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using UnityEngine.Profiling;
namespace Unity.MLAgents.Actuators
{
/// <summary>
/// IActuator implementation that forwards calls to an <see cref="IActionReceiver"/> and an <see cref="IHeuristicProvider"/>.
/// </summary>
internal class VectorActuator : IActuator, IBuiltInActuator
{
IActionReceiver m_ActionReceiver;
IHeuristicProvider m_HeuristicProvider;
ActionBuffers m_ActionBuffers;
internal ActionBuffers ActionBuffers
{
get => m_ActionBuffers;
private set => m_ActionBuffers = value;
}
/// <summary>
/// Create a VectorActuator that forwards to the provided IActionReceiver.
/// </summary>
/// <param name="actionReceiver">The <see cref="IActionReceiver"/> used for OnActionReceived and WriteDiscreteActionMask.
/// If this parameter also implements <see cref="IHeuristicProvider"/> it will be cast and used to forward calls to
/// <see cref="IHeuristicProvider.Heuristic"/>.</param>
/// <param name="actionSpec"></param>
/// <param name="name"></param>
public VectorActuator(IActionReceiver actionReceiver,
ActionSpec actionSpec,
string name = "VectorActuator")
: this(actionReceiver, actionReceiver as IHeuristicProvider, actionSpec, name) { }
/// <summary>
/// Create a VectorActuator that forwards to the provided IActionReceiver.
/// </summary>
/// <param name="actionReceiver">The <see cref="IActionReceiver"/> used for OnActionReceived and WriteDiscreteActionMask.</param>
/// <param name="heuristicProvider">The <see cref="IHeuristicProvider"/> used to fill the <see cref="ActionBuffers"/>
/// for Heuristic Policies.</param>
/// <param name="actionSpec"></param>
/// <param name="name"></param>
public VectorActuator(IActionReceiver actionReceiver,
IHeuristicProvider heuristicProvider,
ActionSpec actionSpec,
string name = "VectorActuator")
{
m_ActionReceiver = actionReceiver;
m_HeuristicProvider = heuristicProvider;
ActionSpec = actionSpec;
string suffix;
if (actionSpec.NumContinuousActions == 0)
{
suffix = "-Discrete";
}
else if (actionSpec.NumDiscreteActions == 0)
{
suffix = "-Continuous";
}
else
{
suffix = $"-Continuous-{actionSpec.NumContinuousActions}-Discrete-{actionSpec.NumDiscreteActions}";
}
Name = name + suffix;
}
/// <inheritdoc />
public void ResetData()
{
m_ActionBuffers = ActionBuffers.Empty;
}
/// <inheritdoc />
public void OnActionReceived(ActionBuffers actionBuffers)
{
Profiler.BeginSample("VectorActuator.OnActionReceived");
m_ActionBuffers = actionBuffers;
m_ActionReceiver.OnActionReceived(m_ActionBuffers);
Profiler.EndSample();
}
public void Heuristic(in ActionBuffers actionBuffersOut)
{
Profiler.BeginSample("VectorActuator.Heuristic");
m_HeuristicProvider?.Heuristic(actionBuffersOut);
Profiler.EndSample();
}
/// <inheritdoc />
public void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
{
m_ActionReceiver.WriteDiscreteActionMask(actionMask);
}
/// <inheritdoc/>
public ActionSpec ActionSpec { get; }
/// <inheritdoc />
public string Name { get; }
/// <inheritdoc />
public virtual BuiltInActuatorType GetBuiltInActuatorType()
{
return BuiltInActuatorType.VectorActuator;
}
}
}
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