Merge pull request #4 from Unity-Technologies/develop-minor-cleanups

Develop minor cleanups

Author: vincentpierre

Assets/ECSEnvironment.py

@@ -2,9 +2,9 @@
 import struct
 import numpy as np
 
+from python_communication import UnityCommunication
 from .brain import BrainInfo, BrainParameters
 
-
 class ECSEnvironment(object):
     VEC_SIZE = 8
     ACT_SIZE = 3
@@ -90,76 +90,6 @@ def external_brain_names(self):
 
 
 
-
-
-class UnityCommunication:
-    FILE_CAPACITY = 200000
-    NUMBER_AGENTS_POSITION = 0
-    SENSOR_SIZE_POSITION = 4
-    ACTUATOR_SIZE_POSITION = 8
-    UNITY_READY_POSITION = 12
-    SENSOR_DATA_POSITION = 13
-
-    PYTHON_READY_POSITION = 100000
-    ACTUATOR_DATA_POSITION = 100001
-
-    # FILE_NAME = "../../../ml-agents-ecs/Assets/shared_communication_file.txt"
-    FILE_NAME = "shared_communication_file.txt" # This is relative to where the script is called
-
-    def __init__(self):
-        with open(self.FILE_NAME, "r+b") as f:
-            # memory-map the file, size 0 means whole file
-            self.accessor = mmap.mmap(f.fileno(), 0)
-
-    def get_int(self, position : int) -> int:
-        return struct.unpack("i", self.accessor[position:position + 4])[0]
-
-    def read_sensor(self) -> np.ndarray:
-        sensor_size = self.get_int(self.SENSOR_SIZE_POSITION)
-        number_agents = self.get_int(self.NUMBER_AGENTS_POSITION)
-
-        sensor = np.frombuffer(
-            buffer=self.accessor[self.SENSOR_DATA_POSITION: self.SENSOR_DATA_POSITION + 4*sensor_size*number_agents],
-            dtype=np.float32,
-            count=sensor_size * number_agents,
-            offset=0
-        )
-        return np.reshape(sensor, (number_agents, sensor_size))
-
-    def get_parameters(self) -> (int, int, int):
-        return self.get_int(self.NUMBER_AGENTS_POSITION), \
-               self.get_int(self.SENSOR_SIZE_POSITION), \
-               self.get_int(self.ACTUATOR_SIZE_POSITION)
-
-    def write_actuator(self, actuator: np.ndarray):
-        actuator_size = self.get_int(self.ACTUATOR_SIZE_POSITION)
-        number_agents = self.get_int(self.NUMBER_AGENTS_POSITION)
-
-        # TODO : Support more types ?
-        if actuator.dtype != np.float32:
-            actuator = actuator.astype(np.float32)
-
-        try:
-            assert(actuator.shape == (number_agents, actuator_size))
-        except:
-            print("_________")
-            print(actuator.shape)
-            print((number_agents, actuator_size))
-
-        self.accessor[self.ACTUATOR_DATA_POSITION: self.ACTUATOR_DATA_POSITION + 4*actuator_size*number_agents] = \
-            actuator.tobytes()
-
-    def set_ready(self):
-        self.accessor[self.UNITY_READY_POSITION: self.UNITY_READY_POSITION+1] = bytearray(struct.pack("b", False))
-        self.accessor[self.PYTHON_READY_POSITION: self.PYTHON_READY_POSITION+1] = bytearray(struct.pack("b", True))
-
-    def unity_ready(self) -> bool:
-        return self.accessor[self.UNITY_READY_POSITION]
-
-    def close(self):
-        self.accessor.close()
-
-
 # if __name__ == "__main__":
 #     comm = UnityCommunication()
 #

Assets/ECS_MLAgents_v0/Example/SpaceMagic/Scripts/Manager.cs

@@ -12,7 +12,7 @@ namespace ECS_MLAgents_v0.Example.SpaceMagic.Scripts
     public class SpaceSystemA : AgentSystem<Position, Acceleration>{ }
     public class SpaceSystemB : AgentSystem<Position, Acceleration>{ }
     public class SpaceSystemC : AgentSystem<Position, Acceleration>{ }
-    
+
     /// <summary>
     /// Manager is responsible for instantiation the spheres and the IAgentSystem that will make
     /// them move.
@@ -32,20 +32,21 @@ public class SpaceSystemC : AgentSystem<Position, Acceleration>{ }
     ///
     ///     N : Give a Heuristic to the third IAgentSystem
     ///     M : Give a NNModel to the third IAgentSystem
-    /// 
+    ///
     /// </summary>
     public class Manager : MonoBehaviour
     {
         /// <summary>
-        /// The distance at which the spheres are instantiated from the center 
+        /// The distance at which the spheres are instantiated from the center
         /// </summary>
         public float maxDistance;
+        
         private EntityManager manager;
 
