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using System.Collections.Generic;
using System.Linq;
using UnityEngine;
namespace Unity.MLAgents
{
/// <summary>
/// Monitor is used to display information about the Agent within the Unity
/// scene. Use the log function to add information to your monitor.
/// </summary>
public class Monitor : MonoBehaviour
{
/// <summary>
/// The type of monitor the information must be displayed in.
/// <slider> corresponds to a single rectangle whose width is given
/// by a float between -1 and 1. (green is positive, red is negative)
/// </slider>
/// <hist> corresponds to n vertical sliders. </hist>
/// <text> is a text field. </text>
/// <bar> is a rectangle of fixed length to represent the proportions </bar>
/// of a list of floats.
/// </summary>
public enum DisplayType
{
Independent,
Proportion
}
/// <summary>
/// Represents how high above the target the monitors will be.
/// </summary>
public static float verticalOffset = 3f;
static bool s_IsInstantiated;
static GameObject s_Canvas;
static Dictionary<Transform, Dictionary<string, DisplayValue>> s_DisplayTransformValues;
/// <summary>
/// Camera used to calculate GUI screen position relative to the target
/// transform.
/// </summary>
static Dictionary<Transform, Camera> s_TransformCamera;
static Color[] s_BarColors;
struct DisplayValue
{
public float time;
public string stringValue;
public float floatValue;
public float[] floatArrayValues;
public enum ValueType
{
Float,
FloatarrayIndependent,
FloatarrayProportion,
String
}
public ValueType valueType;
}
static GUIStyle s_KeyStyle;
static GUIStyle s_ValueStyle;
static GUIStyle s_GreenStyle;
static GUIStyle s_RedStyle;
static GUIStyle[] s_ColorStyle;
static bool s_Initialized;
/// <summary>
/// Use the Monitor.Log static function to attach information to a transform.
/// </summary>
/// <returns>The log.</returns>
/// <param name="key">The name of the information you wish to Log.</param>
/// <param name="value">The string value you want to display.</param>
/// <param name="target">The transform you want to attach the information to.
/// </param>
/// <param name="camera">Camera used to calculate GUI position relative to
/// the target. If null, `Camera.main` will be used.</param>
public static void Log(
string key,
string value,
Transform target = null,
Camera camera = null)
{
if (!s_IsInstantiated)
{
InstantiateCanvas();
s_IsInstantiated = true;
}
if (s_Canvas == null)
{
return;
}
if (target == null)
{
target = s_Canvas.transform;
}
s_TransformCamera[target] = camera;
if (!s_DisplayTransformValues.Keys.Contains(target))
{
s_DisplayTransformValues[target] =
new Dictionary<string, DisplayValue>();
}
var displayValues =
s_DisplayTransformValues[target];
if (value == null)
{
RemoveValue(target, key);
return;
}
if (!displayValues.ContainsKey(key))
{
var dv = new DisplayValue();
dv.time = Time.timeSinceLevelLoad;
dv.stringValue = value;
dv.valueType = DisplayValue.ValueType.String;
displayValues[key] = dv;
while (displayValues.Count > 20)
{
var max = (
displayValues
.Aggregate((l, r) => l.Value.time < r.Value.time ? l : r)
.Key
);
RemoveValue(target, max);
}
}
else
{
var dv = displayValues[key];
dv.stringValue = value;
dv.valueType = DisplayValue.ValueType.String;
displayValues[key] = dv;
}
}
/// <summary>
/// Use the Monitor.Log static function to attach information to a transform.
/// </summary>
/// <returns>The log.</returns>
/// <param name="key">The name of the information you wish to Log.</param>
/// <param name="value">The float value you want to display.</param>
/// <param name="target">The transform you want to attach the information to.
/// </param>
/// <param name="camera">Camera used to calculate GUI position relative to
/// the target. If null, `Camera.main` will be used.</param>
public static void Log(
string key,
float value,
Transform target = null,
Camera camera = null)
{
if (!s_IsInstantiated)
{
InstantiateCanvas();
s_IsInstantiated = true;
}
if (target == null)
{
target = s_Canvas.transform;
}
s_TransformCamera[target] = camera;
if (!s_DisplayTransformValues.Keys.Contains(target))
{
s_DisplayTransformValues[target] = new Dictionary<string, DisplayValue>();
}
var displayValues = s_DisplayTransformValues[target];
if (!displayValues.ContainsKey(key))
{
var dv = new DisplayValue();
dv.time = Time.timeSinceLevelLoad;
dv.floatValue = value;
dv.valueType = DisplayValue.ValueType.Float;
displayValues[key] = dv;
while (displayValues.Count > 20)
{
var max = (
displayValues.Aggregate((l, r) => l.Value.time < r.Value.time ? l : r).Key);
RemoveValue(target, max);
}
}
else
{
var dv = displayValues[key];
dv.floatValue = value;
dv.valueType = DisplayValue.ValueType.Float;
displayValues[key] = dv;
}
}
/// <summary>
/// Use the Monitor.Log static function to attach information to a transform.
