Convert Academy to a singleton (#3210)

UnitySDK/Assets/ML-Agents/Editor/Tests/DemonstrationTests.cs

 
 namespace MLAgents.Tests
 {
+    [TestFixture]
+
+        [SetUp]
+        public void SetUp()
+        {
+            if (Academy.IsInitialized)
+            {
+                Academy.Instance.Dispose();
+            }
+        }
 
         [Test]
         public void TestSanitization()
             demoRecorder.record = true;
             demoRecorder.InitializeDemoStore(fileSystem);
 
-            var acaGo = new GameObject("TestAcademy");
-            acaGo.AddComponent<Academy>();
-            var aca = acaGo.GetComponent<Academy>();
-
-            var academyInitializeMethod = typeof(Academy).GetMethod("InitializeEnvironment",
-                BindingFlags.Instance | BindingFlags.NonPublic);
             var agentEnableMethod = typeof(Agent).GetMethod("OnEnable",
                 BindingFlags.Instance | BindingFlags.NonPublic);
             var agentSendInfo = typeof(Agent).GetMethod("SendInfo",
-            academyInitializeMethod?.Invoke(aca, new object[] { });
 
             // Step the agent
             agent1.RequestDecision();
                     Assert.AreEqual((float)i + 1, vecObs[i]);
                 }
             }
-
-
         }
     }
 }

UnitySDK/Assets/ML-Agents/Editor/Tests/EditModeTestInternalBrainTensorGenerator.cs

 
 namespace MLAgents.Tests
 {
+    [TestFixture]
-        static List<Agent> GetFakeAgents()
+        [SetUp]
+        public void SetUp()
-            var acaGo = new GameObject("TestAcademy");
-            acaGo.AddComponent<Academy>();
-            var aca = acaGo.GetComponent<Academy>();
+            if (Academy.IsInitialized)
+            {
+                Academy.Instance.Dispose();
+            }
+        }
+        static List<Agent> GetFakeAgents()
+        {
             var goA = new GameObject("goA");
             var bpA = goA.AddComponent<BehaviorParameters>();
             bpA.brainParameters.vectorObservationSize = 3;
             {
                 var agentEnableMethod = typeof(Agent).GetMethod("OnEnableHelper",
                     BindingFlags.Instance | BindingFlags.NonPublic);
-                agentEnableMethod?.Invoke(agent, new object[] { aca });
+                agentEnableMethod?.Invoke(agent, new object[] { });
             }
             agentA.collectObservationsSensor.AddObservation(new Vector3(1, 2, 3));
             agentB.collectObservationsSensor.AddObservation(new Vector3(4, 5, 6));

UnitySDK/Assets/ML-Agents/Editor/Tests/MLAgentsEditModeTest.cs

         public void Update() { }
     }
 
+    [TestFixture]
+        [SetUp]
+        public void SetUp()
+        {
+            if (Academy.IsInitialized)
+            {
+                Academy.Instance.Dispose();
+            }
+        }
+
-            // Use the Assert class to test conditions.
-            var acaGo = new GameObject("TestAcademy");
-            acaGo.AddComponent<Academy>();
-            var aca = acaGo.GetComponent<Academy>();
+            var aca = Academy.Instance;
             Assert.AreNotEqual(null, aca);
             Assert.AreEqual(0, aca.GetEpisodeCount());
             Assert.AreEqual(0, aca.GetStepCount());
         }
     }
 
