Merge pull request #3595 from Unity-Technologies/develop-BehaviorParams-public

Chris Elion · web-flow · commit dceb5c46f015 · 2020-03-09T21:36:36.000-07:00
Make BehaviorParameters public again, update editor
diff --git a/DevProject/Assets/placeholder.txt.meta b/DevProject/Assets/placeholder.txt.meta
diff --git a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs
@@ -137,7 +137,8 @@ NNModel GetModelForBehaviorName(string behaviorName)
         void OverrideModel()
         {
             m_Agent.LazyInitialize();
-            var name = m_Agent.BehaviorName;
+            var bp = m_Agent.GetComponent<BehaviorParameters>();
+            var name = bp.behaviorName;
 
             var nnModel = GetModelForBehaviorName(name);
             Debug.Log($"Overriding behavior {name} for agent with model {nnModel?.name}");
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
@@ -27,11 +27,13 @@ public enum Team
     [HideInInspector]
     public Rigidbody agentRb;
     SoccerSettings m_SoccerSettings;
+    BehaviorParameters m_BehaviorParameters;
     Vector3 m_Transform;
 
     public override void Initialize()
     {
-        if (TeamId == (int)Team.Blue)
+        m_BehaviorParameters = gameObject.GetComponent<BehaviorParameters>();
+        if (m_BehaviorParameters.TeamId == (int)Team.Blue)
         {
             team = Team.Blue;
             m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
diff --git a/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs b/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs
@@ -2,6 +2,7 @@
 using UnityEditor;
 using Barracuda;
 using MLAgents.Policies;
+using UnityEngine;
 
 namespace MLAgents.Editor
 {
@@ -22,27 +23,55 @@ public override void OnInspectorGUI()
         {
             var so = serializedObject;
             so.Update();
+            bool needPolicyUpdate; // Whether the name, model, inference device, or BehaviorType changed.
 
             // Drawing the Behavior Parameters
-            EditorGUI.BeginChangeCheck();
-            EditorGUI.indentLevel++;
-            EditorGUILayout.PropertyField(so.FindProperty("m_BehaviorName"));
-            EditorGUILayout.PropertyField(so.FindProperty("m_BrainParameters"), true);
-            EditorGUILayout.PropertyField(so.FindProperty("m_Model"), true);
             EditorGUI.indentLevel++;
-            EditorGUILayout.PropertyField(so.FindProperty("m_InferenceDevice"), true);
-            EditorGUI.indentLevel--;
-            EditorGUILayout.PropertyField(so.FindProperty("m_BehaviorType"));
+            EditorGUI.BeginChangeCheck(); // global
+
+            EditorGUI.BeginChangeCheck();
+            {
+                EditorGUILayout.PropertyField(so.FindProperty("m_BehaviorName"));
+            }
+            needPolicyUpdate = EditorGUI.EndChangeCheck();
+
+            EditorGUI.BeginDisabledGroup(Application.isPlaying);
+            {
+                EditorGUILayout.PropertyField(so.FindProperty("m_BrainParameters"), true);
+            }
+            EditorGUI.EndDisabledGroup();
+
+            EditorGUI.BeginChangeCheck();
+            {
+                EditorGUILayout.PropertyField(so.FindProperty("m_Model"), true);
+                EditorGUI.indentLevel++;
+                EditorGUILayout.PropertyField(so.FindProperty("m_InferenceDevice"), true);
+                EditorGUI.indentLevel--;
+            }
+            needPolicyUpdate = needPolicyUpdate || EditorGUI.EndChangeCheck();
+
+            EditorGUI.BeginChangeCheck();
+            {
+                EditorGUILayout.PropertyField(so.FindProperty("m_BehaviorType"));
+            }
+            needPolicyUpdate = needPolicyUpdate || EditorGUI.EndChangeCheck();
+
             EditorGUILayout.PropertyField(so.FindProperty("TeamId"));
-            EditorGUILayout.PropertyField(so.FindProperty("m_UseChildSensors"), true);
-            // EditorGUILayout.PropertyField(serializedObject.FindProperty("m_Heuristic"), true);
-            EditorGUI.indentLevel--;
-            if (EditorGUI.EndChangeCheck())
+            EditorGUI.BeginDisabledGroup(Application.isPlaying);
             {
-                m_RequireReload = true;
+                EditorGUILayout.PropertyField(so.FindProperty("m_UseChildSensors"), true);
             }
+            EditorGUI.EndDisabledGroup();
+
+            EditorGUI.indentLevel--;
+            m_RequireReload = EditorGUI.EndChangeCheck();
             DisplayFailedModelChecks();
             so.ApplyModifiedProperties();
+
+            if (needPolicyUpdate)
+            {
+                UpdateAgentPolicy();
+            }
         }
 
