + - id: check-merge-conflict + - id: check-case-conflict + - id: mixed-line-ending + - repo: https://github.com/astral-sh/ruff-pre-commit + rev: v0.14.2 + hooks: + - id: ruff + args: [--fix] + - id: ruff-format diff --git a/CITATION.cff b/CITATION.cff new file mode 100644 index 0000000..ff321ef --- /dev/null +++ b/CITATION.cff @@ -0,0 +1,28 @@ +cff-version: 1.2.0 +message: If you use this software, please cite it as below. +title: "PlugRL Protocol" +abstract: >- + PlugRL runs reinforcement learning training and the environments it learns + from as separate processes, joined by a small WebSocket protocol, so the two + sides can be installed, versioned and scheduled independently and an env + client need not be written in Python at all. The protocol is openpi's + serving format plus a feedback return channel, which is what lets a client + close a training loop rather than only an inference one. This repository + holds the wire protocol shared by the server and every env client. +type: software +authors: + - family-names: Lu + given-names: Chenhao + email: luch21@mails.tsinghua.edu.cn + - family-names: Gou + given-names: Zuo + alias: Gotham-Zolio +repository-code: https://github.com/PlugRL/plugrl-protocol +license: Apache-2.0 +version: 0.1.0 +date-released: "2026-09-09" +keywords: + - reinforcement-learning + - vision-language-action + - robot-learning + - research-infrastructure diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/NOTICE b/NOTICE new file mode 100644 index 0000000..e5ba900 --- /dev/null +++ b/NOTICE @@ -0,0 +1,11 @@ +PlugRL +Copyright 2026 The PlugRL Authors + +This product includes software developed at Physical Intelligence +(https://github.com/Physical-Intelligence/openpi), Copyright 2024 +Physical Intelligence, licensed under the Apache License, Version 2.0. + + src/plugrl_protocol/msgpack_numpy.py is taken from openpi's + packages/openpi-client/src/openpi_client/msgpack_numpy.py, which is in + turn adapted from msgpack-numpy (https://github.com/lebedov/msgpack-numpy), + Copyright 2013-2023 Lev E. Givon, BSD 3-Clause. diff --git a/README.md b/README.md index b139aba..fb92a71 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,95 @@ # plugrl-protocol -Shared transport, message types, and serialization utilities for PlugRL. +[![CI](https://github.com/PlugRL/plugrl-protocol/actions/workflows/ci.yml/badge.svg)](https://github.com/PlugRL/plugrl-protocol/actions/workflows/ci.yml) +[![License: Apache 2.0](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](LICENSE) + +The wire protocol between a PlugRL **training server**, which holds the +policy and the learning algorithm, and an **env client**, which runs +environments and asks for actions. + +The two are separate processes, usually on separate machines, deliberately: +an environment stack and a training stack can then be installed, versioned +and scheduled independently, and an env client need not be Python at all. + +**[SPEC.md](SPEC.md) is the specification.** It is normative, it names its +own known defects, and everything in it that can be checked by a test is. + +## What is here + +| | | +|---|---| +| [`SPEC.md`](SPEC.md) | the protocol, in full | +| [`src/plugrl_protocol/`](src/plugrl_protocol/) | the message types and the msgpack codec — 101 lines | +| [`examples/`](examples/) | two env clients written against the spec, sharing no code with PlugRL | +| [`tests/`](tests/) | the spec's checkable clauses, as tests | + +The package is small on purpose. It is the piece both sides import, so +anything that could live on one side does. + +## The protocol in one screen + +Four message types, four lowercase strings. The server speaks first. + +``` +client server + |------------ WebSocket handshake ---------->| + |<---------------- metadata -----------------| + |------------------ infer ------------------>| observations + |<----------------- action ------------------| an action chunk + |----------------- feedback ---------------->| reward, done, next obs +``` + +Messages are msgpack maps carrying a `message_type`. Arrays travel as + +``` +{b"__ndarray__": true, b"data": , b"dtype": "" +# or +pip install "plugrl-protocol @ git+https://github.com/PlugRL/plugrl-protocol.git@" +``` + +Only Python clients that want the shared codec need this at all. A client in +another language should implement [SPEC.md](SPEC.md) directly, which is what +the C++ example does - and what `examples/conformance_server.py` will grade +it against. + +## License + +Apache-2.0. See [LICENSE](LICENSE) and [NOTICE](NOTICE). diff --git a/SPEC.md b/SPEC.md new file mode 100644 index 0000000..a9f44f6 --- /dev/null +++ b/SPEC.md @@ -0,0 +1,563 @@ +# The PlugRL wire protocol + +Version 1 · written 2026-09-10 against `plugrl-protocol@22b324c`, +`plugrl-server@06e9f63` and `plugrl-env-client@b9edc5b`. + +This document specifies the bytes exchanged between a **training server**, +which holds the policy and the learning algorithm, and an **env client**, +which runs environments and asks for actions. Anything able to speak +WebSocket and msgpack can be an env client: a Python process, a ROS node, a +robot's onboard C++ controller. + +The specification is written **from** the implementation, not the other way +round. Where the implementation is under-specified, ambiguous, or where two +of its own servers disagree, this document says so in a box marked **Gap** +rather than inventing a rule. Those boxes are the honest part; treat them as +the protocol's known defect list. + +Two reference clients in [`examples/`](examples/) are written against this +document and share no code with PlugRL. + +--- + +## 1. Layers + +| Layer | Choice | +|---|---| +| Transport | WebSocket (RFC 6455), unencrypted `ws://` | +| Framing | binary frames only; one message per frame | +| Serialization | msgpack, with two conventions for numeric arrays | +| Schema | four message types, distinguished by a `message_type` string | + +There is no version negotiation, no handshake beyond WebSocket's own, and no +extension types. A client that can open a socket and parse msgpack is +seven-eighths of the way there; the remaining eighth is the ndarray +convention in section 3. + +### 1.1 Connection options + +Both endpoints **MUST** be configured with: + +- **`compression = None`.** `permessage-deflate` must not be negotiated. + Observations are mostly already-compressed image bytes, and deflating them + costs CPU on the hot path for nothing. +- **`max_size = None`.** No frame size limit. A single observation carrying + two camera frames is around 180 KB; batched observations and unbounded + info dicts pass the 1 MiB library default easily. + +The server listens on `0.0.0.0:8000` by default. + +### 1.2 Authentication + +The client **MAY** send an `Authorization: Api-Key ` request header +during the WebSocket handshake. + +> **Gap — the header is not checked.