         private SpaceSystemA sA;
         private SpaceSystemB sB;
         private SpaceSystemC sC;
-        
+
         /// <summary>
         /// The sphere prefab
         /// </summary>
@@ -57,34 +58,34 @@ public class Manager : MonoBehaviour
         public NNModel modelA;
         public NNModel modelB;
         public NNModel modelC;
-        
-        
+
+
         void Start()
         {
             manager = World.Active.GetOrCreateManager<EntityManager>();
-            
 
-            sA=  World.Active.GetExistingManager<SpaceSystemA>(); 
+
+            sA=  World.Active.GetExistingManager<SpaceSystemA>();
             sB=  World.Active.GetExistingManager<SpaceSystemB>();
             sC=  World.Active.GetExistingManager<SpaceSystemC>();
-            
+
 //            sA.Enabled = false;
 //            sB.Enabled = false;
 //            sC.Enabled = false;
 
             sA.SetNewComponentGroup(typeof(SphereGroup));
             sB.SetNewComponentGroup(typeof(SphereGroup));
             sC.SetNewComponentGroup(typeof(SphereGroup));
-            
+
             sA.SetFilter<SphereGroup>(new SphereGroup{Group = 0});
             sB.SetFilter<SphereGroup>(new SphereGroup{Group = 1});
             sC.SetFilter<SphereGroup>(new SphereGroup{Group = 2});
 
             sA.Decision = new NNDecision<Position, Acceleration>(modelA);
             sB.Decision = new NNDecision<Position, Acceleration>(modelB);
             sC.Decision = new NNDecision<Position, Acceleration>(modelC);
-            
-            
+
+
             Spawn(1);
         }
 

Assets/ECS_MLAgents_v0/Example/SpaceWars/Scripts/Manager.cs

@@ -10,23 +10,25 @@
 
 namespace ECS_MLAgents_v0.Example.SpaceWars.Scripts
 {
-    
-    public class SmartShipSystem : AgentSystem<ShipSensor, Steering> {}
-    public class PlayerShipSystem : AgentSystem<ShipSensor, Steering> {}
+
+    public class SmartShipSystem : AgentSystem<ShipSensor, Steering> { }
+    public class PlayerShipSystem : AgentSystem<ShipSensor, Steering> { }
 
 
     public class Manager : MonoBehaviour
     {
-        
-        
         public float TargetAngle;
         public GameObject target;
         public GameObject Camera;
 
+        public enum DecisionSelector { NeuralNetwork, ExternalDecision };
+        public DecisionSelector shipDecisionSelector;
+        public DecisionSelector playerDecisionSelector;
+
         private EntityManager manager;
         public GameObject prefab;
-        
-        
+
+
         private SmartShipSystem _shipSystemA;
         private PlayerShipSystem _playerSystem;
 
@@ -39,43 +41,36 @@ public class Manager : MonoBehaviour
 
         void Start()
         {
-
-
-
-
-
-
-
-
-
-
-
-
-
-
             Time.captureFramerate = 60;
             QualitySettings.vSyncCount = 0;
             Application.targetFrameRate = -1;
-            
-
-            
             manager = World.Active.GetOrCreateManager<EntityManager>();
-
             _sensorSystem = World.Active.GetOrCreateManager<SensorPopulate>();
             _impactSystem = World.Active.GetOrCreateManager<ImpactSystem>();
             _impactSystem.Radius = 20;
 
             _shipSystemA = World.Active.GetExistingManager<SmartShipSystem>();
-            // _shipSystemA.Decision = new NNDecision<ShipSensor, Steering>(model);
-             _shipSystemA.Decision =new NNDecision<ShipSensor, Steering>(model);
-//            _shipSystemA.Decision = new ExternalDecision();
+            if (shipDecisionSelector == DecisionSelector.ExternalDecision)
+            {
+                _shipSystemA.Decision = new ExternalDecision<ShipSensor, Steering>();
+            }
+            else
+            {
+                _shipSystemA.Decision = new NNDecision<ShipSensor, Steering>(model);
+            }
             _playerSystem = World.Active.GetExistingManager<PlayerShipSystem>();
-            // _playerSystem.Decision = new NNDecision<ShipSensor, Steering>(model);
-            _playerSystem.Decision = new HumanDecision<ShipSensor>();
+            if (playerDecisionSelector == DecisionSelector.ExternalDecision)
+            {
+                _playerSystem.Decision = new HumanDecision<ShipSensor>();
+            }
+            else
+            {
+                _playerSystem.Decision = new NNDecision<ShipSensor, Steering>(model);
+            }
             _playerSystem.SetNewComponentGroup(typeof(PlayerFlag));
             _shipSystemA.DecisionRequester = new FixedTimeRequester(0.1f);
 
