/// <summary>
/// Cleanup function
/// </summary>
protected virtual void OnDestroy()
{
Physics.gravity = originalGravity;
Time.fixedDeltaTime = originalFixedDeltaTime;
Time.maximumDeltaTime = originalMaximumDeltaTime;
broadcastHub.Clear();
broadcastHub = null;
agentSpawner = null;
// Signal to listeners that the academy is being destroyed now
DestroyAction();
}
/// <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)));
}
var pythonParameters = brainBatcher.SendAcademyParameters(academyParameters);
Random.InitState(pythonParameters.Seed);
Application.logMessageReceived += HandleLog;
logPath = Path.GetFullPath(".") + "/UnitySDK.log";
logWriter = new StreamWriter(logPath, false);
logWriter.WriteLine(System.DateTime.Now.ToString());
logWriter.WriteLine(" ");
logWriter.Close();
UpdateResetParameters();
if (playerMode && !externalInferenceMode)
{
broadcastHub.Clear();
isCommunicatorOn = false;
}
}
// 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();
AcademyStep();
}