/// <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 Paramters to be sent.</param>
public UnityRLInitializationInput SendAcademyParameters(
UnityRLInitializationOutput academyParameters)
{
UnityInput input;
var initializationInput = new UnityInput();
try
{
initializationInput = m_communicator.Initialize(
new 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>
/// Helper method that sends the curent UnityRLOutput, receives the next UnityInput and
/// Applies the appropriate AgentAction to the agents.
/// </summary>
void SendBatchedMessageHelper()
{
var input = m_communicator.Exchange(
new UnityOutput {
RlOutput = m_currentUnityRLOutput
});
m_messagesReceived += 1;
foreach (var k in m_currentUnityRLOutput.AgentInfos.Keys)
{
m_currentUnityRLOutput.AgentInfos[k].Value.Clear();
}
if (input == null)
{
m_command = CommandProto.Quit;
return;
}
var rlInput = input.RlInput;
if (rlInput == null)
{
m_command = CommandProto.Quit;
return;
}
m_command = rlInput.Command;
m_environmentParameters = rlInput.EnvironmentParameters;
m_isTraining = rlInput.IsTraining;
if (rlInput.AgentActions == null)
{
return;
}
foreach (var brainName in rlInput.AgentActions.Keys)
{
if (!m_currentAgents[brainName].Any())
{
continue;
}
if (!rlInput.AgentActions[brainName].Value.Any())
{
continue;
}
for (var i = 0; i < m_currentAgents[brainName].Count(); i++)
{
var agent = m_currentAgents[brainName][i];
var action = rlInput.AgentActions[brainName].Value[i];
agent.UpdateVectorAction(
action.VectorActions.ToArray());
agent.UpdateMemoriesAction(
action.Memories.ToList());
agent.UpdateTextAction(
action.TextActions);
}
}
}
/// <summary>
/// Convert an EnvironmnetParametersProto protobuf object to an EnvironmentResetParameters struct.
/// </summary>
/// <param name="epp">The instance of the EnvironmentParametersProto object.</param>
/// <returns>A new EnvironmentResetParameters struct.</returns>
public static EnvironmentResetParameters ToEnvironmentResetParameters(this EnvironmentParametersProto epp)
{
return(new EnvironmentResetParameters
{
resetParameters = epp.FloatParameters?.ToResetParameters(),
customResetParameters = epp.CustomResetParameters
});
}
