Minor changes

vincentpierre · vincentpierre · commit bdb69f10ab58 · 2020-03-16T14:42:58.000-07:00
diff --git a/Editor/MLAgentsWorldSpecsDrawer.cs b/Editor/MLAgentsWorldSpecsDrawer.cs
@@ -12,6 +12,7 @@ namespace Unity.AI.MLAgents.Editor
     internal static class SpecsPropertyNames
     {
         public const string k_Name = "Name";
+        public const string k_WorldProcessorType = "WorldProcessorType";
         public const string k_NumberAgents = "NumberAgents";
         public const string k_ActionType = "ActionType";
         public const string k_ObservationShapes = "ObservationShapes";
@@ -47,7 +48,7 @@ public override float GetPropertyHeight(SerializedProperty property, GUIContent
             var nbLines = 0;
             nbLines += GetHeightObservationShape(property);
             nbLines += GetHeightDiscreteAction(property);
-            nbLines += 7; // TODO : COMPUTE
+            nbLines += 8; // TODO : COMPUTE
             m_TotalHeight = k_LineHeight * nbLines + k_WarningLineHeight * GetHeightWarnings(property);
 
             return m_TotalHeight + 6f;
@@ -76,6 +77,12 @@ public override void OnGUI(Rect position, SerializedProperty property, GUIConten
                 new GUIContent("World Name", "The name of the World"));
             position.y += k_LineHeight;
 
+            // WorldProcessorType
+            EditorGUI.PropertyField(position,
+                property.FindPropertyRelative(SpecsPropertyNames.k_WorldProcessorType),
+                new GUIContent("Processor Type", "The Policy for the World"));
+            position.y += k_LineHeight;
+
             // Number of Agents
             EditorGUI.PropertyField(position,
                 property.FindPropertyRelative(SpecsPropertyNames.k_NumberAgents),
diff --git a/Runtime/Academy.cs b/Runtime/Academy.cs
@@ -171,7 +171,7 @@ internal void UpdateWorld(MLAgentsWorld world)
                 throw new MLAgentsException("TODO : Null processor");
             }
 
-            var command = RemoteCommand.DEFAULT;
+            var command = WorldCommand.DEFAULT;
 
             if (com != null && processor.IsConnected)
             {
@@ -185,7 +185,7 @@ internal void UpdateWorld(MLAgentsWorld world)
                     SideChannelUtils.ProcessSideChannelData(m_SideChannels, com.ReadAndClearSideChannelData());
                     FirstMessageReceived = true;
                 }
-                if (command == RemoteCommand.DEFAULT)
+                if (command == WorldCommand.DEFAULT)
                 {
                     com.WriteSideChannelData(SideChannelUtils.GetSideChannelMessage(m_SideChannels));
                     command = processor.ProcessWorld();
@@ -203,15 +203,15 @@ internal void UpdateWorld(MLAgentsWorld world)
             }
             switch (command)
             {
-                case RemoteCommand.RESET:
-                    Debug.Log("RESET");
+                case WorldCommand.RESET:
                     World.DefaultGameObjectInjectionWorld.EntityManager.CompleteAllJobs(); // This is problematic because it completes only for the active world
                     ResetAllWorlds();
                     OnEnvironmentReset?.Invoke();
                     // TODO : RESET logic
                     break;
 
-                case RemoteCommand.CLOSE:
+                case WorldCommand.CLOSE:
+                    Debug.LogError("Communication was closed.");
 #if UNITY_EDITOR
                     EditorApplication.isPlaying = false;
 #else
@@ -220,7 +220,7 @@ internal void UpdateWorld(MLAgentsWorld world)
                     com = null;
                     break;
 
