/// <summary> /// Sends the academy parameters through the Communicator. /// Is used by the academy to send the AcademyParameters to the communicator. /// </summary> /// <returns>The External Initialization Parameters received.</returns> /// <param name="academyParameters">The Unity Initialization Parameters to be sent.</param> public CommunicatorObjects.UnityRLInitializationInput SendAcademyParameters( CommunicatorObjects.UnityRLInitializationOutput academyParameters) { CommunicatorObjects.UnityInput input; var initializationInput = new CommunicatorObjects.UnityInput(); try { initializationInput = m_communicator.Initialize( new CommunicatorObjects.UnityOutput { RlInitializationOutput = academyParameters }, out input); } catch { throw new UnityAgentsException( "The Communicator was unable to connect. Please make sure the External " + "process is ready to accept communication with Unity."); } var firstRlInput = input.RlInput; m_command = firstRlInput.Command; m_environmentParameters = firstRlInput.EnvironmentParameters; m_isTraining = firstRlInput.IsTraining; return(initializationInput.RlInitializationInput); }
/// <summary> /// Initializes the environment, configures it and initialized the Academy. /// </summary> private void InitializeEnvironment() { originalGravity = Physics.gravity; originalFixedDeltaTime = Time.fixedDeltaTime; originalMaximumDeltaTime = Time.maximumDeltaTime; InitializeAcademy(); Communicator communicator = null; var exposedBrains = broadcastHub.broadcastingBrains.Where(x => x != null).ToList();; var controlledBrains = broadcastHub.broadcastingBrains.Where( x => x != null && x is LearningBrain && broadcastHub.IsControlled(x)); foreach (LearningBrain brain in controlledBrains) { brain.SetToControlledExternally(); } // Try to launch the communicator by usig the arguments passed at launch try { communicator = new RPCCommunicator( new CommunicatorParameters { port = ReadArgs() }); } // If it fails, we check if there are any external brains in the scene // If there are : Launch the communicator on the default port // If there arn't, there is no need for a communicator and it is set // to null catch { communicator = null; if (controlledBrains.ToList().Count > 0) { communicator = new RPCCommunicator( new CommunicatorParameters { port = 5005 }); } } brainBatcher = new Batcher(communicator); foreach (var trainingBrain in exposedBrains) { trainingBrain.SetBatcher(brainBatcher); } if (communicator != null) { isCommunicatorOn = true; var academyParameters = new CommunicatorObjects.UnityRLInitializationOutput(); academyParameters.Name = gameObject.name; academyParameters.Version = kApiVersion; foreach (var brain in exposedBrains) { var bp = brain.brainParameters; academyParameters.BrainParameters.Add( bp.ToProto(brain.name, broadcastHub.IsControlled(brain))); } academyParameters.EnvironmentParameters = new CommunicatorObjects.EnvironmentParametersProto(); foreach (var key in resetParameters.Keys) { academyParameters.EnvironmentParameters.FloatParameters.Add( key, resetParameters[key] ); } var pythonParameters = brainBatcher.SendAcademyParameters(academyParameters); Random.InitState(pythonParameters.Seed); Application.logMessageReceived += HandleLog; logPath = Path.GetFullPath(".") + "/UnitySDK.log"; using (var fs = File.Open(logPath, FileMode.Append, FileAccess.Write, FileShare.ReadWrite)) { logWriter = new StreamWriter(fs); logWriter.WriteLine(System.DateTime.Now.ToString()); logWriter.WriteLine(" "); logWriter.Close(); } } // If a communicator is enabled/provided, then we assume we are in // training mode. In the absence of a communicator, we assume we are // in inference mode. isInference = !isCommunicatorOn; BrainDecideAction += () => { }; DestroyAction += () => { }; AgentSetStatus += (m, d, i) => { }; AgentResetIfDone += () => { }; AgentSendState += () => { }; AgentAct += () => { }; AgentForceReset += () => { }; // Configure the environment using the configurations provided by // the developer in the Editor. SetIsInference(!brainBatcher.GetIsTraining()); ConfigureEnvironment(); }