csharp cleanup

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs

@@ -143,7 +143,7 @@ void OverrideModel()
             var nnModel = GetModelForBehaviorName(bp.behaviorName);
             Debug.Log($"Overriding behavior {bp.behaviorName} for agent with model {nnModel?.name}");
             // This might give a null model; that's better because we'll fall back to the Heuristic
-            m_Agent.GiveModel($"Override_{bp.behaviorName}", nnModel, InferenceDevice.CPU);
+            m_Agent.GiveModel($"Override_{bp.behaviorName}", nnModel);
 
         }
     }

Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs

@@ -26,15 +26,14 @@ public enum Team
     [HideInInspector]
     public Rigidbody agentRb;
     SoccerSettings m_SoccerSettings;
-    Renderer m_AgentRenderer;
-    BehaviorParameters m_BP;
+    BehaviorParameters m_BehaviorParameters;
     Vector3 m_Transform;
 
     public override void InitializeAgent()
     {
         base.InitializeAgent();
-        m_BP = gameObject.GetComponent<BehaviorParameters>();
-        if (m_BP.m_TeamID == (int)Team.Blue)
+        m_BehaviorParameters = gameObject.GetComponent<BehaviorParameters>();
+        if (m_BehaviorParameters.m_TeamID == (int)Team.Blue)
         {
             team = Team.Blue;
             m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
@@ -44,7 +43,6 @@ public override void InitializeAgent()
             team = Team.Purple;
             m_Transform = new Vector3(transform.position.x + 4f, .5f, transform.position.z);
         }
-        m_AgentRenderer = GetComponentInChildren<Renderer>();
         m_SoccerSettings = FindObjectOfType<SoccerSettings>();
         agentRb = GetComponent<Rigidbody>();
         agentRb.maxAngularVelocity = 500;
@@ -65,8 +63,6 @@ public void MoveAgent(float[] act)
         var dirToGo = Vector3.zero;
         var rotateDir = Vector3.zero;
 
-        var action = Mathf.FloorToInt(act[0]);
-
         m_KickPower = 0f;
 
         var forwardAxis = (int)act[0];

Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs

@@ -30,16 +30,9 @@ public class SoccerFieldArea : MonoBehaviour
     public GameObject goalTextUI;
     [HideInInspector]
     public bool canResetBall;
-    Material m_GroundMaterial;
-    Renderer m_GroundRenderer;
-
-    SoccerSettings m_SoccerSettings;
 
     void Awake()
     {
-        m_SoccerSettings = FindObjectOfType<SoccerSettings>();
-        m_GroundRenderer = centerPitch.GetComponent<Renderer>();
-        m_GroundMaterial = m_GroundRenderer.material;
         canResetBall = true;
         if (goalTextUI) { goalTextUI.SetActive(false); }
         ballRb = ball.GetComponent<Rigidbody>();

com.unity.ml-agents/Runtime/Academy.cs

@@ -53,14 +53,14 @@ public class Academy : IDisposable
         const int k_EditorTrainingPort = 5004;
 
         // Lazy initializer pattern, see https://csharpindepth.com/articles/singleton#lazy
-        static Lazy<Academy> lazy = new Lazy<Academy>(() => new Academy());
+        static Lazy<Academy> s_Lazy = new Lazy<Academy>(() => new Academy());
 
         public static bool IsInitialized
         {
-            get { return lazy.IsValueCreated; }
+            get { return s_Lazy.IsValueCreated; }
         }
 
-        public static Academy Instance { get { return lazy.Value; } }
+        public static Academy Instance { get { return s_Lazy.Value; } }
 
         public IFloatProperties FloatProperties;
 
@@ -108,30 +108,30 @@ public bool IsCommunicatorOn
 
         // Signals to all the Agents at each environment step so they can use
         // their Policy to decide on their next action.
-        internal event System.Action DecideAction;
+        internal event Action DecideAction;
 
         // Signals to all the listeners that the academy is being destroyed
-        internal event System.Action DestroyAction;
+        internal event Action DestroyAction;
 