         /// <summary>
@@ -87,5 +116,21 @@ void DisplayFailedModelChecks()
                 }
             }
         }
+
+        void UpdateAgentPolicy()
+        {
+            if (Application.isPlaying)
+            {
+                var behaviorParameters = (BehaviorParameters)target;
+                var agent = behaviorParameters.GetComponent<Agent>();
+                if (agent == null)
+                {
+                    return;
+                }
+
+                agent.ReloadPolicy();
+
+            }
+        }
     }
 }
diff --git a/com.unity.ml-agents/Runtime/Agent.cs b/com.unity.ml-agents/Runtime/Agent.cs
@@ -119,30 +119,6 @@ internal struct AgentParameters
             public int maxStep;
         }
 
-        /// <summary>
-        /// The team ID for this Agent.
-        /// </summary>
-        public int TeamId
-        {
-            get
-            {
-                LazyInitialize();
-                return m_PolicyFactory.TeamId;
-            }
-        }
-
-        /// <summary>
-        /// The name of the behavior of the Agent.
-        /// </summary>
-        public string BehaviorName
-        {
-            get
-            {
-                LazyInitialize();
-                return m_PolicyFactory.behaviorName;
-            }
-        }
-
         [SerializeField][HideInInspector]
         internal AgentParameters agentParameters;
         [SerializeField][HideInInspector]
@@ -384,25 +360,39 @@ public void SetModel(
             NNModel model,
             InferenceDevice inferenceDevice = InferenceDevice.CPU)
         {
-            m_PolicyFactory.GiveModel(behaviorName, model, inferenceDevice);
-            m_Brain?.Dispose();
-            m_Brain = m_PolicyFactory.GeneratePolicy(Heuristic);
+            if (behaviorName == m_PolicyFactory.behaviorName &&
+                model == m_PolicyFactory.model &&
+                inferenceDevice == m_PolicyFactory.inferenceDevice)
+            {
+                // If everything is the same, don't make any changes.
+                return;
+            }
+
+            m_PolicyFactory.model = model;
+            m_PolicyFactory.inferenceDevice = inferenceDevice;
+            m_PolicyFactory.behaviorName = behaviorName;
+            ReloadPolicy();
         }
 
         /// <summary>
         /// Updates the type of behavior for the agent.
         /// </summary>
-        /// <param name="behaviorType"> The new behaviorType for the Agent
-        /// </param>
+        /// <param name="behaviorType"> The new behaviorType for the Agent.</param>
         public void SetBehaviorType(BehaviorType behaviorType)
         {
-            if (m_PolicyFactory.m_BehaviorType == behaviorType)
+            if (m_PolicyFactory.behaviorType == behaviorType)
             {
                 return;
             }
-            m_PolicyFactory.m_BehaviorType = behaviorType;
+            m_PolicyFactory.behaviorType = behaviorType;
+            ReloadPolicy();
+        }
+
+        internal void ReloadPolicy()
+        {
             m_Brain?.Dispose();
             m_Brain = m_PolicyFactory.GeneratePolicy(Heuristic);
+
         }
 
         /// <summary>
@@ -606,7 +596,6 @@ void SendInfoToBrain()
             {
                 throw new UnityAgentsException("Call to SendInfoToBrain when Agent hasn't been initialized." +
                     "Please ensure that you are calling 'base.OnEnable()' if you have overridden OnEnable.");
-
             }
 
             if (m_Brain == null)
diff --git a/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs b/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs
@@ -35,66 +35,97 @@ public enum BehaviorType
     /// The Factory to generate policies.
     /// </summary>
     [AddComponentMenu("ML Agents/Behavior Parameters", (int)MenuGroup.Default)]
-    internal class BehaviorParameters : MonoBehaviour
+    public class BehaviorParameters : MonoBehaviour
     {
-        [HideInInspector]
-        [SerializeField]
+        [HideInInspector, SerializeField]
         BrainParameters m_BrainParameters = new BrainParameters();
-        [HideInInspector]
-        [SerializeField]
-        NNModel m_Model;
-        [HideInInspector]
-        [SerializeField]
-        InferenceDevice m_InferenceDevice;
-        [HideInInspector]
-        [SerializeField]
 
