File size: 2,911 Bytes
05c9ac2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 | using System.Collections.Generic;
using System;
using UnityEngine;
namespace Unity.MLAgents.SideChannels
{
/// <summary>
/// Side channels provide an alternative mechanism of sending/receiving data from Unity
/// to Python that is outside of the traditional machine learning loop. ML-Agents provides
/// some specific implementations of side channels, but users can create their own.
///
/// To create your own, you'll need to create two, new mirrored classes, one in Unity (by
/// extending <see cref="SideChannel"/>) and another in Python by extending a Python class
/// also called SideChannel. Then, within your project, use
/// <see cref="SideChannelManager.RegisterSideChannel"/> and
/// <see cref="SideChannelManager.UnregisterSideChannel"/> to register and unregister your
/// custom side channel.
/// </summary>
public abstract class SideChannel
{
// The list of messages (byte arrays) that need to be sent to Python via the communicator.
// Should only ever be read and cleared by a ICommunicator object.
internal List<byte[]> MessageQueue = new List<byte[]>();
/// <summary>
/// An int identifier for the SideChannel. Ensures that there is only ever one side channel
/// of each type. Ensure the Unity side channels will be linked to their Python equivalent.
/// </summary>
/// <returns> The integer identifier of the SideChannel.</returns>
public Guid ChannelId
{
get;
protected set;
}
internal void ProcessMessage(byte[] msg)
{
try
{
using (var incomingMsg = new IncomingMessage(msg))
{
OnMessageReceived(incomingMsg);
}
}
catch (Exception ex)
{
// Catch all errors in the sidechannel processing, so that a single
// bad SideChannel implementation doesn't take everything down with it.
Debug.LogError($"Error processing SideChannel message: {ex}.\nThe message will be skipped.");
}
}
/// <summary>
/// Is called by the communicator every time a message is received from Python by the SideChannel.
/// Can be called multiple times per simulation step if multiple messages were sent.
/// </summary>
/// <param name="msg">The incoming message.</param>
protected abstract void OnMessageReceived(IncomingMessage msg);
/// <summary>
/// Queues a message to be sent to Python during the next simulation step.
/// </summary>
/// <param name="msg"> The byte array of data to be sent to Python.</param>
protected void QueueMessageToSend(OutgoingMessage msg)
{
MessageQueue.Add(msg.ToByteArray());
}
}
}
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