** `WebSocketEnvClientAgent` sends the +> header when `api_key` is set, and no server in this project reads it. The +> protocol has no authentication. Do not expose a training server to a +> network you do not control. + +--- + +## 2. Message envelope + +Every application message is a msgpack **map** whose `"message_type"` key +(a msgpack `str`) holds one of exactly four lowercase values: + +| Value | Direction | Reply | +|---|---|---| +| `"metadata"` | server to client | none | +| `"infer"` | client to server | `"action"` | +| `"action"` | server to client | `"feedback"` | +| `"feedback"` | client to server | none | + +These four strings are the protocol's only magic constants besides the two +close reasons in section 7. They are pinned by +[`tests/test_wire_format.py`](tests/test_wire_format.py). + +An endpoint receiving a message whose `message_type` is not the one it +expects **MUST** treat it as a protocol error (section 7.2). The server does +exactly this; it does not attempt to recover in place. + +--- + +## 3. Serialization + +### 3.1 Ordinary values + +msgpack maps, arrays, strings, integers, floats, booleans and nil map +directly. Map keys carrying schema names (`"message_type"`, `"data"`, +`"env_indices"`, and so on) are msgpack `str`. + +### 3.2 Arrays + +A multidimensional numeric array travels as a map with **binary** keys: + +``` +{ + b"__ndarray__": true, + b"data": , # raw C-contiguous element bytes + b"dtype": , # a numpy typestr, e.g. ", b"dtype": } +``` + +where `data` is an ordinary msgpack number or boolean. Env clients rarely +produce these; decoders should still handle them, since anything a policy +puts in its response may take this form. + +### 3.3 The typestr + +`dtype` is a numpy typestr: a **byte-order** character, a **kind** +character, and a decimal **item size in bytes**. + +| Byte order | Meaning | +|---|---| +| `<` | little-endian | +| `>` | big-endian | +| `\|` | not applicable (single-byte types) | + +| Kind | Meaning | Seen on the wire as | +|---|---|---| +| `b` | boolean | `\|b1` — one byte per element, `0` or `1` | +| `u` | unsigned int | `\|u1` for images; `` — see section 3.4 | + +Kinds `V` (structured), `O` (object) and `c` (complex) are **rejected at +pack time** and never appear. + +A ten-line hand-written parser is enough; both reference clients contain +one. This is the only piece of numpy vocabulary a non-Python client must +learn — with one exception. + +### 3.4 Text is the one real wart + +`Observation.text` is a numpy array of unicode strings, so it is packed by +the same ndarray path as everything else, and its typestr is `` where +`n` is the **character** count of the longest string in the array. Each +element occupies `4n` bytes: **UTF-32 in the stated byte order, NUL-padded +to `n` code points**. + +Measured, for `["pick up the red block", "stack"]`: + +``` +dtype " **Gap — clients disagree about how to write it.** +> `plugrl-env-client` sends `text` as a ` [`examples/raw_client.py`](examples/raw_client.py) sends it as a plain +> msgpack array of strings. Both are accepted, because the server does not +> validate observation contents — it forwards them to the policy, and +> whether the policy copes depends on the policy. Of the policies in +> `plugrl-server`, only `dummy_policy` (which takes `len(obs["text"])`) and +> the openpi transform (which renames `text` to `prompt`) touch the field, +> and both accept either form. +> +> **A future revision should require the msgpack-string-array form** and +> have the server normalise on receipt. Until then, a client that must +> interoperate with the Python one should send the `| + |<---------------- metadata -----------------| exactly once, server speaks first + | | + |------------------ infer ------------------>| \ + |<----------------- action ------------------| | repeats until close + | | | + | ... zero or more local environment steps ... | + | | | + |----------------- feedback ---------------->| / + | (no reply) | +``` + +### 4.2 The alternation invariant + +**On a given connection, application messages strictly alternate:** + +``` +metadata ( infer action feedback )* +``` + +The server's connection handler is a straight-line loop that blocks on +`recv()` for an `infer`, replies with an `action`, then blocks on `recv()` +again for exactly one `feedback`. It has no queue and no dispatcher. A +client that sends two `infer` messages without a `feedback` between them +will have its second `infer` parsed as a `feedback`, fail validation, and be +disconnected with a resync request (section 7.2). + +**A `feedback` may arrive many environment steps after the `action` it +answers.** With an action horizon of `H`, the client executes up to `H` +local steps before the chunk is exhausted and feedback is due. The server +waits, up to `FEEDBACK_WAIT_TIMEOUT` = 60 s (section 7.3). + +### 4.3 The env sets in one cycle need not match + +This is the part an independent implementation is most likely to get wrong. + +`infer`, `action` and `feedback` each carry a set of environment indices. +Within one `infer`/`action`/`feedback` cycle: + +- the `action`'s `env_ids` **MUST** equal the `infer`'s `env_indices`, in + the same order — the server asserts this; +- the `feedback`'s `env_indices` **need not equal either of them**, and in a + multi-environment client routinely does not. + +The two sets answer different questions. `infer` carries the environments +whose action chunk has just run out; `feedback` carries the environments +whose chunk finished on this environment step. Once environments +desynchronise — the first time one of them terminates early — those are +different sets. + +The pairing between an `action` and the following `feedback` is therefore +**pure flow control, not a semantic association**. The server routes +feedback by env index into per-environment state, not by position in the +stream. An implementer who assumes "the feedback tells me about the actions +I just received" will be wrong as soon as a second environment exists. + +The alternation still holds exactly, because an environment can only +re-enter the "needs a chunk" set at the top of the iteration *after* the one +in which it entered the "chunk finished" set. One feedback per action, every +time. + +### 4.4 Environment indices are connection-scoped + +`env_indices` are small non-negative integers naming environments **within +one connection**. The server keeps its per-environment maps inside the +connection handler, so index `0` from one client and index `0` from another +are unrelated. Clients running several processes against one server do not +need to coordinate index ranges. + +--- + +## 5. Message schemas + +Shapes are written with `n` = number of environments in *this* message, +`H` = action horizon, `da` = the environment's action shape (usually a +one-tuple). + +### 5.1 `metadata` — server to client + +``` +{ "message_type": "metadata", + "data": } +``` + +Sent once, immediately after the handshake, **before the client sends +anything**. A client MUST read it before its first `infer`. + +`data` is a map of descriptive keys. **A client MUST NOT require any of +them**, and MUST ignore keys it does not recognise. What the server puts +there today: + +| Key | Meaning | +|---|---| +| `protocol_version` | the version of this document the server implements — `1` | +| `server` | `"plugrl-server"` | +| `server_version` | the package version | +| `algorithm` | the learning algorithm's class name | +| `policy` | the policy's class name | +| `action_horizon` | `H`, the number of steps in an action chunk | +| `action_dim` | the width of one action | + +`action_horizon` and `action_dim` are read off the policy, which is free +not to declare them. **A key that is absent means the server does not know, +never that the value is zero or a default** — so a client that needs the +shape and does not find it must be configured with it, exactly as before. +That rule is what makes the rest of the map trustworthy. + +The server merges anything its caller passes over the top, so an operator +can add a run identifier or correct a value the introspection got wrong. + +> **Historical note.** Through 2026-09-10 this message was always `{}` — +> every entry point defaulted it and nothing filled it in, so the action +> shape had to travel out of band. A client written against that behaviour +> still works, which is why none of these keys are required. + +### 5.2 `infer` — client to server + +``` +{ "message_type": "infer", + "data": , + "env_indices": , + "step_ids": } +``` + +The **observation** is a three-key map, batched along a leading axis of `n`: + +``` +{ "images": { : , ... }, + "states": { : , ... }, + "text": } +``` + +`images` and `states` may each be empty; camera names and state names are +environment-defined and the server does not check them. Every array under +both keys **MUST** share the same leading dimension `n`. + +`n` **MAY** differ between successive `infer` messages on one connection. +This is the normal case: the batch is whichever environments happen to need +a chunk, and it is ragged by construction. + +> **Gap — `step_ids` is accepted and ignored.