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using System;
using System.Collections.Generic;
using System.Globalization;
using System.Linq;
using NUnit.Framework;
using Unity.MLAgents.Actuators;
using UnityEngine;
using UnityEngine.TestTools;
using Assert = UnityEngine.Assertions.Assert;
namespace Unity.MLAgents.Tests.Actuators
{
[TestFixture]
public class ActuatorManagerTests
{
[Test]
public void TestEnsureBufferSizeContinuous()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeContinuous(10), "actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeContinuous(2), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var actuator1ActionSpaceDef = actuator1.ActionSpec;
var actuator2ActionSpaceDef = actuator2.ActionSpec;
manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 },
actuator1ActionSpaceDef.NumContinuousActions + actuator2ActionSpaceDef.NumContinuousActions,
actuator1ActionSpaceDef.SumOfDiscreteBranchSizes + actuator2ActionSpaceDef.SumOfDiscreteBranchSizes,
actuator1ActionSpaceDef.NumDiscreteActions + actuator2ActionSpaceDef.NumDiscreteActions);
manager.UpdateActions(new ActionBuffers(new[]
{ 0f, 1f, 2f, 3f, 4f, 5f, 6f, 7f, 8f, 9f, 10f, 11f }, Array.Empty<int>()));
Assert.IsTrue(12 == manager.NumContinuousActions);
Assert.IsTrue(0 == manager.NumDiscreteActions);
Assert.IsTrue(0 == manager.SumOfDiscreteBranchSizes);
Assert.IsTrue(12 == manager.StoredActions.ContinuousActions.Length);
Assert.IsTrue(0 == manager.StoredActions.DiscreteActions.Length);
}
[Test]
public void TestEnsureBufferDiscrete()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }), "actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 1, 1 }), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var actuator1ActionSpaceDef = actuator1.ActionSpec;
var actuator2ActionSpaceDef = actuator2.ActionSpec;
manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 },
actuator1ActionSpaceDef.NumContinuousActions + actuator2ActionSpaceDef.NumContinuousActions,
actuator1ActionSpaceDef.SumOfDiscreteBranchSizes + actuator2ActionSpaceDef.SumOfDiscreteBranchSizes,
actuator1ActionSpaceDef.NumDiscreteActions + actuator2ActionSpaceDef.NumDiscreteActions);
manager.UpdateActions(new ActionBuffers(Array.Empty<float>(),
new[] { 0, 1, 2, 3, 4, 5, 6 }));
Assert.IsTrue(0 == manager.NumContinuousActions);
Assert.IsTrue(7 == manager.NumDiscreteActions);
Assert.IsTrue(13 == manager.SumOfDiscreteBranchSizes);
Assert.IsTrue(0 == manager.StoredActions.ContinuousActions.Length);
Assert.IsTrue(7 == manager.StoredActions.DiscreteActions.Length);
}
[Test]
public void TestAllowMixedActions()
{
// Make sure discrete + continuous actuators are allowed.
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }), "actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 }, 3, 10, 4);
}
[Test]
public void TestFailOnSameActuatorName()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator1");
manager.Add(actuator1);
manager.Add(actuator2);
manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 }, 3, 10, 4);
LogAssert.Expect(LogType.Assert, "Actuator names must be unique.");
}
[Test]
public void TestExecuteActionsDiscrete()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }), "actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 1, 1 }), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var discreteActionBuffer = new[] { 0, 1, 2, 3, 4, 5, 6 };
manager.UpdateActions(new ActionBuffers(Array.Empty<float>(),
discreteActionBuffer));
manager.ExecuteActions();
var actuator1Actions = actuator1.LastActionBuffer.DiscreteActions;
var actuator2Actions = actuator2.LastActionBuffer.DiscreteActions;
TestSegmentEquality(actuator1Actions, discreteActionBuffer); TestSegmentEquality(actuator2Actions, discreteActionBuffer);
}
[Test]
public void TestExecuteActionsContinuous()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeContinuous(3),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var continuousActionBuffer = new[] { 0f, 1f, 2f, 3f, 4f, 5f };
manager.UpdateActions(new ActionBuffers(continuousActionBuffer,
Array.Empty<int>()));
manager.ExecuteActions();
var actuator1Actions = actuator1.LastActionBuffer.ContinuousActions;
var actuator2Actions = actuator2.LastActionBuffer.ContinuousActions;
TestSegmentEquality(actuator1Actions, continuousActionBuffer);
TestSegmentEquality(actuator2Actions, continuousActionBuffer);
}
static void TestSegmentEquality<T>(ActionSegment<T> actionSegment, T[] actionBuffer)
where T : struct
{
Assert.IsFalse(actionSegment.Length == 0);
for (var i = 0; i < actionSegment.Length; i++)
{
var action = actionSegment[i];
Assert.AreEqual(action, actionBuffer[actionSegment.Offset + i]);
}
}
[Test]
public void TestUpdateActionsContinuous()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeContinuous(3),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var continuousActionBuffer = new[] { 0f, 1f, 2f, 3f, 4f, 5f };
manager.UpdateActions(new ActionBuffers(continuousActionBuffer,
