Removing Obsolete methods from the package

Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicActuatorComponent.cs

@@ -17,11 +17,9 @@ public class BasicActuatorComponent : ActuatorComponent
         /// Creates a BasicActuator.
         /// </summary>
         /// <returns></returns>
-#pragma warning disable 672
-        public override IActuator CreateActuator()
-#pragma warning restore 672
+        public override IActuator[] CreateActuators()
         {
-            return new BasicActuator(basicController);
+            return new IActuator[] { new BasicActuator(basicController) };
         }
 
         public override ActionSpec ActionSpec

Project/Assets/ML-Agents/Examples/Match3/Scripts/Match3ExampleActuatorComponent.cs

@@ -7,14 +7,12 @@ namespace Unity.MLAgentsExamples
     public class Match3ExampleActuatorComponent : Match3ActuatorComponent
     {
         /// <inheritdoc/>
-#pragma warning disable 672
-        public override IActuator CreateActuator()
-#pragma warning restore 672
+        public override IActuator[] CreateActuators()
         {
             var board = GetComponent<Match3Board>();
             var agent = GetComponentInParent<Agent>();
             var seed = RandomSeed == -1 ? gameObject.GetInstanceID() : RandomSeed + 1;
-            return new Match3ExampleActuator(board, ForceHeuristic, agent, ActuatorName, seed);
+            return new IActuator[] { new Match3ExampleActuator(board, ForceHeuristic, agent, ActuatorName, seed) };
         }
     }
 }

com.unity.ml-agents.extensions/Runtime/Match3/Match3ActuatorComponent.cs

@@ -29,14 +29,12 @@ public class Match3ActuatorComponent : ActuatorComponent
         public bool ForceHeuristic;
 
         /// <inheritdoc/>
-#pragma warning disable 672
-        public override IActuator CreateActuator()
-#pragma warning restore 672
+        public override IActuator[] CreateActuators()
         {
             var board = GetComponent<AbstractBoard>();
             var agent = GetComponentInParent<Agent>();
             var seed = RandomSeed == -1 ? gameObject.GetInstanceID() : RandomSeed + 1;
-            return new Match3Actuator(board, ForceHeuristic, seed, agent, ActuatorName);
+            return new IActuator[] { new Match3Actuator(board, ForceHeuristic, seed, agent, ActuatorName) };
         }
 
         /// <inheritdoc/>

com.unity.ml-agents/Runtime/Actuators/ActuatorComponent.cs

@@ -9,23 +9,14 @@ namespace Unity.MLAgents.Actuators
     /// </summary>
     public abstract class ActuatorComponent : MonoBehaviour
     {
-        /// <summary>
-        /// Create the IActuator.  This is called by the Agent when it is initialized.
-        /// </summary>
-        /// <returns>Created IActuator object.</returns>
-        [Obsolete("Use CreateActuators instead.")]
-        public abstract IActuator CreateActuator();
-
         /// <summary>
         /// Create a collection of <see cref="IActuator"/>s.  This is called by the <see cref="Agent"/> during
         /// initialization.
         /// </summary>
         /// <returns>A collection of <see cref="IActuator"/>s</returns>
         public virtual IActuator[] CreateActuators()
         {
-#pragma warning disable 618
-            return new[] { CreateActuator() };
-#pragma warning restore 618
+            return new IActuator[0];
         }
 
         /// <summary>

com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs

@@ -148,47 +148,6 @@ public override int GetHashCode()
                 return (ContinuousActions.GetHashCode() * 397) ^ DiscreteActions.GetHashCode();
             }
         }
-
-        /// <summary>
-        /// Packs the continuous and discrete actions into one float array.  The array passed into this method
-        /// must have a Length that is greater than or equal to the sum of the Lengths of
-        /// <see cref="ContinuousActions"/> and <see cref="DiscreteActions"/>.
-        /// </summary>
-        /// <param name="destination">A float array to pack actions into whose length is greater than or
-        /// equal to the addition of the Lengths of this objects <see cref="ContinuousActions"/> and
-        /// <see cref="DiscreteActions"/> segments.</param>
-        [Obsolete("PackActions has been deprecated.")]
-        public void PackActions(in float[] destination)
-        {
-            Debug.Assert(destination.Length >= ContinuousActions.Length + DiscreteActions.Length,
-                $"argument '{nameof(destination)}' is not large enough to pack the actions into.\n" +
-                $"{nameof(destination)}.Length: {destination.Length}\n" +
-                $"{nameof(ContinuousActions)}.Length + {nameof(DiscreteActions)}.Length: {ContinuousActions.Length + DiscreteActions.Length}");
-
-            var start = 0;
-            if (ContinuousActions.Length > 0)
-            {
-                Array.Copy(ContinuousActions.Array,
-                    ContinuousActions.Offset,
-                    destination,
-                    start,
-                    ContinuousActions.Length);
-                start = ContinuousActions.Length;
-            }
-            if (start >= destination.Length)
-            {
-                return;
-            }
-
-            if (DiscreteActions.Length > 0)
-            {
-                Array.Copy(DiscreteActions.Array,
-                    DiscreteActions.Offset,
-                    destination,
-                    start,
-                    DiscreteActions.Length);
-            }
-        }
     }
 