** The client sends, per +> environment, the number of completed action chunks in the current episode, +> reset to `0` when the episode ends. Neither server reads it. It is +> validated for presence only; a client must send it, and may send zeros. + +### 5.3 `action` — server to client + +``` +{ "message_type": "action", + "data": { "env_ids": , + "action": } } +``` + +**The action array is time-major**: horizon first, environment second. The +server produces `[n, H, *da]` internally and transposes on the way out. + +The client **MAY** consume any prefix of the horizon and re-plan early; it +**MUST NOT** ask for more steps than `H`. The dtype is the environment's +action dtype and is not renegotiated. + +> **Gap — the two servers disagree about this message.** +> `WebSocketAgentServer` sends `env_ids` alongside `action`, as above. +> `RayAgentServer` sends `{"action": ...}` with **no `env_ids` key at all**, +> ignores the request's `env_indices`, keeps one environment's worth of +> state per connection, and buffers the action chunk server-side — +> delivering one step per `infer` when the algorithm sets +> `break_action_chunk`. It is an earlier single-environment dialect that was +> not updated when multi-environment support landed. +> +> **A client conforming to this document should read `env_ids` when present +> and otherwise assume the request's own `env_indices`.** Bringing the Ray +> server to this specification, or retiring it, is tracked work rather than +> a protocol choice. + +### 5.4 `feedback` — client to server + +``` +{ "message_type": "feedback", + "env_indices": , + "step_ids": , + "data": { + "obs": , + "rewards": , + "terminated": , + "truncated": , + "info": } } +``` + +There is **no reply**. The next thing on the wire is the client's next +`infer`. + +`obs` is the observation *after* the last action of the chunk — the +environment's next state, not the one that was sent in `infer`. + +**`rewards` is the sum over the chunk, not the last step's reward.** The +client accumulates reward across every environment step of the chunk and +flushes the total when the chunk ends. Credit assignment reaching the +learner is therefore at chunk granularity. A client that reports only the +final step's reward will silently train on a different MDP. + +`plugrl-env-client` sends `, b"dtype": " None: + self.checked[clause] = self.checked.get(clause, 0) + 1 + + def fail(self, clause: str, detail: str) -> None: + self.checked.setdefault(clause, 0) + self.failures.append((clause, detail)) + + def require(self, condition: bool, clause: str, detail: str) -> bool: + if condition: + self.ok(clause) + else: + self.fail(clause, detail) + return condition + + def advise(self, condition: bool, clause: str, detail: str) -> None: + """Accepted, but worth saying out loud. Never fails the run.""" + self.ok(clause) + if not condition: + self.advisories.setdefault(clause, detail) + + def render(self) -> str: + lines = ["", "=" * 68, "SPEC.md conformance report", "=" * 68] + for clause in sorted(self.checked): + broke = [d for c, d in self.failures if c == clause] + if broke: + mark = "FAIL" + elif clause in self.advisories: + mark = "note" + else: + mark = "ok " + lines.append(f" {mark} {clause} ({self.checked[clause]} checks)") + for detail in broke[:3]: + lines.append(f" {detail}") + if not broke and clause in self.advisories: + lines.append(f" {self.advisories[clause]}") + lines.append("=" * 68) + summary = ( + f"{len(self.failures)} violation(s)" if self.failures else "no violations" + ) + if self.advisories: + summary += f", {len(self.advisories)} advisory note(s)" + lines.append(summary) + return "\n".join(lines) + + +def _is_int_vector(value) -> bool: + return isinstance(value, np.ndarray) and value.ndim == 1 and value.dtype.kind == "i" + + +def _batch_sizes(observation: dict) -> set[int]: + """Leading dimensions of every array under images and states.""" + sizes = set() + for group in ("images", "states"): + for array in (observation.get(group) or {}).values(): + if isinstance(array, np.ndarray) and array.ndim >= 1: + sizes.add(int(array.shape[0])) + text = observation.get("text") + if isinstance(text, np.ndarray) and text.ndim == 1: + sizes.add(int(text.shape[0])) + elif isinstance(text, (list, tuple)): + sizes.add(len(text)) + return sizes + + +def check_observation(report: Report, observation, where: str, expect_n: int) -> None: + if not report.require( + isinstance(observation, dict), + "5.2 observation is a map", + f"{where}: got {type(observation).__name__}", + ): + return + + report.require( + set(observation) == {"images", "states", "text"}, + "5.2 observation has exactly images, states and text", + f"{where}: keys were {sorted(observation)}", + ) + + for group in ("images", "states"): + value = observation.get(group) + report.require( + isinstance(value, dict), + f"5.2 {group} is a map of named arrays", + f"{where}: {group} was {type(value).__name__}", + ) + + for name, image in (observation.get("images") or {}).items(): + report.require( + isinstance(image, np.ndarray) and image.dtype == np.uint8, + "5.2 images are uint8", + f"{where}: images[{name!r}] dtype " + f"{getattr(image, 'dtype', type(image).__name__)}", + ) + report.require( + isinstance(image, np.ndarray) and image.ndim == 4, + "5.2 images are [n, h, w, c]", + f"{where}: images[{name!r}] shape {getattr(image, 'shape', None)}", + ) + + # Section 3.4 Gap: the two shipped clients disagree here and the server + # accepts both, so this is reported, never failed. + text = observation.get("text") + report.advise( + isinstance(text, np.ndarray) and text.dtype.kind == "U", + "3.4 text is a numpy None: + report = self.report + packer = msgpack_numpy.Packer() + + # Section 5.1: the server speaks first, with an envelope, and the + # descriptive keys are how a client learns the action shape without + # being told out of band. They are sent here so that a client which + # reads them is exercised, and one which ignores them is proved not + # to break - section 5.1 requires no key to be present. + await websocket.send( + packer.pack( + { + "message_type": str(MessageType.METADATA), + "data": { + "protocol_version": 1, + "server": "conformance_server.py", + "action_horizon": self.horizon, + "action_dim": self.action_dim, + }, + } + ) + ) + + awaiting = "infer" + try: + while self.exchanges < self.steps: + payload = msgpack_numpy.unpackb(await websocket.recv()) + + if not isinstance(payload, dict): + report.fail("2 message is a map", f"got {type(payload).__name__}") + return + report.ok("2 message is a map") + + kind = payload.get("message_type") + report.require( + isinstance(kind, str), + "2 message_type is a string, not bytes", + f"got {type(kind).__name__}", + ) + if not report.require( + kind == awaiting, + "4.2 infer and feedback strictly alternate", + f"expected {awaiting!r}, received {kind!r}", + ): + return + + if kind == str(MessageType.INFER): + n = self.check_infer(payload) + if n is None: + return + await websocket.send(packer.pack(self.action_for(payload, n))) + awaiting = str(MessageType.FEEDBACK) + else: + self.check_feedback(payload) + awaiting = str(MessageType.INFER) + self.exchanges += 1 + except Exception as exc: # noqa: BLE001 - the report is the output + report.fail("connection", f"{type(exc).__name__}: {exc}") + finally: + self.finished.set() + + def check_infer(self, payload: dict) -> int | None: + report = self.report + for key in ("data", "env_indices", "step_ids"): + if not report.require( + key in payload, + "5.2 infer carries data, env_indices and step_ids", + f"missing {key!r}", + ): + return None + + env_indices = payload["env_indices"] + if not report.require( + _is_int_vector(env_indices), + "5.2 env_indices is a one-dimensional integer array", + f"got {getattr(env_indices, 'dtype', type(env_indices).