-            _playerEntity  = manager.Instantiate(prefab);
+            _playerEntity = manager.Instantiate(prefab);
             MakeSpaceShip(_playerEntity);
             manager.AddComponentData(_playerEntity, new PlayerFlag());
             manager.SetComponentData(_playerEntity, new Ship
@@ -85,36 +80,37 @@ void Start()
                 MaxReloadTime = 1f
             });
 
-            
+
             Spawn(10);
-            
-//            Debug.Log(typeof(ShipSensor).GetCustomAttributes(typeof(SerializableAttribute), true)[0]);
-AttributeUtility.GetSensorMetaData(typeof(ShipSensor));
+
+            //            Debug.Log(typeof(ShipSensor).GetCustomAttributes(typeof(SerializableAttribute), true)[0]);
+            AttributeUtility.GetSensorMetaData(typeof(ShipSensor));
         }
 
 
-        void FixedUpdate(){
+        void FixedUpdate()
+        {
             // World.Active.GetOrCreateManager<SimulationSystemGroup>();
         }
 
         void Update()
         {
 
-            
+
 
             // for (var i = 0; i < 10; i++){
             //     foreach(var behavior in World.Active.BehaviourManagers)
             //     {
             //      behavior.Update();
             //     }
             // }
-//            Debug.Log(Application.targetFrameRate);
+            //            Debug.Log(Application.targetFrameRate);
             float3 targetPos = 100 * new float3(math.cos(TargetAngle), 0, math.sin(TargetAngle));
             _sensorSystem.Center = targetPos;
             _impactSystem.Center = targetPos;
             target.transform.position = targetPos;
 
-            TargetAngle += Time.deltaTime/ 20f;
+            TargetAngle += Time.deltaTime / 20f;
             if (Input.GetKeyDown(KeyCode.A))
             {
                 Spawn(1);
@@ -133,8 +129,8 @@ void Update()
             var camPosition = manager.GetComponentData<Position>(_playerEntity).Value;
             var camRotation = manager.GetComponentData<Rotation>(_playerEntity).Value;
             camPosition += math.mul(camRotation, new float3(0, 0, 5));
-            Camera.transform.position = Vector3.Lerp(Camera.transform.position,camPosition,0.1f);
-            Camera.transform.rotation = Quaternion.Lerp(Camera.transform.rotation,camRotation,0.1f);
+            Camera.transform.position = Vector3.Lerp(Camera.transform.position, camPosition, 0.1f);
+            Camera.transform.rotation = Quaternion.Lerp(Camera.transform.rotation, camRotation, 0.1f);
 
         }
 
@@ -146,18 +142,19 @@ void Spawn(int amount)
             for (int i = 0; i < amount; i++)
             {
                 MakeSpaceShip(entities[i]);
-                
+
             }
             entities.Dispose();
         }
-        
-        private void MakeSpaceShip(Entity ent){
+
+        private void MakeSpaceShip(Entity ent)
+        {
             float valX = Random.Range(-1f, 1f);
             float valY = Random.Range(-1f, 1f);
             float valZ = Random.Range(-1f, 1f);
             float valD = Random.Range(0f, 1f);
-                
-                
+
+
 
             float3 SpawnOffset = valD *
                                  Globals.SPAWN_DISTANCE *
@@ -167,15 +164,15 @@ private void MakeSpaceShip(Entity ent){
             manager.SetComponentData(ent,
                 new Position
                 {
-                    Value = SpawnOffset 
+                    Value = SpawnOffset
                 });
             manager.SetComponentData(ent,
                 new Rotation
                 {
                     Value = quaternion.EulerXYZ(
                         math.normalize(new float3(
-                            Random.Range(-1f, 1f), 
-                            Random.Range(-1f, 1f), 
+                            Random.Range(-1f, 1f),
+                            Random.Range(-1f, 1f),
                             Random.Range(-1f, 1f)))
                     )
                 });
@@ -198,7 +195,7 @@ private void MakeSpaceShip(Entity ent){
         }
 
     }
-    
+
 
 }