def test_float_properties():
sender = FloatPropertiesChannel()
receiver = FloatPropertiesChannel()
sender.set_property("prop1", 1.0)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
val = receiver.get_property("prop1")
assert val == 1.0
val = receiver.get_property("prop2")
assert val is None
sender.set_property("prop2", 2.0)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
val = receiver.get_property("prop1")
assert val == 1.0
val = receiver.get_property("prop2")
assert val == 2.0
assert len(receiver.list_properties()) == 2
assert "prop1" in receiver.list_properties()
assert "prop2" in receiver.list_properties()
val = sender.get_property("prop1")
assert val == 1.0
assert receiver.get_property_dict_copy() == {"prop1": 1.0, "prop2": 2.0}
assert receiver.get_property_dict_copy() == sender.get_property_dict_copy()
def test_int_channel():
sender = IntChannel()
receiver = IntChannel()
sender.send_int(5)
sender.send_int(6)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
assert receiver.list_int[0] == 5
assert receiver.list_int[1] == 6
def test_raw_bytes():
guid = uuid.uuid4()
sender = RawBytesChannel(guid)
receiver = RawBytesChannel(guid)
sender.send_raw_data(b"foo")
sender.send_raw_data(b"bar")
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
messages = receiver.get_and_clear_received_messages()
assert len(messages) == 2
assert messages[0].decode("ascii") == "foo"
assert messages[1].decode("ascii") == "bar"
messages = receiver.get_and_clear_received_messages()
assert len(messages) == 0
def test_environment_parameters():
sender = EnvironmentParametersChannel()
# We use a raw bytes channel to interpred the data
receiver = RawBytesChannel(sender.channel_id)
sender.set_float_parameter("param-1", 0.1)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
message = IncomingMessage(receiver.get_and_clear_received_messages()[0])
key = message.read_string()
dtype = message.read_int32()
value = message.read_float32()
assert key == "param-1"
assert dtype == EnvironmentParametersChannel.EnvironmentDataTypes.FLOAT
assert value - 0.1 < 1e-8
sender.set_float_parameter("param-1", 0.1)
sender.set_float_parameter("param-2", 0.1)
sender.set_float_parameter("param-3", 0.1)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
assert len(receiver.get_and_clear_received_messages()) == 3
with pytest.raises(UnityCommunicationException):
# try to send data to the EngineConfigurationChannel
sender.set_float_parameter("param-1", 0.1)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([sender]).process_side_channel_message(data)
def test_engine_configuration():
sender = EngineConfigurationChannel()
# We use a raw bytes channel to interpred the data
receiver = RawBytesChannel(sender.channel_id)
config = EngineConfig.default_config()
sender.set_configuration(config)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
received_data = receiver.get_and_clear_received_messages()
assert len(received_data) == 5 # 5 different messages one for each setting
sent_time_scale = 4.5
sender.set_configuration_parameters(time_scale=sent_time_scale)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
message = IncomingMessage(receiver.get_and_clear_received_messages()[0])
message.read_int32()
time_scale = message.read_float32()
assert time_scale == sent_time_scale
with pytest.raises(UnitySideChannelException):
sender.set_configuration_parameters(width=None, height=42)
with pytest.raises(UnityCommunicationException):
# try to send data to the EngineConfigurationChannel
sender.set_configuration_parameters(time_scale=sent_time_scale)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([sender]).process_side_channel_message(data)
def __init__(
self,
file_name: Optional[str] = None,
worker_id: int = 0,
base_port: Optional[int] = None,
seed: int = 0,
no_graphics: bool = False,
timeout_wait: int = 60,
additional_args: Optional[List[str]] = None,
side_channels: Optional[List[SideChannel]] = None,
log_folder: Optional[str] = None,
):
"""
Starts a new unity environment and establishes a connection with the environment.
Notice: Currently communication between Unity and Python takes place over an open socket without authentication.
Ensure that the network where training takes place is secure.
:string file_name: Name of Unity environment binary.
:int base_port: Baseline port number to connect to Unity environment over. worker_id increments over this.
If no environment is specified (i.e. file_name is None), the DEFAULT_EDITOR_PORT will be used.
:int worker_id: Offset from base_port. Used for training multiple environments simultaneously.
:bool no_graphics: Whether to run the Unity simulator in no-graphics mode
:int timeout_wait: Time (in seconds) to wait for connection from environment.
:list args: Addition Unity command line arguments
:list side_channels: Additional side channel for no-rl communication with Unity
:str log_folder: Optional folder to write the Unity Player log file into. Requires absolute path.
"""
atexit.register(self._close)
self._additional_args = additional_args or []
self._no_graphics = no_graphics
# If base port is not specified, use BASE_ENVIRONMENT_PORT if we have
# an environment, otherwise DEFAULT_EDITOR_PORT
if base_port is None:
base_port = (
self.BASE_ENVIRONMENT_PORT if file_name else self.DEFAULT_EDITOR_PORT
)
self._port = base_port + worker_id
self._buffer_size = 12000
# If true, this means the environment was successfully loaded
self._loaded = False
# The process that is started. If None, no process was started
self._proc1 = None
self._timeout_wait: int = timeout_wait
self._communicator = self._get_communicator(worker_id, base_port, timeout_wait)
self._worker_id = worker_id
self._side_channel_manager = SideChannelManager(side_channels)
self._log_folder = log_folder
# If the environment name is None, a new environment will not be launched
# and the communicator will directly try to connect to an existing unity environment.
# If the worker-id is not 0 and the environment name is None, an error is thrown
if file_name is None and worker_id != 0:
raise UnityEnvironmentException(
"If the environment name is None, "
"the worker-id must be 0 in order to connect with the Editor."
)
if file_name is not None:
try:
self._proc1 = env_utils.launch_executable(
file_name, self._executable_args()
)
except UnityEnvironmentException:
self._close(0)
raise
else:
logger.info(
f"Listening on port {self._port}. "
f"Start training by pressing the Play button in the Unity Editor."
)
self._loaded = True
rl_init_parameters_in = UnityRLInitializationInputProto(
seed=seed,
communication_version=self.API_VERSION,
package_version=mlagents_envs.__version__,
capabilities=UnityEnvironment._get_capabilities_proto(),
)
try:
aca_output = self._send_academy_parameters(rl_init_parameters_in)
aca_params = aca_output.rl_initialization_output
except UnityTimeOutException:
self._close(0)
raise
if not UnityEnvironment._check_communication_compatibility(
aca_params.communication_version,
UnityEnvironment.API_VERSION,
aca_params.package_version,
):
self._close(0)
UnityEnvironment._raise_version_exception(aca_params.communication_version)
UnityEnvironment._warn_csharp_base_capabilities(
aca_params.capabilities,
aca_params.package_version,
UnityEnvironment.API_VERSION,
)
self._env_state: Dict[str, Tuple[DecisionSteps, TerminalSteps]] = {}
self._env_specs: Dict[str, BehaviorSpec] = {}
self._env_actions: Dict[str, np.ndarray] = {}
self._is_first_message = True
self._update_behavior_specs(aca_output)