text: import datetime
  import os
  import pprint
  import time
  import threading
  import torch as th
  from types import SimpleNamespace as SN
  from utils.logging import Logger
  from utils.timehelper import time_left, time_str
  from os.path import dirname, abspath
  
  from learners import REGISTRY as le_REGISTRY
  from runners import REGISTRY as r_REGISTRY
  from controllers import REGISTRY as mac_REGISTRY
  from components.episode_buffer import ReplayBuffer
  from components.transforms import OneHot
  
  from smac.env import StarCraft2Env
  
  def get_agent_own_state_size(env_args):
      sc_env = StarCraft2Env(**env_args)
      # qatten parameter setting (only use in qatten)
      return  4 + sc_env.shield_bits_ally + sc_env.unit_type_bits
  
  def run(_run, _config, _log):
  
      # check args sanity
      _config = args_sanity_check(_config, _log)
  
      args = SN(**_config)
      args.device = "cuda" if args.use_cuda else "cpu"
  
      # setup loggers
      logger = Logger(_log)
  
      _log.info("Experiment Parameters:")
      experiment_params = pprint.pformat(_config,
                                         indent=4,
                                         width=1)
      _log.info("\n\n" + experiment_params + "\n")
  
      # configure tensorboard logger
      unique_token = "{}__{}".format(args.name, datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S"))
      args.unique_token = unique_token
      if args.use_tensorboard:
          tb_logs_direc = os.path.join(dirname(dirname(dirname(abspath(__file__)))), "results", "tb_logs")
          tb_exp_direc = os.path.join(tb_logs_direc, "{}").format(unique_token)
          logger.setup_tb(tb_exp_direc)
  
      # sacred is on by default
      logger.setup_sacred(_run)
  
      # Run and train
      run_sequential(args=args, logger=logger)
  
      # Clean up after finishing
      print("Exiting Main")
  
      print("Stopping all threads")
      for t in threading.enumerate():
          if t.name != "MainThread":
              print("Thread {} is alive! Is daemon: {}".format(t.name, t.daemon))
              t.join(timeout=1)
              print("Thread joined")
  
      print("Exiting script")
  
      # Making sure framework really exits
      os._exit(os.EX_OK)
  
  
  def evaluate_sequential(args, runner):
  
      for _ in range(args.test_nepisode):
          runner.run(test_mode=True)
  
      if args.save_replay:
          runner.save_replay()
  
      runner.close_env()
  
  def run_sequential(args, logger):
  
      # Init runner so we can get env info
      runner = r_REGISTRY[args.runner](args=args, logger=logger)
  
      # Set up schemes and groups here
      env_info = runner.get_env_info()
      args.n_agents = env_info["n_agents"]
      args.n_actions = env_info["n_actions"]
      args.state_shape = env_info["state_shape"]
      args.accumulated_episodes = getattr(args, "accumulated_episodes", None)
  
      if getattr(args, 'agent_own_state_size', False):
          args.agent_own_state_size = get_agent_own_state_size(args.env_args)
  
      # Default/Base scheme
      scheme = {
          "state": {"vshape": env_info["state_shape"]},
          "obs": {"vshape": env_info["obs_shape"], "group": "agents"},
          "actions": {"vshape": (1,), "group": "agents", "dtype": th.long},
          "avail_actions": {"vshape": (env_info["n_actions"],), "group": "agents", "dtype": th.int},
          "probs": {"vshape": (env_info["n_actions"],), "group": "agents", "dtype": th.float},
          "reward": {"vshape": (1,)},
          "terminated": {"vshape": (1,), "dtype": th.uint8},
      }
      groups = {
          "agents": args.n_agents
      }
      preprocess = {
          "actions": ("actions_onehot", [OneHot(out_dim=args.n_actions)])
      }
  
      buffer = ReplayBuffer(scheme, groups, args.buffer_size, env_info["episode_limit"] + 1,
                            preprocess=preprocess,
                            device="cpu" if args.buffer_cpu_only else args.device)
      # Setup multiagent controller here
      mac = mac_REGISTRY[args.mac](buffer.scheme, groups, args)
  