__name__)} " + f"shape {getattr(env_indices, 'shape', None)}", + ): + return None + + n = int(env_indices.shape[0]) + report.require(n > 0, "5.2 an infer names at least one env", "n was 0") + report.require( + len(set(env_indices.tolist())) == n, + "4.4 env indices are unique within a message", + f"repeated indices in {env_indices.tolist()}", + ) + report.require( + _is_int_vector(payload["step_ids"]) and payload["step_ids"].shape[0] == n, + "5.2 step_ids matches env_indices in length", + f"step_ids {getattr(payload['step_ids'], 'shape', None)} vs n={n}", + ) + check_observation(report, payload["data"], "infer", n) + return n + + def action_for(self, payload: dict, n: int) -> dict: + """Time-major, per section 5.3, with env_ids echoed in order.""" + action = np.zeros((self.horizon, n, self.action_dim), self.action_dtype) + for t in range(self.horizon): + action[t, :, 0] = t + return { + "message_type": str(MessageType.ACTION), + "data": { + "env_ids": np.asarray(payload["env_indices"], dtype=np.int64), + "action": action, + }, + } + + def check_feedback(self, payload: dict) -> None: + report = self.report + for key in ("data", "env_indices", "step_ids"): + if not report.require( + key in payload, + "5.4 feedback carries data, env_indices and step_ids", + f"missing {key!r}", + ): + return + + env_indices = payload["env_indices"] + if not report.require( + _is_int_vector(env_indices), + "5.4 feedback env_indices is a one-dimensional integer array", + f"got {type(env_indices).__name__}", + ): + return + m = int(env_indices.shape[0]) + + data = payload["data"] + if not report.require( + isinstance(data, dict), "5.4 feedback data is a map", f"{type(data)}" + ): + return + report.require( + set(data) == {"obs", "rewards", "terminated", "truncated", "info"}, + "5.4 feedback data has exactly its five keys", + f"keys were {sorted(data)}", + ) + + rewards = data.get("rewards") + if report.require( + isinstance(rewards, np.ndarray) + and rewards.dtype.kind == "f" + and rewards.shape == (m,), + "5.4 rewards is a float array of length m", + f"got {getattr(rewards, 'dtype', type(rewards).__name__)} " + f"shape {getattr(rewards, 'shape', None)}, m={m}", + ): + # The server never inspects the width, so a wider reward is + # accepted rather than rejected - but it is not what the Python + # client sends, and a policy that reshapes by itemsize would + # notice. + report.advise( + rewards.dtype == np.float32, + "5.4 rewards is float32, as plugrl-env-client sends", + f"got {rewards.dtype}; accepted, but float32 is the norm", + ) + + for flag in ("terminated", "truncated"): + value = data.get(flag) + report.require( + isinstance(value, np.ndarray) + and value.dtype == np.bool_ + and value.shape == (m,), + f"5.4 {flag} is a bool array of length m", + f"got {getattr(value, 'dtype', type(value).__name__)} " + f"shape {getattr(value, 'shape', None)}, m={m}", + ) + + report.require( + isinstance(data.get("info"), dict), + "5.4 info is a map", + f"got {type(data.get('info')).__name__}", + ) + check_observation(report, data.get("obs"), "feedback", m) + + +async def serve(args: argparse.Namespace) -> int: + server = ConformanceServer( + horizon=args.horizon, + action_dim=args.action_dim, + action_dtype=args.action_dtype, + steps=args.steps, + ) + async with ws_server.serve( + server.handle, args.host, args.port, compression=None, max_size=None + ): + print( + f"conformance server on ws://{args.host}:{args.port} - " + f"expecting {args.steps} exchanges, horizon {args.horizon}, " + f"action dtype {args.action_dtype}", + flush=True, + ) + try: + await asyncio.wait_for(server.finished.wait(), timeout=args.timeout) + except asyncio.TimeoutError: + server.report.fail("connection", f"no client finished in {args.timeout}s") + + print(f"\ncompleted {server.exchanges} infer/action/feedback exchanges") + print(server.report.render()) + return 1 if server.report.failures else 0 + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--host", default="127.0.0.1") + parser.add_argument("--port", type=int, default=8000) + parser.add_argument("--steps", type=int, default=20) + parser.add_argument("--horizon", type=int, default=4) + parser.add_argument("--action-dim", type=int, default=7) + parser.add_argument( + "--action-dtype", + default="float32", + help="the environment's action dtype; a client must read the typestr", + ) + parser.add_argument("--timeout", type=float, default=120.0) + return asyncio.run(serve(parser.parse_args())) + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/examples/plugrl_client.cpp b/examples/plugrl_client.cpp new file mode 100644 index 0000000..eb28927 --- /dev/null +++ b/examples/plugrl_client.cpp @@ -0,0 +1,814 @@ +// A PlugRL env client in C++ that depends on nothing but libstdc++ and a +// TCP socket. +// +// The Python client in this directory already showed the protocol can be +// spoken without PlugRL or numpy. This one closes the remaining gap: it is a +// different language, and it builds on a machine with no msgpack library, no +// WebSocket library, and no OpenSSL - so SHA-1, base64, WebSocket framing and +// the msgpack subset the protocol needs are all here, written against the +// specifications. +// +// That is the situation a robot's onboard controller is actually in. If this +// works, "a ROS node could be an env client" stops being a claim and becomes +// a demonstration. +// +// Build: g++ -std=c++17 -O2 -o plugrl_client plugrl_client.cpp +// Run: ./plugrl_client 127.0.0.1 8000 20 # host port steps +// ./plugrl_client 127.0.0.1 8000 20 1 224 2 # ... batch img cams + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace { + +// ---------------------------------------------------------------- SHA-1 +// RFC 3174. Needed only to verify the server's Sec-WebSocket-Accept. + +class Sha1 { + public: + Sha1() { reset(); } + + void update(const uint8_t* data, size_t len) { + for (size_t i = 0; i < len; ++i) { + buffer_[buffer_len_++] = data[i]; + if (buffer_len_ == 64) { + transform(buffer_); + total_ += 64; + buffer_len_ = 0; + } + } + } + + std::vector digest() { + uint64_t total_bits = (total_ + buffer_len_) * 8; + uint8_t pad = 0x80; + update(&pad, 1); + uint8_t zero = 0x00; + while (buffer_len_ != 56) update(&zero, 1); + uint8_t len_be[8]; + for (int i = 0; i < 8; ++i) len_be[7 - i] = (total_bits >> (8 * i)) & 0xff; + update(len_be, 8); + + std::vector out(20); + for (int i = 0; i < 5; ++i) { + out[i * 4 + 0] = (h_[i] >> 24) & 0xff; + out[i * 4 + 1] = (h_[i] >> 16) & 0xff; + out[i * 4 + 2] = (h_[i] >> 8) & 0xff; + out[i * 4 + 3] = h_[i] & 0xff; + } + return out; + } + + private: + void reset() { + h_[0] = 0x67452301; h_[1] = 0xEFCDAB89; h_[2] = 0x98BADCFE; + h_[3] = 0x10325476; h_[4] = 0xC3D2E1F0; + buffer_len_ = 0; total_ = 0; + } + + static uint32_t rol(uint32_t v, int b) { return (v << b) | (v >> (32 - b)); } + + void transform(const uint8_t block[64]) { + uint32_t w[80]; + for (int i = 0; i < 16; ++i) + w[i] = (block[i * 4] << 24) | (block[i * 4 + 1] << 16) | + (block[i * 4 + 2] << 8) | block[i * 4 + 3]; + for (int i = 16; i < 80; ++i) + w[i] = rol(w[i - 3] ^ w[i - 8] ^ w[i - 14] ^ w[i - 16], 1); + + uint32_t a = h_[0], b = h_[1], c = h_[2], d = h_[3], e = h_[4]; + for (int i = 0; i < 80; ++i) { + uint32_t f, k; + if (i < 20) { f = (b & c) | (~b & d); k = 0x5A827999; } + else if (i < 40) { f = b ^ c ^ d; k = 0x6ED9EBA1; } + else if (i < 60) { f = (b & c) | (b & d) | (c & d); k = 0x8F1BBCDC; } + else { f = b ^ c ^ d; k = 0xCA62C1D6; } + uint32_t t = rol(a, 5) + f + e + k + w[i]; + e = d; d = c; c = rol(b, 30); b = a; a = t; + } + h_[0] += a; h_[1] += b; h_[2] += c; h_[3] += d; h_[4] += e; + } + + uint32_t h_[5]; + uint8_t buffer_[64]; + size_t buffer_len_; + uint64_t total_; +}; + +std::string base64_encode(const uint8_t* data, size_t len) { + static const char* tbl = + "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/"; + std::string out; + for (size_t i = 0; i < len; i += 3) { + uint32_t n = data[i] << 16; + if (i + 1 < len) n |= data[i + 1] << 8; + if (i + 2 < len) n |= data[i + 2]; + out += tbl[(n >> 