[WIP] Side Channel Design Changes (#3807)

* Make EnvironmentParameters a first-class citizen in the API Missing: Python conterparts and testing. * Minor comment fix to Engine Parameters * A second minor fix. * Make EngineConfigChannel Internal and add a singleton/sealed accessor * Make StatsSideChannel Internal and add a singleton/sealed accessor * Changes to SideChannelUtils - Disallow two sidechannels of the same type to be added - Remove GetSideChannels that return a list as that is now unnecessary - Make most methods except (register/unregister) internal to limit users impacting the “system-level” side channels - Add an improved comment to SideChannel.cs * Added Dispose methods to system-level sidechannel wrappers - Specifically to StatsRecorder, EnvironmentParameters and EngineParameters. - Updated Academy.Dispose to take advantage of these. - Updated Editor tests to cover all three “system-level” side channels. Kudos to Unit Tests (TestAcademy / TestAcademyDispose) for catching these. * Removed debub log. * Back-up commit. * Revert "Back-up commit." This reverts commit f81e835. * key changes to wrapper classes made the wrapper classes non-singleton (but internal constructors) made EngineParameters internal * Re-enabled the option to add multiple side channels of the same type * Fixed example env * Add an enum flag to the EnvParamsChannel * Adding .cs.meta files * Update engine config side channel Removed unnecessary accessors Made capture frame rate a parameter * Rename SideChannelUtils —> SideChannelsManager * PR feedback * Minor PR feedback. * Python side changes to the SideChannel redesign (#3826) * Modified the EngineConfig to send one message per field * Created the Python Environment Parameters Channel and hooked it in * Make OnMessageReceived protected * addressing comments * [Side Channels] Edited the documenation and renamed a few things (#3833) * Edited the documetation and renamed a few things * addressing comments * Update docs/Python-API.md Co-Authored-By: Chris Elion <chris.elion@unity3d.com> * Update com.unity.ml-agents/CHANGELOG.md Co-Authored-By: Chris Elion <chris.elion@unity3d.com> * Removing unecessary migrating line Co-authored-by: Chris Elion <chris.elion@unity3d.com> * Addressing renaming comments * Removing the EngineParameters class Co-authored-by: Vincent-Pierre BERGES <vincentpierre@unity3d.com> Co-authored-by: Chris Elion <chris.elion@unity3d.com>
Unity-Technologies · Apr 23, 2020 · e4826b6 · e4826b6
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diff --git a/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs b/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs
@@ -8,12 +8,12 @@ public class Ball3DAgent : Agent
     [Header("Specific to Ball3D")]
     public GameObject ball;
     Rigidbody m_BallRb;
-    FloatPropertiesChannel m_ResetParams;
+    EnvironmentParameters m_ResetParams;
 
     public override void Initialize()
     {
         m_BallRb = ball.GetComponent<Rigidbody>();
-        m_ResetParams = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
         SetResetParameters();
     }
 
@@ -75,8 +75,8 @@ public override void Heuristic(float[] actionsOut)
     public void SetBall()
     {
         //Set the attributes of the ball by fetching the information from the academy
-        m_BallRb.mass = m_ResetParams.GetPropertyWithDefault("mass", 1.0f);
-        var scale = m_ResetParams.GetPropertyWithDefault("scale", 1.0f);
+        m_BallRb.mass = m_ResetParams.GetWithDefault("mass", 1.0f);
+        var scale = m_ResetParams.GetWithDefault("scale", 1.0f);
         ball.transform.localScale = new Vector3(scale, scale, scale);
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs b/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs
@@ -8,12 +8,12 @@ public class Ball3DHardAgent : Agent
     [Header("Specific to Ball3DHard")]
     public GameObject ball;
     Rigidbody m_BallRb;
-    FloatPropertiesChannel m_ResetParams;
+    EnvironmentParameters m_ResetParams;
 
     public override void Initialize()
     {
         m_BallRb = ball.GetComponent<Rigidbody>();
-        m_ResetParams = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
         SetResetParameters();
     }
 
