Upload/01_Source_Code/Unity_Full50_Code_Snapshot/RevisionEvaluationBatch.cs

#if UNITY_EDITOR
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using Unity.InferenceEngine;
using Unity.MLAgents;
using Unity.MLAgents.Policies;
using UnityEditor;
using UnityEditor.SceneManagement;
using UnityEngine;
using UnityEngine.SceneManagement;

// Batch entry points run only when explicitly requested with -executeMethod.
[InitializeOnLoad]
public static class RevisionEvaluationBatch
{
    const string Pending = "RevisionEvaluationBatch.pending";
    const string Failure = "RevisionEvaluationBatch.failure";
    const string Started = "RevisionEvaluationBatch.started";
    const string Played = "RevisionEvaluationBatch.played";
    const string Done = "RevisionEvaluationBatch.done";
    const string PpoModel = "Assets/Model/V12/V12 PPO.onnx";
    const string DtModel = "Assets/Model/FinalModel/E_1_DT_C_5.onnx";

    [Serializable] public class Job
    {
        public string id, policy, scene, output, report;
        public string[] models;
        public int episodes = 2, targets = 10, seed = 42, max_steps = 1000;
        public float initial_rtg = 35f;
        public double timeout_seconds = 7200;
    }
    [Serializable] class Verification
    {
        public string status, error, unity_version, gpu, graphics_api, utc;
        public bool compilation_passed, reset_tests_passed;
        public EvaluationModelParityTests.Result parity;
    }
    [Serializable] class RunReport
    {
        public string status, error, utc, unity_version, gpu, graphics_api;
        public Job job;
        public string source_scene = "Assets/Scenes/Shooting.unity";
        public string rig_source, ppo_model, ppo_inference_device;
        public bool ppo_deterministic;
        public int[] ppo_discrete_branch_sizes;
        public float fixed_delta_time, time_scale, rotation_speed, shoot_distance, step_penalty;
        public string[] files;
        public double wall_seconds;
    }

    static RevisionEvaluationBatch()
    {
        EditorApplication.update += Monitor;
        Application.logMessageReceived += OnLog;
    }

    public static string Argument(string name)
    {
        var args = Environment.GetCommandLineArgs();
        for (int i = 0; i + 1 < args.Length; i++) if (args[i] == name) return args[i + 1];
        throw new ArgumentException("Missing command-line argument " + name);
    }

    public static void Verify()
    {
        var result = new Verification {
            status = "failed", unity_version = Application.unityVersion,
            gpu = SystemInfo.graphicsDeviceName, graphics_api = SystemInfo.graphicsDeviceType.ToString(),
            utc = DateTime.UtcNow.ToString("o"), compilation_passed = true
        };
        int code = 1;
        try
        {
            if (SystemInfo.graphicsDeviceType == UnityEngine.Rendering.GraphicsDeviceType.Null)
                throw new InvalidOperationException("GPU verification requires a graphics device; omit -nographics.");
            EvaluationSmokeTests.Run();
            result.reset_tests_passed = true;
            result.parity = EvaluationModelParityTests.Run(
                AssetDatabase.LoadAssetAtPath<ModelAsset>(DtModel), Argument("-evaluationFixtures"));
            result.status = "passed";
            code = 0;
        }
        catch (Exception error) { result.error = error.ToString(); Debug.LogException(error); }
        finally
        {
            WriteJson(Argument("-evaluationReport"), result);
            EditorApplication.Exit(code);
        }
    }

