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BehaviorParametersEditor.cs
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using System.Collections.Generic;
using UnityEditor;
using Unity.Sentis;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Policies;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Sensors.Reflection;
using CheckTypeEnum = Unity.MLAgents.Inference.SentisModelParamLoader.FailedCheck.CheckTypeEnum;
namespace Unity.MLAgents.Editor
{
/*
This code is meant to modify the behavior of the inspector on Agent Components.
*/
[CustomEditor(typeof(BehaviorParameters))]
[CanEditMultipleObjects]
internal class BehaviorParametersEditor : UnityEditor.Editor
{
const float k_TimeBetweenModelReloads = 2f;
// Time since the last reload of the model
float m_TimeSinceModelReload;
// Whether or not the model needs to be reloaded
bool m_RequireReload;
const string k_BehaviorName = "m_BehaviorName";
const string k_BrainParametersName = "m_BrainParameters";
const string k_ModelName = "m_Model";
const string k_InferenceDeviceName = "m_InferenceDevice";
const string k_DeterministicInference = "m_DeterministicInference";
const string k_BehaviorTypeName = "m_BehaviorType";
const string k_TeamIdName = "TeamId";
const string k_UseChildSensorsName = "m_UseChildSensors";
const string k_ObservableAttributeHandlingName = "m_ObservableAttributeHandling";
public override void OnInspectorGUI()
{
var so = serializedObject;
so.Update();
bool needPolicyUpdate; // Whether the name, model, inference device, or BehaviorType changed.
var behaviorParameters = (BehaviorParameters)target;
var agent = behaviorParameters.gameObject.GetComponent<Agent>();
if (agent == null)
{
EditorGUILayout.HelpBox(
"No Agent is associated with this Behavior Parameters. Attach an Agent to " +
"this GameObject to configure your Agent with these behavior parameters.",
MessageType.Warning);
}
// Drawing the Behavior Parameters
EditorGUI.indentLevel++;
EditorGUI.BeginChangeCheck(); // global
EditorGUI.BeginChangeCheck();
{
EditorGUILayout.PropertyField(so.FindProperty(k_BehaviorName));
}
needPolicyUpdate = EditorGUI.EndChangeCheck();
EditorGUI.BeginChangeCheck();
EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
{
EditorGUILayout.PropertyField(so.FindProperty(k_BrainParametersName), true);
}
EditorGUI.EndDisabledGroup();
EditorGUI.BeginChangeCheck();
{
EditorGUILayout.PropertyField(so.FindProperty(k_ModelName), true);
EditorGUI.indentLevel++;
EditorGUILayout.PropertyField(so.FindProperty(k_InferenceDeviceName), true);
EditorGUILayout.PropertyField(so.FindProperty(k_DeterministicInference), true);
EditorGUI.indentLevel--;
}
needPolicyUpdate = needPolicyUpdate || EditorGUI.EndChangeCheck();
EditorGUI.BeginChangeCheck();
{
EditorGUILayout.PropertyField(so.FindProperty(k_BehaviorTypeName));
}
needPolicyUpdate = needPolicyUpdate || EditorGUI.EndChangeCheck();
EditorGUILayout.PropertyField(so.FindProperty(k_TeamIdName));
EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
{
EditorGUILayout.PropertyField(so.FindProperty(k_UseChildSensorsName), true);
EditorGUILayout.PropertyField(so.FindProperty(k_ObservableAttributeHandlingName), true);
}
EditorGUI.EndDisabledGroup();
EditorGUI.indentLevel--;
m_RequireReload = EditorGUI.EndChangeCheck();
DisplayFailedModelChecks();
so.ApplyModifiedProperties();
if (needPolicyUpdate)
{
UpdateAgentPolicy();
}
}
/// <summary>
/// Must be called within OnEditorGUI()
/// </summary>
void DisplayFailedModelChecks()
{
if (m_RequireReload && m_TimeSinceModelReload > k_TimeBetweenModelReloads)
{
m_RequireReload = false;
m_TimeSinceModelReload = 0;
}
// Display all failed checks
// D.logEnabled = false;
Model sentisModel = null;
var model = (ModelAsset)serializedObject.FindProperty(k_ModelName).objectReferenceValue;
var behaviorParameters = (BehaviorParameters)target;
// Grab the sensor components, since we need them to determine the observation sizes.
// TODO make these methods of BehaviorParameters
var agent = behaviorParameters.gameObject.GetComponent<Agent>();
if (agent == null)
{
return;
}
agent.sensors = new List<ISensor>();
agent.InitializeSensors();
var sensors = agent.sensors.ToArray();
ActuatorComponent[] actuatorComponents;
if (behaviorParameters.UseChildActuators)
{
actuatorComponents = behaviorParameters.GetComponentsInChildren<ActuatorComponent>();
}
else
{
actuatorComponents = behaviorParameters.GetComponents<ActuatorComponent>();
}
// Get the total size of the sensors generated by ObservableAttributes.
// If there are any errors (e.g. unsupported type, write-only properties), display them too.
int observableAttributeSensorTotalSize = 0;
if (agent != null && behaviorParameters.ObservableAttributeHandling != ObservableAttributeOptions.Ignore)
{
List<string> observableErrors = new List<string>();
observableAttributeSensorTotalSize = ObservableAttribute.GetTotalObservationSize(agent, false, observableErrors);
foreach (var check in observableErrors)
{
EditorGUILayout.HelpBox(check, MessageType.Warning);
}
}
var brainParameters = behaviorParameters.BrainParameters;
if (model != null)
{
sentisModel = ModelLoader.Load(model);
}
if (brainParameters != null)
{
var failedChecks = Inference.SentisModelParamLoader.CheckModel(
sentisModel, brainParameters, sensors, actuatorComponents,
observableAttributeSensorTotalSize, behaviorParameters.BehaviorType, behaviorParameters.DeterministicInference
);
foreach (var check in failedChecks)
{
if (check != null)
{
switch (check.CheckType)
{
case CheckTypeEnum.Info:
EditorGUILayout.HelpBox(check.Message, MessageType.Info);
break;
case CheckTypeEnum.Warning:
EditorGUILayout.HelpBox(check.Message, MessageType.Warning);
break;
case CheckTypeEnum.Error:
EditorGUILayout.HelpBox(check.Message, MessageType.Error);
break;
default:
break;
}
}
}
}
}
void UpdateAgentPolicy()
{
var behaviorParameters = (BehaviorParameters)target;
behaviorParameters.UpdateAgentPolicy();
}
}
}