-                case RemoteCommand.DEFAULT:
+                case WorldCommand.DEFAULT:
                     break;
 
                 default:
diff --git a/Runtime/Remote/RemoteCommand.cs b/Runtime/Remote/RemoteCommand.cs
@@ -1,10 +1,17 @@
 namespace Unity.AI.MLAgents
 {
-    public enum RemoteCommand : sbyte
+    internal enum RemoteCommand : sbyte
     {
         DEFAULT = 0,
         RESET = 1,
         CHANGE_FILE = 2,
         CLOSE = 3
     }
+
+    public enum WorldCommand
+    {
+        DEFAULT,
+        RESET,
+        CLOSE
+    }
 }
diff --git a/Runtime/Remote/SharedMemoryCom.cs b/Runtime/Remote/SharedMemoryCom.cs
@@ -468,34 +468,33 @@ public void SetUnityReady()
                 accessor.Write(k_CommandOffset, (sbyte)RemoteCommand.DEFAULT);
                 accessor.Write(k_MutexOffset, false);
             }
-            else
-            {
-                throw new MLAgentsException("Communication has stopped.");
-            }
         }
 
-        public RemoteCommand Advance()
+        public WorldCommand Advance()
         {
+            if (!accessor.CanWrite)
+            {
+                return WorldCommand.CLOSE;
+            }
             var pythonAlive = WaitOnPython();
             RemoteCommand commandReceived = (RemoteCommand)accessor.ReadSByte(k_CommandOffset);
             if (!pythonAlive)
             {
-                // commandReceived = RemoteCommand.CLOSE;
-                return RemoteCommand.CLOSE;
+                return WorldCommand.CLOSE;
             }
 
             switch (commandReceived)
             {
                 case RemoteCommand.RESET:
-                    return commandReceived;
+                    return WorldCommand.RESET;
                 case RemoteCommand.CLOSE:
                     OnCloseCommand();
-                    return commandReceived;
+                    return WorldCommand.CLOSE;
                 case RemoteCommand.CHANGE_FILE:
                     OnChangeFileCommand();
                     return Advance();
                 default:
-                    return commandReceived;
+                    return WorldCommand.DEFAULT;
             }
         }
 
diff --git a/Runtime/SideChannels/EngineConfigurationChannel.cs b/Runtime/SideChannels/EngineConfigurationChannel.cs
@@ -36,11 +36,11 @@ public override void OnMessageReceived(byte[] data)
 
                     var simGroup = World.DefaultGameObjectInjectionWorld.GetOrCreateSystem<SimulationSystemGroup>();
 
-// #if UNITY_EDITOR
-//                     FixedRateUtils.EnableFixedRateSimple(simGroup, 1 / 60f);
-// #else
+#if UNITY_EDITOR
+                    TimeUtils.EnableFixedRateWithCatchUp(simGroup, 1 / 60f, 1f);
+#else
                     TimeUtils.EnableFixedRateWithCatchUp(simGroup, 1 / 60f, timeScale);
-// #endif
+#endif
                 }
             }
         }
diff --git a/Runtime/UI/MLAgentsWorldSpecs.cs b/Runtime/UI/MLAgentsWorldSpecs.cs
@@ -6,19 +6,28 @@
 
 namespace Unity.AI.MLAgents
 {
+    internal enum WorldProcessorType
+    {
+        Default,
+        InferenceOnly,
+        None
+    }
+
     [Serializable]
     public struct MLAgentsWorldSpecs
     {
         [SerializeField] internal string Name;
 
-        [SerializeField] public int NumberAgents;
-        [SerializeField] public ActionType ActionType;
-        [SerializeField] public int3[] ObservationShapes;
-        [SerializeField] public int ActionSize;
-        [SerializeField] public int[] DiscreteActionBranches;
+        [SerializeField] internal WorldProcessorType WorldProcessorType;
+
+        [SerializeField] internal int NumberAgents;
+        [SerializeField] internal ActionType ActionType;
+        [SerializeField] internal int3[] ObservationShapes;
+        [SerializeField] internal int ActionSize;
+        [SerializeField] internal int[] DiscreteActionBranches;
 
-        [SerializeField] public NNModel Model;
-        [SerializeField] public InferenceDevice InferenceDevice;
+        [SerializeField] internal NNModel Model;
+        [SerializeField] internal InferenceDevice InferenceDevice;
 
         private MLAgentsWorld m_World;
 
