a ij@sdZddlZddlZddlmZmZmZmZm Z m Z ddl m Z ddl m Z ddlmZddlmZddlmZeZeZe d ZGd d d Zeed d dZdS)z Tree API.N)AnyCallableIterableIteratorOptionalTypeVar)enp)etqdm)Arraybackend)Tree_Toutc@seZdZdZejdddZedefe e e edddZ d d d edefe e e e ee ed d dZe eeee edddZee ede eddddZdde eee ejdddZd S)TreeAPIzETree API, using either `jax.tree_utils`, `tf.nest` or `tree` backend.r cCs ||_dSNr )selfr rT/home/ghrups/robot-bench/.venv/lib/python3.9/site-packages/etils/etree/tree_utils.py__init__#szTreeAPI.__init__.)map_fntreesreturncGs|jj|g|RS)zSame as `tree.map_structure`. Args: map_fn: Worker function *trees: Nested input to pass to the `map_fn` Returns: The nested structure after `map_fn` has been applied. r map)rrrrrrr&sz TreeAPI.mapNF) num_threads progress_bar)rrrrrc Gstjj|d~}t|j|}|jj|g|R}|j|\}} tj |} |rdt j | t |d} | D]} | rh| qhWdn1s0Y|jdd|S)a_Same as `tree.map_structure` but apply `map_fn` in parallel. Args: map_fn: Worker function *trees: Nested input to pass to the `map_fn` num_threads: Number of workers (default to CPU count * 5) progress_bar: If True, display a progression bar. Returns: The nested structure after `map_fn` has been applied. ) max_workers)totalNcSs|Sr)result)frrr[z&TreeAPI.parallel_map..) concurrentfuturesZThreadPoolExecutor functoolspartialZsubmitr rflattenZ as_completedr Ztqdmlen exception) rrrrrexecutorZ launch_workerr#leaves_itrrrrr parallel_map6s (zTreeAPI.parallel_map)treerccs2|j|\}}t|D]}|j||VqdS)a\Unpack a tree of iterable. This is the reverse operation of `tree.map_structure(zip, *trees)` Example: ```python etree.unzip({'a': np.array([1, 2, 3])}) == [{'a': 1}, {'a': 2}, {'a': 3}] ``` Args: tree: The tree to unzip Yields: Trees of same structure than the input, but with individual elements. N)r r&zipZ unflatten)rr.r*ZtreedefZ leaf_elemsrrrunzip]s z TreeAPI.unzipz*sz n_trees *s)rrcCs|jjtg|RS)ahStack a tree of `Iterable[Array]`. Supports `jax`, `tf`, `np`. Example: ```python etree.stack([ {'a': np.array([1])}, {'a': np.array([2])}, {'a': np.array([3])}, ]) == { 'a': np.array([[1], [2], [3]]) } ``` Args: trees: The list of tree to stack Returns: Tree of arrays. )r r_stack)rrrrrstackrsz TreeAPI.stackT ignore_other)r.r4rcsfdd}|j||S)aInspect a tree of array, works with any array type. Example: ```python model = MyModel() variables = model.init(jax.random.PRNGKey(0), x) # Inspect the `variables` tree structures print(etree.spec_like(variables)) ``` Args: tree: The tree of array ignore_other: If `True`, non-array are forwarded as-is. Returns: The tree of `enp.ArraySpec`. cs8tj|s(r|Stdt|n tj|SdS)NzUnknown array type: )r ArraySpecZis_array TypeErrortypeZ from_array)arrayr3rr_to_spec_arrays  z)TreeAPI.spec_like.._to_spec_arrayr)rr.r4r9rr3r spec_likes zTreeAPI.spec_like)__name__ __module__ __qualname____doc__ backend_libBackendrrrr _Tinrrintboolr-r_Trr0r r2rr5r:rrrrr s2    '  r)arrsrcGstj|d}||S)zStack arrays together.r)rZlazyZget_xnpr2)rEZxnprrrr1sr1)r>concurrent.futuresr"r$typingrrrrrrZetilsrr Zetils.array_typesr Z etils.etreer r?Zetils.etree.typingr rDrArrr1rrrrs