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Merged
merged 2 commits into from
Mar 28, 2019
Merged

Develop minor cleanups #4

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2b2884e
Deleting duplicate UnityEnvironment
eshvk Mar 25, 2019
94bfd98
Minor cleanups
eshvk Mar 26, 2019
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72 changes: 1 addition & 71 deletions Assets/ECSEnvironment.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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()
#
Expand Down
25 changes: 13 additions & 12 deletions Assets/ECS_MLAgents_v0/Example/SpaceMagic/Scripts/Manager.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand All @@ -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>
Expand All @@ -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);
}

Expand Down
97 changes: 47 additions & 50 deletions Assets/ECS_MLAgents_v0/Example/SpaceWars/Scripts/Manager.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -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;

Expand All @@ -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
Expand All @@ -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);
Expand All @@ -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);

}

Expand All @@ -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 *
Expand All @@ -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)))
)
});
Expand All @@ -198,7 +195,7 @@ private void MakeSpaceShip(Entity ent){
}

}


}

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