@@ -66,8 +66,8 @@ public override void OnEpisodeBegin()
     public void SetBall()
     {
         //Set the attributes of the ball by fetching the information from the academy
-        m_BallRb.mass = m_ResetParams.GetPropertyWithDefault("mass", 1.0f);
-        var scale = m_ResetParams.GetPropertyWithDefault("scale", 1.0f);
+        m_BallRb.mass = m_ResetParams.GetWithDefault("mass", 1.0f);
+        var scale = m_ResetParams.GetWithDefault("scale", 1.0f);
         ball.transform.localScale = new Vector3(scale, scale, scale);
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs b/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs
@@ -15,14 +15,14 @@ public class BouncerAgent : Agent
     int m_NumberJumps = 20;
     int m_JumpLeft = 20;
 
-    FloatPropertiesChannel m_ResetParams;
+    EnvironmentParameters m_ResetParams;
 
     public override void Initialize()
     {
         m_Rb = gameObject.GetComponent<Rigidbody>();
         m_LookDir = Vector3.zero;
 
-        m_ResetParams = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
 
         SetResetParameters();
     }
@@ -121,7 +121,7 @@ void Update()
 
     public void SetTargetScale()
     {
-        var targetScale = m_ResetParams.GetPropertyWithDefault("target_scale", 1.0f);
+        var targetScale = m_ResetParams.GetWithDefault("target_scale", 1.0f);
         target.transform.localScale = new Vector3(targetScale, targetScale, targetScale);
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs b/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs
@@ -29,13 +29,14 @@ public class FoodCollectorAgent : Agent
     public bool contribute;
     public bool useVectorObs;
 
+    EnvironmentParameters m_ResetParams;
 
     public override void Initialize()
     {
         m_AgentRb = GetComponent<Rigidbody>();
         m_MyArea = area.GetComponent<FoodCollectorArea>();
         m_FoodCollecterSettings = FindObjectOfType<FoodCollectorSettings>();
-
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
         SetResetParameters();
     }
 
@@ -271,12 +272,12 @@ void OnCollisionEnter(Collision collision)
 
     public void SetLaserLengths()
     {
-        m_LaserLength = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().GetPropertyWithDefault("laser_length", 1.0f);
+        m_LaserLength = m_ResetParams.GetWithDefault("laser_length", 1.0f);
     }
 
     public void SetAgentScale()
     {
-        float agentScale = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().GetPropertyWithDefault("agent_scale", 1.0f);
+        float agentScale = m_ResetParams.GetWithDefault("agent_scale", 1.0f);
         gameObject.transform.localScale = new Vector3(agentScale, agentScale, agentScale);
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorSettings.cs b/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorSettings.cs
@@ -1,8 +1,6 @@
-using System;
 using UnityEngine;
 using UnityEngine.UI;
 using MLAgents;
-using MLAgents.SideChannels;
 
 public class FoodCollectorSettings : MonoBehaviour
 {
@@ -14,15 +12,15 @@ public class FoodCollectorSettings : MonoBehaviour
     public int totalScore;
     public Text scoreText;
 
-    StatsSideChannel m_statsSideChannel;
+    StatsRecorder m_Recorder;
 
     public void Awake()
     {
         Academy.Instance.OnEnvironmentReset += EnvironmentReset;
-        m_statsSideChannel = SideChannelUtils.GetSideChannel<StatsSideChannel>();
+        m_Recorder = Academy.Instance.StatsRecorder;
     }
 
-    public void EnvironmentReset()
+    private void EnvironmentReset()
     {
         ClearObjects(GameObject.FindGameObjectsWithTag("food"));
         ClearObjects(GameObject.FindGameObjectsWithTag("badFood"));
@@ -54,7 +52,7 @@ public void Update()
         // need to send every Update() call.
         if ((Time.frameCount % 100)== 0)
         {
-            m_statsSideChannel?.AddStat("TotalScore", totalScore);
+            m_Recorder.Add("TotalScore", totalScore);
         }
     }
 }
diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs b/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs
@@ -29,6 +29,13 @@ public class GridAgent : Agent
     const int k_Left = 3;
     const int k_Right = 4;
 
+    EnvironmentParameters m_ResetParams;
+
+    public override void Initialize()
+    {
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
+    }
+
     public override void CollectDiscreteActionMasks(DiscreteActionMasker actionMasker)
     {
         // Mask the necessary actions if selected by the user.
@@ -37,7 +44,7 @@ public override void CollectDiscreteActionMasks(DiscreteActionMasker actionMaske
            // Prevents the agent from picking an action that would make it collide with a wall
             var positionX = (int)transform.position.x;
             var positionZ = (int)transform.position.z;
-            var maxPosition = (int)SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().GetPropertyWithDefault("gridSize", 5f) - 1;
+            var maxPosition = (int)m_ResetParams.GetWithDefault("gridSize", 5f) - 1;
 
             if (positionX == 0)
             {

diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridArea.cs b/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridArea.cs
@@ -14,8 +14,6 @@ public class GridArea : MonoBehaviour
 
     public GameObject trueAgent;
 