    public static void Run()
    {
        try
        {
            if (!Application.isBatchMode) throw new InvalidOperationException("Use this entry point only in batch mode on the working copy.");
            Job job = JsonUtility.FromJson<Job>(File.ReadAllText(Argument("-evaluationJob")));
            if (job == null || job.episodes < 1 || (job.targets != 10 && job.targets != 15 && job.targets != 20) ||
                (job.policy != "PPO" && job.policy != "DT") || job.models == null || job.models.Length == 0)
                throw new InvalidOperationException("Invalid evaluation job.");
            if (Directory.Exists(job.output) && Directory.GetFiles(job.output, "*.json", SearchOption.AllDirectories).Length > 0)
                throw new InvalidOperationException("Use a fresh result directory for every job.");
            Directory.CreateDirectory(job.output);
            var report = Prepare(job);
            WriteJson(job.report, report);
            SessionState.SetString(Pending, JsonUtility.ToJson(job));
            SessionState.SetString(Failure, "");
            SessionState.SetString(Started, DateTime.UtcNow.ToString("o"));
            SessionState.SetBool(Played, false);
            SessionState.SetBool(Done, false);
            EditorApplication.isPlaying = true;
        }
        catch (Exception error)
        {
            Debug.LogException(error);
            EditorApplication.Exit(1);
        }
    }

    static RunReport Prepare(Job job)
    {
        var scene = EditorSceneManager.OpenScene("Assets/Scenes/Shooting.unity", OpenSceneMode.Single);
        var ppo = scene.GetRootGameObjects().SelectMany(g => g.GetComponentsInChildren<DroneAgent_For_Testing>(true)).Single();
        string rigSource = HierarchyPath(ppo.transform);
        var barrel = ppo.gunBarrel;
        var targets = new List<EnemyDummy>(ppo.enemies);
        if (barrel == null || targets.Count != 10 || targets.Any(e => e == null) || targets.Distinct().Count() != 10)
            throw new InvalidOperationException("Expected the original PPO rig with ten unique targets.");
        var behavior = ppo.GetComponent<BehaviorParameters>();
        var requester = ppo.GetComponent<DecisionRequester>();
        if (behavior == null || requester == null || AssetDatabase.GetAssetPath(behavior.Model) != PpoModel)
            throw new InvalidOperationException("Original PPO rig/model differs from the inspected project.");
        if (behavior.BrainParameters.VectorObservationSize != 9 ||
            behavior.BrainParameters.ActionSpec.NumContinuousActions != 2 ||
            !behavior.BrainParameters.ActionSpec.BranchSizes.SequenceEqual(new[] { 2, 2 }))
            throw new InvalidOperationException("PPO observation/action contract mismatch.");

        // Disable the original scene before configuring anything; activate only the common rig.
        foreach (var go in scene.GetRootGameObjects()) go.SetActive(false);
        foreach (var enemy in scene.GetRootGameObjects().SelectMany(g => g.GetComponentsInChildren<EnemyDummy>(true)))
            enemy.gameObject.SetActive(false);
        foreach (var agent in scene.GetRootGameObjects().SelectMany(g => g.GetComponentsInChildren<Agent>(true)))
        {
            agent.enabled = false;
            if (agent.gameObject != ppo.gameObject) agent.gameObject.SetActive(false);
        }
        foreach (var controller in scene.GetRootGameObjects().SelectMany(g => g.GetComponentsInChildren<DTController_For_Testing>(true)))
        {
            controller.enabled = false;
            if (controller.gameObject != ppo.gameObject) controller.gameObject.SetActive(false);
        }
        foreach (var decision in scene.GetRootGameObjects().SelectMany(g => g.GetComponentsInChildren<DecisionRequester>(true)))
            decision.enabled = false;

