diff --git a/.gitignore b/.gitignore index ef1050e6..60f5f54c 100644 --- a/.gitignore +++ b/.gitignore @@ -147,3 +147,6 @@ docs/source/primaite-dependencies.rst # outputs src/primaite/outputs/ + +# benchmark session outputs +benchmark/output diff --git a/benchmark/config/benchmark_training_config.yaml b/benchmark/config/benchmark_training_config.yaml new file mode 100644 index 00000000..02b6377c --- /dev/null +++ b/benchmark/config/benchmark_training_config.yaml @@ -0,0 +1,164 @@ +# © Crown-owned copyright 2023, Defence Science and Technology Laboratory UK +# Training Config File + +# Sets which agent algorithm framework will be used. +# Options are: +# "SB3" (Stable Baselines3) +# "RLLIB" (Ray RLlib) +# "CUSTOM" (Custom Agent) +agent_framework: SB3 + +# Sets which deep learning framework will be used (by RLlib ONLY). +# Default is TF (Tensorflow). +# Options are: +# "TF" (Tensorflow) +# TF2 (Tensorflow 2.X) +# TORCH (PyTorch) +deep_learning_framework: TF2 + +# Sets which Agent class will be used. +# Options are: +# "A2C" (Advantage Actor Critic coupled with either SB3 or RLLIB agent_framework) +# "PPO" (Proximal Policy Optimization coupled with either SB3 or RLLIB agent_framework) +# "HARDCODED" (The HardCoded agents coupled with an ACL or NODE action_type) +# "DO_NOTHING" (The DoNothing agents coupled with an ACL or NODE action_type) +# "RANDOM" (primaite.agents.simple.RandomAgent) +# "DUMMY" (primaite.agents.simple.DummyAgent) +agent_identifier: PPO + +# Sets whether Red Agent POL and IER is randomised. +# Options are: +# True +# False +random_red_agent: False + +# The (integer) seed to be used in random number generation +# Default is None (null) +seed: null + +# Set whether the agent will be deterministic instead of stochastic +# Options are: +# True +# False +deterministic: False + +# Sets what view of the environment the deterministic hardcoded agent has. The default is BASIC. +# Options are: +# "BASIC" (The current observation space only) +# "FULL" (Full environment view with actions taken and reward feedback) +hard_coded_agent_view: FULL + +# Sets How the Action Space is defined: +# "NODE" +# "ACL" +# "ANY" node and acl actions +action_type: NODE + +# observation space +observation_space: + flatten: true + components: + - name: NODE_LINK_TABLE + - name: NODE_STATUSES + - name: LINK_TRAFFIC_LEVELS + +# Number of episodes for training to run per session +num_train_episodes: 500 + +# Number of time_steps for training per episode +num_train_steps: 256 + +# Number of episodes for evaluation to run per session +num_eval_episodes: 1 + +# Number of time_steps for evaluation per episode +num_eval_steps: 256 + +# Sets how often the agent will save a checkpoint (every n time episodes). +# Set to 0 if no checkpoints are required. Default is 10 +checkpoint_every_n_episodes: 0 + +# Time delay (milliseconds) between steps for CUSTOM agents. +time_delay: 5 + +# Type of session to be run. Options are: +# "TRAIN" (Trains an agent) +# "EVAL" (Evaluates an agent) +# "TRAIN_EVAL" (Trains then evaluates an agent) +session_type: TRAIN + +# Environment config values +# The high value for the observation space +observation_space_high_value: 1000000000 + +# The Stable Baselines3 learn/eval output verbosity level: +# Options are: +# "NONE" (No Output) +# "INFO" (Info Messages (such as devices and wrappers used)) +# "DEBUG" (All Messages) +sb3_output_verbose_level: NONE + +# Reward values +# Generic +all_ok: 0 +# Node Hardware State +off_should_be_on: -0.001 +off_should_be_resetting: -0.0005 +on_should_be_off: -0.0002 +on_should_be_resetting: -0.0005 +resetting_should_be_on: -0.0005 +resetting_should_be_off: -0.0002 +resetting: -0.0003 +# Node Software or Service State +good_should_be_patching: 