-    FloatPropertiesChannel m_ResetParameters;
-
     Camera m_AgentCam;
 
     public GameObject goalPref;
@@ -30,9 +28,11 @@ public class GridArea : MonoBehaviour
 
     Vector3 m_InitialPosition;
 
+    EnvironmentParameters m_ResetParams;
+
     public void Start()
     {
-        m_ResetParameters = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
 
         m_Objects = new[] { goalPref, pitPref };
 
@@ -50,23 +50,23 @@ public void Start()
         m_InitialPosition = transform.position;
     }
 
-    public void SetEnvironment()
+    private void SetEnvironment()
     {
-        transform.position = m_InitialPosition * (m_ResetParameters.GetPropertyWithDefault("gridSize", 5f) + 1);
+        transform.position = m_InitialPosition * (m_ResetParams.GetWithDefault("gridSize", 5f) + 1);
         var playersList = new List<int>();
 
-        for (var i = 0; i < (int)m_ResetParameters.GetPropertyWithDefault("numObstacles", 1); i++)
+        for (var i = 0; i < (int)m_ResetParams.GetWithDefault("numObstacles", 1); i++)
         {
             playersList.Add(1);
         }
 
-        for (var i = 0; i < (int)m_ResetParameters.GetPropertyWithDefault("numGoals", 1f); i++)
+        for (var i = 0; i < (int)m_ResetParams.GetWithDefault("numGoals", 1f); i++)
         {
             playersList.Add(0);
         }
         players = playersList.ToArray();
 
-        var gridSize = (int)m_ResetParameters.GetPropertyWithDefault("gridSize", 5f);
+        var gridSize = (int)m_ResetParams.GetWithDefault("gridSize", 5f);
         m_Plane.transform.localScale = new Vector3(gridSize / 10.0f, 1f, gridSize / 10.0f);
         m_Plane.transform.localPosition = new Vector3((gridSize - 1) / 2f, -0.5f, (gridSize - 1) / 2f);
         m_Sn.transform.localScale = new Vector3(1, 1, gridSize + 2);
@@ -84,7 +84,7 @@ public void SetEnvironment()
 
     public void AreaReset()
     {
-        var gridSize = (int)m_ResetParameters.GetPropertyWithDefault("gridSize", 5f);
+        var gridSize = (int)m_ResetParams.GetWithDefault("gridSize", 5f);
         foreach (var actor in actorObjs)
         {
             DestroyImmediate(actor);
@@ -98,7 +98,7 @@ public void AreaReset()
         {
             numbers.Add(Random.Range(0, gridSize * gridSize));
         }
-        var numbersA = Enumerable.ToArray(numbers);
+        var numbersA = numbers.ToArray();
 
         for (var i = 0; i < players.Length; i++)
         {

diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridSettings.cs b/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridSettings.cs
@@ -8,7 +8,7 @@ public class GridSettings : MonoBehaviour
 
     public void Awake()
     {
-        SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().RegisterCallback("gridSize", f =>
+        Academy.Instance.EnvironmentParameters.RegisterCallback("gridSize", f =>
         {
             MainCamera.transform.position = new Vector3(-(f - 1) / 2f, f * 1.25f, -(f - 1) / 2f);
             MainCamera.orthographicSize = (f + 5f) / 2f;

diff --git a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs
@@ -49,6 +49,8 @@ public class PushAgentBasic : Agent
     /// </summary>
     Renderer m_GroundRenderer;
 
+    private EnvironmentParameters m_ResetParams;
+
     void Awake()
     {
         m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
@@ -70,6 +72,8 @@ public override void Initialize()
         // Starting material
         m_GroundMaterial = m_GroundRenderer.material;
 
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
+
         SetResetParameters();
     }
 
@@ -226,27 +230,23 @@ public override void OnEpisodeBegin()
 
     public void SetGroundMaterialFriction()
     {
-        var resetParams = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
-
         var groundCollider = ground.GetComponent<Collider>();
 