        // 15/20-target conditions extend the same collider/motion settings, preserving the first ten and their order.
        for (int i = targets.Count; i < job.targets; i++)
        {
            var clone = UnityEngine.Object.Instantiate(targets[i % 10].gameObject, targets[i % 10].transform.parent);
            clone.name = "RevisionTarget_" + i;
            clone.SetActive(false);
            targets.Add(clone.GetComponent<EnemyDummy>());
        }
        foreach (var enemy in targets)
        {
            if (enemy.GetComponent<Collider>() == null || (ppo.enemyLayer.value & (1 << enemy.gameObject.layer)) == 0 ||
                enemy.GetComponentsInChildren<Rigidbody>(true).Any(r => !r.isKinematic) ||
                enemy.GetComponentsInChildren<Animator>(true).Any(a => a.enabled) ||
                enemy.GetComponents<MonoBehaviour>().Any(b => b != enemy && b.enabled))
                throw new InvalidOperationException("Target has unexpected collision or external movement settings: " + enemy.name);
            ActivateAncestors(enemy.transform.parent);
        }
        ActivateAncestors(ppo.transform);
        foreach (var target in targets) target.gameObject.SetActive(false); // ResetEnvironment owns first activation.
        foreach (var other in ppo.GetComponents<Agent>().Where(a => a != ppo).ToArray())
            UnityEngine.Object.DestroyImmediate(other);

        ppo.maxTestEpisodes = job.episodes;
        ppo.maxEpisodeSteps = job.max_steps;
        ppo.testSeed = job.seed;
        ppo.EnemyCount = job.targets;
        ppo.enemies = targets;
        ppo.rotationSpeed = 100f;
        ppo.shootDistance = 50f;
        ppo.stepPenalty = EvaluationReward.DefaultStepPenalty;
        ppo.outputFileName = "V12_PPO.json";
        behavior.BehaviorType = BehaviorType.InferenceOnly;
        requester.DecisionPeriod = 1;
        requester.DecisionStep = 0;
        requester.TakeActionsBetweenDecisions = false;

        if (job.policy == "PPO")
        {
            if (job.models.Length != 1 || job.models[0] != PpoModel) throw new InvalidOperationException("Unexpected PPO model.");
            ppo.enabled = true;
            requester.enabled = true;
        }
        else
        {
            // No PPO component is allowed to initialize an Academy/policy during DT evaluation.
            var go = ppo.gameObject;
            var mask = ppo.enemyLayer;
            UnityEngine.Object.DestroyImmediate(requester);
            UnityEngine.Object.DestroyImmediate(ppo);
            var controller = go.GetComponent<DTController_For_Testing>() ?? go.AddComponent<DTController_For_Testing>();
            controller.modelAssets = job.models.Select(path => AssetDatabase.LoadAssetAtPath<ModelAsset>(path)).ToList();
            if (controller.modelAssets.Any(model => model == null)) throw new InvalidOperationException("A requested model is missing.");
            controller.gunBarrel = barrel;
            controller.enemies = targets;
            controller.enemyLayer = mask;
            controller.EnemyCount = job.targets;
            controller.maxTestEpisodes = job.episodes;
            controller.maxEpisodeSteps = job.max_steps;
            controller.testSeed = job.seed;
            controller.initialRTG = job.initial_rtg;
            controller.RTG_TEST = false;
            controller.policyMode = DTController_For_Testing.PolicyMode.AutoFromModelName;
            controller.rotationSpeed = 100f;
            controller.shootDistance = 50f;
            controller.stepPenalty = EvaluationReward.DefaultStepPenalty;
            controller.traceEpisodes = 2;
            controller.laserLine = controller.laserLineToEnemy = null;
            controller.enabled = true;
        }
        // Keep the original time scale and fixed timestep; target simulation advances by action count.
        var activeAgents = scene.GetRootGameObjects().SelectMany(g => g.GetComponentsInChildren<Agent>(true))
            .Where(a => a.isActiveAndEnabled).ToArray();
        var activeDt = scene.GetRootGameObjects().SelectMany(g => g.GetComponentsInChildren<DTController_For_Testing>(true))
            .Where(a => a.isActiveAndEnabled).ToArray();
        if (activeAgents.Length != (job.policy == "PPO" ? 1 : 0) || activeDt.Length != (job.policy == "DT" ? 1 : 0))
            throw new InvalidOperationException("The scene must have exactly one active evaluator.");
        Directory.CreateDirectory(Path.GetDirectoryName(job.scene));
        if (!EditorSceneManager.SaveScene(scene, job.scene)) throw new IOException("Could not save evaluation scene.");
        AssetDatabase.SaveAssets();
        return new RunReport {
            status = "running", job = job, utc = DateTime.UtcNow.ToString("o"),
            unity_version = Application.unityVersion, gpu = SystemInfo.graphicsDeviceName,
            graphics_api = SystemInfo.graphicsDeviceType.ToString(), rig_source = rigSource,
            ppo_model = AssetDatabase.GetAssetPath(behavior.Model),
            ppo_inference_device = behavior.InferenceDevice.ToString(), ppo_deterministic = behavior.DeterministicInference,
            ppo_discrete_branch_sizes = behavior.BrainParameters.ActionSpec.BranchSizes,
            fixed_delta_time = Time.fixedDeltaTime, time_scale = Time.timeScale,
            rotation_speed = 100f, shoot_distance = 50f, step_penalty = EvaluationReward.DefaultStepPenalty
        };
    }

