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using System;
using System.Linq;
using UnityEngine;
namespace Unity.MLAgents.Actuators
{
/// <summary>
/// Defines the structure of the actions to be used by the Actuator system.
/// </summary>
[Serializable]
public struct ActionSpec
{
[SerializeField]
int m_NumContinuousActions;
/// <summary>
/// An array of branch sizes for discrete actions.
///
/// For an IActuator that uses discrete actions, the number of
/// branches is the Length of the Array and each index contains the branch size.
/// The cumulative sum of the total number of discrete actions can be retrieved
/// by the <see cref="SumOfDiscreteBranchSizes"/> property.
///
/// For an IActuator with a Continuous it will be null.
/// </summary>
public int[] BranchSizes;
/// <summary>
/// The number of continuous actions that an Agent can take.
/// </summary>
public int NumContinuousActions { get { return m_NumContinuousActions; } set { m_NumContinuousActions = value; } }
/// <summary>
/// The number of branches for discrete actions that an Agent can take.
/// </summary>
public int NumDiscreteActions { get { return BranchSizes == null ? 0 : BranchSizes.Length; } }
/// <summary>
/// Get the total number of Discrete Actions that can be taken by calculating the Sum
/// of all of the Discrete Action branch sizes.
/// </summary>
public int SumOfDiscreteBranchSizes { get { return BranchSizes == null ? 0 : BranchSizes.Sum(); } }
/// <summary>
/// Creates a Continuous <see cref="ActionSpec"/> with the number of actions available.
/// </summary>
/// <param name="numActions">The number of continuous actions available.</param>
/// <returns>An Continuous ActionSpec initialized with the number of actions available.</returns>
public static ActionSpec MakeContinuous(int numActions)
{
var actuatorSpace = new ActionSpec(numActions, null);
return actuatorSpace;
}
/// <summary>
/// Creates a Discrete <see cref="ActionSpec"/> with the array of branch sizes that
/// represents the action space.
/// </summary>
/// <param name="branchSizes">The array of branch sizes for the discrete actions. Each index
/// contains the number of actions available for that branch.</param>
/// <returns>An Discrete ActionSpec initialized with the array of branch sizes.</returns>
public static ActionSpec MakeDiscrete(params int[] branchSizes)
{
var actuatorSpace = new ActionSpec(0, branchSizes);
return actuatorSpace;
}
/// <summary>
/// Create an ActionSpec initialized with the specified action sizes.
/// </summary>
/// <param name="numContinuousActions">The number of continuous actions available.</param>
/// <param name="discreteBranchSizes">The array of branch sizes for the discrete actions. Each index
/// contains the number of actions available for that branch.</param>
public ActionSpec(int numContinuousActions = 0, int[] discreteBranchSizes = null)
{
m_NumContinuousActions = numContinuousActions;
BranchSizes = discreteBranchSizes ?? Array.Empty<int>();
}
/// <summary>
/// Check that the ActionSpec uses either all continuous or all discrete actions.
/// This is only used when connecting to old versions of the trainer that don't support this.
/// </summary>
/// <exception cref="UnityAgentsException"></exception>
internal void CheckAllContinuousOrDiscrete()
{
if (NumContinuousActions > 0 && NumDiscreteActions > 0)
{
throw new UnityAgentsException(
"Action spaces with both continuous and discrete actions are not supported by the trainer. " +
"ActionSpecs must be all continuous or all discrete."
);
}
}
/// <summary>
/// Combines a list of actions specs and allocates a new array of branch sizes if needed.
/// </summary>
/// <param name="specs">The list of action specs to combine.</param>
/// <returns>An ActionSpec which represents the aggregate of the ActionSpecs passed in.</returns>
public static ActionSpec Combine(params ActionSpec[] specs)
{
var numContinuous = 0;
var numDiscrete = 0;
for (var i = 0; i < specs.Length; i++)
{
var spec = specs[i];
numContinuous += spec.NumContinuousActions;
numDiscrete += spec.NumDiscreteActions;
}
if (numDiscrete <= 0)
{
return MakeContinuous(numContinuous);
}
var branchSizes = new int[numDiscrete];
var offset = 0;
for (var i = 0; i < specs.Length; i++)
{
var spec = specs[i];
if (spec.BranchSizes.Length == 0)
{
continue;
}
var branchSizesLength = spec.BranchSizes.Length;
Array.Copy(spec.BranchSizes,
0,
branchSizes,
offset,
branchSizesLength);
offset += branchSizesLength;
}
return new ActionSpec(numContinuous, branchSizes);
}
}
}
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