/// </summary>
/// <returns>The log.</returns>
/// <param name="key">The name of the information you wish to Log.</param>
/// <param name="value">The array of float you want to display.</param>
/// <param name="displayType">The type of display.</param>
/// <param name="target">The transform you want to attach the information to.
/// </param>
/// <param name="camera">Camera used to calculate GUI position relative to
/// the target. If null, `Camera.main` will be used.</param>
public static void Log(
string key,
float[] value,
Transform target = null,
DisplayType displayType = DisplayType.Independent,
Camera camera = null
)
{
if (!s_IsInstantiated)
{
InstantiateCanvas();
s_IsInstantiated = true;
}
if (target == null)
{
target = s_Canvas.transform;
}
s_TransformCamera[target] = camera;
if (!s_DisplayTransformValues.Keys.Contains(target))
{
s_DisplayTransformValues[target] = new Dictionary<string, DisplayValue>();
}
var displayValues = s_DisplayTransformValues[target];
if (!displayValues.ContainsKey(key))
{
var dv = new DisplayValue();
dv.time = Time.timeSinceLevelLoad;
dv.floatArrayValues = value;
if (displayType == DisplayType.Independent)
{
dv.valueType = DisplayValue.ValueType.FloatarrayIndependent;
}
else
{
dv.valueType = DisplayValue.ValueType.FloatarrayProportion;
}
displayValues[key] = dv;
while (displayValues.Count > 20)
{
var max = (
displayValues.Aggregate((l, r) => l.Value.time < r.Value.time ? l : r).Key);
RemoveValue(target, max);
}
}
else
{
var dv = displayValues[key];
dv.floatArrayValues = value;
if (displayType == DisplayType.Independent)
{
dv.valueType = DisplayValue.ValueType.FloatarrayIndependent;
}
else
{
dv.valueType = DisplayValue.ValueType.FloatarrayProportion;
}
displayValues[key] = dv;
}
}
/// <summary>
/// Remove a value from a monitor.
/// </summary>
/// <param name="target">
/// The transform to which the information is attached.
/// </param>
/// <param name="key">The key of the information you want to remove.</param>
public static void RemoveValue(Transform target, string key)
{
if (target == null)
{
target = s_Canvas.transform;
}
if (s_DisplayTransformValues.Keys.Contains(target))
{
if (s_DisplayTransformValues[target].ContainsKey(key))
{
s_DisplayTransformValues[target].Remove(key);
if (s_DisplayTransformValues[target].Keys.Count == 0)
{
s_DisplayTransformValues.Remove(target);
}
}
}
}
/// <summary>
/// Remove all information from a monitor.
/// </summary>
/// <param name="target">
/// The transform to which the information is attached.
/// </param>
public static void RemoveAllValues(Transform target)
{
if (target == null)
{
target = s_Canvas.transform;
}
if (s_DisplayTransformValues.Keys.Contains(target))
{
s_DisplayTransformValues.Remove(target);
}
}
/// <summary>
/// Use SetActive to enable or disable the Monitor via script
/// </summary>
/// <param name="active">Value to set the Monitor's status to.</param>
public static void SetActive(bool active)
{
if (!s_IsInstantiated)
{
InstantiateCanvas();
s_IsInstantiated = true;
}
if (s_Canvas != null)
{
s_Canvas.SetActive(active);
}
}
/// Initializes the canvas.
