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using System;
using System.Collections.Generic;
using System.Reflection;
using UnityEngine;
namespace Unity.MLAgents.Sensors.Reflection
{
/// <summary>
/// Specify that a field or property should be used to generate observations for an Agent.
/// For each field or property that uses ObservableAttribute, a corresponding
/// <see cref="ISensor"/> will be created during Agent initialization, and this
/// sensor will read the values during training and inference.
/// </summary>
/// <remarks>
/// ObservableAttribute is intended to make initial setup of an Agent easier. Because it
/// uses reflection to read the values of fields and properties at runtime, this may
/// be much slower than reading the values directly. If the performance of
/// ObservableAttribute is an issue, you can get the same functionality by overriding
/// <see cref="Agent.CollectObservations(VectorSensor)"/> or creating a custom
/// <see cref="ISensor"/> implementation to read the values without reflection.
///
/// Note that you do not need to adjust the VectorObservationSize in
/// <see cref="Unity.MLAgents.Policies.BrainParameters"/> when adding ObservableAttribute
/// to fields or properties.
/// </remarks>
/// <example>
/// This sample class will produce two observations, one for the m_Health field, and one
/// for the HealthPercent property.
/// <code>
/// using Unity.MLAgents;
/// using Unity.MLAgents.Sensors.Reflection;
///
/// public class MyAgent : Agent
/// {
/// [Observable]
/// int m_Health;
///
/// [Observable]
/// float HealthPercent
/// {
/// get => return 100.0f * m_Health / float(m_MaxHealth);
/// }
/// }
/// </code>
/// </example>
[AttributeUsage(AttributeTargets.Field | AttributeTargets.Property)]
public class ObservableAttribute : Attribute
{
string m_Name;
int m_NumStackedObservations;
/// <summary>
/// Default binding flags used for reflection of members and properties.
/// </summary>
const BindingFlags k_BindingFlags = BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic;
/// <summary>
/// Supported types and their observation sizes and corresponding sensor type.
/// </summary>
static Dictionary<Type, (int, Type)> s_TypeToSensorInfo = new Dictionary<Type, (int, Type)>()
{
{typeof(int), (1, typeof(IntReflectionSensor))},
{typeof(bool), (1, typeof(BoolReflectionSensor))},
{typeof(float), (1, typeof(FloatReflectionSensor))},
{typeof(Vector2), (2, typeof(Vector2ReflectionSensor))},
{typeof(Vector3), (3, typeof(Vector3ReflectionSensor))},
{typeof(Vector4), (4, typeof(Vector4ReflectionSensor))},
{typeof(Quaternion), (4, typeof(QuaternionReflectionSensor))},
};
/// <summary>
/// ObservableAttribute constructor.
/// </summary>
/// <param name="name">Optional override for the sensor name. Note that all sensors for an Agent
/// must have a unique name.</param>
/// <param name="numStackedObservations">Number of frames to concatenate observations from.</param>
public ObservableAttribute(string name = null, int numStackedObservations = 1)
{
m_Name = name;
m_NumStackedObservations = numStackedObservations;
}
/// <summary>
/// Returns a FieldInfo for all fields that have an ObservableAttribute
/// </summary>
/// <param name="o">Object being reflected</param>
/// <param name="excludeInherited">Whether to exclude inherited properties or not.</param>
/// <returns></returns>
static IEnumerable<(FieldInfo, ObservableAttribute)> GetObservableFields(object o, bool excludeInherited)
{
// TODO cache these (and properties) by type, so that we only have to reflect once.
var bindingFlags = k_BindingFlags | (excludeInherited ? BindingFlags.DeclaredOnly : 0);
var fields = o.GetType().GetFields(bindingFlags);
foreach (var field in fields)
{
var attr = (ObservableAttribute)GetCustomAttribute(field, typeof(ObservableAttribute));
if (attr != null)
{
yield return (field, attr);
}
}
}
/// <summary>
/// Returns a PropertyInfo for all fields that have an ObservableAttribute
/// </summary>
/// <param name="o">Object being reflected</param>
/// <param name="excludeInherited">Whether to exclude inherited properties or not.</param>
/// <returns></returns>
static IEnumerable<(PropertyInfo, ObservableAttribute)> GetObservableProperties(object o, bool excludeInherited)
{
var bindingFlags = k_BindingFlags | (excludeInherited ? BindingFlags.DeclaredOnly : 0);
var properties = o.GetType().GetProperties(bindingFlags);
foreach (var prop in properties)
{
var attr = (ObservableAttribute)GetCustomAttribute(prop, typeof(ObservableAttribute));
if (attr != null)
{
yield return (prop, attr);
}
}
}
/// <summary>
/// Creates sensors for each field and property with ObservableAttribute.