Array.Empty<int>()));
Assert.IsTrue(manager.StoredActions.ContinuousActions.SequenceEqual(continuousActionBuffer));
}
[Test]
public void TestUpdateActionsDiscrete()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var discreteActionBuffer = new[] { 0, 1, 2, 3, 4, 5 };
manager.UpdateActions(new ActionBuffers(Array.Empty<float>(),
discreteActionBuffer));
Debug.Log(manager.StoredActions.DiscreteActions);
Debug.Log(discreteActionBuffer);
Assert.IsTrue(manager.StoredActions.DiscreteActions.SequenceEqual(discreteActionBuffer));
}
[Test]
public void TestRemove()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
Assert.IsTrue(manager.NumDiscreteActions == 6);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 12);
manager.Remove(actuator2);
Assert.IsTrue(manager.NumDiscreteActions == 3);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 6);
manager.Remove(null);
Assert.IsTrue(manager.NumDiscreteActions == 3);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 6);
manager.RemoveAt(0);
Assert.IsTrue(manager.NumDiscreteActions == 0);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 0);
}
[Test]
public void TestClear()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
Assert.IsTrue(manager.NumDiscreteActions == 6);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 12);
manager.Clear();
Assert.IsTrue(manager.NumDiscreteActions == 0);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 0);
}
[Test]
public void TestIndexSet()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2");
manager.Add(actuator1);
Assert.IsTrue(manager.NumDiscreteActions == 4);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 10);
manager[0] = actuator2;
Assert.IsTrue(manager.NumDiscreteActions == 3);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 6);
}
[Test]
public void TestInsert()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2");
manager.Add(actuator1);
Assert.IsTrue(manager.NumDiscreteActions == 4);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 10);
manager.Insert(0, actuator2);
Assert.IsTrue(manager.NumDiscreteActions == 7);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 16);
Assert.IsTrue(manager.IndexOf(actuator2) == 0);
}
[Test]
public void TestResetData()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeContinuous(3),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var continuousActionBuffer = new[] { 0f, 1f, 2f, 3f, 4f, 5f };
manager.UpdateActions(new ActionBuffers(continuousActionBuffer,
Array.Empty<int>()));
Assert.IsTrue(manager.StoredActions.ContinuousActions.SequenceEqual(continuousActionBuffer));
Assert.IsTrue(manager.NumContinuousActions == 6);
manager.ResetData();
Assert.IsTrue(manager.StoredActions.ContinuousActions.SequenceEqual(new[] { 0f, 0f, 0f, 0f, 0f, 0f }));
}
[Test]
public void TestWriteDiscreteActionMask()
{
var manager = new ActuatorManager(2);
var va1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "name");
var va2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 3, 2, 1 }), "name1");
manager.Add(va1);
manager.Add(va2);
var groundTruthMask = new[]
{
false,
true, false,
false, true, true,
true, false, true,
false, true,
false
};
va1.Masks = new[]
{
Array.Empty<int>(),
new[] { 0 },
new[] { 1, 2 }
};
va2.Masks = new[]
{
new[] {0, 2},
new[] {1},
Array.Empty<int>()
};
manager.WriteActionMask();
Assert.IsTrue(groundTruthMask.SequenceEqual(manager.DiscreteActionMask.GetMask()));
}
[Test]
public void TestHeuristic()
{
var manager = new ActuatorManager(2);
var va1 = new TestActuator(ActionSpec.MakeDiscrete(1, 2, 3), "name");
var va2 = new TestActuator(ActionSpec.MakeDiscrete(3, 2, 1, 8), "name1");
manager.Add(va1);
manager.Add(va2);
var actionBuf = new ActionBuffers(Array.Empty<float>(), new[] { 0, 0, 0, 0, 0, 0, 0 });
manager.ApplyHeuristic(actionBuf);
Assert.IsTrue(va1.m_HeuristicCalled);
Assert.AreEqual(va1.m_DiscreteBufferSize, 3);
Assert.IsTrue(va2.m_HeuristicCalled);
Assert.AreEqual(va2.m_DiscreteBufferSize, 4);
}
/// <summary>
/// Test that sensors sort by name consistently across culture settings.
/// Example strings and cultures taken from
/// https://docs.microsoft.com/en-us/globalization/locale/sorting-and-string-comparison
/// </summary>
/// <param name="culture"></param>
[TestCase("da-DK")]
[TestCase("en-US")]
public void TestSortActuators(string culture)
{
List<IActuator> actuators = new List<IActuator>();
var actuator0 = new TestActuator(ActionSpec.MakeContinuous(2), "Apple");
var actuator1 = new TestActuator(ActionSpec.MakeContinuous(2), "Æble");
actuators.Add(actuator0);
actuators.Add(actuator1);
var originalCulture = CultureInfo.CurrentCulture;
CultureInfo.CurrentCulture = new CultureInfo(culture);
ActuatorManager.SortActuators(actuators);
CultureInfo.CurrentCulture = originalCulture;
Assert.AreEqual(actuator1, actuators[0]);
Assert.AreEqual(actuator0, actuators[1]);
}
}
}
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