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using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using Unity.Simulation.Client;
using UnityEditor.Build.Reporting;
using UnityEditor.UIElements;
using UnityEngine;
using UnityEngine.Perception.GroundTruth;
using UnityEngine.Perception.GroundTruth.Exporters;
using UnityEngine.Perception.GroundTruth.Exporters.PerceptionFormat;
using UnityEngine.Perception.Randomization.Samplers;
using UnityEngine.Perception.Randomization.Scenarios;
using UnityEngine.SceneManagement;
using UnityEngine.UIElements;
using ZipUtility;
using Random = System.Random;
namespace UnityEditor.Perception.Randomization
{
class RunInUnitySimulationWindow : EditorWindow
{
string m_BuildDirectory;
string m_BuildZipPath;
SysParamDefinition[] m_SysParamDefinitions;
IntegerField m_InstanceCountField;
TextField m_RunNameField;
IntegerField m_TotalIterationsField;
UIntField m_RandomSeedField;
ToolbarMenu m_SysParamMenu;
int m_SysParamIndex;
ObjectField m_ScenarioConfigField;
Button m_RunButton;
Label m_PrevRunNameLabel;
Label m_ProjectIdLabel;
Label m_PrevExecutionIdLabel;
Label m_PrevRandomSeedLabel;
RunParameters m_RunParameters;
string[] m_OutputFormats;
ToolbarMenu m_OutputFormatMenu;
int m_OutputFormatIndex;
[MenuItem("Window/Run in Unity Simulation")]
static void ShowWindow()
{
var window = GetWindow<RunInUnitySimulationWindow>();
window.titleContent = new GUIContent("Run In Unity Simulation");
window.minSize = new Vector2(250, 50);
window.Show();
}
void OnEnable()
{
m_BuildDirectory = Application.dataPath + "/../Build";
Project.Activate();
Project.clientReadyStateChanged += CreateEstablishingConnectionUI;
CreateEstablishingConnectionUI(Project.projectIdState);
}
void OnFocus()
{
Application.runInBackground = true;
}
void OnLostFocus()
{
Application.runInBackground = false;
}
void CreateEstablishingConnectionUI(Project.State state)
{
rootVisualElement.Clear();
if (Project.projectIdState == Project.State.Pending)
{
var waitingText = new TextElement();
waitingText.text = "Waiting for connection to Unity Cloud...";
rootVisualElement.Add(waitingText);
}
else if (Project.projectIdState == Project.State.Invalid)
{
var waitingText = new TextElement();
waitingText.text = "The current project must be associated with a valid Unity Cloud project " +
"to run in Unity Simulation";
rootVisualElement.Add(waitingText);
}
else
{
CreateRunInUnitySimulationUI();
}
}
void CreateRunInUnitySimulationUI()
{
var root = rootVisualElement;
AssetDatabase.LoadAssetAtPath<VisualTreeAsset>(
$"{StaticData.uxmlDir}/RunInUnitySimulationWindow.uxml").CloneTree(root);
m_RunNameField = root.Q<TextField>("run-name");
m_TotalIterationsField = root.Q<IntegerField>("total-iterations");
m_InstanceCountField = root.Q<IntegerField>("instance-count");
m_RandomSeedField = root.Q<UIntField>("random-seed");
var randomizeSeedButton = root.Q<Button>("randomize-seed");
randomizeSeedButton.clicked += () =>
{
var bytes = new byte[4];
new Random().NextBytes(bytes);
m_RandomSeedField.value = BitConverter.ToUInt32(bytes, 0);
};
m_OutputFormats = TypeCache.GetTypesDerivedFrom<IDatasetExporter>().Select(exporter => exporter.Name).ToArray();
m_OutputFormatMenu = root.Q<ToolbarMenu>("output-format");
var i = 0;
foreach (var format in m_OutputFormats)
{
var index = i++;
