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   "interpreter": {
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 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import sys\n",
    "from pathlib import Path\n",
    "curr_path = str(Path().absolute())\n",
    "parent_path = str(Path().absolute().parent)\n",
    "sys.path.append(parent_path) # add current terminal path to sys.path"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "import gym\n",
    "import torch\n",
    "import datetime\n",
    "\n",
    "from SAC.env import NormalizedActions\n",
    "from SAC.agent import SAC\n",
    "from common.utils import save_results, make_dir\n",
    "from common.plot import plot_rewards\n",
    "\n",
    "curr_time = datetime.datetime.now().strftime(\"%Y%m%d-%H%M%S\") # obtain current time"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "class SACConfig:\n",
    "    def __init__(self) -> None:\n",
    "        self.algo = 'SAC'\n",
    "        self.env = 'Pendulum-v0'\n",
    "        self.result_path = curr_path+\"/outputs/\" +self.env+'/'+curr_time+'/results/'  # path to save results\n",
    "        self.model_path = curr_path+\"/outputs/\" +self.env+'/'+curr_time+'/models/'  # path to save models\n",
    "        self.train_eps = 300\n",
    "        self.train_steps = 500\n",
    "        self.eval_eps = 50\n",
    "        self.eval_steps = 500\n",
    "        self.gamma = 0.99\n",
    "        self.mean_lambda=1e-3\n",
    "        self.std_lambda=1e-3\n",
    "        self.z_lambda=0.0\n",
    "        self.soft_tau=1e-2\n",
    "        self.value_lr  = 3e-4\n",
    "        self.soft_q_lr = 3e-4\n",
    "        self.policy_lr = 3e-4\n",
    "        self.capacity = 1000000\n",
    "        self.hidden_dim = 256\n",
    "        self.batch_size  = 128\n",
    "        self.device=torch.device(\"cuda\" if torch.cuda.is_available() else \"cpu\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "def env_agent_config(cfg,seed=1):\n",
    "    env = NormalizedActions(gym.make(\"Pendulum-v0\"))\n",
    "    env.seed(seed)\n",
    "    action_dim = env.action_space.shape[0]\n",
    "    state_dim  = env.observation_space.shape[0]\n",
    "    agent = SAC(state_dim,action_dim,cfg)\n",
    "    return env,agent"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "def train(cfg,env,agent):\n",
    "    print('Start to train !')\n",
    "    print(f'Env: {cfg.env}, Algorithm: {cfg.algo}, Device: {cfg.device}')\n",
    "    rewards  = []\n",
    "    ma_rewards = [] # moveing average reward\n",
    "    for i_ep in range(cfg.train_eps):\n",
    "        state = env.reset()\n",
    "        ep_reward = 0\n",
    "        for i_step in range(cfg.train_steps):\n",
    "            action = agent.policy_net.get_action(state)\n",
    "            next_state, reward, done, _ = env.step(action)\n",
    "            agent.memory.push(state, action, reward, next_state, done)\n",
    "            agent.update()\n",
    "            state = next_state\n",
    "            ep_reward += reward\n",
    "            if done:\n",
    "                break\n",
    "        if (i_ep+1)%10==0:\n",
    "            print(f\"Episode:{i_ep+1}/{cfg.train_eps}, Reward:{ep_reward:.3f}\")\n",
    "        rewards.append(ep_reward)\n",
    "        if ma_rewards:\n",
    "            ma_rewards.append(0.9*ma_rewards[-1]+0.1*ep_reward)\n",
    "        else:\n",
    "            ma_rewards.append(ep_reward) \n",
    "    print('Complete training！')\n",
    "    return rewards, ma_rewards"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "def eval(cfg,env,agent):\n",
    "    print('Start to eval !')\n",
    "    print(f'Env: {cfg.env}, Algorithm: {cfg.algo}, Device: {cfg.device}')\n",
    "    rewards  = []\n",
    "    ma_rewards = [] # moveing average reward\n",
    "    for i_ep in range(cfg.eval_eps):\n",
    "        state = env.reset()\n",
    "        ep_reward = 0\n",
    "        for i_step in range(cfg.eval_steps):\n",
    "            action = agent.policy_net.get_action(state)\n",
    "            next_state, reward, done, _ = env.step(action)\n",
    "            state = next_state\n",
    "            ep_reward += reward\n",
    "            if done:\n",
    "                break\n",
    "        if (i_ep+1)%10==0:\n",
    "            print(f\"Episode:{i_ep+1}/{cfg.train_eps}, Reward:{ep_reward:.3f}\")\n",
    "        rewards.append(ep_reward)\n",
    "        if ma_rewards:\n",
    "            ma_rewards.append(0.9*ma_rewards[-1]+0.1*ep_reward)\n",
    "        else:\n",
    "            ma_rewards.append(ep_reward) \n",
    "    print('Complete evaling！')\n",
    "    return rewards, ma_rewards\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "if __name__ == \"__main__\":\n",
    "    cfg=SACConfig()\n",
    "    \n",
    "    # train\n",
    "    env,agent = env_agent_config(cfg,seed=1)\n",
    "    rewards, ma_rewards = train(cfg, env, agent)\n",
    "    make_dir(cfg.result_path, cfg.model_path)\n",
    "    agent.save(path=cfg.model_path)\n",
    "    save_results(rewards, ma_rewards, tag='train', path=cfg.result_path)\n",
    "    plot_rewards(rewards, ma_rewards, tag=\"train\",\n",
    "                 algo=cfg.algo, path=cfg.result_path)\n",
    "    # eval\n",
    "    env,agent = env_agent_config(cfg,seed=10)\n",
    "    agent.load(path=cfg.model_path)\n",
    "    rewards,ma_rewards = eval(cfg,env,agent)\n",
    "    save_results(rewards,ma_rewards,tag='eval',path=cfg.result_path)\n",
    "    plot_rewards(rewards,ma_rewards,tag=\"eval\",env=cfg.env,algo = cfg.algo,path=cfg.result_path)\n"
   ]
  }
 ]
}