         // Signals to all the agents at each environment step along with the
         // Academy's maxStepReached, done and stepCount values. The agents rely
         // on this event to update their own values of max step reached and done
         // in addition to aligning on the step count of the global episode.
-        internal event System.Action<int> AgentSetStatus;
+        internal event Action<int> AgentSetStatus;
 
         // Signals to all the agents at each environment step so they can send
         // their state to their Policy if they have requested a decision.
-        internal event System.Action AgentSendState;
+        internal event Action AgentSendState;
 
         // Signals to all the agents at each environment step so they can act if
         // they have requested a decision.
-        internal event System.Action AgentAct;
+        internal event Action AgentAct;
 
         // Signals to all the agents each time the Academy force resets.
-        internal event System.Action AgentForceReset;
+        internal event Action AgentForceReset;
 
         // Signals that the Academy has been reset by the training process
-        public event System.Action OnEnvironmentReset;
+        public event Action OnEnvironmentReset;
 
         AcademyFixedUpdateStepper m_FixedUpdateStepper;
         GameObject m_StepperObject;
@@ -273,13 +273,13 @@ void InitializeEnvironment()
                 //environment must use Inference.
                 try
                 {
-                    var unityRLInitParameters = Communicator.Initialize(
+                    var unityRlInitParameters = Communicator.Initialize(
                         new CommunicatorInitParameters
                         {
                             version = k_ApiVersion,
                             name = "AcademySingleton",
                         });
-                    UnityEngine.Random.InitState(unityRLInitParameters.seed);
+                    UnityEngine.Random.InitState(unityRlInitParameters.seed);
                 }
                 catch
                 {
@@ -471,7 +471,7 @@ public void Dispose()
             m_Initialized = false;
 
             // Reset the Lazy instance
-            lazy = new Lazy<Academy>(() => new Academy());
+            s_Lazy = new Lazy<Academy>(() => new Academy());
         }
     }
 }

com.unity.ml-agents/Runtime/Agent.cs

@@ -173,7 +173,6 @@ public abstract class Agent : MonoBehaviour
         /// List of sensors used to generate observations.
         /// Currently generated from attached SensorComponents, and a legacy VectorSensor
         /// </summary>
-        [FormerlySerializedAs("m_Sensors")]
         internal List<ISensor> sensors;
 
         /// <summary>

com.unity.ml-agents/Runtime/DecisionRequester.cs

@@ -1,9 +1,5 @@
 using System;
-using System.Collections.Generic;
 using UnityEngine;
-using Barracuda;
-using MLAgents.Sensor;
-using UnityEngine.Serialization;
 
 namespace MLAgents
 {
@@ -24,11 +20,11 @@ public class DecisionRequester : MonoBehaviour
         [Tooltip("Whether or not Agent decisions should start at a random offset.")]
         public bool offsetStep;
 
-        private Agent m_Agent;
-        private int offset;
+        Agent m_Agent;
+        int m_Offset;
         public void Awake()
         {
-            offset = offsetStep ? gameObject.GetInstanceID() : 0;
+            m_Offset = offsetStep ? gameObject.GetInstanceID() : 0;
             m_Agent = gameObject.GetComponent<Agent>();
             Academy.Instance.AgentSetStatus += MakeRequests;
         }
@@ -43,7 +39,7 @@ void OnDestroy()
 
         void MakeRequests(int count)
         {
-            if ((count + offset) % DecisionPeriod == 0)
+            if ((count + m_Offset) % DecisionPeriod == 0)
             {
                 m_Agent?.RequestDecision();
             }

com.unity.ml-agents/Runtime/EpisodeIdCounter.cs

@@ -2,10 +2,10 @@ namespace MLAgents
 {
     internal static class EpisodeIdCounter
     {
-        private static int Counter;
+        static int s_Counter;
         public static int GetEpisodeId()
         {
-            return Counter++;
+            return s_Counter++;
         }
     }
 }

com.unity.ml-agents/Runtime/Grpc/GrpcExtensions.cs

@@ -2,7 +2,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using Google.Protobuf;
-using Google.Protobuf.Collections;
 using MLAgents.CommunicatorObjects;
 using MLAgents.Sensor;
 using UnityEngine;

