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using System;
using UnityEngine;
using UnityEngine.Serialization;
namespace Unity.MLAgents.Sensors
{
/// <summary>
/// Component that wraps a <see cref="RenderTextureSensor"/>.
/// </summary>
[AddComponentMenu("ML Agents/Render Texture Sensor", (int)MenuGroup.Sensors)]
public class RenderTextureSensorComponent : SensorComponent, IDisposable
{
RenderTextureSensor m_Sensor;
/// <summary>
/// The [RenderTexture](https://docs.unity3d.com/ScriptReference/RenderTexture.html) instance
/// that the associated <see cref="RenderTextureSensor"/> wraps.
/// </summary>
[HideInInspector, SerializeField, FormerlySerializedAs("renderTexture")]
RenderTexture m_RenderTexture;
/// <summary>
/// Stores the [RenderTexture](https://docs.unity3d.com/ScriptReference/RenderTexture.html)
/// associated with this sensor.
/// </summary>
public RenderTexture RenderTexture
{
get { return m_RenderTexture; }
set { m_RenderTexture = value; }
}
[HideInInspector, SerializeField, FormerlySerializedAs("sensorName")]
string m_SensorName = "RenderTextureSensor";
/// <summary>
/// Name of the generated <see cref="RenderTextureSensor"/>.
/// Note that changing this at runtime does not affect how the Agent sorts the sensors.
/// </summary>
public string SensorName
{
get { return m_SensorName; }
set { m_SensorName = value; }
}
[HideInInspector, SerializeField, FormerlySerializedAs("grayscale")]
bool m_Grayscale;
/// <summary>
/// Whether the RenderTexture observation should be converted to grayscale or not.
/// Note that changing this after the sensor is created has no effect.
/// </summary>
public bool Grayscale
{
get { return m_Grayscale; }
set { m_Grayscale = value; }
}
[HideInInspector, SerializeField]
[Range(1, 50)]
[Tooltip("Number of frames that will be stacked before being fed to the neural network.")]
int m_ObservationStacks = 1;
[HideInInspector, SerializeField, FormerlySerializedAs("compression")]
SensorCompressionType m_Compression = SensorCompressionType.PNG;
/// <summary>
/// Compression type for the render texture observation.
/// </summary>
public SensorCompressionType CompressionType
{
get { return m_Compression; }
set { m_Compression = value; UpdateSensor(); }
}
/// <summary>
/// Whether to stack previous observations. Using 1 means no previous observations.
/// Note that changing this after the sensor is created has no effect.
/// </summary>
public int ObservationStacks
{
get { return m_ObservationStacks; }
set { m_ObservationStacks = value; }
}
/// <inheritdoc/>
public override ISensor[] CreateSensors()
{
Dispose();
m_Sensor = new RenderTextureSensor(RenderTexture, Grayscale, SensorName, m_Compression);
if (ObservationStacks != 1)
{
return new ISensor[] { new StackingSensor(m_Sensor, ObservationStacks) };
}
return new ISensor[] { m_Sensor };
}
/// <summary>
/// Update fields that are safe to change on the Sensor at runtime.
/// </summary>
internal void UpdateSensor()
{
if (m_Sensor != null)
{
m_Sensor.CompressionType = m_Compression;
}
}
/// <summary>
/// Clean up the sensor created by CreateSensors().
/// </summary>
public void Dispose()
{
if (!ReferenceEquals(null, m_Sensor))
{
m_Sensor.Dispose();
m_Sensor = null;
}
}
}
}
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