     /// <summary>

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

@@ -338,17 +338,6 @@ internal struct AgentParameters
         /// </summary>
         IActuator m_VectorActuator;
 
-        /// <summary>
-        /// This is used to avoid allocation of a float array every frame if users are still using the old
-        /// OnActionReceived method.
-        /// </summary>
-        float[] m_LegacyActionCache;
-
-        /// <summary>
-        /// This is used to avoid allocation of a float array during legacy calls to Heuristic.
-        /// </summary>
-        float[] m_LegacyHeuristicCache;
-
         /// Currect MultiAgentGroup ID. Default to 0 (meaning no group)
         int m_GroupId;
 
@@ -952,29 +941,7 @@ public virtual void Initialize() { }
         /// <seealso cref="IActionReceiver.OnActionReceived"/>
         public virtual void Heuristic(in ActionBuffers actionsOut)
         {
-            // Disable deprecation warnings so we can call the legacy overload.
-#pragma warning disable CS0618
 
-            // The default implementation of Heuristic calls the
-            // obsolete version for backward compatibility
-            switch (m_PolicyFactory.BrainParameters.VectorActionSpaceType)
-            {
-                case SpaceType.Continuous:
-                    Heuristic(m_LegacyHeuristicCache);
-                    Array.Copy(m_LegacyHeuristicCache, actionsOut.ContinuousActions.Array, m_LegacyActionCache.Length);
-                    actionsOut.DiscreteActions.Clear();
-                    break;
-                case SpaceType.Discrete:
-                    Heuristic(m_LegacyHeuristicCache);
-                    var discreteActionSegment = actionsOut.DiscreteActions;
-                    for (var i = 0; i < actionsOut.DiscreteActions.Length; i++)
-                    {
-                        discreteActionSegment[i] = (int)m_LegacyHeuristicCache[i];
-                    }
-                    actionsOut.ContinuousActions.Clear();
-                    break;
-            }
-#pragma warning restore CS0618
         }
 
         /// <summary>
@@ -1064,8 +1031,6 @@ void InitializeActuators()
             var param = m_PolicyFactory.BrainParameters;
             m_VectorActuator = new AgentVectorActuator(this, this, param.ActionSpec);
             m_ActuatorManager = new ActuatorManager(attachedActuators.Length + 1);
-            m_LegacyActionCache = new float[m_VectorActuator.TotalNumberOfActions()];
-            m_LegacyHeuristicCache = new float[m_VectorActuator.TotalNumberOfActions()];
 
             m_ActuatorManager.Add(m_VectorActuator);
 
@@ -1229,10 +1194,6 @@ public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
             {
                 m_ActionMasker = new DiscreteActionMasker(actionMask);
             }
-            // Disable deprecation warnings so we can call the legacy overload.
-#pragma warning disable CS0618
-            CollectDiscreteActionMasks(m_ActionMasker);
-#pragma warning restore CS0618
         }
 
         /// <summary>
@@ -1310,24 +1271,6 @@ public virtual void OnActionReceived(ActionBuffers actions)
                 // Nothing implemented.
                 return;
             }
-
-            if (!actions.ContinuousActions.IsEmpty())
-            {
-                Array.Copy(actions.ContinuousActions.Array,
-                    m_LegacyActionCache,
-                    actionSpec.NumContinuousActions);
-            }
-            else
-            {
-                for (var i = 0; i < m_LegacyActionCache.Length; i++)
-                {
-                    m_LegacyActionCache[i] = (float)actions.DiscreteActions[i];
-                }
-            }
-            // Disable deprecation warnings so we can call the legacy overload.
-#pragma warning disable CS0618
-            OnActionReceived(m_LegacyActionCache);
-#pragma warning restore CS0618
         }
 