0.0002 +good_should_be_compromised: 0.0005 +good_should_be_overwhelmed: 0.0005 +patching_should_be_good: -0.0005 +patching_should_be_compromised: 0.0002 +patching_should_be_overwhelmed: 0.0002 +patching: -0.0003 +compromised_should_be_good: -0.002 +compromised_should_be_patching: -0.002 +compromised_should_be_overwhelmed: -0.002 +compromised: -0.002 +overwhelmed_should_be_good: -0.002 +overwhelmed_should_be_patching: -0.002 +overwhelmed_should_be_compromised: -0.002 +overwhelmed: -0.002 +# Node File System State +good_should_be_repairing: 0.0002 +good_should_be_restoring: 0.0002 +good_should_be_corrupt: 0.0005 +good_should_be_destroyed: 0.001 +repairing_should_be_good: -0.0005 +repairing_should_be_restoring: 0.0002 +repairing_should_be_corrupt: 0.0002 +repairing_should_be_destroyed: 0.0000 +repairing: -0.0003 +restoring_should_be_good: -0.001 +restoring_should_be_repairing: -0.0002 +restoring_should_be_corrupt: 0.0001 +restoring_should_be_destroyed: 0.0002 +restoring: -0.0006 +corrupt_should_be_good: -0.001 +corrupt_should_be_repairing: -0.001 +corrupt_should_be_restoring: -0.001 +corrupt_should_be_destroyed: 0.0002 +corrupt: -0.001 +destroyed_should_be_good: -0.002 +destroyed_should_be_repairing: -0.002 +destroyed_should_be_restoring: -0.002 +destroyed_should_be_corrupt: -0.002 +destroyed: -0.002 +scanning: -0.0002 +# IER status +red_ier_running: -0.0005 +green_ier_blocked: -0.001 + +# Patching / Reset durations +os_patching_duration: 5 # The time taken to patch the OS +node_reset_duration: 5 # The time taken to reset a node (hardware) +service_patching_duration: 5 # The time taken to patch a service +file_system_repairing_limit: 5 # The time take to repair the file system +file_system_restoring_limit: 5 # The time take to restore the file system +file_system_scanning_limit: 5 # The time taken to scan the file system diff --git a/benchmark/primaite_benchmark.py b/benchmark/primaite_benchmark.py new file mode 100644 index 00000000..ead5723b --- /dev/null +++ b/benchmark/primaite_benchmark.py @@ -0,0 +1,449 @@ +# © Crown-owned copyright 2023, Defence Science and Technology Laboratory UK +import json +import platform +import shutil +import sys +from datetime import datetime +from pathlib import Path +from typing import Any, Dict, Final, Optional, Tuple, Union +from unittest.mock import patch + +import GPUtil +import plotly.graph_objects as go +import polars as pl +import psutil +import yaml +from plotly.graph_objs import Figure +from pylatex import Command, Document +from pylatex import Figure as LatexFigure +from pylatex import Section, Subsection, Tabular +from pylatex.utils import bold + +import primaite +from primaite.config.lay_down_config import data_manipulation_config_path +from primaite.data_viz.session_plots import get_plotly_config +from primaite.environment.primaite_env import Primaite +from primaite.primaite_session import PrimaiteSession + +_LOGGER = primaite.getLogger(__name__) + +_BENCHMARK_ROOT = Path(__file__).parent +_RESULTS_ROOT: Final[Path] = _BENCHMARK_ROOT / "results" +_RESULTS_ROOT.mkdir(exist_ok=True, parents=True) + +_OUTPUT_ROOT: Final[Path] = _BENCHMARK_ROOT / "output" +# Clear and recreate the output directory +if _OUTPUT_ROOT.exists(): + shutil.rmtree(_OUTPUT_ROOT) +_OUTPUT_ROOT.mkdir() + +_TRAINING_CONFIG_PATH = _BENCHMARK_ROOT / "config" / "benchmark_training_config.yaml" +_LAY_DOWN_CONFIG_PATH = data_manipulation_config_path() + + +def get_size(size_bytes: int): + """ + Scale bytes to its proper format. + + e.g: + 1253656 => '1.20MB' + 1253656678 => '1.17GB' + + : + """ + factor = 1024 + for unit in ["", "K", "M", "G", "T", "P"]: + if size_bytes < factor: + return f"{size_bytes:.2f}{unit}B" + size_bytes /= factor + + +def _get_system_info() -> Dict: + """Builds and returns a dict containing system info.""" + uname = platform.uname() + cpu_freq = psutil.cpu_freq() + virtual_mem = psutil.virtual_memory() + swap_mem = psutil.swap_memory() + gpus = GPUtil.getGPUs() + return { + "System": { + "OS": uname.system, + "OS Version": uname.version, + "Machine": uname.machine, + "Processor": uname.processor, + }, + "CPU": { + "Physical Cores": psutil.cpu_count(logical=False), + "Total Cores": psutil.cpu_count(logical=True), + "Max Frequency": f"{cpu_freq.max:.2f}Mhz", + }, + "Memory": {"Total": get_size(virtual_mem.total), "Swap Total": get_size(swap_mem.total)}, + "GPU": [{"Name": gpu.name, "Total Memory": f"{gpu.memoryTotal}MB"} for gpu in gpus], + } + + +def _build_benchmark_latex_report( + benchmark_metadata_dict: Dict, this_version_plot_path: Path, all_version_plot_path: Path +): + geometry_options = {"tmargin": "2.5cm", "rmargin": "2.5cm", "bmargin": "2.5cm", "lmargin": "2.5cm"} + data = benchmark_metadata_dict + primaite_version = data["primaite_version"] + + # Create a new document + doc = Document("report", geometry_options=geometry_options) + # Title + doc.preamble.append(Command("title", f"PrimAITE {primaite_version} Learning Benchmark")) + doc.preamble.append(Command("author", "PrimAITE Dev Team")) + doc.preamble.append(Command("date", datetime.now().date())) + doc.append(Command("maketitle")) + + sessions = data["total_sessions"] + episodes = data["training_config"]["num_train_episodes"] + steps = data["training_config"]["num_train_steps"] + + # Body + with doc.create(Section("Introduction")): + doc.append( + f"PrimAITE v{primaite_version} was benchmarked automatically upon release. Learning rate metrics " + f"were captured to be referenced during system-level testing and user acceptance testing (UAT)." + ) + doc.append( + f"\nThe benchmarking process consists of running {sessions} training session using the same " + f"training and lay down config files. Each session trains an agent for {episodes} episodes, " + f"with each episode consisting of {steps} steps." + ) + doc.append( + f"\nThe mean reward per episode from each session is captured. This is then used to calculate a " + f"combined average reward per episode from the {sessions} individual sessions for smoothing. " + f"Finally, a 25-widow rolling average of the combined average reward per session is calculated for " + f"further smoothing." + ) + + with doc.create(Section("System Information")): + with doc.create(Subsection("Python")): + with doc.create(Tabular("|l|l|")) as table: + table.add_hline() + table.add_row((bold("Version"), sys.version)) + table.add_hline() + for section, section_data in data["system_info"].items(): + if section_data: + with doc.create(Subsection(section)): + if isinstance(section_data, dict): + with doc.create(Tabular("|l|l|")) as table: + table.add_hline() + for key, value in section_data.items(): + table.add_row((bold(key), value)) + table.add_hline() + elif isinstance(section_data, list): + headers = section_data[0].keys() + tabs_str = "|".join(["l" for _ in range(len(headers))]) + tabs_str = f"|{tabs_str}|" + with doc.create(Tabular(tabs_str)) as table: + table.add_hline() + table.add_row([bold(h) for h in headers]) + table.add_hline() + for item in section_data: + table.add_row(item.values()) + table.add_hline() + + headers_map = { + "total_sessions": "Total Sessions", + "total_episodes": "Total Episodes", + "total_time_steps": "Total Steps", + "av_s_per_session": "Av Session Duration (s)", + "av_s_per_step": "Av Step Duration (s)", + "av_s_per_100_steps_10_nodes": "Av Duration per 100 Steps per 10 Nodes (s)", + } + with doc.create(Section("Stats")): + with doc.create(Subsection("Benchmark Results")): + with doc.create(Tabular("|l|l|")) as