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#if MLA_UNITY_PHYSICS_MODULE
using System.Collections.Generic;
using System.Collections;
using System.Reflection;
using NUnit.Framework;
using UnityEngine;
using UnityEngine.TestTools;
using Unity.MLAgents.Sensors;
namespace Unity.MLAgents.Tests
{
public class GridSensorTests
{
GameObject testGo;
GameObject boxGo;
SimpleTestGridSensorComponent gridSensorComponent;
// Use built-in tags
const string k_Tag1 = "Player";
const string k_Tag2 = "Respawn";
[UnitySetUp]
public IEnumerator SetupScene()
{
testGo = new GameObject("test");
testGo.transform.position = Vector3.zero;
gridSensorComponent = testGo.AddComponent<SimpleTestGridSensorComponent>();
boxGo = new GameObject("block");
boxGo.tag = k_Tag1;
boxGo.transform.position = new Vector3(3f, 0f, 3f);
boxGo.AddComponent<BoxCollider>();
TestGridSensorConfig.Reset();
yield return null;
}
[TearDown]
public void ClearScene()
{
Object.DestroyImmediate(boxGo);
Object.DestroyImmediate(testGo);
}
[Test]
public void TestBufferSize()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, gridSizeX: 3, gridSizeZ: 4, useTestingGridSensor: true);
TestGridSensorConfig.SetParameters(5, true, false);
var gridSensor = (SimpleTestGridSensor)gridSensorComponent.CreateSensors()[0];
Assert.AreEqual(gridSensor.PerceptionBuffer.Length, 3 * 4 * 5);
}
[Test]
public void TestInvalidSizeConfiguration()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, gridSizeY: 10, useTestingGridSensor: true);
gridSensorComponent.CreateSensors(); // expect no exception
gridSensorComponent.m_GridSize.y = 10;
Assert.Throws<UnityAgentsException>(() =>
{
gridSensorComponent.CreateSensors();
});
}
[Test]
public void TestInvalidCompressionConfiguration()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, compression: SensorCompressionType.PNG, useTestingGridSensor: true);
var gridSensor = (GridSensorBase)gridSensorComponent.CreateSensors()[0];
LogAssert.Expect(LogType.Warning, $"Compression type {SensorCompressionType.PNG} is only supported with normalized data. " +
"The sensor will not compress the data.");
Assert.AreEqual(gridSensor.CompressionType, SensorCompressionType.None);
}
[Test]
public void TestCreateSensor()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, useGridSensorBase: true);
gridSensorComponent.CreateSensors();
var componentSensor = (List<GridSensorBase>) typeof(GridSensorComponent).GetField("m_Sensors",
BindingFlags.Instance | BindingFlags.NonPublic).GetValue(gridSensorComponent);
Assert.AreEqual(componentSensor.Count, 1);
}
[Test]
public void PerceiveNotSelf()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, useGridSensorBase: true);
var gridSensor = (GridSensorBase)gridSensorComponent.CreateSensors()[0];
gridSensor.Update();
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 1 }, 4);
float[] expectedDefault = new float[] { 0 };
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
}
[Test]
public void TestReset()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, useGridSensorBase: true);
TestGridSensorConfig.SetParameters(3, false, false);
var gridSensor = (GridSensorBase)gridSensorComponent.CreateSensors()[0];
gridSensor.Update();
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 1 }, 4);
float[] expectedDefault = new float[] { 0 };
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
Object.DestroyImmediate(boxGo);
gridSensor.Update();
subarrayIndicies = new int[0];
expectedSubarrays = new float[0][];
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
}
[Test]
public void TestOneHotSensor()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, useOneHotTag: true);
var gridSensor = (OneHotGridSensor)gridSensorComponent.CreateSensors()[0];
Assert.AreEqual(gridSensor.PerceptionBuffer.Length, 10 * 10 * 2);
gridSensor.Update();
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 1, 0 }, 4);
float[] expectedDefault = new float[] { 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
}
[Test]
public void TestCustomSensorInvalidData()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, compression: SensorCompressionType.PNG, useTestingGridSensor: true);
TestGridSensorConfig.SetParameters(5, true, false);
var gridSensor = (SimpleTestGridSensor)gridSensorComponent.CreateSensors()[0];
gridSensor.DummyData = new float[] { 1, 2, 3, 4, 5 };
Assert.Throws<UnityAgentsException>(() =>
{
gridSensor.Update();
});
}
[Test]
public void TestMultipleSensors()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, useOneHotTag: true, useGridSensorBase: true, useTestingGridSensor: true);
var gridSensors = gridSensorComponent.CreateSensors();
Assert.IsNotNull(((GridSensorBase)gridSensors[0]).m_GridPerception);
Assert.IsNull(((GridSensorBase)gridSensors[1]).m_GridPerception);
Assert.IsNull(((GridSensorBase)gridSensors[2]).m_GridPerception);
}
[Test]
public void TestNoSensors()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags);
Assert.Throws<UnityAgentsException>(() =>
{
gridSensorComponent.CreateSensors();
});
}
[Test]
public void TestStackedSensors()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, useGridSensorBase: true);
gridSensorComponent.ObservationStacks = 3;
var sensors = gridSensorComponent.CreateSensors();
Assert.IsInstanceOf(typeof(StackingSensor), sensors[0]);
}
}
}
#endif
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