@@ -35,7 +44,25 @@ public MLAgentsWorld GetWorld()
                 ActionSize,
                 DiscreteActionBranches
             );
-            m_World.RegisterWorldWithBarracudaModel(Name, Model, InferenceDevice);
+            switch (WorldProcessorType)
+            {
+                case WorldProcessorType.Default:
+                    m_World.RegisterWorldWithBarracudaModel(Name, Model, InferenceDevice);
+                    break;
+                case WorldProcessorType.InferenceOnly:
+                    if (Model == null)
+                    {
+                        throw new MLAgentsException($"No model specified for {Name}");
+                    }
+                    m_World.RegisterWorldWithBarracudaModelForceNoCommunication(Name, Model, InferenceDevice);
+                    break;
+                case WorldProcessorType.None:
+                    Academy.Instance.RegisterWorld(Name, m_World, new NullWorldProcessor(m_World), false);
+                    break;
+                default:
+                    throw new MLAgentsException($"Unknown WorldProcessor Type");
+            }
+
             return m_World;
         }
     }
diff --git a/Runtime/WorldProcessor/BarracudaWorldProcessor.cs b/Runtime/WorldProcessor/BarracudaWorldProcessor.cs
@@ -31,7 +31,7 @@ public static void RegisterWorldWithBarracudaModel(
             }
         }
 
-        public static void RegisterWorldWithBarracudaModelForceNoCommunication<TH>(
+        public static void RegisterWorldWithBarracudaModelForceNoCommunication(
             this MLAgentsWorld world,
             string policyId,
             NNModel model,
@@ -76,7 +76,7 @@ internal BarracudaWorldProcessor(MLAgentsWorld world, NNModel model, InferenceDe
                 executionDevice, _barracudaModel, _verbose);
         }
 
-        public RemoteCommand ProcessWorld()
+        public WorldCommand ProcessWorld()
         {
             // FOR VECTOR OBS ONLY
             // For Continuous control only
@@ -136,7 +136,7 @@ public RemoteCommand ProcessWorld()
             }
             actuatorT.Dispose();
 
-            return RemoteCommand.DEFAULT;
+            return WorldCommand.DEFAULT;
         }
 
         public void Dispose()
diff --git a/Runtime/WorldProcessor/HeuristicWorldProcessor.cs b/Runtime/WorldProcessor/HeuristicWorldProcessor.cs
@@ -47,7 +47,7 @@ internal HeuristicWorldProcessor(MLAgentsWorld world, Func<T> heuristic)
             }
         }
 
-        public RemoteCommand ProcessWorld()
+        public WorldCommand ProcessWorld()
         {
             T action = heuristic.Invoke();
             var totalCount = world.AgentCounter.Count;
@@ -69,7 +69,7 @@ public RemoteCommand ProcessWorld()
                     s[i] = action;
                 }
             }
-            return RemoteCommand.DEFAULT;
+            return WorldCommand.DEFAULT;
         }
 
         public void Dispose()
diff --git a/Runtime/WorldProcessor/IWorldProcessor.cs b/Runtime/WorldProcessor/IWorldProcessor.cs
@@ -8,6 +8,6 @@ namespace Unity.AI.MLAgents
     public interface IWorldProcessor : IDisposable
     {
         bool IsConnected {get;}
-        RemoteCommand ProcessWorld();
+        WorldCommand ProcessWorld();
     }
 }
diff --git a/Runtime/WorldProcessor/NullWorldProcessor.cs b/Runtime/WorldProcessor/NullWorldProcessor.cs
@@ -16,9 +16,9 @@ internal NullWorldProcessor(MLAgentsWorld world)
             this.world = world;
         }
 
-        public RemoteCommand ProcessWorld()
+        public WorldCommand ProcessWorld()
         {
-            return RemoteCommand.DEFAULT;
+            return WorldCommand.DEFAULT;
         }
 
         public void Dispose()
diff --git a/Runtime/WorldProcessor/RemoteWorldProcessor.cs b/Runtime/WorldProcessor/RemoteWorldProcessor.cs
@@ -20,7 +20,7 @@ internal RemoteWorldProcessor(MLAgentsWorld world, string policyId, SharedMemory
             this.policyId = policyId;
         }
 