table: + table.add_hline() + for section, header in headers_map.items(): + if section.startswith("av_"): + table.add_row((bold(header), f"{data[section]:.4f}")) + else: + table.add_row((bold(header), data[section])) + table.add_hline() + + with doc.create(Section("Graphs")): + with doc.create(Subsection(f"PrimAITE {primaite_version} Learning Benchmark Plot")): + with doc.create(LatexFigure(position="h!")) as pic: + pic.add_image(str(this_version_plot_path)) + pic.add_caption(f"PrimAITE {primaite_version} Learning Benchmark Plot") + + with doc.create(Subsection("PrimAITE All Versions Learning Benchmark Plot")): + with doc.create(LatexFigure(position="h!")) as pic: + pic.add_image(str(all_version_plot_path)) + pic.add_caption("PrimAITE All Versions Learning Benchmark Plot") + + doc.generate_pdf(str(this_version_plot_path).replace(".png", ""), clean_tex=True) + + +class BenchmarkPrimaiteSession(PrimaiteSession): + """A benchmarking primaite session.""" + + def __init__( + self, + training_config_path: Union[str, Path], + lay_down_config_path: Union[str, Path], + ): + super().__init__(training_config_path, lay_down_config_path) + self.setup() + + @property + def env(self) -> Primaite: + """Direct access to the env for ease of testing.""" + return self._agent_session._env # noqa + + def __enter__(self): + return self + + def __exit__(self, type, value, tb): + shutil.rmtree(self.session_path) + _LOGGER.debug(f"Deleted benchmark session directory: {self.session_path}") + + def _learn_benchmark_durations(self) -> Tuple[float, float, float]: + """ + Calculate and return the learning benchmark durations. + + Calculates the: + - Total learning time in seconds + - Total learning time per time step in seconds + - Total learning time per 100 time steps per 10 nodes in seconds + + :return: The learning benchmark durations as a Tuple of three floats: + Tuple[total_s, s_per_step, s_per_100_steps_10_nodes]. + """ + data = self.metadata_file_as_dict() + start_dt = datetime.fromisoformat(data["start_datetime"]) + end_dt = datetime.fromisoformat(data["end_datetime"]) + delta = end_dt - start_dt + total_s = delta.total_seconds() + + total_steps = data["learning"]["total_time_steps"] + s_per_step = total_s / total_steps + + num_nodes = self.env.num_nodes + num_intervals = total_steps / 100 + av_interval_time = total_s / num_intervals + s_per_100_steps_10_nodes = av_interval_time / (num_nodes / 10) + + return total_s, s_per_step, s_per_100_steps_10_nodes + + def learn_metadata_dict(self) -> Dict[str, Any]: + """Metadata specific to the learning session.""" + total_s, s_per_step, s_per_100_steps_10_nodes = self._learn_benchmark_durations() + return { + "total_episodes": self.env.actual_episode_count, + "total_time_steps": self.env.total_step_count, + "total_s": total_s, + "s_per_step": s_per_step, + "s_per_100_steps_10_nodes": s_per_100_steps_10_nodes, + "av_reward_per_episode": self.learn_av_reward_per_episode_dict(), + } + + +def _get_benchmark_session_path(session_timestamp: datetime) -> Path: + return _OUTPUT_ROOT / session_timestamp.strftime("%Y-%m-%d_%H-%M-%S") + + +def _get_benchmark_primaite_session() -> BenchmarkPrimaiteSession: + with patch("primaite.agents.agent_abc.get_session_path", _get_benchmark_session_path) as mck: + mck.session_timestamp = datetime.now() + return BenchmarkPrimaiteSession(_TRAINING_CONFIG_PATH, _LAY_DOWN_CONFIG_PATH) + + +def _build_benchmark_results_dict(start_datetime: datetime, metadata_dict: Dict) -> dict: + n = len(metadata_dict) + with open(_TRAINING_CONFIG_PATH, "r") as file: + training_config_dict = yaml.safe_load(file) + with open(_LAY_DOWN_CONFIG_PATH, "r") as file: + lay_down_config_dict = yaml.safe_load(file) + averaged_data = { + "start_timestamp": start_datetime.isoformat(), + "end_datetime": datetime.now().isoformat(), + "primaite_version": primaite.