-        // Disable warning /com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs(...):
-        //   warning CS0649: Field 'BehaviorParameters.m_BehaviorType' is never assigned to,
-        //   and will always have its default value
-        // This field is set in the custom editor.
-        #pragma warning disable 0649
-        internal BehaviorType m_BehaviorType;
-        #pragma warning restore 0649
-        [HideInInspector]
-        [SerializeField]
-        string m_BehaviorName = "My Behavior";
+        /// <summary>
+        /// The associated <see cref="BrainParameters"/> for this behavior.
+        /// </summary>
+        public BrainParameters brainParameters
+        {
+            get { return m_BrainParameters; }
+            internal set { m_BrainParameters = value; }
+        }
+
+        [HideInInspector, SerializeField]
+        NNModel m_Model;
 
         /// <summary>
-        /// The team ID for this behavior.
+        /// The neural network model used when in inference mode.
+        /// This cannot be set directly; use <see cref="Agent.GiveModel(string,NNModel,InferenceDevice)"/>
+        /// to set it.
         /// </summary>
-        [HideInInspector, SerializeField, FormerlySerializedAs("m_TeamID")]
-        public int TeamId;
+        public NNModel model
+        {
+            get { return m_Model; }
+            internal set { m_Model = value; }
+        }
 
-        [FormerlySerializedAs("m_useChildSensors")]
-        [HideInInspector]
-        [SerializeField]
-        [Tooltip("Use all Sensor components attached to child GameObjects of this Agent.")]
-        bool m_UseChildSensors = true;
+        [HideInInspector, SerializeField]
+        InferenceDevice m_InferenceDevice;
 
         /// <summary>
-        /// The associated <see cref="BrainParameters"/> for this behavior.
+        /// How inference is performed for this Agent's model.
+        /// This cannot be set directly; use <see cref="Agent.GiveModel(string,NNModel,InferenceDevice)"/>
+        /// to set it.
         /// </summary>
-        internal BrainParameters brainParameters
+        public InferenceDevice inferenceDevice
         {
-            get { return m_BrainParameters; }
+            get { return m_InferenceDevice; }
+            internal set { m_InferenceDevice = value; }
         }
 
+        [HideInInspector, SerializeField]
+        BehaviorType m_BehaviorType;
+
         /// <summary>
-        /// Whether or not to use all the sensor components attached to child GameObjects of the agent.
+        /// The BehaviorType for the Agent.
+        /// This cannot be set directly; use <see cref="Agent.SetBehaviorType(BehaviorType)"/>
+        /// to set it.
         /// </summary>
-        public bool useChildSensors
+        public BehaviorType behaviorType
         {
-            get { return m_UseChildSensors; }
+            get { return m_BehaviorType; }
+            internal set { m_BehaviorType = value; }
         }
 
+        [HideInInspector, SerializeField]
+        string m_BehaviorName = "My Behavior";
+
         /// <summary>
         /// The name of this behavior, which is used as a base name. See
         /// <see cref="fullyQualifiedBehaviorName"/> for the full name.
+        /// This cannot be set directly; use <see cref="Agent.GiveModel(string,NNModel,InferenceDevice)"/>
+        /// to set it.
         /// </summary>
         public string behaviorName
         {
             get { return m_BehaviorName; }
+            internal set { m_BehaviorName = value; }
+        }
+
+        /// <summary>
+        /// The team ID for this behavior.
+        /// </summary>
+        [HideInInspector, SerializeField, FormerlySerializedAs("m_TeamID")]
+        public int TeamId;
+        // TODO properties here instead of Agent
+
+        [FormerlySerializedAs("m_useChildSensors")]
+        [HideInInspector]
+        [SerializeField]
+        [Tooltip("Use all Sensor components attached to child GameObjects of this Agent.")]
+        bool m_UseChildSensors = true;
+
+        /// <summary>
+        /// Whether or not to use all the sensor components attached to child GameObjects of the agent.
+        /// </summary>
+        public bool useChildSensors
+        {
+            get { return m_UseChildSensors; }
+            internal set { m_UseChildSensors = value; } // TODO make public, don't allow changes at runtime
         }
 
