/// <summary>
/// Performs a single environment update of the Academy and Agent
/// objects within the environment.
/// </summary>
public void EnvironmentStep()
{
if (!m_HadFirstReset)
{
ForcedFullReset();
}
AgentPreStep?.Invoke(m_StepCount);
m_StepCount += 1;
m_TotalStepCount += 1;
AgentIncrementStep?.Invoke();
using (TimerStack.Instance.Scoped("AgentSendState"))
{
AgentSendState?.Invoke();
}
using (TimerStack.Instance.Scoped("DecideAction"))
{
DecideAction?.Invoke();
}
// If the communicator is not on, we need to clear the SideChannel sending queue
if (!IsCommunicatorOn)
{
SideChannelManager.GetSideChannelMessage();
}
using (TimerStack.Instance.Scoped("AgentAct"))
{
AgentAct?.Invoke();
}
}
public void TestRawBytesSideChannel()
{
var str1 = "Test string";
var str2 = "Test string, second";
var strSender = new RawBytesChannel(new Guid("9a5b8954-4f82-11ea-b238-784f4387d1f7"));
var strReceiver = new RawBytesChannel(new Guid("9a5b8954-4f82-11ea-b238-784f4387d1f7"));
var dictSender = new Dictionary <Guid, SideChannel> {
{ strSender.ChannelId, strSender }
};
var dictReceiver = new Dictionary <Guid, SideChannel> {
{ strReceiver.ChannelId, strReceiver }
};
strSender.SendRawBytes(Encoding.ASCII.GetBytes(str1));
strSender.SendRawBytes(Encoding.ASCII.GetBytes(str2));
byte[] fakeData = SideChannelManager.GetSideChannelMessage(dictSender);
SideChannelManager.ProcessSideChannelData(dictReceiver, fakeData);
var messages = strReceiver.GetAndClearReceivedMessages();
Assert.AreEqual(messages.Count, 2);
Assert.AreEqual(Encoding.ASCII.GetString(messages[0]), str1);
Assert.AreEqual(Encoding.ASCII.GetString(messages[1]), str2);
}
/// <summary>
/// Performs a single environment update of the Academy and Agent
/// objects within the environment.
/// </summary>
public void EnvironmentStep()
{
// Check whether we're already in the middle of a step.
// This shouldn't happen generally, but could happen if user code (e.g. CollectObservations)
// that is called by EnvironmentStep() also calls EnvironmentStep(). This would result
// in an infinite loop and/or stack overflow, so stop it before it happens.
if (m_IsStepping)
{
throw new UnityAgentsException(
"Academy.EnvironmentStep() called recursively. " +
"This might happen if you call EnvironmentStep() from custom code such as " +
"CollectObservations() or OnActionReceived()."
);
}
m_IsStepping = true;
try
{
if (!m_HadFirstReset)
{
ForcedFullReset();
}
AgentPreStep?.Invoke(m_StepCount);
m_StepCount += 1;
m_TotalStepCount += 1;
AgentIncrementStep?.Invoke();
using (TimerStack.Instance.Scoped("AgentSendState"))
{
AgentSendState?.Invoke();
}
using (TimerStack.Instance.Scoped("DecideAction"))
{
DecideAction?.Invoke();
}
// If the communicator is not on, we need to clear the SideChannel sending queue
if (!IsCommunicatorOn)
{
SideChannelManager.GetSideChannelMessage();
}
using (TimerStack.Instance.Scoped("AgentAct"))
{
AgentAct?.Invoke();
}
}
finally
{
// Reset m_IsStepping when we're done (or if an exception occurred).