m_OutputFormatMenu.menu.AppendAction(
format,
action =>
{
m_OutputFormatIndex = index;
m_OutputFormatMenu.text = format;
});
}
m_SysParamDefinitions = API.GetSysParams();
m_SysParamMenu = root.Q<ToolbarMenu>("sys-param");
for (i = 0; i < m_SysParamDefinitions.Length; i++)
{
var index = i;
var param = m_SysParamDefinitions[i];
m_SysParamMenu.menu.AppendAction(
param.description,
action =>
{
m_SysParamIndex = index;
m_SysParamMenu.text = param.description;
});
}
m_ScenarioConfigField = root.Q<ObjectField>("scenario-config");
m_ScenarioConfigField.objectType = typeof(TextAsset);
var configPath = PlayerPrefs.GetString("SimWindow/scenarioConfig");
if (configPath != string.Empty)
m_ScenarioConfigField.value = AssetDatabase.LoadAssetAtPath<TextAsset>(configPath);
m_RunButton = root.Q<Button>("run-button");
m_RunButton.clicked += RunInUnitySimulation;
m_PrevRunNameLabel = root.Q<Label>("prev-run-name");
m_ProjectIdLabel = root.Q<Label>("project-id");
m_PrevExecutionIdLabel = root.Q<Label>("execution-id");
m_PrevRandomSeedLabel = root.Q<Label>("prev-random-seed");
var copyExecutionIdButton = root.Q<Button>("copy-execution-id");
copyExecutionIdButton.clicked += () =>
EditorGUIUtility.systemCopyBuffer = PlayerPrefs.GetString("SimWindow/prevExecutionId");
var copyProjectIdButton = root.Q<Button>("copy-project-id");
copyProjectIdButton.clicked += () =>
EditorGUIUtility.systemCopyBuffer = CloudProjectSettings.projectId;
var copyPrevRandomSeedButton = root.Q<Button>("copy-prev-random-seed");
copyPrevRandomSeedButton.clicked += () =>
EditorGUIUtility.systemCopyBuffer = PlayerPrefs.GetString("SimWindow/prevRandomSeed");
SetFieldsFromPlayerPreferences();
}
void SetFieldsFromPlayerPreferences()
{
m_RunNameField.value = IncrementRunName(PlayerPrefs.GetString("SimWindow/runName"));
m_TotalIterationsField.value = PlayerPrefs.GetInt("SimWindow/totalIterations");
m_InstanceCountField.value = PlayerPrefs.GetInt("SimWindow/instanceCount");
m_SysParamIndex = PlayerPrefs.GetInt("SimWindow/sysParamIndex");
var prevRandomSeed = PlayerPrefs.GetString("SimWindow/prevRandomSeed");
m_RandomSeedField.value = string.IsNullOrEmpty(prevRandomSeed)
? SamplerUtility.largePrime : uint.Parse(prevRandomSeed);
m_SysParamMenu.text = m_SysParamDefinitions[m_SysParamIndex].description;
m_PrevRunNameLabel.text = $"Run Name: {PlayerPrefs.GetString("SimWindow/runName")}";
m_ProjectIdLabel.text = $"Project ID: {CloudProjectSettings.projectId}";
m_PrevExecutionIdLabel.text = $"Execution ID: {PlayerPrefs.GetString("SimWindow/prevExecutionId")}";
m_PrevRandomSeedLabel.text = $"Random Seed: {PlayerPrefs.GetString("SimWindow/prevRandomSeed")}";
m_OutputFormatMenu.text = PlayerPrefs.GetString(SimulationState.outputFormatMode, nameof(PerceptionExporter));
}
static string IncrementRunName(string runName)
{
if (string.IsNullOrEmpty(runName))
return "Run0";
var stack = new Stack<char>();
var i = runName.Length - 1;
for (; i >= 0; i--)
{
if (!char.IsNumber(runName[i]))
break;
stack.Push(runName[i]);
}
if (stack.Count == 0)
return runName + "1";
var numericString = string.Concat(stack.ToArray());
var runVersion = int.Parse(numericString) + 1;
return runName.Substring(0, i + 1) + runVersion;
}
async void RunInUnitySimulation()
{
#if PLATFORM_CLOUD_RENDERING
if (!m_SysParamDefinitions[m_SysParamIndex].description.Contains(m_SupportedGPUString))
