using System; using System.Collections.Generic; using NUnit.Framework; using Unity.MLAgents.Sensors; using UnityEngine; using Unity.Barracuda; using Unity.MLAgents.Actuators; using Unity.MLAgents.Policies; using Unity.MLAgents.Analytics; using UnityEditor; namespace Unity.MLAgents.Tests.Analytics { [TestFixture] public class InferenceAnalyticsTests { const string k_continuousONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_v1_0.onnx"; NNModel continuousONNXModel; Test3DSensorComponent sensor_21_20_3; Test3DSensorComponent sensor_20_22_3; ActionSpec GetContinuous2vis8vec2actionActionSpec() { return ActionSpec.MakeContinuous(2); } [SetUp] public void SetUp() { if (Academy.IsInitialized) { Academy.Instance.Dispose(); } continuousONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_continuousONNXPath, typeof(NNModel)); var go = new GameObject("SensorA"); sensor_21_20_3 = go.AddComponent(); sensor_21_20_3.Sensor = new Test3DSensor("SensorA", 21, 20, 3); sensor_20_22_3 = go.AddComponent(); sensor_20_22_3.Sensor = new Test3DSensor("SensorB", 20, 22, 3); } [Test] public void TestModelEvent() { var sensors = new List { sensor_21_20_3.Sensor, sensor_20_22_3.Sensor }; var behaviorName = "continuousModel"; var actionSpec = GetContinuous2vis8vec2actionActionSpec(); var vectorActuator = new VectorActuator(null, actionSpec, "test'"); var actuators = new IActuator[] { vectorActuator }; var continuousEvent = InferenceAnalytics.GetEventForModel( continuousONNXModel, behaviorName, InferenceDevice.CPU, sensors, actionSpec, actuators ); // The behavior name should be hashed, not pass-through. Assert.AreNotEqual(behaviorName, continuousEvent.BehaviorName); Assert.AreEqual(2, continuousEvent.ActionSpec.NumContinuousActions); Assert.AreEqual(0, continuousEvent.ActionSpec.NumDiscreteActions); Assert.AreEqual(2, continuousEvent.ObservationSpecs.Count); Assert.AreEqual(3, continuousEvent.ObservationSpecs[0].DimensionInfos.Length); Assert.AreEqual(20, continuousEvent.ObservationSpecs[0].DimensionInfos[0].Size); Assert.AreEqual(0, continuousEvent.ObservationSpecs[0].ObservationType); Assert.AreEqual((int)DimensionProperty.TranslationalEquivariance, continuousEvent.ObservationSpecs[0].DimensionInfos[0].Flags); Assert.AreEqual((int)DimensionProperty.None, continuousEvent.ObservationSpecs[0].DimensionInfos[2].Flags); Assert.AreEqual("None", continuousEvent.ObservationSpecs[0].CompressionType); Assert.AreEqual(Test3DSensor.k_BuiltInSensorType, continuousEvent.ObservationSpecs[0].BuiltInSensorType); Assert.AreEqual((int)BuiltInActuatorType.VectorActuator, continuousEvent.ActuatorInfos[0].BuiltInActuatorType); Assert.AreNotEqual(null, continuousEvent.ModelHash); // Make sure nested fields get serialized var jsonString = JsonUtility.ToJson(continuousEvent, true); Assert.IsTrue(jsonString.Contains("ObservationSpecs")); Assert.IsTrue(jsonString.Contains("ActionSpec")); Assert.IsTrue(jsonString.Contains("NumDiscreteActions")); Assert.IsTrue(jsonString.Contains("SensorName")); Assert.IsTrue(jsonString.Contains("Flags")); Assert.IsTrue(jsonString.Contains("ActuatorInfos")); } [Test] public void TestBarracudaPolicy() { // Explicitly request decisions for a policy so we get code coverage on the event sending using (new AnalyticsUtils.DisableAnalyticsSending()) { var sensors = new List { sensor_21_20_3.Sensor, sensor_20_22_3.Sensor }; var policy = new BarracudaPolicy( GetContinuous2vis8vec2actionActionSpec(), Array.Empty(), continuousONNXModel, InferenceDevice.CPU, "testBehavior" ); policy.RequestDecision(new AgentInfo(), sensors); } Academy.Instance.Dispose(); } } }