using System;
using System.Collections.Generic;
using System.Linq;
using Randomization.ParameterBehaviours;
using Unity.Simulation;
using UnityEngine;
using UnityEngine.Perception.GroundTruth;
using UnityEngine.Perception.Randomization.Parameters;
namespace UnityEngine.Perception.Randomization.Scenarios
{
///
/// The base class of all scenario classes
///
[DefaultExecutionOrder(-1)]
public abstract class ScenarioBase : MonoBehaviour
{
static ScenarioBase s_ActiveScenario;
List m_Behaviours = new List();
List m_Parameters = new List();
bool m_SkipFrame = true;
bool m_FirstScenarioFrame = true;
bool m_WaitingForFinalUploads;
IEnumerable m_ActiveBehaviours
{
get
{
foreach (var behaviour in m_Behaviours)
if (behaviour.enabled)
yield return behaviour;
}
}
[SerializeReference] public ParameterAsset[] parameterAssets;
///
/// If true, this scenario will quit the Unity application when it's finished executing
///
[HideInInspector] public bool quitOnComplete = true;
///
/// When true, this scenario will deserializes constants from a Json file before it begins executing
///
[HideInInspector] public bool deserializeOnStart;
///
/// The name of the Json file this scenario's constants are serialized to/from.
///
[HideInInspector] public string serializedConstantsFileName = "constants";
///
/// Returns the active parameter scenario in the scene
///
public static ScenarioBase activeScenario
{
get => s_ActiveScenario;
private set
{
if (value != null && s_ActiveScenario != null && value != s_ActiveScenario)
throw new ScenarioException("There cannot be more than one active Scenario");
s_ActiveScenario = value;
}
}
///
/// Returns the file location of the JSON serialized constants
///
public string serializedConstantsFilePath =>
Application.dataPath + "/StreamingAssets/" + serializedConstantsFileName + ".json";
///
/// The number of frames that have elapsed since the current scenario iteration was Setup
///
public int currentIterationFrame { get; private set; }
///
/// The number of frames that have elapsed since the scenario was initialized
///
public int framesSinceInitialization { get; private set; }
///
/// The current iteration index of the scenario
///
public int currentIteration { get; protected set; }
///
/// Returns whether the current scenario iteration has completed
///
public abstract bool isIterationComplete { get; }
///
/// Returns whether the entire scenario has completed
///
public abstract bool isScenarioComplete { get; }
///
/// Serializes the scenario's constants to a JSON file located at serializedConstantsFilePath
///
public abstract void Serialize();
///
/// Deserializes constants saved in a JSON file located at serializedConstantsFilePath
///
public abstract void Deserialize();
///
/// This method executed directly after this scenario has been registered and initialized
///
protected virtual void OnAwake() { }
void Awake()
{
activeScenario = this;
foreach (var asset in parameterAssets)
{
foreach (var parameter in asset.parameters)
{
parameter.Validate();
m_Parameters.Add(parameter);
}
}
OnAwake();
}
void OnEnable()
{
activeScenario = this;
}
void OnDisable()
{
s_ActiveScenario = null;
}
void Start()
{
if (deserializeOnStart)
Deserialize();
}
void Update()
{
// TODO: remove this check when the perception camera can capture the first frame of output
if (m_SkipFrame)
{
m_SkipFrame = false;
return;
}
// Wait for any final uploads before exiting quitting
if (m_WaitingForFinalUploads)
{
if (!Manager.FinalUploadsDone)
return;
if (quitOnComplete)
#if UNITY_EDITOR
UnityEditor.EditorApplication.ExitPlaymode();
#else
Application.Quit();
#endif
return;
}
// Iterate Scenario
if (m_FirstScenarioFrame)
{
m_FirstScenarioFrame = false;
}
else
{
currentIterationFrame++;
framesSinceInitialization++;
if (isIterationComplete)
{
currentIteration++;
currentIterationFrame = 0;
foreach (var behaviour in m_ActiveBehaviours)
behaviour.OnIterationEnd();
}
}
// Quit if scenario is complete
if (isScenarioComplete)
{
foreach (var behaviour in m_ActiveBehaviours)
behaviour.OnScenarioComplete();
Manager.Instance.Shutdown();
DatasetCapture.ResetSimulation();
m_WaitingForFinalUploads = true;
return;
}
// Perform new iteration tasks
if (currentIterationFrame == 0)
{
DatasetCapture.StartNewSequence();
foreach (var parameter in m_Parameters)
{
parameter.ResetState();
parameter.IterateState(currentIteration);
}
foreach (var behaviour in m_ActiveBehaviours)
behaviour.OnIterationStart();
}
// Perform new frame tasks
foreach (var behaviour in m_ActiveBehaviours)
behaviour.OnFrameStart();
}
public T GetParameterAsset() where T : ParameterAsset
{
foreach (var asset in parameterAssets)
if (asset is T typedAsset)
return typedAsset;
throw new ScenarioException($"A ParameterAsset of type {typeof(T).Name} was not added to this scenario");
}
public T GetParameterBehaviour() where T : ParameterBehaviour
{
foreach (var behaviour in m_Behaviours)
if (behaviour is T typedBehaviour)
return typedBehaviour;
throw new ScenarioException($"A ParameterBehaviour of type {typeof(T).Name} was not added to this scenario");
}
internal void AddBehaviour(T newBehaviour) where T : ParameterBehaviour
{
foreach (var behaviour in m_Behaviours)
if (behaviour.GetType() == newBehaviour.GetType())
throw new ScenarioException(
$"Two ParameterBehaviours of the same type {typeof(T).Name} cannot both be active simultaneously");
m_Behaviours.Add(newBehaviour);
m_Behaviours.Sort((b1, b2) => b1.executionPriority.CompareTo(b2.executionPriority));
}
internal void RemoveBehaviour(ParameterBehaviour behaviour)
{
var removed = m_Behaviours.Remove(behaviour);
if (!removed)
throw new ScenarioException(
$"No active ParameterBehaviour of type {behaviour.GetType().Name} could be removed");
}
}
}