+    [TestFixture]
+        [SetUp]
+        public void SetUp()
+        {
+            if (Academy.IsInitialized)
+            {
+                Academy.Instance.Dispose();
+            }
+        }
+
-            var acaGo = new GameObject("TestAcademy");
-            acaGo.AddComponent<Academy>();
-            var aca = acaGo.GetComponent<Academy>();
-            Assert.AreEqual(0, aca.GetStepCount());
-            Assert.AreEqual(0, aca.GetEpisodeCount());
-            Assert.AreEqual(0, aca.GetTotalStepCount());
-            Assert.AreEqual(null, aca.FloatProperties);
-            //This will call the method even though it is private
-            var academyInitializeMethod = typeof(Academy).GetMethod("InitializeEnvironment",
-                BindingFlags.Instance | BindingFlags.NonPublic);
-            academyInitializeMethod?.Invoke(aca, new object[] { });
+            Assert.AreEqual(false, Academy.IsInitialized);
+            var aca = Academy.Instance;
+            Assert.AreEqual(true, Academy.IsInitialized);
+
+            // Check that init is idempotent
+            aca.LazyInitialization();
+            aca.LazyInitialization();
+
+
+            // Check that Dispose is idempotent
+            aca.Dispose();
+            Assert.AreEqual(false, Academy.IsInitialized);
+            aca.Dispose();
+        }
+
+        [Test]
+        public void TestAcademyDispose()
+        {
+            var floatProperties1 = Academy.Instance.FloatProperties;
+            Academy.Instance.Dispose();
+
+            var floatProperties2 = Academy.Instance.FloatProperties;
+            Academy.Instance.Dispose();
+
+            Assert.AreNotEqual(floatProperties1, floatProperties2);
         }
 
         [Test]
             var agentGo2 = new GameObject("TestAgent");
             agentGo2.AddComponent<TestAgent>();
             var agent2 = agentGo2.GetComponent<TestAgent>();
-            var acaGo = new GameObject("TestAcademy");
-            acaGo.AddComponent<Academy>();
-            var aca = acaGo.GetComponent<Academy>();
 
             Assert.AreEqual(false, agent1.IsDone());
             Assert.AreEqual(false, agent2.IsDone());
 
             var agentEnableMethod = typeof(Agent).GetMethod("OnEnableHelper",
                 BindingFlags.Instance | BindingFlags.NonPublic);
-            var academyInitializeMethod = typeof(Academy).GetMethod("InitializeEnvironment",
-                BindingFlags.Instance | BindingFlags.NonPublic);
-
-            agentEnableMethod?.Invoke(agent2, new object[] { aca });
-            academyInitializeMethod?.Invoke(aca, new object[] { });
-            agentEnableMethod?.Invoke(agent1, new object[] { aca });
+            agentEnableMethod?.Invoke(agent2, new object[] { });
+            agentEnableMethod?.Invoke(agent1, new object[] { });
 
             Assert.AreEqual(false, agent1.IsDone());
             Assert.AreEqual(false, agent2.IsDone());
         }
     }
 
+    [TestFixture]
+        [SetUp]
+        public void SetUp()
+        {
+            if (Academy.IsInitialized)
+            {
+                Academy.Instance.Dispose();
+            }
+        }
+
-            var acaGo = new GameObject("TestAcademy");
-            acaGo.AddComponent<Academy>();
-            var aca = acaGo.GetComponent<Academy>();
-            var academyInitializeMethod = typeof(Academy).GetMethod("InitializeEnvironment",
-                BindingFlags.Instance | BindingFlags.NonPublic);
-            academyInitializeMethod?.Invoke(aca, new object[] { });
-
-            var academyStepMethod = typeof(Academy).GetMethod("EnvironmentStep",
-                BindingFlags.Instance | BindingFlags.NonPublic);
+            var aca = Academy.Instance;
 
             var numberReset = 0;
             for (var i = 0; i < 10; i++)
                 {
                     numberReset += 1;
                 }
-                academyStepMethod?.Invoke(aca, new object[] { });
+                Academy.Instance.EnvironmentStep();
+        public void TestAcademyAutostep()
+        {
+            var aca = Academy.Instance;
+            Assert.IsTrue(aca.IsAutomaticSteppingEnabled);
+            aca.DisableAutomaticStepping(true);
+            Assert.IsFalse(aca.IsAutomaticSteppingEnabled);
+            aca.EnableAutomaticStepping();
+            Assert.IsTrue(aca.IsAutomaticSteppingEnabled);
+        }
+
+        [Test]
         public void TestAgent()
         {
             var agentGo1 = new GameObject("TestAgent");
             agentGo2.AddComponent<TestAgent>();
             var agent2 = agentGo2.GetComponent<TestAgent>();
-            var acaGo = new GameObject("TestAcademy");
-            acaGo.AddComponent<Academy>();
-            var aca = acaGo.GetComponent<Academy>();
+            var aca = Academy.Instance;
-            var academyInitializeMethod = typeof(Academy).GetMethod(
-                "InitializeEnvironment", BindingFlags.Instance | BindingFlags.NonPublic);
 
             agent1.agentParameters = new AgentParameters();
             agent2.agentParameters = new AgentParameters();
             agent2.agentParameters.onDemandDecision = true;
             // agent2 will request decisions only when RequestDecision is called
 
