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# Taken from https://github.com/allenai/ai2thor/blob/main/scripts/ai2thor-xorg
# Starts an x-server to support running Blender on a headless machine with
# dedicated NVIDIA GPUs
import argparse
#!/usr/bin/env python3
import os
import platform
import re
import shlex
import signal
import subprocess
import sys
import time
# Turning off automatic black formatting for this script as it breaks quotes.
# fmt: off
from typing import List
PID_FILE = "/var/run/ai2thor-xorg.pid"
CONFIG_FILE = "/tmp/ai2thor-xorg.conf"
DEFAULT_HEIGHT = 768
DEFAULT_WIDTH = 1024
def process_alive(pid):
"""
Use kill(0) to determine if pid is alive
:param pid: process id
:rtype: bool
"""
try:
os.kill(pid, 0)
except OSError:
return False
return True
def find_devices(excluded_device_ids):
devices = []
id_counter = 0
for r in pci_records():
if r.get("Vendor", "") == "NVIDIA Corporation" and r["Class"] in [
"VGA compatible controller",
"3D controller",
]:
bus_id = "PCI:" + ":".join(
map(lambda x: str(int(x, 16)), re.split(r"[:\.]", r["Slot"]))
)
if id_counter not in excluded_device_ids:
devices.append(bus_id)
id_counter += 1
if not devices:
print("Error: ai2thor-xorg requires at least one NVIDIA device")
sys.exit(1)
return devices
def active_display_bus_ids():
# this determines whether a monitor is connected to the GPU
# if one is, the following Option is added for the Screen "UseDisplayDevice" "None"
command = "nvidia-smi --query-gpu=pci.bus_id,display_active --format=csv,noheader"
active_bus_ids = set()
result = subprocess.run(command, shell=True, stdout=subprocess.PIPE)
if result.returncode == 0:
for line in result.stdout.decode().strip().split("\n"):
nvidia_bus_id, display_status = re.split(r",\s?", line.strip())
bus_id = "PCI:" + ":".join(
map(lambda x: str(int(x, 16)), re.split(r"[:\.]", nvidia_bus_id)[1:])
)
if display_status.lower() == "enabled":
active_bus_ids.add(bus_id)
return active_bus_ids
def pci_records():
records = []
command = shlex.split("lspci -vmm")
output = subprocess.check_output(command).decode()
for devices in output.strip().split("\n\n"):
record = {}
records.append(record)
for row in devices.split("\n"):
key, value = row.split("\t")
record[key.split(":")[0]] = value
return records
def read_pid():
if os.path.isfile(PID_FILE):
with open(PID_FILE) as f:
return int(f.read())
else:
return None
def start(display: str, excluded_device_ids: List[int], width: int, height: int):
pid = read_pid()
if pid and process_alive(pid):
print("Error: ai2thor-xorg is already running with pid: %s" % pid)
sys.exit(1)
with open(CONFIG_FILE, "w") as f:
f.write(generate_xorg_conf(excluded_device_ids, width=width, height=height))
log_file = "/var/log/ai2thor-xorg.%s.log" % display
error_log_file = "/var/log/ai2thor-xorg-error.%s.log" % display
command = shlex.split(
"Xorg -quiet -maxclients 1024 -noreset +extension GLX +extension RANDR +extension RENDER -logfile %s -config %s :%s"
% (log_file, CONFIG_FILE, display)
)
pid = None
with open(error_log_file, "w") as error_log_f:
proc = subprocess.Popen(command, stdin=subprocess.DEVNULL, stdout=subprocess.DEVNULL, stderr=error_log_f)
pid = proc.pid
try:
proc.wait(timeout=0.25)
except subprocess.TimeoutExpired:
pass
if pid and process_alive(pid):
with open(PID_FILE, "w") as f:
f.write(str(proc.pid))
else:
print("Error: error with command '%s'" % " ".join(command))
with open(error_log_file, "r") as f:
print(f.read())
def print_config(excluded_device_ids: List[int], width: int, height: int):
print(generate_xorg_conf(excluded_device_ids, width=width, height=height))
def stop():
pid = read_pid()
if pid and process_alive(pid):
os.kill(pid, signal.SIGTERM)
for i in range(10):
time.sleep(0.2)
if not process_alive(pid):
os.unlink(PID_FILE)
break
def generate_xorg_conf(
excluded_device_ids: List[int], width: int, height: int
):
devices = find_devices(excluded_device_ids)
active_display_devices = active_display_bus_ids()
xorg_conf = []
device_section = """
Section "Device"
Identifier "Device{device_id}"
Driver "nvidia"
VendorName "NVIDIA Corporation"
BusID "{bus_id}"
EndSection
"""
server_layout_section = """
Section "ServerLayout"
Identifier "Layout0"
{screen_records}
EndSection
"""
screen_section = """
Section "Screen"
Identifier "Screen{screen_id}"
Device "Device{device_id}"
DefaultDepth 24
Option "AllowEmptyInitialConfiguration" "True"
Option "Interactive" "False"
{extra_options}
SubSection "Display"
Depth 24
Virtual {width} {height}
EndSubSection
EndSection
"""
screen_records = []
for i, bus_id in enumerate(devices):
extra_options = ""
if bus_id in active_display_devices:
# See https://github.com/allenai/ai2thor/pull/990
# when a monitor is connected, this option must be used otherwise
# Xorg will fail to start
extra_options = 'Option "UseDisplayDevice" "None"'
xorg_conf.append(device_section.format(device_id=i, bus_id=bus_id))
xorg_conf.append(screen_section.format(device_id=i, screen_id=i, width=width, height=height, extra_options=extra_options))
screen_records.append(
'Screen {screen_id} "Screen{screen_id}" 0 0'.format(screen_id=i)
)
xorg_conf.append(
server_layout_section.format(screen_records="\n ".join(screen_records))
)
output = "\n".join(xorg_conf)
return output
# fmt: on
if __name__ == "__main__":
if os.geteuid() != 0:
path = os.path.abspath(__file__)
print("Executing ai2thor-xorg with sudo")
args = ["--", path] + sys.argv[1:]
os.execvp("sudo", args)
if platform.system() != "Linux":
print("Error: Can only run ai2thor-xorg on linux")
sys.exit(1)
parser = argparse.ArgumentParser()
parser.add_argument(
"--exclude-device",
help="exclude a specific GPU device",
action="append",
type=int,
default=[],
)
parser.add_argument(
"--width",
help="width of the screen to start (should be greater than the maximum"
f" width of any ai2thor instance you will start) [default: {DEFAULT_WIDTH}]",
type=int,
default=DEFAULT_WIDTH,
)
parser.add_argument(
"--height",
help="height of the screen to start (should be greater than the maximum"
f" height of any ai2thor instance you will start) [default: {DEFAULT_HEIGHT}]",
type=int,
default=DEFAULT_HEIGHT,
)
parser.add_argument(
"command",
help="command to be executed",
choices=["start", "stop", "print-config"],
)
parser.add_argument(
"display", help="display to be used", nargs="?", type=int, default=0
)
args = parser.parse_args()
if args.command == "start":
start(
display=args.display,
excluded_device_ids=args.exclude_device,
height=args.height,
width=args.width,
)
elif args.command == "stop":
stop()
elif args.command == "print-config":
print_config(
excluded_device_ids=args.exclude_device,
width=args.width,
height=args.height,
)
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