Merge pull request #5020 from Unity-Technologies/fix-adding-name-field-to-var-len-obs-and-adding-to-changelog

Adding a SensorName field to BufferSensor

Project/Assets/ML-Agents/Examples/Sorter/Prefabs/Area.prefab

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   m_Name: 
   m_EditorClassIdentifier: 
-  ObservableSize: 23
-  MaxNumObservables: 20
+  m_SensorName: BufferSensor
+  m_ObservableSize: 23
+  m_MaxNumObservables: 20
 --- !u!1 &6000518840957865293
 GameObject:
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com.unity.ml-agents/CHANGELOG.md

 ## [Unreleased]
 ### Major Changes
 #### com.unity.ml-agents (C#)
+- The `BufferSensor` and `BufferSensorComponent` have been added. They allow the Agent to observe variable number of entities. (#4909)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 
 ### Minor Changes

com.unity.ml-agents/Runtime/Sensors/BufferSensor.cs

     /// </summary>
     public class BufferSensor : ISensor, IDimensionPropertiesSensor, IBuiltInSensor
     {
+        private string m_Name;
         private int m_MaxNumObs;
         private int m_ObsSize;
         float[] m_ObservationBuffer;
                 DimensionProperty.None
             };
-        public BufferSensor(int maxNumberObs, int obsSize)
+        public BufferSensor(int maxNumberObs, int obsSize, string name)
+            m_Name = name;
             m_MaxNumObs = maxNumberObs;
             m_ObsSize = obsSize;
             m_ObservationBuffer = new float[m_ObsSize * m_MaxNumObs];
             Array.Clear(m_ObservationBuffer, 0, m_ObservationBuffer.Length);
         }
 
+        /// <inheritdoc/>
+        /// <inheritdoc/>
-            return "BufferSensor";
+            return m_Name;
         }
 
         /// <inheritdoc/>

com.unity.ml-agents/Runtime/Sensors/BufferSensorComponent.cs

     [AddComponentMenu("ML Agents/Buffer Sensor", (int)MenuGroup.Sensors)]
     public class BufferSensorComponent : SensorComponent
     {
+
+        /// <summary>
+        /// Name of the generated <see cref="bufferSensor"/> object.
+        /// Note that changing this at runtime does not affect how the Agent sorts the sensors.
+        /// </summary>
+        public string SensorName
+        {
+            get { return m_SensorName; }
+            set { m_SensorName = value; }
+        }
+        [HideInInspector, SerializeField]
+        private string m_SensorName = "BufferSensor";
+
-        public int ObservableSize;
+        public int ObservableSize
+        {
+            get { return m_ObservableSize; }
+            set { m_ObservableSize = value; }
+        }
+        [HideInInspector, SerializeField]
+        private int m_ObservableSize;
-        public int MaxNumObservables;
+        public int MaxNumObservables
+        {
+            get { return m_MaxNumObservables; }
+            set { m_MaxNumObservables = value; }
+        }
+        [HideInInspector, SerializeField]
+        private int m_MaxNumObservables;
 
         private BufferSensor m_Sensor;
 
-            m_Sensor = new BufferSensor(MaxNumObservables, ObservableSize);
+            m_Sensor = new BufferSensor(MaxNumObservables, ObservableSize, m_SensorName);
             return m_Sensor;
         }
 

com.unity.ml-agents/Tests/Editor/Sensor/BufferSensorTest.cs

         public void TestBufferSensor()
         {
 
-            var bufferSensor = new BufferSensor(20, 4);
+            var bufferSensor = new BufferSensor(20, 4, "testName");
             var shape = bufferSensor.GetObservationShape();
             var dimProp = bufferSensor.GetDimensionProperties();
             Assert.AreEqual(shape[0], 20);
             var bufferComponent = agentGameObj.AddComponent<BufferSensorComponent>();
             bufferComponent.MaxNumObservables = 20;
             bufferComponent.ObservableSize = 4;
+            bufferComponent.SensorName = "TestName";
 
             var sensor = bufferComponent.CreateSensor();
             var shape = bufferComponent.GetObservationShape();
 
             Assert.AreEqual(shape, obs.Shape);
             Assert.AreEqual(obs.DimensionProperties.Count, 2);
+
+            Assert.AreEqual(sensor.GetName(), "TestName");
 
             for (int i = 0; i < 8; i++)
             {

com.unity.ml-agents/Editor/BufferSensorComponentEditor.cs

+using UnityEditor;
+using Unity.MLAgents.Sensors;
+
+namespace Unity.MLAgents.Editor
+{
+    [CustomEditor(typeof(BufferSensorComponent))]
+    [CanEditMultipleObjects]
+    internal class BufferSensorComponentEditor : UnityEditor.Editor
+    {
+        public override void OnInspectorGUI()
+        {
+            var so = serializedObject;
+            so.Update();
+
+            // Drawing the BufferSensorComponent
+
+            EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
+            {
+                // These fields affect the sensor order or observation size,
+                // So can't be changed at runtime.
+                EditorGUILayout.PropertyField(so.FindProperty("m_SensorName"), true);
+                EditorGUILayout.PropertyField(so.FindProperty("m_ObservableSize"), true);
+                EditorGUILayout.PropertyField(so.FindProperty("m_MaxNumObservables"), true);
+            }
+            EditorGUI.EndDisabledGroup();
+
+            so.ApplyModifiedProperties();
+        }
+
+    }
+}

com.unity.ml-agents/Editor/BufferSensorComponentEditor.cs.meta

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