static void InstantiateCanvas()
{
s_Canvas = GameObject.Find("AgentMonitorCanvas");
if (s_Canvas == null)
{
s_Canvas = new GameObject();
s_Canvas.name = "AgentMonitorCanvas";
s_Canvas.AddComponent<Monitor>();
}
s_DisplayTransformValues = new Dictionary<Transform,
Dictionary<string, DisplayValue>>();
s_TransformCamera = new Dictionary<Transform, Camera>();
}
void OnGUI()
{
if (!s_Initialized)
{
Initialize();
s_Initialized = true;
}
var toIterate = s_DisplayTransformValues.Keys.ToList();
foreach (var target in toIterate)
{
if (target == null)
{
s_DisplayTransformValues.Remove(target);
continue;
}
// get camera
var cam = s_TransformCamera[target];
if (cam == null)
{
cam = Camera.main;
}
var widthScaler = (Screen.width / 1000f);
var keyPixelWidth = 100 * widthScaler;
var keyPixelHeight = 20 * widthScaler;
var paddingWidth = 10 * widthScaler;
var scale = 1f;
var origin = new Vector3(
Screen.width / 2.0f - keyPixelWidth, Screen.height);
if (!(target == s_Canvas.transform))
{
var camTransform = cam.transform;
var position = target.position;
var cam2Obj = position - camTransform.position;
scale = Mathf.Min(
1,
20f / (Vector3.Dot(cam2Obj, camTransform.forward)));
var worldPosition = cam.WorldToScreenPoint(
position + new Vector3(0, verticalOffset, 0));
origin = new Vector3(
worldPosition.x - keyPixelWidth * scale, Screen.height - worldPosition.y);
}
keyPixelWidth *= scale;
keyPixelHeight *= scale;
paddingWidth *= scale;
s_KeyStyle.fontSize = (int)(keyPixelHeight * 0.8f);
if (s_KeyStyle.fontSize < 2)
{
continue;
}
var displayValues = s_DisplayTransformValues[target];
var index = 0;
var orderedKeys = displayValues.Keys.OrderBy(x => -displayValues[x].time);
foreach (var key in orderedKeys)
{
s_KeyStyle.alignment = TextAnchor.MiddleRight;
GUI.Label(
new Rect(
origin.x, origin.y - (index + 1) * keyPixelHeight,
keyPixelWidth, keyPixelHeight),
key,
s_KeyStyle);
float[] vals;
GUIStyle s;
switch (displayValues[key].valueType)
{
case DisplayValue.ValueType.String:
s_ValueStyle.alignment = TextAnchor.MiddleLeft;
GUI.Label(
new Rect(
origin.x + paddingWidth + keyPixelWidth,
origin.y - (index + 1) * keyPixelHeight,
keyPixelWidth, keyPixelHeight),
displayValues[key].stringValue,
s_ValueStyle);
break;
case DisplayValue.ValueType.Float:
var sliderValue = displayValues[key].floatValue;
sliderValue = Mathf.Min(1f, sliderValue);
s = s_GreenStyle;
if (sliderValue < 0)
{
sliderValue = Mathf.Min(1f, -sliderValue);
s = s_RedStyle;
}
GUI.Box(
new Rect(
origin.x + paddingWidth + keyPixelWidth,
origin.y - (index + 0.9f) * keyPixelHeight,
keyPixelWidth * sliderValue, keyPixelHeight * 0.8f),
GUIContent.none,
s);
break;
case DisplayValue.ValueType.FloatarrayIndependent:
const float histWidth = 0.15f;
vals = displayValues[key].floatArrayValues;
for (var i = 0; i < vals.Length; i++)
{
var value = Mathf.Min(vals[i], 1);
s = s_GreenStyle;
if (value < 0)
{
value = Mathf.Min(1f, -value);
s = s_RedStyle;
}
GUI.Box(
new Rect(
origin.x + paddingWidth + keyPixelWidth +
(keyPixelWidth * histWidth + paddingWidth / 2) * i,
origin.y - (index + 0.1f) * keyPixelHeight,
keyPixelWidth * histWidth, -keyPixelHeight * value),
GUIContent.none,
s);
}
break;
case DisplayValue.ValueType.FloatarrayProportion:
var valsSum = 0f;
var valsCum = 0f;
vals = displayValues[key].floatArrayValues;
foreach (var f in vals)
{
valsSum += Mathf.Max(f, 0);
}
if (valsSum < float.Epsilon)
{
Debug.LogError(
$"The Monitor value for key {key} " +
"must be a list or array of " +
"positive values and cannot " +
"be empty.");
}
else
{
for (var i = 0; i < vals.Length; i++)
{
var value = Mathf.Max(vals[i], 0) / valsSum;
GUI.Box(
new Rect(
origin.x + paddingWidth +
keyPixelWidth + keyPixelWidth * valsCum,
origin.y - (index + 0.9f) * keyPixelHeight,
keyPixelWidth * value, keyPixelHeight * 0.8f),
GUIContent.none,
s_ColorStyle[i % s_ColorStyle.Length]);
valsCum += value;
}
}
break;
}
index++;
}
}
}
/// Helper method used to initialize the GUI. Called once.
void Initialize()
{
s_KeyStyle = GUI.skin.label;
s_ValueStyle = GUI.skin.label;
s_ValueStyle.clipping = TextClipping.Overflow;
s_ValueStyle.wordWrap = false;
s_BarColors = new[]
{
Color.magenta,
Color.blue,
Color.cyan,
Color.green,
Color.yellow,
Color.red
};
s_ColorStyle = new GUIStyle[s_BarColors.Length];
for (var i = 0; i < s_BarColors.Length; i++)
{
var texture = new Texture2D(1, 1, TextureFormat.ARGB32, false);
texture.SetPixel(0, 0, s_BarColors[i]);
texture.Apply();
var staticRectStyle = new GUIStyle();
staticRectStyle.normal.background = texture;
s_ColorStyle[i] = staticRectStyle;
}
s_GreenStyle = s_ColorStyle[3];
s_RedStyle = s_ColorStyle[5];
}
}
}
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