/// <summary>
/// Performs a single environment update to the Academy, Brain and Agent
/// objects within the environment.
/// </summary>
void EnvironmentStep()
{
if (m_ModeSwitched)
{
ConfigureEnvironment();
m_ModeSwitched = false;
}
if ((m_IsCommunicatorOn) &&
(m_LastCommunicatorMessageNumber != m_BrainBatcher.GetNumberMessageReceived()))
{
m_LastCommunicatorMessageNumber = m_BrainBatcher.GetNumberMessageReceived();
if (m_BrainBatcher.GetCommand() ==
CommunicatorObjects.CommandProto.Reset)
{
UpdateResetParameters();
SetIsInference(!m_BrainBatcher.GetIsTraining());
ForcedFullReset();
}
if (m_BrainBatcher.GetCommand() ==
CommunicatorObjects.CommandProto.Quit)
{
#if UNITY_EDITOR
EditorApplication.isPlaying = false;
#endif
Application.Quit();
return;
}
}
else if (!m_FirstAcademyReset)
{
UpdateResetParameters();
ForcedFullReset();
}
AgentSetStatus(m_StepCount);
AgentResetIfDone();
AgentSendState();
BrainDecideAction();
AcademyStep();
AgentAct();
m_StepCount += 1;
m_TotalStepCount += 1;
}
/// <summary>
/// Performs a single environment update to the Academy, Brain and Agent
/// objects within the environment.
/// </summary>
void EnvironmentStep()
{
if (modeSwitched)
{
ConfigureEnvironment();
modeSwitched = false;
}
if ((isCommunicatorOn) &&
(lastCommunicatorMessageNumber != brainBatcher.GetNumberMessageReceived()))
{
lastCommunicatorMessageNumber = brainBatcher.GetNumberMessageReceived();
if (brainBatcher.GetCommand() ==
CommandProto.Reset)
{
// Update reset parameters.
var newResetParameters = brainBatcher.GetEnvironmentParameters();
if (newResetParameters != null)
{
foreach (var kv in newResetParameters.FloatParameters)
{
resetParameters[kv.Key] = kv.Value;
}
}
SetIsInference(!brainBatcher.GetIsTraining());
ForcedFullReset();
}
if (brainBatcher.GetCommand() ==
CommandProto.Quit)
{
#if UNITY_EDITOR
EditorApplication.isPlaying = false;
#endif
Application.Quit();
return;
}
}
else if (!firstAcademyReset)
{
ForcedFullReset();
}
if ((stepCount >= maxSteps) && maxSteps > 0)
{
maxStepReached = true;
Done();
}
AgentSetStatus(maxStepReached, done, stepCount);
brainBatcher.RegisterAcademyDoneFlag(done);
if (done)
{
EnvironmentReset();
}
AgentResetIfDone();
AgentSendState();
BrainDecideAction();
AcademyStep();
AgentAct();
stepCount += 1;
}
/// <summary>
/// Initializes the environment, configures it and initialized the Academy.
/// </summary>
private void InitializeEnvironment()
{
m_OriginalGravity = Physics.gravity;
m_OriginalFixedDeltaTime = Time.fixedDeltaTime;
m_OriginalMaximumDeltaTime = Time.maximumDeltaTime;
InitializeAcademy();
ICommunicator communicator;
var exposedBrains = broadcastHub.broadcastingBrains.Where(x => x != null).ToList();
var controlledBrains = broadcastHub.broadcastingBrains.Where(
x => x != null && x is LearningBrain && broadcastHub.IsControlled(x));
foreach (var brain1 in controlledBrains)
{
var brain = (LearningBrain)brain1;
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
});
}
}
m_BrainBatcher = new Batcher(communicator);
foreach (var trainingBrain in exposedBrains)
{
trainingBrain.SetBatcher(m_BrainBatcher);
}
if (communicator != null)
{
m_IsCommunicatorOn = true;
var academyParameters =
new CommunicatorObjects.UnityRLInitializationOutput();
academyParameters.Name = gameObject.name;
academyParameters.Version = k_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 = m_BrainBatcher.SendAcademyParameters(academyParameters);
Random.InitState(pythonParameters.Seed);
}
// 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.
m_IsInference = !m_IsCommunicatorOn;
BrainDecideAction += () => { };
DestroyAction += () => { };
AgentSetStatus += (i) => { };
AgentResetIfDone += () => { };
AgentSendState += () => { };
AgentAct += () => { };
AgentForceReset += () => { };
// Configure the environment using the configurations provided by
// the developer in the Editor.
SetIsInference(!m_BrainBatcher.GetIsTraining());
ConfigureEnvironment();
}
/// <summary>
/// Initializes the environment, configures it and initialized the Academy.
/// </summary>
private void InitializeEnvironment()
{
// Retrieve Brain and initialize Academy
var brains = GetBrains(gameObject);
InitializeAcademy();
Communicator communicator = null;
// 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;
var externalBrain = brains.FirstOrDefault(b => b.brainType == BrainType.External);
if (externalBrain != null)
{
communicator = new RPCCommunicator(
new CommunicatorParameters
{
port = 5005
});
}
}
brainBatcher = new Batcher(communicator);
// Initialize Brains and communicator (if present)
foreach (var brain in brains)
{
brain.InitializeBrain(this, brainBatcher);
}
if (communicator != null)
{
isCommunicatorOn = true;
var academyParameters =
new UnityRLInitializationOutput();
academyParameters.Name = gameObject.name;
academyParameters.Version = kApiVersion;
foreach (var brain in brains)
{
var bp = brain.brainParameters;
academyParameters.BrainParameters.Add(
Batcher.BrainParametersConvertor(
bp,
brain.gameObject.name,
(BrainTypeProto)
brain.brainType));
}
academyParameters.EnvironmentParameters =
new 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(".") + "/unity-environment.log";
logWriter = new StreamWriter(logPath, false);
logWriter.WriteLine(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 += () => { };
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();
}