-        public RemoteCommand ProcessWorld()
+        public WorldCommand ProcessWorld()
         {
             com.WriteWorld(policyId, world);
             com.SetUnityReady();
diff --git a/Samples~/3DBall/TFModels/Sample_Ball_DOTS.nn b/Samples~/3DBall/TFModels/Sample_Ball_DOTS.nn

Original file line number	Diff line number	Diff line change
`@@ -1,10 +1,17 @@`
`1`	`1`	`namespace Unity.AI.MLAgents`
`2`	`2`	`{`
`3`		`- public enum RemoteCommand : sbyte`
	`3`	`+ internal enum RemoteCommand : sbyte`
`4`	`4`	`{`
`5`	`5`	`DEFAULT = 0,`
`6`	`6`	`RESET = 1,`
`7`	`7`	`CHANGE_FILE = 2,`
`8`	`8`	`CLOSE = 3`
`9`	`9`	`}`
	`10`	`+`
	`11`	`+ public enum WorldCommand`
	`12`	`+ {`
	`13`	`+ DEFAULT,`
	`14`	`+ RESET,`
	`15`	`+ CLOSE`
	`16`	`+ }`
`10`	`17`	`}`
Original file line number	Diff line number	Diff line change
`@@ -468,34 +468,33 @@ public void SetUnityReady()`
`468`	`468`	`accessor.Write(k_CommandOffset, (sbyte)RemoteCommand.DEFAULT);`
`469`	`469`	`accessor.Write(k_MutexOffset, false);`
`470`	`470`	`}`
`471`		`- else`
`472`		`- {`
`473`		`- throw new MLAgentsException("Communication has stopped.");`
`474`		`- }`
`475`	`471`	`}`
`476`	`472`
`477`		`- public RemoteCommand Advance()`
	`473`	`+ public WorldCommand Advance()`
`478`	`474`	`{`
	`475`	`+ if (!accessor.CanWrite)`
	`476`	`+ {`
	`477`	`+ return WorldCommand.CLOSE;`
	`478`	`+ }`
`479`	`479`	`var pythonAlive = WaitOnPython();`
`480`	`480`	`RemoteCommand commandReceived = (RemoteCommand)accessor.ReadSByte(k_CommandOffset);`
`481`	`481`	`if (!pythonAlive)`
`482`	`482`	`{`
`483`		`- // commandReceived = RemoteCommand.CLOSE;`
`484`		`- return RemoteCommand.CLOSE;`
	`483`	`+ return WorldCommand.CLOSE;`
`485`	`484`	`}`
`486`	`485`
`487`	`486`	`switch (commandReceived)`
`488`	`487`	`{`
`489`	`488`	`case RemoteCommand.RESET:`
`490`		`- return commandReceived;`
	`489`	`+ return WorldCommand.RESET;`
`491`	`490`	`case RemoteCommand.CLOSE:`
`492`	`491`	`OnCloseCommand();`
`493`		`- return commandReceived;`
	`492`	`+ return WorldCommand.CLOSE;`
`494`	`493`	`case RemoteCommand.CHANGE_FILE:`
`495`	`494`	`OnChangeFileCommand();`
`496`	`495`	`return Advance();`
`497`	`496`	`default:`
`498`		`- return commandReceived;`
	`497`	`+ return WorldCommand.DEFAULT;`
`499`	`498`	`}`
`500`	`499`	`}`
`501`	`500`
Original file line number	Diff line number	Diff line change
`@@ -36,11 +36,11 @@ public override void OnMessageReceived(byte[] data)`
`36`	`36`
`37`	`37`	`var simGroup = World.DefaultGameObjectInjectionWorld.GetOrCreateSystem<SimulationSystemGroup>();`
`38`	`38`
`39`		`-// #if UNITY_EDITOR`
`40`		`-// FixedRateUtils.EnableFixedRateSimple(simGroup, 1 / 60f);`
`41`		`-// #else`
	`39`	`+#if UNITY_EDITOR`