__version__, + "system_info": _get_system_info(), + "total_sessions": n, + "total_episodes": sum(d["total_episodes"] for d in metadata_dict.values()), + "total_time_steps": sum(d["total_time_steps"] for d in metadata_dict.values()), + "av_s_per_session": sum(d["total_s"] for d in metadata_dict.values()) / n, + "av_s_per_step": sum(d["s_per_step"] for d in metadata_dict.values()) / n, + "av_s_per_100_steps_10_nodes": sum(d["s_per_100_steps_10_nodes"] for d in metadata_dict.values()) / n, + "combined_av_reward_per_episode": {}, + "session_av_reward_per_episode": {k: v["av_reward_per_episode"] for k, v in metadata_dict.items()}, + "training_config": training_config_dict, + "lay_down_config": lay_down_config_dict, + } + + episodes = metadata_dict[1]["av_reward_per_episode"].keys() + + for episode in episodes: + combined_av_reward = sum(metadata_dict[k]["av_reward_per_episode"][episode] for k in metadata_dict.keys()) / n + averaged_data["combined_av_reward_per_episode"][episode] = combined_av_reward + + return averaged_data + + +def _get_df_from_episode_av_reward_dict(data: Dict): + data: Dict = {"episode": data.keys(), "av_reward": data.values()} + + return ( + pl.from_dict(data) + .with_columns(rolling_mean=pl.col("av_reward").rolling_mean(window_size=25)) + .rename({"rolling_mean": "rolling_av_reward"}) + ) + + +def _plot_benchmark_metadata( + benchmark_metadata_dict: Dict, + title: Optional[str] = None, + subtitle: Optional[str] = None, +) -> Figure: + if title: + if subtitle: + title = f"{title}
{subtitle}" + else: + if subtitle: + title = subtitle + + config = get_plotly_config() + layout = go.Layout( + autosize=config["size"]["auto_size"], + width=config["size"]["width"], + height=config["size"]["height"], + ) + # Create the line graph with a colored line + fig = go.Figure(layout=layout) + fig.update_layout(template=config["template"]) + + for session, av_reward_dict in benchmark_metadata_dict["session_av_reward_per_episode"].items(): + df = _get_df_from_episode_av_reward_dict(av_reward_dict) + fig.add_trace( + go.Scatter( + x=df["episode"], + y=df["av_reward"], + mode="lines", + name=f"Session {session}", + opacity=0.25, + line={"color": "#a6a6a6"}, + ) + ) + + df = _get_df_from_episode_av_reward_dict(benchmark_metadata_dict["combined_av_reward_per_episode"]) + fig.add_trace( + go.Scatter( + x=df["episode"], y=df["av_reward"], mode="lines", name="Combined Session Av", line={"color": "#FF0000"} + ) + ) + + fig.add_trace( + go.Scatter( + x=df["episode"], + y=df["rolling_av_reward"], + mode="lines", + name="Rolling Av (Combined Session Av)", + line={"color": "#4CBB17"}, + ) + ) + + # Set the layout of the graph + fig.update_layout( + xaxis={ + "title": "Episode", + "type": "linear", + }, + yaxis={"title": "Average Reward"}, + title=title, + ) + + return fig + + +def _plot_all_benchmarks_combined_session_av(): + """ + Plot the Benchmark results for each released version of PrimAITE. + + Does this by iterating over the ``benchmark/results`` directory and + extracting the benchmark metadata json for each version that has been + benchmarked. The combined_av_reward_per_episode is extracted from each, + converted into a polars dataframe, and plotted as a scatter line in plotly. + """ + title = "PrimAITE Versions Learning Benchmark" + subtitle = "Rolling Av (Combined Session Av)" + if title: + if subtitle: + title = f"{title}
