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#if MLA_INPUT_SYSTEM
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Policies;
using UnityEngine.InputSystem;
using UnityEngine.Profiling;
namespace Unity.MLAgents.Extensions.Input
{
/// <summary>
/// This implementation of <see cref="IActuator"/> will send events from the ML-Agents training process, or from
/// neural networks to the <see cref="InputSystem"/> via the <see cref="IRLActionInputAdaptor"/> interface. If an
/// <see cref="Agent"/>'s <see cref="BehaviorParameters"/> indicate that the Agent is running in Heuristic Mode,
/// this Actuator will write actions from the <see cref="InputSystem"/> to the <see cref="ActionBuffers"/> object.
/// </summary>
public class InputActionActuator : IActuator, IBuiltInActuator
{
readonly BehaviorParameters m_BehaviorParameters;
readonly InputAction m_Action;
readonly IRLActionInputAdaptor m_InputAdaptor;
InputActuatorEventContext m_InputActuatorEventContext;
InputDevice m_Device;
InputControl m_Control;
/// <summary>
/// Construct an <see cref="InputActionActuator"/> with the <see cref="BehaviorParameters"/> of the
/// <see cref="Agent"/> component, the relevant <see cref="InputAction"/>, and the relevant
/// <see cref="IRLActionInputAdaptor"/> to convert between ml-agents <--> <see cref="InputSystem"/>.
/// </summary>
/// <param name="inputDevice">The input device this action is bound to.</param>
/// <param name="behaviorParameters">Used to determine if the <see cref="Agent"/> is running in
/// heuristic mode.</param>
/// <param name="action">The <see cref="InputAction"/> this <see cref="IActuator"/> we read/write data to/from
/// via the <see cref="IRLActionInputAdaptor"/>.</param>
/// <param name="adaptor">The <see cref="IRLActionInputAdaptor"/> that will convert data between ML-Agents
/// and the <see cref="InputSystem"/>.</param>
/// <param name="inputActuatorEventContext">The object that will provide the event ptr to write to.</param>
public InputActionActuator(InputDevice inputDevice, BehaviorParameters behaviorParameters,
InputAction action,
IRLActionInputAdaptor adaptor,
InputActuatorEventContext inputActuatorEventContext)
{
m_BehaviorParameters = behaviorParameters;
Name = $"InputActionActuator-{action.name}";
m_Action = action;
m_InputAdaptor = adaptor;
m_InputActuatorEventContext = inputActuatorEventContext;
ActionSpec = adaptor.GetActionSpecForInputAction(m_Action);
m_Device = inputDevice;
m_Control = m_Device?.GetChildControl(m_Action.name);
}
/// <inheritdoc cref="IActionReceiver.OnActionReceived"/>
public void OnActionReceived(ActionBuffers actionBuffers)
{
Profiler.BeginSample("InputActionActuator.OnActionReceived");
if (!m_BehaviorParameters.IsInHeuristicMode())
{
using (m_InputActuatorEventContext.GetEventForFrame(out var eventPtr))
{
m_InputAdaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, ActionSpec, actionBuffers);
}
}
Profiler.EndSample();
}
/// <inheritdoc cref="IActionReceiver.WriteDiscreteActionMask"/>
public void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
{
// TODO configure mask from editor UI?
}
/// <inheritdoc cref="IActuator.ActionSpec"/>
public ActionSpec ActionSpec { get; }
/// <inheritdoc cref="IActuator.Name"/>
public string Name { get; }
/// <inheritdoc cref="IActuator.ResetData"/>
public void ResetData()
{
// do nothing for now
}
/// <inheritdoc cref="IHeuristicProvider.Heuristic"/>
public void Heuristic(in ActionBuffers actionBuffersOut)
{
Profiler.BeginSample("InputActionActuator.Heuristic");
m_InputAdaptor.WriteToHeuristic(m_Action, actionBuffersOut);
Profiler.EndSample();
}
/// <inheritdoc/>
public BuiltInActuatorType GetBuiltInActuatorType()
{
return BuiltInActuatorType.InputActionActuator;
}
}
}
#endif // MLA_INPUT_SYSTEM
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