	`40`	`+ TimeUtils.EnableFixedRateWithCatchUp(simGroup, 1 / 60f, 1f);`
	`41`	`+#else`
`42`	`42`	`TimeUtils.EnableFixedRateWithCatchUp(simGroup, 1 / 60f, timeScale);`
`43`		`-// #endif`
	`43`	`+#endif`
`44`	`44`	`}`
`45`	`45`	`}`
`46`	`46`	`}`
Original file line number	Diff line number	Diff line change
`@@ -31,7 +31,7 @@ public static void RegisterWorldWithBarracudaModel(`
`31`	`31`	`}`
`32`	`32`	`}`
`33`	`33`
`34`		`- public static void RegisterWorldWithBarracudaModelForceNoCommunication<TH>(`
	`34`	`+ public static void RegisterWorldWithBarracudaModelForceNoCommunication(`
`35`	`35`	`this MLAgentsWorld world,`
`36`	`36`	`string policyId,`
`37`	`37`	`NNModel model,`
`@@ -76,7 +76,7 @@ internal BarracudaWorldProcessor(MLAgentsWorld world, NNModel model, InferenceDe`
`76`	`76`	`executionDevice, _barracudaModel, _verbose);`
`77`	`77`	`}`
`78`	`78`
`79`		`- public RemoteCommand ProcessWorld()`
	`79`	`+ public WorldCommand ProcessWorld()`
`80`	`80`	`{`
`81`	`81`	`// FOR VECTOR OBS ONLY`
`82`	`82`	`// For Continuous control only`
`@@ -136,7 +136,7 @@ public RemoteCommand ProcessWorld()`
`136`	`136`	`}`
`137`	`137`	`actuatorT.Dispose();`
`138`	`138`
`139`		`- return RemoteCommand.DEFAULT;`
	`139`	`+ return WorldCommand.DEFAULT;`
`140`	`140`	`}`
`141`	`141`
`142`	`142`	`public void Dispose()`
Original file line number	Diff line number	Diff line change
`@@ -47,7 +47,7 @@ internal HeuristicWorldProcessor(MLAgentsWorld world, Func<T> heuristic)`
`47`	`47`	`}`
`48`	`48`	`}`
`49`	`49`
`50`		`- public RemoteCommand ProcessWorld()`
	`50`	`+ public WorldCommand ProcessWorld()`
`51`	`51`	`{`
`52`	`52`	`T action = heuristic.Invoke();`
`53`	`53`	`var totalCount = world.AgentCounter.Count;`
`@@ -69,7 +69,7 @@ public RemoteCommand ProcessWorld()`
`69`	`69`	`s[i] = action;`
`70`	`70`	`}`
`71`	`71`	`}`
`72`		`- return RemoteCommand.DEFAULT;`
	`72`	`+ return WorldCommand.DEFAULT;`
`73`	`73`	`}`
`74`	`74`
`75`	`75`	`public void Dispose()`
Original file line number	Diff line number	Diff line change
`@@ -8,6 +8,6 @@ namespace Unity.AI.MLAgents`
`8`	`8`	`public interface IWorldProcessor : IDisposable`
`9`	`9`	`{`
`10`	`10`	`bool IsConnected {get;}`
`11`		`- RemoteCommand ProcessWorld();`
	`11`	`+ WorldCommand ProcessWorld();`
`12`	`12`	`}`
`13`	`13`	`}`
Original file line number	Diff line number	Diff line change
`@@ -16,9 +16,9 @@ internal NullWorldProcessor(MLAgentsWorld world)`
`16`	`16`	`this.world = world;`
`17`	`17`	`}`
`18`	`18`
`19`		`- public RemoteCommand ProcessWorld()`
	`19`	`+ public WorldCommand ProcessWorld()`
`20`	`20`	`{`
`21`		`- return RemoteCommand.DEFAULT;`
	`21`	`+ return WorldCommand.DEFAULT;`
`22`	`22`	`}`
`23`	`23`
`24`	`24`	`public void Dispose()`