-        groundCollider.material.dynamicFriction = resetParams.GetPropertyWithDefault("dynamic_friction", 0);
-        groundCollider.material.staticFriction = resetParams.GetPropertyWithDefault("static_friction", 0);
+        groundCollider.material.dynamicFriction = m_ResetParams.GetWithDefault("dynamic_friction", 0);
+        groundCollider.material.staticFriction = m_ResetParams.GetWithDefault("static_friction", 0);
     }
 
     public void SetBlockProperties()
     {
-        var resetParams = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
-
-        var scale = resetParams.GetPropertyWithDefault("block_scale", 2);
+        var scale = m_ResetParams.GetWithDefault("block_scale", 2);
         //Set the scale of the block
         m_BlockRb.transform.localScale = new Vector3(scale, 0.75f, scale);
 
         // Set the drag of the block
-        m_BlockRb.drag = resetParams.GetPropertyWithDefault("block_drag", 0.5f);
+        m_BlockRb.drag = m_ResetParams.GetWithDefault("block_drag", 0.5f);
     }
 
-    public void SetResetParameters()
+    private void SetResetParameters()
     {
         SetGroundMaterialFriction();
         SetBlockProperties();

diff --git a/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs b/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs
@@ -21,6 +21,8 @@ public class ReacherAgent : Agent
     // Frequency of the cosine deviation of the goal along the vertical dimension
     float m_DeviationFreq;
 
+    private EnvironmentParameters m_ResetParams;
+
     /// <summary>
     /// Collect the rigidbodies of the reacher in order to resue them for
     /// observations and actions.
@@ -30,6 +32,8 @@ public override void Initialize()
         m_RbA = pendulumA.GetComponent<Rigidbody>();
         m_RbB = pendulumB.GetComponent<Rigidbody>();
 
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
+
         SetResetParameters();
     }
 
@@ -110,10 +114,9 @@ public override void OnEpisodeBegin()
 
     public void SetResetParameters()
     {
-        var fp = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
-        m_GoalSize = fp.GetPropertyWithDefault("goal_size", 5);
-        m_GoalSpeed = Random.Range(-1f, 1f) * fp.GetPropertyWithDefault("goal_speed", 1);
-        m_Deviation = fp.GetPropertyWithDefault("deviation", 0);
-        m_DeviationFreq = fp.GetPropertyWithDefault("deviation_freq", 0);
+        m_GoalSize = m_ResetParams.GetWithDefault("goal_size", 5);
+        m_GoalSpeed = Random.Range(-1f, 1f) * m_ResetParams.GetWithDefault("goal_speed", 1);
+        m_Deviation = m_ResetParams.GetWithDefault("deviation", 0);
+        m_DeviationFreq = m_ResetParams.GetWithDefault("deviation_freq", 0);
     }
 }
diff --git a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ProjectSettingsOverrides.cs b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ProjectSettingsOverrides.cs
@@ -44,8 +44,7 @@ public void Awake()
             Physics.defaultSolverVelocityIterations = solverVelocityIterations;
 
             // Make sure the Academy singleton is initialized first, since it will create the SideChannels.
-            var academy = Academy.Instance;
-            SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
+            Academy.Instance.EnvironmentParameters.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
         }
 
         public void OnDestroy()

diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
@@ -49,6 +49,8 @@ public enum Position
     BehaviorParameters m_BehaviorParameters;
     Vector3 m_Transform;
 
+    private EnvironmentParameters m_ResetParams;
+
     public override void Initialize()
     {
         m_Existential = 1f / MaxStep;
@@ -73,7 +75,7 @@ public override void Initialize()
             m_LateralSpeed = 0.3f;
             m_ForwardSpeed = 1.3f;
         }
-        else 
+        else
         {
             m_LateralSpeed = 0.3f;
             m_ForwardSpeed = 1.0f;
@@ -91,6 +93,8 @@ public override void Initialize()
         area.playerStates.Add(playerState);
         m_PlayerIndex = area.playerStates.IndexOf(playerState);
         playerState.playerIndex = m_PlayerIndex;
+
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
     }
 
     public void MoveAgent(float[] act)
@@ -214,7 +218,7 @@ public override void OnEpisodeBegin()
     {
 
         timePenalty = 0;
-        m_BallTouch = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().GetPropertyWithDefault("ball_touch", 0);
+        m_BallTouch = m_ResetParams.GetWithDefault("ball_touch", 0);
         if (team == Team.Purple)
         {
             transform.rotation = Quaternion.Euler(0f, -90f, 0f);