18) & 63]; + out += tbl[(n >> 12) & 63]; + out += (i + 1 < len) ? tbl[(n >> 6) & 63] : '='; + out += (i + 2 < len) ? tbl[n & 63] : '='; + } + return out; +} + +// ---------------------------------------------------------------- msgpack +// +// Only what the protocol uses: maps, strings, binary, arrays, integers, +// floats and booleans. No extension types - the wire format does not use any. + +class Packer { + public: + void map(size_t n) { + if (n < 16) put_u8(0x80 | static_cast(n)); + else if (n < 65536) { put_u8(0xde); put_be16(static_cast(n)); } + else { put_u8(0xdf); put_be32(static_cast(n)); } + } + + void array(size_t n) { + if (n < 16) put_u8(0x90 | static_cast(n)); + else if (n < 65536) { put_u8(0xdc); put_be16(static_cast(n)); } + else { put_u8(0xdd); put_be32(static_cast(n)); } + } + + void str(const std::string& s) { + size_t n = s.size(); + if (n < 32) put_u8(0xa0 | static_cast(n)); + else if (n < 256) { put_u8(0xd9); put_u8(static_cast(n)); } + else if (n < 65536) { put_u8(0xda); put_be16(static_cast(n)); } + else { put_u8(0xdb); put_be32(static_cast(n)); } + buf_.append(s); + } + + void bin(const uint8_t* data, size_t n) { + if (n < 256) { put_u8(0xc4); put_u8(static_cast(n)); } + else if (n < 65536) { put_u8(0xc5); put_be16(static_cast(n)); } + else { put_u8(0xc6); put_be32(static_cast(n)); } + buf_.append(reinterpret_cast(data), n); + } + + void bin(const std::string& s) { + bin(reinterpret_cast(s.data()), s.size()); + } + + void integer(int64_t v) { + if (v >= 0 && v < 128) { put_u8(static_cast(v)); return; } + if (v < 0 && v >= -32) { put_u8(static_cast(0xe0 | (v + 32))); return; } + put_u8(0xd3); + for (int i = 7; i >= 0; --i) put_u8((static_cast(v) >> (8 * i)) & 0xff); + } + + void boolean(bool v) { put_u8(v ? 0xc3 : 0xc2); } + + const std::string& data() const { return buf_; } + void clear() { buf_.clear(); } + + private: + void put_u8(uint8_t v) { buf_.push_back(static_cast(v)); } + void put_be16(uint16_t v) { put_u8(v >> 8); put_u8(v & 0xff); } + void put_be32(uint32_t v) { + put_u8(v >> 24); put_u8((v >> 16) & 0xff); put_u8((v >> 8) & 0xff); put_u8(v & 0xff); + } + std::string buf_; +}; + +struct Value; +using ValuePtr = std::shared_ptr; + +struct Value { + enum class Kind { Nil, Bool, Int, UInt, Float, Str, Bin, Array, Map }; + Kind kind = Kind::Nil; + bool b = false; + int64_t i = 0; + uint64_t u = 0; + double f = 0; + std::string s; // Str and Bin both land here + std::vector arr; + std::vector> map; + + const ValuePtr find(const std::string& key) const { + for (const auto& kv : map) + if ((kv.first->kind == Kind::Str || kv.first->kind == Kind::Bin) && + kv.first->s == key) + return kv.second; + return nullptr; + } +}; + +class Unpacker { + public: + Unpacker(const uint8_t* data, size_t len) : p_(data), end_(data + len) {} + + ValuePtr parse() { + auto v = std::make_shared(); + uint8_t t = take_u8(); + + if (t <= 0x7f) { v->kind = Value::Kind::UInt; v->u = t; return v; } + if (t >= 0xe0) { v->kind = Value::Kind::Int; + v->i = static_cast(t); return v; } + if ((t & 0xf0) == 0x80) return parse_map(v, t & 0x0f); + if ((t & 0xf0) == 0x90) return parse_array(v, t & 0x0f); + if ((t & 0xe0) == 0xa0) return parse_str(v, t & 0x1f); + + switch (t) { + case 0xc0: v->kind = Value::Kind::Nil; return v; + case 0xc2: v->kind = Value::Kind::Bool; v->b = false; return v; + case 0xc3: v->kind = Value::Kind::Bool; v->b = true; return v; + case 0xc4: return parse_bin(v, take_u8()); + case 0xc5: return parse_bin(v, take_be16()); + case 0xc6: return parse_bin(v, take_be32()); + case 0xca: { v->kind = Value::Kind::Float; + uint32_t r = take_be32(); float g; + std::memcpy(&g, &r, 4); v->f = g; return v; } + case 0xcb: { v->kind = Value::Kind::Float; + uint64_t r = take_be64(); double g; + std::memcpy(&g, &r, 8); v->f = g; return v; } + case 0xcc: v->kind = Value::Kind::UInt; v->u = take_u8(); return v; + case 0xcd: v->kind = Value::Kind::UInt; v->u = take_be16(); return v; + case 0xce: v->kind = Value::Kind::UInt; v->u = take_be32(); return v; + case 0xcf: v->kind = Value::Kind::UInt; v->u = take_be64(); return v; + case 0xd0: v->kind = Value::Kind::Int; + v->i = static_cast(take_u8()); return v; + case 0xd1: v->kind = Value::Kind::Int; + v->i = static_cast(take_be16()); return v; + case 0xd2: v->kind = Value::Kind::Int; + v->i = static_cast(take_be32()); return v; + case 0xd3: v->kind = Value::Kind::Int; + v->i = static_cast(take_be64()); return v; + case 0xd9: return parse_str(v, take_u8()); + case 0xda: return parse_str(v, take_be16()); + case 0xdb: return parse_str(v, take_be32()); + case 0xdc: return parse_array(v, take_be16()); + case 0xdd: return parse_array(v, take_be32()); + case 0xde: return parse_map(v, take_be16()); + case 0xdf: return parse_map(v, take_be32()); + default: + throw std::runtime_error("unsupported msgpack type 0x" + + std::to_string(static_cast(t))); + } + } + + private: + ValuePtr parse_str(ValuePtr v, size_t n) { + v->kind = Value::Kind::Str; v->s.assign(take(n), n); return v; + } + ValuePtr parse_bin(ValuePtr v, size_t n) { + v->kind = Value::Kind::Bin; v->s.assign(take(n), n); return v; + } + ValuePtr parse_array(ValuePtr v, size_t n) { + v->kind = Value::Kind::Array; + for (size_t k = 0; k < n; ++k) v->arr.push_back(parse()); + return v; + } + ValuePtr parse_map(ValuePtr v, size_t n) { + v->kind = Value::Kind::Map; + for (size_t k = 0; k < n; ++k) { + auto key = parse(); + auto val = parse(); + v->map.emplace_back(key, val); + } + return v; + } + + const char* take(size_t n) { + if (p_ + n > end_) throw std::runtime_error("msgpack: truncated"); + const char* r = reinterpret_cast(p_); + p_ += n; + return r; + } + uint8_t take_u8() { return static_cast(*take(1)); } + uint16_t take_be16() { uint16_t a = take_u8(); return (a << 8) | take_u8(); } + uint32_t take_be32() { uint32_t a = take_be16(); return (a << 16) | take_be16(); } + uint64_t take_be64() { uint64_t a = take_be32(); return (a << 32) | take_be32(); } + + const uint8_t* p_; + const uint8_t* end_; +}; + +// ---------------------------------------------------------------- ndarray +// +// {b"__ndarray__": true, b"data": , b"dtype": "& shape) { + p.map(4); + p.bin(std::string("__ndarray__")); p.boolean(true); + p.bin(std::string("data")); p.bin(raw); + p.bin(std::string("dtype")); p.str(dtype); + p.bin(std::string("shape")); + p.array(shape.size()); + for (int64_t d : shape) p.integer(d); +} + +// A numpy typestr: byte order, kind, decimal item size in bytes. +// SPEC section 3.3. + +struct TypeStr { + char order; // '<' or '>' after normalisation + char kind; // 'b', 'u', 'i', 'f', 'U' + int size; // bytes per element +}; + +TypeStr parse_typestr(const std::string& s) { + if (s.size() < 3) throw std::runtime_error("malformed typestr: " + s); + TypeStr t; + t.order = (s[0] == '|') ? '<' : s[0]; // '|' means single-byte, so moot + t.kind = s[1]; + t.size = std::stoi(s.substr(2)); + if (t.size <= 0) throw std::runtime_error("malformed typestr: " + s); + return t; +} + +// Read one element as a double, whatever integer or float type it is on the +// wire. The point is not generality for its own sake: SPEC section 8 asks a +// client to parse the typestr rather than assume a dtype, because the action +// dtype is the environment's and is never renegotiated. +double read_element(const std::string& raw, size_t index, const TypeStr& t) { + size_t off = index * static_cast(t.size); + if (off + static_cast(t.size) > raw.size()) + throw std::runtime_error("ndarray data shorter than shape implies"); + + uint64_t bits = 0; + for (int i = 0; i < t.size; ++i) { + // Little-endian: byte i is the i-th least significant. + int byte = (t.order == '<') ? i : (t.size - 1 - i); + bits |= static_cast(static_cast(raw[off + byte])) + << (8 * i); + } + + switch (t.kind) { + case 'f': + if (t.size == 4) { + float f; + uint32_t narrow = static_cast(bits); + std::memcpy(&f, &narrow, 4); + return f; + } + if (t.size == 8) { + double d; + std::memcpy(&d, &bits, 8); + return d; + } + break; + case 'b': + return bits ? 