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[HIL-SERL] Migrate threading to multiprocessing (#759)

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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This commit is contained in:
Eugene Mironov
2025-03-05 17:19:31 +07:00
committed by Michel Aractingi
parent 85fe8a3f4e
commit b6a2200983
14 changed files with 900 additions and 492 deletions
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lerobot/scripts/server/hilserl_pb2_grpc.py
+96 -10
View File
@@ -46,9 +46,19 @@ class LearnerServiceStub(object):
request_serializer=hilserl__pb2.Empty.SerializeToString,
response_deserializer=hilserl__pb2.Parameters.FromString,
_registered_method=True)
self.ReceiveTransitions = channel.stream_unary(
'/hil_serl.LearnerService/ReceiveTransitions',
request_serializer=hilserl__pb2.ActorInformation.SerializeToString,
self.SendTransitions = channel.stream_unary(
'/hil_serl.LearnerService/SendTransitions',
request_serializer=hilserl__pb2.Transition.SerializeToString,
response_deserializer=hilserl__pb2.Empty.FromString,
_registered_method=True)
self.SendInteractions = channel.stream_unary(
'/hil_serl.LearnerService/SendInteractions',
request_serializer=hilserl__pb2.InteractionMessage.SerializeToString,
response_deserializer=hilserl__pb2.Empty.FromString,
_registered_method=True)
self.Ready = channel.unary_unary(
'/hil_serl.LearnerService/Ready',
request_serializer=hilserl__pb2.Empty.SerializeToString,
response_deserializer=hilserl__pb2.Empty.FromString,
_registered_method=True)
@@ -71,7 +81,19 @@ class LearnerServiceServicer(object):
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def ReceiveTransitions(self, request_iterator, context):
def SendTransitions(self, request_iterator, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def SendInteractions(self, request_iterator, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def Ready(self, request, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
@@ -90,9 +112,19 @@ def add_LearnerServiceServicer_to_server(servicer, server):
request_deserializer=hilserl__pb2.Empty.FromString,
response_serializer=hilserl__pb2.Parameters.SerializeToString,
),
'ReceiveTransitions': grpc.stream_unary_rpc_method_handler(
servicer.ReceiveTransitions,
request_deserializer=hilserl__pb2.ActorInformation.FromString,
'SendTransitions': grpc.stream_unary_rpc_method_handler(
servicer.SendTransitions,
request_deserializer=hilserl__pb2.Transition.FromString,
response_serializer=hilserl__pb2.Empty.SerializeToString,
),
'SendInteractions': grpc.stream_unary_rpc_method_handler(
servicer.SendInteractions,
request_deserializer=hilserl__pb2.InteractionMessage.FromString,
response_serializer=hilserl__pb2.Empty.SerializeToString,
),
'Ready': grpc.unary_unary_rpc_method_handler(
servicer.Ready,
request_deserializer=hilserl__pb2.Empty.FromString,
response_serializer=hilserl__pb2.Empty.SerializeToString,
),
}
@@ -163,7 +195,7 @@ class LearnerService(object):
_registered_method=True)
@staticmethod
def ReceiveTransitions(request_iterator,
def SendTransitions(request_iterator,
target,
options=(),
channel_credentials=None,
@@ -176,8 +208,62 @@ class LearnerService(object):
return grpc.experimental.stream_unary(
request_iterator,
target,
'/hil_serl.LearnerService/ReceiveTransitions',
hilserl__pb2.ActorInformation.SerializeToString,
'/hil_serl.LearnerService/SendTransitions',
hilserl__pb2.Transition.SerializeToString,
hilserl__pb2.Empty.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)
@staticmethod
def SendInteractions(request_iterator,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.stream_unary(
request_iterator,
target,
'/hil_serl.LearnerService/SendInteractions',
hilserl__pb2.InteractionMessage.SerializeToString,
hilserl__pb2.Empty.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)
@staticmethod
def Ready(request,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.unary_unary(
request,
target,
'/hil_serl.LearnerService/Ready',
hilserl__pb2.Empty.SerializeToString,
hilserl__pb2.Empty.FromString,
options,
channel_credentials,