{
EditorUtility.DisplayDialog("Unsupported Sysparam",
"The current selection of the Sysparam " + m_SysParamDefinitions[m_SysParamIndex].description +
" is not supported by this build target. Please select a sysparam with GPU", "Ok");
return;
}
#endif
m_RunParameters = new RunParameters
{
runName = m_RunNameField.value,
totalIterations = m_TotalIterationsField.value,
instanceCount = m_InstanceCountField.value,
randomSeed = m_RandomSeedField.value,
sysParamIndex = m_SysParamIndex,
scenarioConfig = (TextAsset)m_ScenarioConfigField.value,
currentOpenScenePath = SceneManager.GetSceneAt(0).path,
currentScenario = FindObjectOfType<ScenarioBase>(),
outputFormat = m_OutputFormats[m_OutputFormatIndex]
};
var runGuid = Guid.NewGuid();
PerceptionEditorAnalytics.ReportRunInUnitySimulationStarted(
runGuid,
m_RunParameters.totalIterations,
m_RunParameters.instanceCount,
null);
try
{
ValidateSettings();
CreateLinuxBuildAndZip();
await StartUnitySimulationRun(runGuid);
}
catch (Exception e)
{
EditorUtility.ClearProgressBar();
PerceptionEditorAnalytics.ReportRunInUnitySimulationFailed(runGuid, e.Message);
throw;
}
}
void ValidateSettings()
{
if (string.IsNullOrEmpty(m_RunParameters.runName))
throw new MissingFieldException("Empty run name");
if (m_RunParameters.instanceCount <= 0)
throw new NotSupportedException("Invalid instance count specified");
if (m_RunParameters.totalIterations <= 0)
throw new NotSupportedException("Invalid total iteration count specified");
if (string.IsNullOrEmpty(m_RunParameters.currentOpenScenePath))
throw new MissingFieldException("Invalid scene path");
if (m_RunParameters.currentScenario == null)
throw new MissingFieldException(
"There is not a Unity Simulation compatible scenario present in the scene");
if (!StaticData.IsSubclassOfRawGeneric(
typeof(UnitySimulationScenario<>), m_RunParameters.currentScenario.GetType()))
throw new NotSupportedException(
"Scenario class must be derived from UnitySimulationScenario to run in Unity Simulation");
if (m_RunParameters.scenarioConfig != null &&
Path.GetExtension(m_RunParameters.scenarioConfigAssetPath) != ".json")
throw new NotSupportedException(
"Scenario configuration must be a JSON text asset");
}
void CreateLinuxBuildAndZip()
{
var projectBuildDirectory = $"{m_BuildDirectory}/{m_RunParameters.runName}";
if (!Directory.Exists(projectBuildDirectory))
Directory.CreateDirectory(projectBuildDirectory);
var buildPlayerOptions = new BuildPlayerOptions
{
scenes = new[] { m_RunParameters.currentOpenScenePath },
locationPathName = Path.Combine(projectBuildDirectory, $"{m_RunParameters.runName}.x86_64"),
#if PLATFORM_CLOUD_RENDERING
target = BuildTarget.CloudRendering,
#else
target = BuildTarget.StandaloneLinux64
#endif
};
var report = BuildPipeline.BuildPlayer(buildPlayerOptions);
var summary = report.summary;
if (summary.result != BuildResult.Succeeded)
throw new Exception($"The Linux build did not succeed: status = {summary.result}");
EditorUtility.DisplayProgressBar("Unity Simulation Run", "Zipping Linux build...", 0f);
Zip.DirectoryContents(projectBuildDirectory, m_RunParameters.runName);
m_BuildZipPath = projectBuildDirectory + ".zip";
}
List<AppParam> UploadAppParam()
{
var appParamIds = new List<AppParam>();
var configuration = JObject.Parse(m_RunParameters.scenarioConfig != null