m_IsStepping = false;
}
}
public void TestFloatPropertiesSideChannel()
{
var k1 = "gravity";
var k2 = "length";
int wasCalled = 0;
var propA = new FloatPropertiesChannel();
var propB = new FloatPropertiesChannel();
var dictReceiver = new Dictionary <Guid, SideChannel> {
{ propA.ChannelId, propA }
};
var dictSender = new Dictionary <Guid, SideChannel> {
{ propB.ChannelId, propB }
};
propA.RegisterCallback(k1, f => { wasCalled++; });
var tmp = propB.GetWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 3.0f);
propB.Set(k2, 1.0f);
tmp = propB.GetWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 1.0f);
byte[] fakeData = SideChannelManager.GetSideChannelMessage(dictSender);
SideChannelManager.ProcessSideChannelData(dictReceiver, fakeData);
tmp = propA.GetWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 1.0f);
Assert.AreEqual(wasCalled, 0);
propB.Set(k1, 1.0f);
Assert.AreEqual(wasCalled, 0);
fakeData = SideChannelManager.GetSideChannelMessage(dictSender);
SideChannelManager.ProcessSideChannelData(dictReceiver, fakeData);
Assert.AreEqual(wasCalled, 1);
var keysA = propA.Keys();
Assert.AreEqual(2, keysA.Count);
Assert.IsTrue(keysA.Contains(k1));
Assert.IsTrue(keysA.Contains(k2));
var keysB = propA.Keys();
Assert.AreEqual(2, keysB.Count);
Assert.IsTrue(keysB.Contains(k1));
Assert.IsTrue(keysB.Contains(k2));
}
public void TestIntegerSideChannel()
{
var intSender = new TestSideChannel();
var intReceiver = new TestSideChannel();
var dictSender = new Dictionary <Guid, SideChannel> {
{ intSender.ChannelId, intSender }
};
var dictReceiver = new Dictionary <Guid, SideChannel> {
{ intReceiver.ChannelId, intReceiver }
};
intSender.SendInt(4);
intSender.SendInt(5);
intSender.SendInt(6);
byte[] fakeData = SideChannelManager.GetSideChannelMessage(dictSender);
SideChannelManager.ProcessSideChannelData(dictReceiver, fakeData);
Assert.AreEqual(intReceiver.messagesReceived[0], 4);
Assert.AreEqual(intReceiver.messagesReceived[1], 5);
Assert.AreEqual(intReceiver.messagesReceived[2], 6);
}
/// <summary>
/// Helper method that sends the current UnityRLOutput, receives the next UnityInput and
/// Applies the appropriate AgentAction to the agents.
/// </summary>
void SendBatchedMessageHelper()
{
var message = new UnityOutputProto
{
RlOutput = m_CurrentUnityRlOutput,
};
var tempUnityRlInitializationOutput = GetTempUnityRlInitializationOutput();
if (tempUnityRlInitializationOutput != null)
{
message.RlInitializationOutput = tempUnityRlInitializationOutput;
}
byte[] messageAggregated = SideChannelManager.GetSideChannelMessage();
message.RlOutput.SideChannel = ByteString.CopyFrom(messageAggregated);
var input = Exchange(message);
UpdateSentActionSpec(tempUnityRlInitializationOutput);
foreach (var k in m_CurrentUnityRlOutput.AgentInfos.Keys)
{
m_CurrentUnityRlOutput.AgentInfos[k].Value.Clear();
}
var rlInput = input?.RlInput;
if (rlInput?.AgentActions == null)
{
return;
}
UpdateEnvironmentWithInput(rlInput);
foreach (var brainName in rlInput.AgentActions.Keys)
{
if (!m_OrderedAgentsRequestingDecisions[brainName].Any())
{
continue;
}
if (!rlInput.AgentActions[brainName].Value.Any())
{
continue;
}
var agentActions = rlInput.AgentActions[brainName].ToAgentActionList();
var numAgents = m_OrderedAgentsRequestingDecisions[brainName].Count;
for (var i = 0; i < numAgents; i++)
{
var agentAction = agentActions[i];
var agentId = m_OrderedAgentsRequestingDecisions[brainName][i];
if (m_LastActionsReceived[brainName].ContainsKey(agentId))
{
m_LastActionsReceived[brainName][agentId] = agentAction;
}
}
}
foreach (var brainName in m_OrderedAgentsRequestingDecisions.Keys)
{
m_OrderedAgentsRequestingDecisions[brainName].Clear();
}
}