def _load_envs()

in training/data.py [0:0]

• 64 lines of code
• 14 McCabe index (conditional complexity)

    def _load_envs(self, start_idx=-1, in_order=False):
        #self._clear_memory()
        if start_idx == -1:
            start_idx = self.env_set.index(self.pruned_env_set[-1]) + 1

        # Pick envs
        self.pruned_env_set = self._pick_envs_to_load(
            split=self.split,
            max_envs=self.max_threads_per_gpu,
            start_idx=start_idx,
            in_order=in_order)

        if len(self.pruned_env_set) == 0:
            return

        # Load api threads
        start = time.time()
        if len(self.api_threads) == 0:
            for i in range(self.max_threads_per_gpu):
                self.api_threads.append(
                    objrender.RenderAPIThread(
                        w=224, h=224, device=self.gpu_id))

        try:
            self.cfg = load_config('../House3D/tests/config.json')
        except:
            self.cfg = load_config('../../House3D/tests/config.json') #Sorry guys; this is so Lisa can run on her system; maybe we should make this an input somewhere?

        print('[%.02f] Loaded %d api threads' % (time.time() - start,
                                                 len(self.api_threads)))
        start = time.time()

        # Load houses
        from multiprocessing import Pool
        _args = ([h, self.cfg, self.map_resolution]
                 for h in self.pruned_env_set)
        with Pool(len(self.pruned_env_set)) as pool:
            self.all_houses = pool.starmap(local_create_house, _args)

        print('[%.02f] Loaded %d houses' % (time.time() - start,
                                            len(self.all_houses)))
        start = time.time()

        # Load envs
        self.env_loaded = {}
        for i in range(len(self.all_houses)):
            print('[%02d/%d][split:%s][gpu:%d][house:%s]' %
                  (i + 1, len(self.all_houses), self.split, self.gpu_id,
                   self.all_houses[i].house['id']))
            environment = Environment(self.api_threads[i], self.all_houses[i], self.cfg)
            self.env_loaded[self.all_houses[i].house['id']] = House3DUtils(
                environment,
                target_obj_conn_map_dir=self.target_obj_conn_map_dir,
                build_graph=False)

        # [TODO] Unused till now
        self.env_ptr = -1

        print('[%.02f] Loaded %d house3d envs' % (time.time() - start,
                                                  len(self.env_loaded)))

        # Mark available data indices
        self.available_idx = [
            i for i, v in enumerate(self.env_list) if v in self.env_loaded
        ]

        # [TODO] only keeping legit sequences
        # needed for things to play well with old data
        temp_available_idx = self.available_idx.copy()
        for i in range(len(temp_available_idx)):
            if self.action_lengths[temp_available_idx[i]] < 5:
                self.available_idx.remove(temp_available_idx[i])

        print('Available inds: %d' % len(self.available_idx))

        # Flag to check if loaded envs have been cycled through or not
        # [TODO] Unused till now
        self.all_envs_loaded = False