         /// <summary>

com.unity.ml-agents/Runtime/Sensors/ObservationWriter.cs

@@ -117,34 +117,6 @@ public float this[int index]
             }
         }
 
-        /// <summary>
-        /// Write the range of floats
-        /// </summary>
-        /// <param name="data"></param>
-        /// <param name="writeOffset">Optional write offset.</param>
-        [Obsolete("Use AddList() for better performance")]
-        public void AddRange(IEnumerable<float> data, int writeOffset = 0)
-        {
-            if (m_Data != null)
-            {
-                int index = 0;
-                foreach (var val in data)
-                {
-                    m_Data[index + m_Offset + writeOffset] = val;
-                    index++;
-                }
-            }
-            else
-            {
-                int index = 0;
-                foreach (var val in data)
-                {
-                    m_Proxy.data[m_Batch, index + m_Offset + writeOffset] = val;
-                    index++;
-                }
-            }
-        }
-
         /// <summary>
         /// Write the list of floats.
         /// </summary>

com.unity.ml-agents/Runtime/Sensors/SensorComponent.cs

@@ -21,26 +21,5 @@ public abstract class SensorComponent : MonoBehaviour
         /// <returns>Shape of the sensor observation.</returns>
         public abstract int[] GetObservationShape();
 
-        /// <summary>
-        /// Whether the observation is visual or not.
-        /// </summary>
-        /// <returns>True if the observation is visual, false otherwise.</returns>
-        [Obsolete("IsVisual is deprecated, please use GetObservationShape() instead.")]
-        public virtual bool IsVisual()
-        {
-            var shape = GetObservationShape();
-            return shape.Length == 3;
-        }
-
-        /// <summary>
-        /// Whether the observation is vector or not.
-        /// </summary>
-        /// <returns>True if the observation is vector, false otherwise.</returns>
-        [Obsolete("IsVisual is deprecated, please use GetObservationShape() instead.")]
-        public virtual bool IsVector()
-        {
-            var shape = GetObservationShape();
-            return shape.Length == 1;
-        }
     }
 }

com.unity.ml-agents/Runtime/Sensors/VectorSensor.cs

@@ -167,19 +167,6 @@ public void AddObservation(Vector2 observation)
             AddFloatObs(observation.y);
         }
 
-        /// <summary>
-        /// Adds a collection of float observations to the vector observations of the agent.
-        /// </summary>
-        /// <param name="observation">Observation.</param>
-        [Obsolete("Use AddObservation(IList<float>) for better performance.")]
-        public void AddObservation(IEnumerable<float> observation)
-        {
-            foreach (var f in observation)
-            {
-                AddFloatObs(f);
-            }
-        }
-
         /// <summary>
         /// Adds a list or array of float observations to the vector observations of the agent.
         /// </summary>

com.unity.ml-agents/Runtime/SideChannels/SideChannelManager.cs

@@ -241,29 +241,4 @@ internal static void ProcessSideChannelData(Dictionary<Guid, SideChannel> sideCh
             }
         }
     }
-
-    /// <summary>
-    /// Deprecated, use <see cref="SideChannelManager"/> instead.
-    /// </summary>
-    [Obsolete("Use SideChannelManager instead.")]
-    public static class SideChannelsManager
-    {
-        /// <summary>
-        /// Deprecated, use <see cref="SideChannelManager.RegisterSideChannel"/> instead.
-        /// </summary>
-        /// <param name="sideChannel"></param>
-        public static void RegisterSideChannel(SideChannel sideChannel)
-        {
-            SideChannelManager.RegisterSideChannel(sideChannel);
-        }
-
-        /// <summary>
-        /// Deprecated, use <see cref="SideChannelManager.UnregisterSideChannel"/> instead.
-        /// </summary>
-        /// <param name="sideChannel"></param>
-        public static void UnregisterSideChannel(SideChannel sideChannel)
-        {
-            SideChannelManager.UnregisterSideChannel(sideChannel);
-        }
-    }
 }