         /// <summary>
@@ -105,7 +136,7 @@ public string fullyQualifiedBehaviorName
             get { return m_BehaviorName + "?team=" + TeamId; }
         }
 
-        public IPolicy GeneratePolicy(Func<float[]> heuristic)
+        internal IPolicy GeneratePolicy(Func<float[]> heuristic)
         {
             switch (m_BehaviorType)
             {
@@ -130,21 +161,5 @@ public IPolicy GeneratePolicy(Func<float[]> heuristic)
                     return new HeuristicPolicy(heuristic);
             }
         }
-
-        /// <summary>
-        /// Updates the model and related details for this behavior.
-        /// </summary>
-        /// <param name="newBehaviorName">New name for the behavior.</param>
-        /// <param name="model">New neural network model for this behavior.</param>
-        /// <param name="inferenceDevice">New inference device for this behavior.</param>
-        public void GiveModel(
-            string newBehaviorName,
-            NNModel model,
-            InferenceDevice inferenceDevice = InferenceDevice.CPU)
-        {
-            m_Model = model;
-            m_InferenceDevice = inferenceDevice;
-            m_BehaviorName = newBehaviorName;
-        }
     }
 }
diff --git a/com.unity.ml-agents/Runtime/Policies/BrainParameters.cs b/com.unity.ml-agents/Runtime/Policies/BrainParameters.cs
@@ -6,7 +6,7 @@ namespace MLAgents.Policies
     /// <summary>
     /// Whether the action space is discrete or continuous.
     /// </summary>
-    internal enum SpaceType
+    public enum SpaceType
     {
         /// <summary>
         /// Discrete action space: a fixed number of options are available.
@@ -24,7 +24,7 @@ internal enum SpaceType
     /// decision process.
     /// </summary>
     [Serializable]
-    internal class BrainParameters
+    public class BrainParameters
     {
         /// <summary>
         /// If continuous : The length of the float vector that represents the state.
diff --git a/com.unity.ml-agents/Tests/Editor/MLAgentsEditModeTest.cs b/com.unity.ml-agents/Tests/Editor/MLAgentsEditModeTest.cs

Original file line number	Diff line number	Diff line change
`@@ -137,7 +137,8 @@ NNModel GetModelForBehaviorName(string behaviorName)`
`137`	`137`	`void OverrideModel()`
`138`	`138`	`{`
`139`	`139`	`m_Agent.LazyInitialize();`
`140`		`- var name = m_Agent.BehaviorName;`
	`140`	`+ var bp = m_Agent.GetComponent<BehaviorParameters>();`
	`141`	`+ var name = bp.behaviorName;`
`141`	`142`
`142`	`143`	`var nnModel = GetModelForBehaviorName(name);`
`143`	`144`	`Debug.Log($"Overriding behavior {name} for agent with model {nnModel?.name}");`
Original file line number	Diff line number	Diff line change
`@@ -27,11 +27,13 @@ public enum Team`
`27`	`27`	`[HideInInspector]`
`28`	`28`	`public Rigidbody agentRb;`
`29`	`29`	`SoccerSettings m_SoccerSettings;`
	`30`	`+ BehaviorParameters m_BehaviorParameters;`
`30`	`31`	`Vector3 m_Transform;`
`31`	`32`
`32`	`33`	`public override void Initialize()`
`33`	`34`	`{`
`34`		`- if (TeamId == (int)Team.Blue)`
	`35`	`+ m_BehaviorParameters = gameObject.GetComponent<BehaviorParameters>();`
	`36`	`+ if (m_BehaviorParameters.TeamId == (int)Team.Blue)`
`35`	`37`	`{`
`36`	`38`	`team = Team.Blue;`
`37`	`39`	`m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);`