-            agentEnableMethod?.Invoke(agent1, new object[] { aca });
-            academyInitializeMethod?.Invoke(aca, new object[] { });
-
-            var academyStepMethod = typeof(Academy).GetMethod(
-                "EnvironmentStep", BindingFlags.Instance | BindingFlags.NonPublic);
+            agentEnableMethod?.Invoke(agent1, new object[] { });
 
             var numberAgent1Reset = 0;
             var numberAgent2Initialization = 0;
                 //Agent 2 is only initialized at step 2
                 if (i == 2)
                 {
-                    agentEnableMethod?.Invoke(agent2, new object[] { aca });
+                    agentEnableMethod?.Invoke(agent2, new object[] { });
                     numberAgent2Initialization += 1;
                 }
 
                     requestAction += 1;
                     agent2.RequestAction();
                 }
-                academyStepMethod?.Invoke(aca, new object[] { });
+                aca.EnvironmentStep();
+    [TestFixture]
+        [SetUp]
+        public void SetUp()
+        {
+            if (Academy.IsInitialized)
+            {
+                Academy.Instance.Dispose();
+            }
+        }
+
-            var acaGo = new GameObject("TestAcademy");
-            acaGo.AddComponent<Academy>();
-            var aca = acaGo.GetComponent<Academy>();
-            var academyInitializeMethod = typeof(Academy).GetMethod(
-                "InitializeEnvironment", BindingFlags.Instance | BindingFlags.NonPublic);
-            academyInitializeMethod?.Invoke(aca, new object[] { });
-
-            var academyStepMethod = typeof(Academy).GetMethod(
-                "EnvironmentStep", BindingFlags.Instance | BindingFlags.NonPublic);
+            var aca = Academy.Instance;
 
             var numberReset = 0;
             var stepsSinceReset = 0;
                 }
 
                 stepsSinceReset += 1;
-                academyStepMethod.Invoke(aca, new object[] { });
+                aca.EnvironmentStep();
             }
         }
 
             var agentGo2 = new GameObject("TestAgent");
             agentGo2.AddComponent<TestAgent>();
             var agent2 = agentGo2.GetComponent<TestAgent>();
-            var acaGo = new GameObject("TestAcademy");
-            acaGo.AddComponent<Academy>();
-            var aca = acaGo.GetComponent<Academy>();
+            var aca = Academy.Instance;
-            var academyInitializeMethod = typeof(Academy).GetMethod(
-                "InitializeEnvironment", BindingFlags.Instance | BindingFlags.NonPublic);
-
-            var academyStepMethod = typeof(Academy).GetMethod(
-                "EnvironmentStep", BindingFlags.Instance | BindingFlags.NonPublic);
 
             agent1.agentParameters = new AgentParameters();
             agent2.agentParameters = new AgentParameters();
             // agent1 will take an action at every step and request a decision every 2 steps
             agent2.agentParameters.onDemandDecision = true;
 
-            agentEnableMethod?.Invoke(agent2, new object[] { aca });
-            academyInitializeMethod?.Invoke(aca, new object[] { });
+            agentEnableMethod?.Invoke(agent2, new object[] { });
 