com.unity.ml-agents/Runtime/Grpc/RpcCommunicator.cs

@@ -233,7 +233,8 @@ public void DecideBatch()
         /// Sends the observations of one Agent.
         /// </summary>
         /// <param name="behaviorName">Batch Key.</param>
-        /// <param name="agent">Agent info.</param>
+        /// <param name="info">Agent info.</param>
+        /// <param name="sensors">Sensors that will produce the observations</param>
         public void PutObservations(string behaviorName, AgentInfo info, List<ISensor> sensors)
         {
 # if DEBUG
@@ -465,13 +466,14 @@ void UpdateSentBrainParameters(UnityRLInitializationOutputProto output)
         /// <param name="sideChannel"> The side channel to be registered.</param>
         public void RegisterSideChannel(SideChannel sideChannel)
         {
-            if (m_SideChannels.ContainsKey(sideChannel.ChannelType()))
+            var channelType = sideChannel.ChannelType();
+            if (m_SideChannels.ContainsKey(channelType))
             {
                 throw new UnityAgentsException(string.Format(
-                    "A side channel with type index {} is already registered. You cannot register multiple " +
-                    "side channels of the same type."));
+                    "A side channel with type index {0} is already registered. You cannot register multiple " +
+                    "side channels of the same type.", channelType));
             }
-            m_SideChannels.Add(sideChannel.ChannelType(), sideChannel);
+            m_SideChannels.Add(channelType, sideChannel);
         }
 
         /// <summary>

com.unity.ml-agents/Runtime/ICommunicator.cs

@@ -1,7 +1,6 @@
 using System;
 using System.Collections.Generic;
 using UnityEngine;
-using MLAgents.CommunicatorObjects;
 using MLAgents.Sensor;
 
 namespace MLAgents
@@ -44,7 +43,6 @@ internal struct UnityRLInputParameters
     /// <summary>
     /// Delegate for handling reset parameter updates sent from the communicator.
     /// </summary>
-    /// <param name="resetParams"></param>
     internal delegate void ResetCommandHandler();
 
     /// <summary>
@@ -122,7 +120,6 @@ internal interface ICommunicator : IDisposable
         /// <param name="brainKey">Batch Key.</param>
         /// <param name="info">Agent info.</param>
         /// <param name="sensors">The list of ISensors of the Agent.</param>
-        /// <param name="action">The action that will be called once the next AgentAction is ready.</param>
         void PutObservations(string brainKey, AgentInfo info, List<ISensor> sensors);
 
         /// <summary>

com.unity.ml-agents/Runtime/InferenceBrain/ApplierImpl.cs

@@ -205,7 +205,7 @@ public void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionar
             var memorySize = (int)tensorProxy.shape[tensorProxy.shape.Length - 1];
             foreach (int agentId in actionIds)
             {
-                List<float> memory = null;
+                List<float> memory;
                 if (!m_Memories.TryGetValue(agentId, out memory)
                     || memory.Count < memorySize)
                 {
@@ -243,7 +243,7 @@ public void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionar
 
             foreach (int agentId in actionIds)
             {
-                List<float> memory = null;
+                List<float> memory;
                 if (!m_Memories.TryGetValue(agentId, out memory)
                     || memory.Count < memorySize * m_MemoriesCount)
                 {

com.unity.ml-agents/Runtime/InferenceBrain/GeneratorImpl.cs

@@ -139,7 +139,7 @@ public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentIn
     /// </summary>
     internal class RecurrentInputGenerator : TensorGenerator.IGenerator
     {
-        private readonly ITensorAllocator m_Allocator;
+        readonly ITensorAllocator m_Allocator;
         Dictionary<int, List<float>> m_Memories;
 
         public RecurrentInputGenerator(

com.unity.ml-agents/Runtime/InferenceBrain/TensorApplier.cs

@@ -30,7 +30,6 @@ public interface IApplier
             /// </param>
             /// <param name="actionIds"> List of Agents Ids that will be updated using the tensor's data</param>
             /// <param name="lastActions"> Dictionary of AgentId to Actions to be updated</param>
-            /// </param>
             void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionary<int, float[]> lastActions);
         }
 