? File.ReadAllText(m_RunParameters.scenarioConfigAssetPath)
: m_RunParameters.currentScenario.SerializeToJson());
var constants = configuration["constants"];
constants["totalIterations"] = m_RunParameters.totalIterations;
constants["instanceCount"] = m_RunParameters.instanceCount;
constants["randomSeed"] = m_RunParameters.randomSeed;
constants["outputFormat"] = m_RunParameters.outputFormat;
var appParamName = $"{m_RunParameters.runName}";
var appParamsString = JsonConvert.SerializeObject(configuration, Formatting.Indented);
var appParamId = API.UploadAppParam(appParamName, appParamsString);
appParamIds.Add(new AppParam
{
id = appParamId,
name = appParamName,
num_instances = m_RunParameters.instanceCount
});
return appParamIds;
}
async Task StartUnitySimulationRun(Guid runGuid)
{
m_RunButton.SetEnabled(false);
// Upload build
var cancellationTokenSource = new CancellationTokenSource();
var token = cancellationTokenSource.Token;
var buildId = await API.UploadBuildAsync(
m_RunParameters.runName,
m_BuildZipPath,
null, null,
cancellationTokenSource,
progress =>
{
EditorUtility.DisplayProgressBar(
"Unity Simulation Run", "Uploading build...", progress * 0.90f);
});
if (token.IsCancellationRequested)
{
Debug.Log("The build upload process has been cancelled. Aborting Unity Simulation launch.");
EditorUtility.ClearProgressBar();
return;
}
// Generate and upload app-params
EditorUtility.DisplayProgressBar("Unity Simulation Run", "Uploading app-params...", 0.90f);
var appParams = UploadAppParam();
// Upload run definition
EditorUtility.DisplayProgressBar("Unity Simulation Run", "Uploading run definition...", 0.95f);
var runDefinitionId = API.UploadRunDefinition(new RunDefinition
{
app_params = appParams.ToArray(),
name = m_RunParameters.runName,
sys_param_id = m_SysParamDefinitions[m_RunParameters.sysParamIndex].id,
build_id = buildId
});
// Execute run
EditorUtility.DisplayProgressBar("Unity Simulation Run", "Executing run...", 1f);
var run = Run.CreateFromDefinitionId(runDefinitionId);
run.Execute();
// Cleanup
m_RunButton.SetEnabled(true);
EditorUtility.ClearProgressBar();
PerceptionEditorAnalytics.ReportRunInUnitySimulationSucceeded(runGuid, run.executionId);
// Set new Player Preferences
PlayerPrefs.SetString("SimWindow/runName", m_RunParameters.runName);
PlayerPrefs.SetString("SimWindow/prevExecutionId", run.executionId);
PlayerPrefs.SetInt("SimWindow/totalIterations", m_RunParameters.totalIterations);
PlayerPrefs.SetInt("SimWindow/instanceCount", m_RunParameters.instanceCount);
PlayerPrefs.SetString("SimWindow/prevRandomSeed", m_RunParameters.randomSeed.ToString());
PlayerPrefs.SetInt("SimWindow/sysParamIndex", m_RunParameters.sysParamIndex);
PlayerPrefs.SetString("SimWindow/scenarioConfig",
m_RunParameters.scenarioConfig != null ? m_RunParameters.scenarioConfigAssetPath : string.Empty);
PlayerPrefs.SetString(SimulationState.outputFormatMode, m_RunParameters.outputFormat);
SetFieldsFromPlayerPreferences();
}
struct RunParameters
{
public string runName;
public int totalIterations;
public int instanceCount;
public uint randomSeed;
public int sysParamIndex;
public TextAsset scenarioConfig;
public string currentOpenScenePath;
public ScenarioBase currentScenario;
public string outputFormat;
public string scenarioConfigAssetPath => AssetDatabase.GetAssetPath(scenarioConfig);
}
}
}