    static void ActivateAncestors(Transform transform)
    {
        if (transform == null) return;
        ActivateAncestors(transform.parent);
        transform.gameObject.SetActive(true);
    }
    static string HierarchyPath(Transform transform)
    {
        return transform.parent == null ? transform.name : HierarchyPath(transform.parent) + "/" + transform.name;
    }
    static void OnLog(string condition, string stack, LogType type)
    {
        if (string.IsNullOrEmpty(SessionState.GetString(Pending, ""))) return;
        if (type == LogType.Error || type == LogType.Exception || type == LogType.Assert)
            SessionState.SetString(Failure, condition + "\n" + stack);
    }
    static void Monitor()
    {
        string json = SessionState.GetString(Pending, "");
        if (string.IsNullOrEmpty(json)) return;
        try
        {
            var job = JsonUtility.FromJson<Job>(json);
            if (EditorApplication.isPlaying) SessionState.SetBool(Played, true);
            double elapsed = (DateTime.UtcNow - DateTime.Parse(SessionState.GetString(Started, ""), null,
                System.Globalization.DateTimeStyles.RoundtripKind)).TotalSeconds;
            var files = Directory.GetFiles(job.output, "*.json", SearchOption.AllDirectories);
            string failure = SessionState.GetString(Failure, "");
            if (elapsed > job.timeout_seconds) failure = "Evaluation exceeded the job timeout.";
            bool finished = SessionState.GetBool(Played, false) && files.Length == job.models.Length;
            if (SessionState.GetBool(Played, false) && !EditorApplication.isPlayingOrWillChangePlaymode && !SessionState.GetBool(Done, false))
                failure = "Play mode stopped before expected results were saved.";
            if (!finished && string.IsNullOrEmpty(failure)) return;
            SessionState.SetBool(Done, true);
            if (EditorApplication.isPlayingOrWillChangePlaymode)
            {
                if (!string.IsNullOrEmpty(failure)) SessionState.SetString(Failure, failure);
                EditorApplication.isPlaying = false;
                return;
            }
            var report = JsonUtility.FromJson<RunReport>(File.ReadAllText(job.report));
            report.status = string.IsNullOrEmpty(failure) && finished ? "passed" : "failed";
            report.error = failure;
            report.files = files;
            report.wall_seconds = elapsed;
            WriteJson(job.report, report);
            SessionState.EraseString(Pending);
            EditorApplication.Exit(report.status == "passed" ? 0 : 1);
        }
        catch (Exception error)
        {
            SessionState.EraseString(Pending);
            Debug.LogException(error);
            EditorApplication.Exit(1);
        }
    }
    static void WriteJson(string path, object value)
    {
        Directory.CreateDirectory(Path.GetDirectoryName(Path.GetFullPath(path)));
        File.WriteAllText(path, JsonUtility.ToJson(value, true));
    }
}
#endif