com.unity.ml-agents/Runtime/InferenceBrain/TensorGenerator.cs

@@ -122,7 +122,7 @@ public void InitializeObservations(List<ISensor> sensors, ITensorAllocator alloc
         /// <param name="tensors"> Enumerable of tensors that will be modified.</param>
         /// <param name="currentBatchSize"> The number of agents present in the current batch
         /// </param>
-        /// <param name="agents"> List of Agents that contains the
+        /// <param name="infos"> List of AgentsInfos and Sensors that contains the
         /// data that will be used to modify the tensors</param>
         /// <exception cref="UnityAgentsException"> One of the tensor does not have an
         /// associated generator.</exception>

com.unity.ml-agents/Runtime/Policy/BarracudaPolicy.cs

@@ -22,7 +22,7 @@ internal class BarracudaPolicy : IPolicy
     {
         protected ModelRunner m_ModelRunner;
 
-        private int m_AgentId;
+        int m_AgentId;
 
         /// <summary>
         /// Sensor shapes for the associated Agents. All Agents must have the same shapes for their Sensors.

com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs

@@ -1,7 +1,7 @@
 using Barracuda;
 using System;
-using System.Collections.Generic;
 using UnityEngine;
+using UnityEngine.Serialization;
 
 namespace MLAgents
 {
@@ -13,7 +13,7 @@ namespace MLAgents
     public class BehaviorParameters : MonoBehaviour
     {
         [Serializable]
-        private enum BehaviorType
+        enum BehaviorType
         {
             Default,
             HeuristicOnly,
@@ -37,11 +37,12 @@ private enum BehaviorType
         string m_BehaviorName = "My Behavior";
         [HideInInspector]
         [SerializeField]
-        public int m_TeamID = 0;
+        public int m_TeamID;
+        [FormerlySerializedAs("m_useChildSensors")]
         [HideInInspector]
         [SerializeField]
         [Tooltip("Use all Sensor components attached to child GameObjects of this Agent.")]
-        bool m_useChildSensors = true;
+        bool m_UseChildSensors = true;
 
         public BrainParameters brainParameters
         {
@@ -50,7 +51,7 @@ public BrainParameters brainParameters
 
         public bool useChildSensors
         {
-            get { return m_useChildSensors; }
+            get { return m_UseChildSensors; }
         }
 
         public string behaviorName
@@ -93,13 +94,13 @@ internal IPolicy GeneratePolicy(Func<float[]> heuristic)
         }
 
         public void GiveModel(
-            string behaviorName,
+            string newBehaviorName,
             NNModel model,
             InferenceDevice inferenceDevice = InferenceDevice.CPU)
         {
             m_Model = model;
             m_InferenceDevice = inferenceDevice;
-            m_BehaviorName = behaviorName;
+            m_BehaviorName = newBehaviorName;
         }
     }
 }

com.unity.ml-agents/Runtime/Policy/IPolicy.cs

@@ -17,7 +17,8 @@ internal interface IPolicy : IDisposable
         /// will make the decision at a later time to allow possible
         /// batching of requests.
         /// </summary>
-        /// <param name="agent"></param>
+        /// <param name="info"></param>
+        /// <param name="sensors"></param>
         void RequestDecision(AgentInfo info, List<ISensor> sensors);
 
         /// <summary>

com.unity.ml-agents/Runtime/Sensor/RayPerceptionSensor.cs

@@ -157,6 +157,7 @@ public virtual SensorCompressionType GetCompressionType()
         /// <param name="transform">Transform of the GameObject</param>
         /// <param name="castType">Whether to perform the casts in 2D or 3D.</param>
         /// <param name="perceptionBuffer">Output array of floats. Must be (num rays) * (num tags + 2) in size.</param>
+        /// <param name="layerMask">Filtering options for the casts</param>
         /// <param name="debugInfo">Optional debug information output, only used by RayPerceptionSensor.</param>
         ///
         public static void PerceiveStatic(float unscaledRayLength,

com.unity.ml-agents/Runtime/Sensor/SensorShapeValidator.cs

@@ -5,7 +5,7 @@ namespace MLAgents.Sensor
 {
     internal class SensorShapeValidator
     {
-        private List<int[]> m_SensorShapes;
+        List<int[]> m_SensorShapes;
 
         /// <summary>
         /// Check that the List Sensors are the same shape as the previous ones.