      # Give runner the scheme
      runner.setup(scheme=scheme, groups=groups, preprocess=preprocess, mac=mac)
  
      # Learner
      learner = le_REGISTRY[args.learner](mac, buffer.scheme, logger, args)
  
      if args.use_cuda:
          learner.cuda()
  
      if args.checkpoint_path != "":
  
          timesteps = []
          timestep_to_load = 0
  
          if not os.path.isdir(args.checkpoint_path):
              logger.console_logger.info("Checkpoint directiory {} doesn't exist".format(args.checkpoint_path))
              return
  
          # Go through all files in args.checkpoint_path
          for name in os.listdir(args.checkpoint_path):
              full_name = os.path.join(args.checkpoint_path, name)
              # Check if they are dirs the names of which are numbers
              if os.path.isdir(full_name) and name.isdigit():
                  timesteps.append(int(name))
  
          if args.load_step == 0:
              # choose the max timestep
              timestep_to_load = max(timesteps)
          else:
              # choose the timestep closest to load_step
              timestep_to_load = min(timesteps, key=lambda x: abs(x - args.load_step))
  
          model_path = os.path.join(args.checkpoint_path, str(timestep_to_load))
  
          logger.console_logger.info("Loading model from {}".format(model_path))
          learner.load_models(model_path)
          runner.t_env = timestep_to_load
  
          if args.evaluate or args.save_replay:
              evaluate_sequential(args, runner)
              return
  
      # start training
      episode = 0
      last_test_T = -args.test_interval - 1
      last_log_T = 0
      model_save_time = 0
  
      start_time = time.time()
      last_time = start_time
  
      logger.console_logger.info("Beginning training for {} timesteps".format(args.t_max))
  
      while runner.t_env <= args.t_max:
  
          # Run for a whole episode at a time
  
          with th.no_grad():
              episode_batch = runner.run(test_mode=False)
              buffer.insert_episode_batch(episode_batch)
  
          if buffer.can_sample(args.batch_size):
              next_episode = episode + args.batch_size_run
              if args.accumulated_episodes and next_episode % args.accumulated_episodes != 0:
                  continue
  
              episode_sample = buffer.sample(args.batch_size)
  
              # Truncate batch to only filled timesteps
              max_ep_t = episode_sample.max_t_filled()
              episode_sample = episode_sample[:, :max_ep_t]
  
              if episode_sample.device != args.device:
                  episode_sample.to(args.device)
  
              learner.train(episode_sample, runner.t_env, episode)
              del episode_sample
  
          # Execute test runs once in a while
          n_test_runs = max(1, args.test_nepisode // runner.batch_size)
          if (runner.t_env - last_test_T) / args.test_interval >= 1.0:
  
              logger.console_logger.info("t_env: {} / {}".format(runner.t_env, args.t_max))
              logger.console_logger.info("Estimated time left: {}. Time passed: {}".format(
                  time_left(last_time, last_test_T, runner.t_env, args.t_max), time_str(time.time() - start_time)))
              last_time = time.time()
  
              last_test_T = runner.t_env
              for _ in range(n_test_runs):
                  runner.run(test_mode=True)
  
          if args.save_model and (runner.t_env - model_save_time >= args.save_model_interval or model_save_time == 0):
              model_save_time = runner.t_env
              save_path = os.path.join(args.local_results_path, "models", args.unique_token, str(runner.t_env))
              #"results/models/{}".format(unique_token)
              os.makedirs(save_path, exist_ok=True)
              logger.console_logger.info("Saving models to {}".format(save_path))
  
              # learner should handle saving/loading -- delegate actor save/load to mac,
              # use appropriate filenames to do critics, optimizer states
              learner.save_models(save_path)
  
          episode += args.batch_size_run
  
          if (runner.t_env - last_log_T) >= args.log_interval:
              logger.log_stat("episode", episode, runner.t_env)
              logger.print_recent_stats()
              last_log_T = runner.t_env
  
      runner.close_env()
      logger.console_logger.info("Finished Training")
  
  
  def args_sanity_check(config, _log):
  
      # set CUDA flags
      # config["use_cuda"] = True # Use cuda whenever possible!
      if config["use_cuda"] and not th.cuda.is_available():
          config["use_cuda"] = False
          _log.warning("CUDA flag use_cuda was switched OFF automatically because no CUDA devices are available!")
  
      if config["test_nepisode"] < config["batch_size_run"]:
          config["test_nepisode"] = config["batch_size_run"]
      else:
          config["test_nepisode"] = (config["test_nepisode"]//config["batch_size_run"]) * config["batch_size_run"]
  
      return config
  