             var numberAgent1Reset = 0;
             var numberAgent2Reset = 0;
                 //Agent 1 is only initialized at step 2
                 if (i == 2)
                 {
-                    agentEnableMethod?.Invoke(agent1, new object[] { aca });
+                    agentEnableMethod?.Invoke(agent1, new object[] { });
                 }
                 // Set agent 1 to done every 11 steps to test behavior
                 if (i % 11 == 5)
                 //Agent 1 is only initialized at step 2
                 if (i < 2)
                 { }
-                academyStepMethod?.Invoke(aca, new object[] { });
+                aca.EnvironmentStep();
+    [TestFixture]
+        [SetUp]
+        public void SetUp()
+        {
+            if (Academy.IsInitialized)
+            {
+                Academy.Instance.Dispose();
+            }
+        }
+
         [Test]
         public void TestResetOnDone()
         {
             var agentGo2 = new GameObject("TestAgent");
             agentGo2.AddComponent<TestAgent>();
             var agent2 = agentGo2.GetComponent<TestAgent>();
-            var acaGo = new GameObject("TestAcademy");
-            acaGo.AddComponent<Academy>();
-            var aca = acaGo.GetComponent<Academy>();
+            var aca = Academy.Instance;
-            var academyInitializeMethod = typeof(Academy).GetMethod(
-                "InitializeEnvironment", BindingFlags.Instance | BindingFlags.NonPublic);
-
-            var academyStepMethod = typeof(Academy).GetMethod(
-                "EnvironmentStep", BindingFlags.Instance | BindingFlags.NonPublic);
 
             agent1.agentParameters = new AgentParameters();
             agent2.agentParameters = new AgentParameters();
             agent1.agentParameters.resetOnDone = false;
             agent2.agentParameters.resetOnDone = false;
 
-            agentEnableMethod?.Invoke(agent2, new object[] { aca });
-            academyInitializeMethod?.Invoke(aca, new object[] { });
-            agentEnableMethod?.Invoke(agent1, new object[] { aca });
+            agentEnableMethod?.Invoke(agent2, new object[] { });
+            agentEnableMethod?.Invoke(agent1, new object[] { });
 
             var agent1ResetOnDone = 0;
             var agent2ResetOnDone = 0;
                     agent2.Done();
                 }
 
-
-                academyStepMethod?.Invoke(aca, new object[] { });
+                aca.EnvironmentStep();
             }
         }
 
             var agentGo2 = new GameObject("TestAgent");
             agentGo2.AddComponent<TestAgent>();
             var agent2 = agentGo2.GetComponent<TestAgent>();
-            var acaGo = new GameObject("TestAcademy");
-            acaGo.AddComponent<Academy>();
-            var aca = acaGo.GetComponent<Academy>();
-
+            var aca = Academy.Instance;
-            var academyInitializeMethod = typeof(Academy).GetMethod(
-                "InitializeEnvironment", BindingFlags.Instance | BindingFlags.NonPublic);
-
-            var academyStepMethod = typeof(Academy).GetMethod(
-                "EnvironmentStep", BindingFlags.Instance | BindingFlags.NonPublic);
-
             agent1.agentParameters = new AgentParameters();
             agent2.agentParameters = new AgentParameters();
             // We use event based so the agent will now try to send anything to the brain
             // agent2 will request decisions only when RequestDecision is called
             agent1.agentParameters.maxStep = 20;
 
-            agentEnableMethod?.Invoke(agent2, new object[] { aca });
-            academyInitializeMethod?.Invoke(aca, new object[] { });
-            agentEnableMethod?.Invoke(agent1, new object[] { aca });
+            agentEnableMethod?.Invoke(agent2, new object[] { });
+            agentEnableMethod?.Invoke(agent1, new object[] { });
 
 
             var j = 0;
                 Assert.LessOrEqual(Mathf.Abs(i * 0.1f - agent2.GetCumulativeReward()), 0.05f);
 
 
-                academyStepMethod?.Invoke(aca, new object[] { });
+                aca.EnvironmentStep();
                 agent1.AddReward(10f);
 
                 if ((i % 21 == 0) && (i > 0))

UnitySDK/Assets/ML-Agents/Editor/Tests/Sensor/WriterAdapterTests.cs

                 data = new Tensor(2, 2, 2, 3)
             };
 
-            var shape = new[] { 2, 2, 3 };
-
             writer.SetTarget(t, 0, 0);
             writer[1, 0, 1] = 1f;
             Assert.AreEqual(1f, t.data[0, 1, 0, 1]);