1.0 : 0.0; + case 'u': + return static_cast(bits); + case 'i': { + // Sign-extend from the declared width. + int shift = 64 - 8 * t.size; + return static_cast(static_cast(bits << shift) >> shift); + } + default: + break; + } + throw std::runtime_error("unsupported dtype kind/size in typestr"); +} + +// The typestr says "((bits >> (8 * i)) & 0xff)); +} + +std::string pack_f8(const std::vector& v) { + std::string out; + out.reserve(v.size() * 8); + for (double x : v) { + uint64_t bits; + std::memcpy(&bits, &x, 8); + put_le(out, bits, 8); + } + return out; +} + +std::string pack_f4(const std::vector& v) { + std::string out; + out.reserve(v.size() * 4); + for (float x : v) { + uint32_t bits; + std::memcpy(&bits, &x, 4); + put_le(out, bits, 4); + } + return out; +} + +std::string pack_i8(const std::vector& v) { + std::string out; + out.reserve(v.size() * 8); + for (int64_t x : v) put_le(out, static_cast(x), 8); + return out; +} + +// ---------------------------------------------------------------- websocket + +class WebSocket { + public: + void connect(const std::string& host, int port) { + addrinfo hints{}, *res = nullptr; + hints.ai_family = AF_INET; + hints.ai_socktype = SOCK_STREAM; + if (getaddrinfo(host.c_str(), std::to_string(port).c_str(), &hints, &res) != 0) + throw std::runtime_error("cannot resolve " + host); + fd_ = ::socket(res->ai_family, res->ai_socktype, res->ai_protocol); + if (fd_ < 0 || ::connect(fd_, res->ai_addr, res->ai_addrlen) != 0) { + freeaddrinfo(res); + throw std::runtime_error("cannot connect to " + host); + } + freeaddrinfo(res); + int one = 1; + setsockopt(fd_, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one)); + handshake(host, port); + } + + ~WebSocket() { if (fd_ >= 0) ::close(fd_); } + + void send_binary(const std::string& payload) { + std::string frame; + frame.push_back(static_cast(0x82)); // FIN + binary opcode + size_t n = payload.size(); + uint8_t mask_bit = 0x80; // clients must mask + if (n < 126) { + frame.push_back(static_cast(mask_bit | n)); + } else if (n < 65536) { + frame.push_back(static_cast(mask_bit | 126)); + frame.push_back(static_cast((n >> 8) & 0xff)); + frame.push_back(static_cast(n & 0xff)); + } else { + frame.push_back(static_cast(mask_bit | 127)); + for (int i = 7; i >= 0; --i) + frame.push_back(static_cast((n >> (8 * i)) & 0xff)); + } + uint8_t key[4]; + for (int i = 0; i < 4; ++i) key[i] = static_cast(rng_() & 0xff); + frame.append(reinterpret_cast(key), 4); + size_t off = frame.size(); + frame.append(payload); + for (size_t i = 0; i < n; ++i) frame[off + i] ^= key[i % 4]; + write_all(frame.data(), frame.size()); + } + + // The largest message this client will accept. Observations with two + // cameras run to a few hundred KiB; 256 MiB is far above anything the + // protocol produces and far below what a hostile length field could ask + // us to allocate. + static constexpr uint64_t kMaxMessageBytes = 256ull << 20; + + std::string recv_message() { + std::string message; + bool first_data_frame = true; + for (;;) { + uint8_t h[2]; + read_all(h, 2); + bool fin = h[0] & 0x80; + uint8_t opcode = h[0] & 0x0f; + bool masked = h[1] & 0x80; + uint64_t len = h[1] & 0x7f; + if (len == 126) { + uint8_t e[2]; read_all(e, 2); + len = (static_cast(e[0]) << 8) | e[1]; + } else if (len == 127) { + uint8_t e[8]; read_all(e, 8); + len = 0; + for (int i = 0; i < 8; ++i) len = (len << 8) | e[i]; + } + if (len > kMaxMessageBytes || message.size() + len > kMaxMessageBytes) + throw std::runtime_error("frame larger than this client will accept"); + uint8_t key[4] = {0, 0, 0, 0}; + if (masked) read_all(key, 4); + + std::string chunk(len, '\0'); + if (len) read_all(reinterpret_cast(&chunk[0]), len); + if (masked) + for (uint64_t i = 0; i < len; ++i) chunk[i] ^= key[i % 4]; + + if (opcode == 0x8) throw std::runtime_error("server closed the connection"); + if (opcode == 0x9) { send_pong(chunk); continue; } + if (opcode == 0xa) continue; + + // SPEC section 7.4: every protocol message is binary. A text frame + // where one was expected means the peer is reporting an error, not + // speaking the protocol - openpi servers send a traceback this way. + // Unpacking it as msgpack would turn a legible error into "unsupported + // msgpack type 0x47". + if (first_data_frame) { + if (opcode == 0x1) + throw std::runtime_error("server sent a text frame: " + + chunk.substr(0, 2048)); + if (opcode != 0x2) + throw std::runtime_error("unexpected websocket opcode " + + std::to_string(static_cast(opcode))); + first_data_frame = false; + } + + message += chunk; + if (fin) return message; + } + } + + private: + void handshake(const std::string& host, int port) { + uint8_t nonce[16]; + for (int i = 0; i < 16; ++i) nonce[i] = static_cast(rng_() & 0xff); + std::string key = base64_encode(nonce, 16); + + std::string req = + "GET / HTTP/1.1\r\n" + "Host: " + host + ":" + std::to_string(port) + "\r\n" + "Upgrade: websocket\r\n" + "Connection: Upgrade\r\n" + "Sec-WebSocket-Key: " + key + "\r\n" + "Sec-WebSocket-Version: 13\r\n\r\n"; + write_all(req.data(), req.size()); + + std::string resp; + while (resp.find("\r\n\r\n") == std::string::npos) { + char c; + read_all(reinterpret_cast(&c), 1); + resp.push_back(c); + if (resp.size() > 8192) throw std::runtime_error("handshake response too long"); + } + if (resp.find("101") == std::string::npos) + throw std::runtime_error("server refused the upgrade:\n" + resp); + + // Verify Sec-WebSocket-Accept: base64(sha1(key + GUID)). + const std::string guid = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11"; + Sha1 sha; + std::string concat = key + guid; + sha.update(reinterpret_cast(concat.data()), concat.size()); + auto d = sha.digest(); + std::string expect = base64_encode(d.data(), d.size()); + if (resp.find(expect) == std::string::npos) + throw std::runtime_error("Sec-WebSocket-Accept mismatch; expected " + expect); + } + + void send_pong(const std::string& payload) { + std::string frame; + frame.push_back(static_cast(0x8a)); + frame.push_back(static_cast(0x80 | payload.size())); + uint8_t key[4] = {0, 0, 0, 0}; + frame.append(reinterpret_cast(key), 4); + frame.append(payload); + write_all(frame.data(), frame.size()); + } + + void write_all(const char* data, size_t n) { + size_t sent = 0; + while (sent < n) { + ssize_t k = ::send(fd_, data + sent, n - sent, 0); + if (k <= 0) throw std::runtime_error("send failed"); + sent += static_cast(k); + } + } + + void read_all(uint8_t* data, size_t n) { + size_t got = 0; + while (got < n) { + ssize_t k = ::recv(fd_, data + got, n - got, 0); + if (k <= 0) throw std::runtime_error("connection closed while reading"); + got += static_cast(k); + } + } + + int fd_ = -1; + std::mt19937 rng_{std::random_device{}()}; +}; + +// ---------------------------------------------------------------- client + +uint32_t g_seed = 12345; +double next_float() { + g_seed = (1103515245u * g_seed + 12345u) & 0x7fffffff; + return static_cast(g_seed % 10000) / 10000.0; +} + +// Image geometry is configurable so the cost of the boundary can be measured +// against payload size rather than guessed at. +int g_img_size = 224; +int g_cameras = 2; + +void pack_observation(Packer& p, int batch) { + p.map(3); + + p.str("images"); + p.map(g_cameras); + static const char* names[4] = {"base", "wrist", "left", "right"}; + for (int k = 0; k < g_cameras; ++k) { + // The second camera is the usual half-resolution wrist view. + int side = (k == 1) ? g_img_size / 2 : g_img_size; + p.str(names[k % 4]); + size_t n = static_cast(batch) * side * side * 3; + std::string raw(n, '\0'); + for (size_t i = 0; i < n; ++i) raw[i] = static_cast(i & 0xff); + pack_ndarray(p, raw, "|u1", {batch, side, side, 3}); + } + + p.str("states"); + p.map(2); + { + std::vector s(static_cast(batch) * 10); + for (auto& x : s) x = next_float(); + p.str("robot_state"); + pack_ndarray(p, pack_f8(s), " j(static_cast(batch) * 5); + for (auto& x : j) x = next_float(); + p.str("joint_angles"); + pack_ndarray(p, pack_f8(j), "(meta_raw.data()), meta_raw.size()); + auto meta = meta_up.parse(); + auto mt = meta->find("message_type"); + if (!mt || mt->s != "metadata") { + std::cerr << "expected metadata, got " << (mt ? mt->s : "") << "\n"; + return 1; + } + std::cout << "handshake ok, metadata received\n"; + + std::vector env_idx(batch); + for (int i = 0; i < batch; ++i) env_idx[i] = i; + + using clock = std::chrono::steady_clock; + auto ms = [](clock::duration d) { + return std::chrono::duration(d).count(); + }; + std::vector pack_ms, rtt_ms, unpack_ms; + size_t infer_bytes = 0; + + for (int step = 0; step < steps; ++step) { + std::vector step_ids(batch, step); + + auto t0 = clock::now(); + Packer p; + p.map(4); + p.str("message_type"); p.str("infer"); + p.str("data"); pack_observation(p, batch); + p.str("env_indices"); pack_ndarray(p, pack_i8(env_idx), "(reply.data()), reply.size()); + auto msg = up.parse(); + auto t3 = clock::now(); + + // Skip the first few: the first exchange carries connection warm-up. + if (step >= 3) { + pack_ms.push_back(ms(t1 - t0)); + rtt_ms.push_back(ms(t2 - t1)); + unpack_ms.push_back(ms(t3 - t2)); + } + auto type = msg->find("message_type"); + if (!type || type->s != "action") { + std::cerr << "expected action, got " << (type ? type->s : "") << "\n"; + return 1; + } + auto data = msg->find("data"); + auto action = data ? data->find("action") : nullptr; + if (!action) { std::cerr << "no action field\n"; return 1; } + + auto dtype = action->find("dtype"); + auto shape = action->find("shape"); + auto blob = action->find("data"); + if (!dtype || !shape || !blob) { std::cerr << "malformed ndarray\n"; return 1; } + + std::vector dims; + for (const auto& d : shape->arr) + dims.push_back(d->kind == Value::Kind::Int ? d->i + : static_cast(d->u)); + for (int64_t d : dims) + if (d == 0) { std::cerr << "server returned an empty action\n"; return 1; } + + if (step == 0) { + // SPEC section 5.3: the action array is time-major, [H, n, *da]. The + // dtype is the environment's and is not renegotiated, so it is read + // from the typestr rather than assumed to be float32. + TypeStr at = parse_typestr(dtype->s); + std::cout << "action: dtype=" << dtype->s << " shape=["; + for (size_t i = 0; i < dims.size(); ++i) + std::cout << dims[i] << (i + 1 < dims.size() ? ", " : ""); + std::cout << "]"; + if (dims.size() >= 2) + std::cout << " (horizon " << dims[0] << " x " << dims[1] << " env" + << (dims[1] == 1 ? "" : "s") << ")"; + std::cout << "\n first values:"; + size_t count = std::min(6, blob->s.size() / static_cast(at.size)); + for (size_t i = 0; i < count; ++i) + std::cout << " " << read_element(blob->s, i, at); + std::cout << "\n"; + } + + Packer fb; + fb.map(4); + fb.str("message_type"); fb.str("feedback"); + fb.str("env_indices"); pack_ndarray(fb, pack_i8(env_idx), " rewards(static_cast(batch)); + for (auto& r : rewards) r = static_cast(next_float()); + fb.str("rewards"); pack_ndarray(fb, pack_f4(rewards), " v, double q) { + std::sort(v.begin(), v.end()); + size_t i = static_cast(q * (v.size() - 1)); + return v[i]; + }; + auto mean = [](const std::vector& v) { + return std::accumulate(v.begin(), v.end(), 0.0) / v.size(); + }; + std::cout << std::fixed << std::setprecision(3) + << "\nboundary cost, " << rtt_ms.size() << " samples" + << " (batch=" << batch << ", " << g_cameras << " cameras @ " + << g_img_size << "px, infer payload " + << infer_bytes / 1024 << " KiB)\n" + << " pack mean " << mean(pack_ms) + << " ms p50 " << stat(pack_ms, 0.50) + << " p95 " << stat(pack_ms, 0.95) << "\n" + << " rtt mean " << mean(rtt_ms) + << " ms p50 " << stat(rtt_ms, 0.50) + << " p95 " << stat(rtt_ms, 0.95) << "\n" + << " unpack mean " << mean(unpack_ms) + << " ms p50 " << stat(unpack_ms, 0.50) + << " p95 " << stat(unpack_ms, 0.95) << "\n" + << " TSV\t" << batch << "\t" << g_cameras << "\t" << g_img_size + << "\t" << infer_bytes << "\t" << mean(pack_ms) << "\t" + << mean(rtt_ms) << "\t" << mean(unpack_ms) << "\n"; + } + return 0; +} + +} // namespace + +int main(int argc, char** argv) { + // host port steps batch img_size cameras + std::string host = argc > 1 ? argv[1] : "127.0.0.1"; + int port = argc > 2 ? std::stoi(argv[2]) : 8000; // the server default + int steps = argc > 3 ? std::stoi(argv[3]) : 20; + int batch = argc > 4 ? std::stoi(argv[4]) : 1; + if (argc > 5) g_img_size = std::stoi(argv[5]); + if (argc > 6) g_cameras = std::stoi(argv[6]); + try { + return run(host, port, steps, batch); + } catch (const std::exception& e) { + std::cerr << "error: " << e.what() << "\n"; + return 1; + } +} diff --git a/examples/raw_client.py b/examples/raw_client.py new file mode 100644 index 0000000..a396954 --- /dev/null +++ b/examples/raw_client.py @@ -0,0 +1,275 @@ +"""A PlugRL env client that shares no code with PlugRL. + +This exists to test one claim: that the wire protocol can be spoken by a +program written against the specification alone - a robot's onboard controller +in C++, a ROS node, anything that is not this Python codebase. + +To make that test mean something, the rules here are strict: + + * nothing from plugrl_protocol, plugrl_env_client or plugrl_server + * no numpy - arrays are built and parsed with the `array` module, exactly + as a C++ client would have to + * only msgpack and websockets, both of which have mature implementations in + C++, Rust, Go, JavaScript and more + +If this completes episodes against a real plugrl-server, the protocol is +portable. If it needs something only Python can express, it is not, and that +is worth knowing before building an argument on it. + +Usage: + python raw_client.py [--host 127.0.0.1] [--port 8000] [--steps 20] +""" + +from __future__ import annotations + +import argparse +import sys +from array import array + +import msgpack +import websockets.sync.client + +# ---------------------------------------------------------------- wire format +# +# Message types, copied from the protocol - four lowercase strings. +INFER = "infer" +FEEDBACK = "feedback" +METADATA = "metadata" +ACTION = "action" + +# An ndarray travels as a map with binary keys: +# +# {b"__ndarray__": true, b"data": , b"dtype": " tuple[str, str, int]: + """' ('<', 'f', 4). '|u1' means byte order is irrelevant.""" + order, kind, size = typestr[0], typestr[1], int(typestr[2:]) + if order == "|": + order = "<" + return order, kind, size + + +def encode_array(values, typestr: str, shape: tuple[int, ...]) -> dict: + """Pack a flat sequence of numbers into the on-wire ndarray form.""" + order, kind, size = _parse_typestr(typestr) + if kind == _BOOL_KIND: + raw = bytes(1 if v else 0 for v in values) + else: + buf = array(_ARRAY_CODE[(kind, size)], values) + if (sys.byteorder == "little") != (order == "<"): + buf.byteswap() + raw = buf.tobytes() + return { + b"__ndarray__": True, + b"data": raw, + b"dtype": typestr, + b"shape": list(shape), + } + + +def decode_array(obj: dict) -> tuple[list, str, list]: + """Unpack the on-wire ndarray form into (flat values, typestr, shape).""" + typestr = obj[b"dtype"] + if isinstance(typestr, bytes): + typestr = typestr.decode() + order, kind, size = _parse_typestr(typestr) + raw = obj[b"data"] + if kind == _BOOL_KIND: + values = [b != 0 for b in raw] + else: + buf = array(_ARRAY_CODE[(kind, size)]) + buf.frombytes(raw) + if (sys.byteorder == "little") != (order == "<"): + buf.byteswap() + values = list(buf) + return values, typestr, list(obj[b"shape"]) + + +def looks_like_array(obj) -> bool: + return isinstance(obj, dict) and b"__ndarray__" in obj + + +# ---------------------------------------------------------------- fake sensor +# +# A stand-in for whatever the real machine reads. Deterministic, so a failure +# is reproducible. + +_seed = 12345 + + +def _next_float() -> float: + global _seed + _seed = (1103515245 * _seed + 12345) & 0x7FFFFFFF + return (_seed % 10000) / 10000.0 + + +def encode_bytes_array(raw: bytes, typestr: str, shape: tuple[int, ...]) -> dict: + """Wrap already-laid-out