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using UnityEngine; |
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using NUnit.Framework; |
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using System.Reflection; |
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using System.Collections.Generic; |
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using Unity.MLAgents.Utils.Tests; |
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internal class TestPolicy : IPolicy |
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{ |
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public Action OnRequestDecision; |
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ObservationWriter m_ObsWriter = new ObservationWriter(); |
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static ActionSpec s_ActionSpec = ActionSpec.MakeContinuous(1); |
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static ActionBuffers s_EmptyActionBuffers = new ActionBuffers(new float[1], Array.Empty<int>()); |
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public void RequestDecision(AgentInfo info, List<ISensor> sensors) |
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{ |
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foreach (var sensor in sensors) |
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{ |
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sensor.GetObservationProto(m_ObsWriter); |
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} |
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OnRequestDecision?.Invoke(); |
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} |
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public ref readonly ActionBuffers DecideAction() { return ref s_EmptyActionBuffers; } |
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public void Dispose() { } |
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} |
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public class TestAgent : Agent |
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{ |
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internal AgentInfo _Info |
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{ |
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get |
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{ |
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return (AgentInfo)typeof(Agent).GetField("m_Info", BindingFlags.Instance | BindingFlags.NonPublic).GetValue(this); |
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} |
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set |
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{ |
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typeof(Agent).GetField("m_Info", BindingFlags.Instance | BindingFlags.NonPublic).SetValue(this, value); |
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} |
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} |
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internal void SetPolicy(IPolicy policy) |
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{ |
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typeof(Agent).GetField("m_Brain", BindingFlags.Instance | BindingFlags.NonPublic).SetValue(this, policy); |
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} |
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internal IPolicy GetPolicy() |
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{ |
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return (IPolicy)typeof(Agent).GetField("m_Brain", BindingFlags.Instance | BindingFlags.NonPublic).GetValue(this); |
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} |
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public int initializeAgentCalls; |
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public int collectObservationsCalls; |
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public int collectObservationsCallsForEpisode; |
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public int agentActionCalls; |
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public int agentActionCallsForEpisode; |
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public int agentOnEpisodeBeginCalls; |
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public int heuristicCalls; |
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public TestSensor sensor1; |
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public TestSensor sensor2; |
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[Observable("observableFloat")] |
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public float observableFloat; |
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public override void Initialize() |
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{ |
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initializeAgentCalls += 1; |
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// Add in some custom Sensors so we can confirm they get sorted as expected.
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sensor1 = new TestSensor("testsensor1"); |
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sensor2 = new TestSensor("testsensor2"); |
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sensor2.compressionType = SensorCompressionType.PNG; |
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sensors.Add(sensor2); |
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sensors.Add(sensor1); |
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} |
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public override void CollectObservations(VectorSensor sensor) |
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{ |
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collectObservationsCalls += 1; |
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collectObservationsCallsForEpisode += 1; |
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sensor.AddObservation(collectObservationsCallsForEpisode); |
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} |
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public override void OnActionReceived(ActionBuffers buffers) |
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{ |
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agentActionCalls += 1; |
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agentActionCallsForEpisode += 1; |
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AddReward(0.1f); |
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} |
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public override void OnEpisodeBegin() |
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{ |
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agentOnEpisodeBeginCalls += 1; |
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collectObservationsCallsForEpisode = 0; |
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agentActionCallsForEpisode = 0; |
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} |
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public override void Heuristic(in ActionBuffers actionsOut) |
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{ |
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var obs = GetObservations(); |
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var continuousActions = actionsOut.ContinuousActions; |
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continuousActions[0] = (int)obs[0]; |
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heuristicCalls++; |
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} |
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} |
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public class TestSensor : ISensor |
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{ |
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public string sensorName; |
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public int numWriteCalls; |
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public int numCompressedCalls; |
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public int numResetCalls; |
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public SensorCompressionType compressionType = SensorCompressionType.None; |
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public TestSensor(string n) |
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{ |
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sensorName = n; |
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} |
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public ObservationSpec GetObservationSpec() |
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{ |
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return ObservationSpec.Vector(0); |
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} |
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public int Write(ObservationWriter writer) |
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{ |
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numWriteCalls++; |
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// No-op
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return 0; |
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} |
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public byte[] GetCompressedObservation() |
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{ |
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numCompressedCalls++; |
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return new byte[] { 0 }; |
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} |
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public SensorCompressionType GetCompressionType() |
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{ |
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return compressionType; |
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} |
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public string GetName() |
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{ |
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return sensorName; |
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} |
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public void Update() { } |
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public void Reset() |
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{ |
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numResetCalls++; |
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} |
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} |
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[TestFixture] |
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public class EditModeTestGeneration |
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{ |
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Assert.AreEqual(stepsSinceReset, aca.StepCount); |
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Assert.AreEqual(numberReset, aca.EpisodeCount); |
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Assert.AreEqual(i, aca.TotalStepCount); |
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// Academy resets at the first step
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if (i == 0) |
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{ |
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numberAcaReset += 1; |
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numberAgent2Episodes += 1; |
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} |
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//Agent 1 is only initialized at step 2
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if (i == 2) |
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{ |
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls); |
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} |
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// Set agent 1 to done every 11 steps to test behavior
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if (i % 11 == 5) |
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{ |
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls); |
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} |
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// Ending the episode for agent 2 regularly
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if (i % 13 == 3) |
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{ |
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agent2StepForEpisode = 0; |
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Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls); |
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} |
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// Request a decision for agent 2 regularly
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if (i % 3 == 2) |
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{ |
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agent2StepForEpisode += 1; |
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aca.EnvironmentStep(); |
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} |
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} |
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[Test] |
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public void AssertStackingReset() |
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{ |
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var agentGo1 = new GameObject("TestAgent"); |
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var bp1 = agentGo1.AddComponent<BehaviorParameters>(); |
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bp1.BrainParameters.ActionSpec = ActionSpec.MakeContinuous(1); |
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var agent1 = agentGo1.AddComponent<TestAgent>(); |
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var behaviorParameters = agentGo1.GetComponent<BehaviorParameters>(); |
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behaviorParameters.BrainParameters.NumStackedVectorObservations = 3; |
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var aca = Academy.Instance; |
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agent1.LazyInitialize(); |
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var policy = new TestPolicy(); |
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agent1.SetPolicy(policy); |
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StackingSensor sensor = null; |
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foreach (ISensor s in agent1.sensors) |
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{ |
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if (s is StackingSensor) |
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{ |
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sensor = s as StackingSensor; |
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} |
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} |
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Assert.NotNull(sensor); |
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for (int i = 0; i < 20; i++) |
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{ |
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agent1.RequestDecision(); |
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aca.EnvironmentStep(); |
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} |
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policy.OnRequestDecision = () => SensorTestHelper.CompareObservation(sensor, new[] { 18f, 19f, 21f }); |
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agent1.EndEpisode(); |
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SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f }); |
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} |
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} |
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GitHub
3 年前