/// </summary>
/// <param name="o">Object being reflected</param>
/// <param name="excludeInherited">Whether to exclude inherited properties or not.</param>
/// <returns></returns>
internal static List<ISensor> CreateObservableSensors(object o, bool excludeInherited)
{
var sensorsOut = new List<ISensor>();
foreach (var (field, attr) in GetObservableFields(o, excludeInherited))
{
var sensor = CreateReflectionSensor(o, field, null, attr);
if (sensor != null)
{
sensorsOut.Add(sensor);
}
}
foreach (var (prop, attr) in GetObservableProperties(o, excludeInherited))
{
if (!prop.CanRead)
{
// Skip unreadable properties.
continue;
}
var sensor = CreateReflectionSensor(o, null, prop, attr);
if (sensor != null)
{
sensorsOut.Add(sensor);
}
}
return sensorsOut;
}
/// <summary>
/// Create the ISensor for either the field or property on the provided object.
/// If the data type is unsupported, or the property is write-only, returns null.
/// </summary>
/// <param name="o"></param>
/// <param name="fieldInfo"></param>
/// <param name="propertyInfo"></param>
/// <param name="observableAttribute"></param>
/// <returns></returns>
/// <exception cref="UnityAgentsException"></exception>
static ISensor CreateReflectionSensor(object o, FieldInfo fieldInfo, PropertyInfo propertyInfo, ObservableAttribute observableAttribute)
{
string memberName;
string declaringTypeName;
Type memberType;
if (fieldInfo != null)
{
declaringTypeName = fieldInfo.DeclaringType.Name;
memberName = fieldInfo.Name;
memberType = fieldInfo.FieldType;
}
else
{
declaringTypeName = propertyInfo.DeclaringType.Name;
memberName = propertyInfo.Name;
memberType = propertyInfo.PropertyType;
}
if (!s_TypeToSensorInfo.ContainsKey(memberType) && !memberType.IsEnum)
{
// For unsupported types, return null and we'll filter them out later.
return null;
}
string sensorName;
if (string.IsNullOrEmpty(observableAttribute.m_Name))
{
sensorName = $"ObservableAttribute:{declaringTypeName}.{memberName}";
}
else
{
sensorName = observableAttribute.m_Name;
}
var reflectionSensorInfo = new ReflectionSensorInfo
{
Object = o,
FieldInfo = fieldInfo,
PropertyInfo = propertyInfo,
ObservableAttribute = observableAttribute,
SensorName = sensorName
};
ISensor sensor = null;
if (memberType.IsEnum)
{
sensor = new EnumReflectionSensor(reflectionSensorInfo);
}
else
{
var (_, sensorType) = s_TypeToSensorInfo[memberType];
sensor = (ISensor)Activator.CreateInstance(sensorType, reflectionSensorInfo);
}
// Wrap the base sensor in a StackingSensor if we're using stacking.
if (observableAttribute.m_NumStackedObservations > 1)
{
return new StackingSensor(sensor, observableAttribute.m_NumStackedObservations);
}
return sensor;
}
/// <summary>
/// Gets the sum of the observation sizes of the Observable fields and properties on an object.
/// Also appends errors to the errorsOut array.
/// </summary>
/// <param name="o"></param>
/// <param name="excludeInherited"></param>
/// <param name="errorsOut"></param>
/// <returns></returns>
internal static int GetTotalObservationSize(object o, bool excludeInherited, List<string> errorsOut)
{
int sizeOut = 0;
foreach (var (field, attr) in GetObservableFields(o, excludeInherited))
{
if (s_TypeToSensorInfo.ContainsKey(field.FieldType))
{
var (obsSize, _) = s_TypeToSensorInfo[field.FieldType];
sizeOut += obsSize * attr.m_NumStackedObservations;
}
else if (field.FieldType.IsEnum)
{
sizeOut += EnumReflectionSensor.GetEnumObservationSize(field.FieldType);
}
else
{
errorsOut.Add($"Unsupported Observable type {field.FieldType.Name} on field {field.Name}");
}
}
foreach (var (prop, attr) in GetObservableProperties(o, excludeInherited))
{
if (!prop.CanRead)
{
errorsOut.Add($"Observable property {prop.Name} is write-only.");
}
else if (s_TypeToSensorInfo.ContainsKey(prop.PropertyType))
{
var (obsSize, _) = s_TypeToSensorInfo[prop.PropertyType];
sizeOut += obsSize * attr.m_NumStackedObservations;
}
else if (prop.PropertyType.IsEnum)
{
sizeOut += EnumReflectionSensor.GetEnumObservationSize(prop.PropertyType);
}
else
{
errorsOut.Add($"Unsupported Observable type {prop.PropertyType.Name} on property {prop.Name}");
}
}
return sizeOut;
}
}
}
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