bytes, the way a camera driver would hand them over.""" + return { + b"__ndarray__": True, + b"data": raw, + b"dtype": typestr, + b"shape": list(shape), + } + + +def _fake_image(batch: int, h: int, w: int) -> dict: + # A real camera hands over a buffer; there is no reason to build it element + # by element. uint8 needs no byte-order handling. + pattern = bytes(range(256)) + n = batch * h * w * 3 + raw = (pattern * (n // 256 + 1))[:n] + return encode_bytes_array(raw, "|u1", (batch, h, w, 3)) + + +def make_observation(batch: int, state_dim: int = 10, joint_dim: int = 5) -> dict: + """The Observation dataclass as it appears on the wire: images, states, text. + + The images are not decoration. dummy-v1 sends a 224x224 and a 112x112 frame + per step, so including them is what exercises the ~180KB binary payload + path that a real vision-based policy depends on. + """ + return { + "images": { + "base": _fake_image(batch, 224, 224), + "wrist": _fake_image(batch, 112, 112), + }, + "states": { + "robot_state": encode_array( + [_next_float() for _ in range(batch * state_dim)], + " int: + uri = f"ws://{host}:{port}" + print(f"connecting to {uri}") + + packer = msgpack.Packer() + + with websockets.sync.client.connect( + uri, compression=None, max_size=None, open_timeout=30 + ) as ws: + # 1. The server speaks first, with metadata. + meta = msgpack.unpackb(ws.recv(), raw=False, strict_map_key=False) + if meta.get("message_type") != METADATA: + print(f"expected {METADATA}, got {meta.get('message_type')!r}") + return 1 + print(f"metadata: {meta['data']}") + + env_indices = encode_array(range(batch), " int: + p = argparse.ArgumentParser(description=__doc__) + p.add_argument("--host", default="127.0.0.1") + p.add_argument("--port", type=int, default=8000) + p.add_argument("--steps", type=int, default=20) + p.add_argument("--batch", type=int, default=1) + a = p.parse_args() + return run(a.host, a.port, a.steps, a.batch) + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/pyproject.toml b/pyproject.toml index 943889c..2f4ecec 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,17 +1,29 @@ [project] name = "plugrl-protocol" version = "0.1.0" -description = "" +description = "PlugRL wire protocol: message types and msgpack-numpy serialization." authors = [ - {name = "chenhao lu",email = "luch21@mails.tsinghua.edu.cn"} + {name = "chenhao lu",email = "luch21@mails.tsinghua.edu.cn"}, + {name = "Zuo Gou"} ] readme = "README.md" +license = "Apache-2.0" +license-files = ["LICENSE", "NOTICE"] requires-python = ">=3.10,<4.0" dependencies = [ "numpy (<2.3.3)", "msgpack (>=1.1.1,<2.0.0)", ] +[dependency-groups] +dev = [ + "pre-commit>=4.5.1,<5.0.0", + "pytest>=8.4.2", +] + +[tool.pytest.ini_options] +testpaths = ["tests"] + [tool.setuptools] package-dir = {"" = "src"} @@ -20,5 +32,5 @@ where = ["src"] include = ["plugrl_protocol*"] [build-system] -requires = ["setuptools>=69", "wheel"] +requires = ["setuptools>=77", "wheel"] build-backend = "setuptools.build_meta" diff --git a/src/plugrl_protocol/base_agent.py b/src/plugrl_protocol/base_agent.py index aeee36d..3f95fca 100644 --- a/src/plugrl_protocol/base_agent.py +++ b/src/plugrl_protocol/base_agent.py @@ -7,4 +7,3 @@ "plugrl_protocol.base_agent has moved to 'plugrl-env-client'. " "Use 'plugrl_env_client.base_agent' and install plugrl-env-client." ) - diff --git a/src/plugrl_protocol/msgpack_numpy.py b/src/plugrl_protocol/msgpack_numpy.py index 007f755..37a03ca 100644 --- a/src/plugrl_protocol/msgpack_numpy.py +++ b/src/plugrl_protocol/msgpack_numpy.py @@ -1,5 +1,11 @@ """Adds NumPy array support to msgpack. +Taken from openpi (https://github.com/Physical-Intelligence/openpi), +Copyright 2024 Physical Intelligence, licensed under Apache-2.0, at +packages/openpi-client/src/openpi_client/msgpack_numpy.py. Reformatted +only; the wire format is deliberately identical so that PlugRL clients +and openpi clients speak the same bytes. + msgpack is good for (de)serializing data over a network for multiple reasons: - msgpack is secure (as opposed to pickle/dill/etc which allow for arbitrary code execution) - msgpack is widely used and has good cross-language support @@ -19,7 +25,11 @@ def pack_array(obj): - if (isinstance(obj, (np.ndarray, np.generic))) and obj.dtype.kind in ("V", "O", "c"): + if (isinstance(obj, (np.ndarray, np.generic))) and obj.dtype.kind in ( + "V", + "O", + "c", + ): raise ValueError(f"Unsupported dtype: {obj.dtype}") if isinstance(obj, np.ndarray): @@ -42,7 +52,9 @@ def pack_array(obj): def unpack_array(obj): if b"__ndarray__" in obj: - return np.ndarray(buffer=obj[b"data"], dtype=np.dtype(obj[b"dtype"]), shape=obj[b"shape"]) + return np.ndarray( + buffer=obj[b"data"], dtype=np.dtype(obj[b"dtype"]), shape=obj[b"shape"] + ) if b"__npgeneric__" in obj: return np.dtype(obj[b"dtype"]).type(obj[b"data"]) diff --git a/src/plugrl_protocol/websocket_env_client_agent.py b/src/plugrl_protocol/websocket_env_client_agent.py index a978c15..6b2a2c9 100644 --- a/src/plugrl_protocol/websocket_env_client_agent.py +++ b/src/plugrl_protocol/websocket_env_client_agent.py @@ -1,4 +1,4 @@ raise ImportError( "WebSocketEnvClientAgent has moved to 'plugrl-env-client'. " "Use 'plugrl_env_client.websocket_env_client_agent' and install plugrl-env-client." -) \ No newline at end of file +) diff --git a/tests/test_spec_conformance.py b/tests/test_spec_conformance.py new file mode 100644 index 0000000..4a9d8ca --- /dev/null +++ b/tests/test_spec_conformance.py @@ -0,0 +1,212 @@ +"""Executable clauses of SPEC.md. + +`test_wire_format.py` pins the handful of constants a reader can check by +eye. This file pins the claims in SPEC.md that a reader cannot: what the +bytes actually look like on the wire, and which shapes of data the codec +refuses. + +Every test here names the section of SPEC.md it enforces. If a test fails, +either the implementation changed and the specification is now a lie, or the +specification was wrong to begin with. Both are worth stopping for. +""" + +import msgpack +import numpy as np +import pytest + +from plugrl_protocol import msgpack_numpy + +NDARRAY_KEYS = {b"__ndarray__", b"data", b"dtype", b"shape"} + + +def on_the_wire(value): + """Pack through PlugRL, unpack with plain msgpack. + + Plain msgpack is the whole point: it is what a client with no numpy sees, + so anything this function returns is something a C++ or Rust client has + to be able to deal with. + """ + packed = msgpack_numpy.Packer().pack(value) + return msgpack.unpackb(packed, raw=False, strict_map_key=False) + + +class TestArrayEncoding: + """SPEC section 3.2 - the ndarray convention.""" + + def test_keys_are_binary_and_exactly_these_four(self): + """A decoder matching the *text* "__ndarray__" finds nothing.""" + wire = on_the_wire({"a": np.zeros((2, 3), dtype=np.float32)})["a"] + + assert set(wire) == NDARRAY_KEYS + assert all(isinstance(k, bytes) for k in wire) + assert "__ndarray__" not in wire + + def test_data_length_is_exactly_prod_shape_times_itemsize(self): + wire = on_the_wire({"a": np.zeros((2, 3, 4), dtype=np.float32)})["a"] + + assert list(wire[b"shape"]) == [2, 3, 4] + assert len(wire[b"data"]) == 2 * 3 * 4 * 4 + + def test_bytes_are_c_order_even_for_a_non_contiguous_view(self): + """A transposed view must ship transposed, not as its base buffer. + + This is the encoding bug a hand-written client is most likely to + introduce, by reaching for the underlying buffer instead of a + C-ordered copy. + """ + original = np.arange(6, dtype=np.uint8).reshape(2, 3).T + assert not original.flags["C_CONTIGUOUS"] + + wire = on_the_wire({"a": original})["a"] + + assert list(wire[b"shape"]) == [3, 2] + assert wire[b"data"] == bytes([0, 3, 1, 4, 2, 5]) + + def test_big_endian_arrays_declare_their_byte_order(self): + wire = on_the_wire({"a": np.arange(2, dtype=">f4")})["a"] + + assert wire[b"dtype"] == ">f4" + assert wire[b"data"][:4] == b"\x00\x00\x00\x00" + assert wire[b"data"][4:] == 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