using System.Collections; using System.Collections.Generic; using UnityEngine; using UnityEngine.UI; using System.Linq; namespace MLAgents { // Class contains all necessary environment parameters // to be defined and sent to external agent public enum BrainType { Player, Heuristic, External, Internal } public enum SpaceType { discrete, continuous }; /** Only need to be modified in the brain's inpector. * Defines what is the resolution of the camera */ [System.Serializable] public struct resolution { public int width; /**< \brief The width of the observation in pixels */ public int height; /**< \brief The height of the observation in pixels */ public bool blackAndWhite; /**< \brief If true, the image will be in black and white. * If false, it will be in colors RGB */ } /** Should be modified via the Editor Inspector. * Defines brain-specific parameters */ [System.Serializable] public class BrainParameters { public int vectorObservationSize = 1; /**< \brief If continuous : The length of the float vector that represents * the state *
If discrete : The number of possible values the state can take*/ [Range(1, 50)] public int numStackedVectorObservations = 1; public int[] vectorActionSize = new int[1]{1}; /**< \brief If continuous : The length of the float vector that represents * the action *
If discrete : The number of possible values the action can take*/ public resolution[] cameraResolutions; /**<\brief The list of observation resolutions for the brain */ public string[] vectorActionDescriptions; /**< \brief The list of strings describing what the actions correpond to */ public SpaceType vectorActionSpaceType = SpaceType.discrete; /**< \brief Defines if the action is discrete or continuous */ } [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/master/" + "docs/Learning-Environment-Design-Brains.md")] /** * Contains all high-level Brain logic. * Add this component to an empty GameObject in your scene and drag this * GameObject into your Academy to make it a child in the hierarchy. * Contains a set of CoreBrains, which each correspond to a different method * for deciding actions. */ public class Brain : MonoBehaviour { private bool isInitialized; private Dictionary agentInfos = new Dictionary(1024); [Tooltip("Define state, observation, and action spaces for the Brain.")] /**< \brief Defines brain specific parameters such as the state size*/ public BrainParameters brainParameters = new BrainParameters(); /**< \brief Defines what is the type of the brain : * External / Internal / Player / Heuristic*/ [Tooltip("Describes how the Brain will decide actions.")] public BrainType brainType; //[HideInInspector] /// Keeps track of the agents which subscribe to this brain*/ // public Dictionary agents = new Dictionary(); [SerializeField] ScriptableObject[] CoreBrains; /**< \brief Reference to the current CoreBrain used by the brain*/ public CoreBrain coreBrain; // Ensures the coreBrains are not dupplicated with the brains [SerializeField] private int instanceID; /// Ensures the brain has an up to date array of coreBrains /** Is called when the inspector is modified and into InitializeBrain. * If the brain gameObject was just created, it generates a list of * coreBrains (one for each brainType) */ public void UpdateCoreBrains() { // If CoreBrains is null, this means the Brain object was just // instanciated and we create instances of each CoreBrain if (CoreBrains == null) { int numCoreBrains = System.Enum.GetValues(typeof(BrainType)).Length; CoreBrains = new ScriptableObject[numCoreBrains]; foreach (BrainType bt in System.Enum.GetValues(typeof(BrainType))) { CoreBrains[(int) bt] = ScriptableObject.CreateInstance( "CoreBrain" + bt.ToString()); } } else { foreach (BrainType bt in System.Enum.GetValues(typeof(BrainType))) { if ((int) bt >= CoreBrains.Length) break; if (CoreBrains[(int) bt] == null) { CoreBrains[(int) bt] = ScriptableObject.CreateInstance( "CoreBrain" + bt.ToString()); } } } // If the length of CoreBrains does not match the number of BrainTypes, // we increase the length of CoreBrains if (CoreBrains.Length < System.Enum.GetValues(typeof(BrainType)).Length) { int numCoreBrains = System.Enum.GetValues(typeof(BrainType)).Length; ScriptableObject[] new_CoreBrains = new ScriptableObject[numCoreBrains]; foreach (BrainType bt in System.Enum.GetValues(typeof(BrainType))) { if ((int) bt < CoreBrains.Length) { new_CoreBrains[(int) bt] = CoreBrains[(int) bt]; } else { new_CoreBrains[(int) bt] = ScriptableObject.CreateInstance( "CoreBrain" + bt.ToString()); } } CoreBrains = new_CoreBrains; } // If the stored instanceID does not match the current instanceID, // this means that the Brain GameObject was duplicated, and // we need to make a new copy of each CoreBrain if (instanceID != gameObject.GetInstanceID()) { foreach (BrainType bt in System.Enum.GetValues(typeof(BrainType))) { if (CoreBrains[(int) bt] == null) { CoreBrains[(int) bt] = ScriptableObject.CreateInstance( "CoreBrain" + bt); } else { CoreBrains[(int) bt] = Instantiate(CoreBrains[(int) bt]); } } instanceID = gameObject.GetInstanceID(); } // The coreBrain to display is the one defined in brainType coreBrain = (CoreBrain) CoreBrains[(int) brainType]; coreBrain.SetBrain(this); } /// This is called by the Academy at the start of the environemnt. public void InitializeBrain(Academy aca, MLAgents.Batcher brainBatcher) { UpdateCoreBrains(); coreBrain.InitializeCoreBrain(brainBatcher); aca.BrainDecideAction += DecideAction; isInitialized = true; } public void SendState(Agent agent, AgentInfo info) { // If the brain is not active or not properly initialized, an error is // thrown. if (!gameObject.activeSelf) { throw new UnityAgentsException( $"Agent {agent.gameObject.name} tried to request an action " + $"from brain {gameObject.name} but it is not active."); } else if (!isInitialized) { throw new UnityAgentsException( $"Agent {agent.gameObject.name} tried to request an action " + $"from brain {gameObject.name} but it was not initialized."); } else { agentInfos.Add(agent, info); } } void DecideAction() { coreBrain.DecideAction(agentInfos); agentInfos.Clear(); } } }