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scenes/3DBall.unity

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UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs

     public override void InitializeAgent()
     {
         m_BallRb = ball.GetComponent<Rigidbody>();
-        var academy = FindObjectOfType<Academy>();
-        m_ResetParams = academy.FloatProperties;
+        m_ResetParams = Academy.Instance.FloatProperties;
         SetResetParameters();
     }
 

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs

     public override void InitializeAgent()
     {
         m_BallRb = ball.GetComponent<Rigidbody>();
-        var academy = FindObjectOfType<Academy>();
-        m_ResetParams = academy.FloatProperties;
+        m_ResetParams = Academy.Instance.FloatProperties;
         SetResetParameters();
     }
 

UnitySDK/Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity

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UnitySDK/Assets/ML-Agents/Examples/Basic/Scripts/BasicAgent.cs

 public class BasicAgent : Agent
 {
     [Header("Specific to Basic")]
-    Academy m_Academy;
     public float timeBetweenDecisionsAtInference;
     float m_TimeSinceDecision;
     int m_Position;
 
     public override void InitializeAgent()
     {
-        m_Academy = FindObjectOfType(typeof(Academy)) as Academy;
     }
 
     public override void CollectObservations()
 
     void WaitTimeInference()
     {
-        if (!m_Academy.IsCommunicatorOn)
+        if (!Academy.Instance.IsCommunicatorOn)
         {
             RequestDecision();
         }

UnitySDK/Assets/ML-Agents/Examples/Bouncer/Scenes/Bouncer.unity

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UnitySDK/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs

         m_Rb = gameObject.GetComponent<Rigidbody>();
         m_LookDir = Vector3.zero;
 
-        var academy = FindObjectOfType<Academy>();
-        m_ResetParams = academy.FloatProperties;
+        m_ResetParams = Academy.Instance.FloatProperties;
 
         SetResetParameters();
     }

UnitySDK/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicTarget.unity

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UnitySDK/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticTarget.unity

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UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Scenes/FoodCollector.unity

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UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Scenes/VisualFoodCollector.unity

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-  - component: {fileID: 1574236050}
-  m_Name: Academy
+  m_Name: FoodCollectorSettings
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UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs

 public class FoodCollectorAgent : Agent
 {
     FoodCollectorSettings m_FoodCollecterSettings;
-    Academy m_Academy;
     public GameObject area;
     FoodCollectorArea m_MyArea;
     bool m_Frozen;
         Monitor.verticalOffset = 1f;
         m_MyArea = area.GetComponent<FoodCollectorArea>();
         m_FoodCollecterSettings = FindObjectOfType<FoodCollectorSettings>();
-        m_Academy = FindObjectOfType<Academy>();
 
         SetResetParameters();
     }
 
     public void SetLaserLengths()
     {
-        m_LaserLength = m_Academy.FloatProperties.GetPropertyWithDefault("laser_length", 1.0f);
+        m_LaserLength = Academy.Instance.FloatProperties.GetPropertyWithDefault("laser_length", 1.0f);
-        float agentScale = m_Academy.FloatProperties.GetPropertyWithDefault("agent_scale", 1.0f);
+        float agentScale = Academy.Instance.FloatProperties.GetPropertyWithDefault("agent_scale", 1.0f);
         gameObject.transform.localScale = new Vector3(agentScale, agentScale, agentScale);
     }
 

UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorSettings.cs

 
     public void Awake()
     {
-        var academy = FindObjectOfType<Academy>();
-        academy.LazyInitialization();
-        academy.OnEnvironmentReset += EnvironmentReset;
+        Academy.Instance.OnEnvironmentReset += EnvironmentReset;
     }
 
     public void EnvironmentReset()

UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity

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   m_Component:
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-  - component: {fileID: 2047665}
-  m_Name: GridAcademy
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UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs

 
 public class GridAgent : Agent
 {
-    Academy m_Academy;
     [FormerlySerializedAs("m_Area")]
     [Header("Specific to GridWorld")]
     public GridArea area;
 
     public override void InitializeAgent()
     {
-        m_Academy = FindObjectOfType<Academy>();
     }
 
     public override void CollectObservations()
         // Prevents the agent from picking an action that would make it collide with a wall
         var positionX = (int)transform.position.x;
         var positionZ = (int)transform.position.z;