{subtitle}" + else: + if subtitle: + title = subtitle + config = get_plotly_config() + layout = go.Layout( + autosize=config["size"]["auto_size"], + width=config["size"]["width"], + height=config["size"]["height"], + ) + # Create the line graph with a colored line + fig = go.Figure(layout=layout) + fig.update_layout(template=config["template"]) + + for dir in _RESULTS_ROOT.iterdir(): + if dir.is_dir(): + metadata_file = dir / f"{dir.name}_benchmark_metadata.json" + with open(metadata_file, "r") as file: + metadata_dict = json.load(file) + df = _get_df_from_episode_av_reward_dict(metadata_dict["combined_av_reward_per_episode"]) + + fig.add_trace(go.Scatter(x=df["episode"], y=df["rolling_av_reward"], mode="lines", name=dir.name)) + + # Set the layout of the graph + fig.update_layout( + xaxis={ + "title": "Episode", + "type": "linear", + }, + yaxis={"title": "Average Reward"}, + title=title, + ) + fig["data"][0]["showlegend"] = True + + return fig + + +def run(): + """Run the PrimAITE benchmark.""" + start_datetime = datetime.now() + av_reward_per_episode_dicts = {} + for i in range(1, 11): + print(f"Starting Benchmark Session: {i}") + with _get_benchmark_primaite_session() as session: + session.learn() + av_reward_per_episode_dicts[i] = session.learn_metadata_dict() + + benchmark_metadata = _build_benchmark_results_dict( + start_datetime=start_datetime, metadata_dict=av_reward_per_episode_dicts + ) + v_str = f"v{primaite.__version__}" + + version_result_dir = _RESULTS_ROOT / v_str + if version_result_dir.exists(): + shutil.rmtree(version_result_dir) + version_result_dir.mkdir(exist_ok=True, parents=True) + + with open(version_result_dir / f"{v_str}_benchmark_metadata.json", "w") as file: + json.dump(benchmark_metadata, file, indent=4) + title = f"PrimAITE v{primaite.__version__.strip()} Learning Benchmark" + fig = _plot_benchmark_metadata(benchmark_metadata, title=title) + this_version_plot_path = version_result_dir / f"{title}.png" + fig.write_image(this_version_plot_path) + + fig = _plot_all_benchmarks_combined_session_av() + + all_version_plot_path = _RESULTS_ROOT / "PrimAITE Versions Learning Benchmark.png" + fig.write_image(all_version_plot_path) + + _build_benchmark_latex_report(benchmark_metadata, this_version_plot_path, all_version_plot_path) + + +if __name__ == "__main__": + run() diff --git a/benchmark/results/PrimAITE Versions Learning Benchmark.png b/benchmark/results/PrimAITE Versions Learning Benchmark.png new file mode 100644 index 00000000..5ccf70b4 Binary files /dev/null and b/benchmark/results/PrimAITE Versions Learning Benchmark.png differ diff --git a/benchmark/results/v2.0.0rc1/PrimAITE v2.0.0rc1 Learning Benchmark.pdf b/benchmark/results/v2.0.0rc1/PrimAITE v2.0.0rc1 Learning Benchmark.pdf new file mode 100644 index 00000000..9243ff13 Binary files /dev/null and b/benchmark/results/v2.0.0rc1/PrimAITE v2.0.0rc1 Learning Benchmark.pdf differ diff --git a/benchmark/results/v2.0.0rc1/PrimAITE v2.0.0rc1 Learning Benchmark.png b/benchmark/results/v2.0.0rc1/PrimAITE v2.0.0rc1 Learning Benchmark.png new file mode 100644 index 00000000..0230fb9f Binary files /dev/null and b/benchmark/results/v2.0.0rc1/PrimAITE v2.0.0rc1 Learning Benchmark.png differ diff --git a/benchmark/results/v2.0.0rc1/v2.0.0rc1_benchmark_metadata.json b/benchmark/results/v2.0.0rc1/v2.0.0rc1_benchmark_metadata.json new file mode 100644 index 00000000..058ce36e --- /dev/null +++ b/benchmark/results/v2.0.0rc1/v2.0.0rc1_benchmark_metadata.json @@ -0,0 +1,6351 @@ +{ + "start_timestamp": "2023-07-24T17:03:12.333313", + "end_datetime": "2023-07-24T19:36:59.897514", + "primaite_version": "2.0.0rc1", + "system_info": { + "System": { + "OS": "Windows", + "OS Version": "10.0.19045", + "Machine": "AMD64", + "Processor": "Intel64 Family 6 Model 142 Stepping 12, GenuineIntel" + }, + "CPU": { + "Physical Cores": 4, + "Total Cores": 8, + "Max Frequency": "2304.00Mhz" + }, + "Memory": { + "Total": "15.68GB", + "Swap Total": 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