using NUnit.Framework ;
using System ;
using System.Linq ;
using UnityEngine ;
using Unity.MLAgents.Sensors ;
namespace Unity.MLAgents.Tests
}
[Test]
public void TestStacking ( )
public void TestVector Stacking ( )
{
VectorSensor wrapped = new VectorSensor ( 2 ) ;
ISensor sensor = new StackingSensor ( wrapped , 3 ) ;
}
[Test]
public void TestStackingReset ( )
public void TestVector StackingReset ( )
{
VectorSensor wrapped = new VectorSensor ( 2 ) ;
ISensor sensor = new StackingSensor ( wrapped , 3 ) ;
sensor . Reset ( ) ;
wrapped . AddObservation ( new [ ] { 5f , 6f } ) ;
SensorTestHelper . CompareObservation ( sensor , new [ ] { 0f , 0f , 0f , 0f , 5f , 6f } ) ;
}
class Dummy3DSensor : ISparseChannelSensor
{
public SensorCompressionType CompressionType = SensorCompressionType . PNG ;
public int [ ] Mapping ;
public int [ ] Shape ;
public float [ , , ] CurrentObservation ;
internal Dummy3DSensor ( )
{
}
public int [ ] GetObservationShape ( )
{
return Shape ;
}
public int Write ( ObservationWriter writer )
{
for ( var h = 0 ; h < Shape [ 0 ] ; h + + )
{
for ( var w = 0 ; w < Shape [ 1 ] ; w + + )
{
for ( var c = 0 ; c < Shape [ 2 ] ; c + + )
{
writer [ h , w , c ] = CurrentObservation [ h , w , c ] ;
}
}
}
return Shape [ 0 ] * Shape [ 1 ] * Shape [ 2 ] ;
}
public byte [ ] GetCompressedObservation ( )
{
var writer = new ObservationWriter ( ) ;
var flattenedObservation = new float [ Shape [ 0 ] * Shape [ 1 ] * Shape [ 2 ] ] ;
writer . SetTarget ( flattenedObservation , Shape , 0 ) ;
Write ( writer ) ;
byte [ ] bytes = Array . ConvertAll ( flattenedObservation , ( z ) = > ( byte ) z ) ;
return bytes ;
}
public void Update ( ) { }
public void Reset ( ) { }
public SensorCompressionType GetCompressionType ( )
{
return CompressionType ;
}
public string GetName ( )
{
return "Dummy" ;
}
public int [ ] GetCompressedChannelMapping ( )
{
return Mapping ;
}
}
[Test]
public void TestStackingMapping ( )
{
// Test grayscale stacked mapping with CameraSensor
var cameraSensor = new CameraSensor ( new Camera ( ) , 6 4 , 6 4 ,
true , "grayscaleCamera" , SensorCompressionType . PNG ) ;
var stackedCameraSensor = new StackingSensor ( cameraSensor , 2 ) ;
Assert . AreEqual ( stackedCameraSensor . GetCompressedChannelMapping ( ) , new [ ] { 0 , 0 , 0 , 1 , 1 , 1 } ) ;
// Test RGB stacked mapping with RenderTextureSensor
var renderTextureSensor = new RenderTextureSensor ( new RenderTexture ( 2 4 , 1 6 , 0 ) ,
false , "renderTexture" , SensorCompressionType . PNG ) ;
var stackedRenderTextureSensor = new StackingSensor ( renderTextureSensor , 2 ) ;
Assert . AreEqual ( stackedRenderTextureSensor . GetCompressedChannelMapping ( ) , new [ ] { 0 , 1 , 2 , 3 , 4 , 5 } ) ;
// Test mapping with number of layers not being multiple of 3
var dummySensor = new Dummy3DSensor ( ) ;
dummySensor . Shape = new int [ ] { 2 , 2 , 4 } ;
dummySensor . Mapping = new int [ ] { 0 , 1 , 2 , 3 } ;
var stackedDummySensor = new StackingSensor ( dummySensor , 2 ) ;
Assert . AreEqual ( stackedDummySensor . GetCompressedChannelMapping ( ) , new [ ] { 0 , 1 , 2 , 3 , - 1 , - 1 , 4 , 5 , 6 , 7 , - 1 , - 1 } ) ;
// Test mapping with dummy layers that should be dropped
var paddedDummySensor = new Dummy3DSensor ( ) ;
paddedDummySensor . Shape = new int [ ] { 2 , 2 , 4 } ;
paddedDummySensor . Mapping = new int [ ] { 0 , 1 , 2 , 3 , - 1 , - 1 } ;
var stackedPaddedDummySensor = new StackingSensor ( paddedDummySensor , 2 ) ;
Assert . AreEqual ( stackedPaddedDummySensor . GetCompressedChannelMapping ( ) , new [ ] { 0 , 1 , 2 , 3 , - 1 , - 1 , 4 , 5 , 6 , 7 , - 1 , - 1 } ) ;
}
[Test]
public void Test3DStacking ( )
{
var wrapped = new Dummy3DSensor ( ) ;
wrapped . Shape = new int [ ] { 2 , 1 , 2 } ;
var sensor = new StackingSensor ( wrapped , 2 ) ;
// Check the stacking is on the last dimension
wrapped . CurrentObservation = new [ , , ] { { { 1f , 2f } } , { { 3f , 4f } } } ;
SensorTestHelper . CompareObservation ( sensor , new [ , , ] { { { 0f , 0f , 1f , 2f } } , { { 0f , 0f , 3f , 4f } } } ) ;
sensor . Update ( ) ;
wrapped . CurrentObservation = new [ , , ] { { { 5f , 6f } } , { { 7f , 8f } } } ;
SensorTestHelper . CompareObservation ( sensor , new [ , , ] { { { 1f , 2f , 5f , 6f } } , { { 3f , 4f , 7f , 8f } } } ) ;
sensor . Update ( ) ;
wrapped . CurrentObservation = new [ , , ] { { { 9f , 1 0f } } , { { 1 1f , 1 2f } } } ;
SensorTestHelper . CompareObservation ( sensor , new [ , , ] { { { 5f , 6f , 9f , 1 0f } } , { { 7f , 8f , 1 1f , 1 2f } } } ) ;
// Check that if we don't call Update(), the same observations are produced
SensorTestHelper . CompareObservation ( sensor , new [ , , ] { { { 5f , 6f , 9f , 1 0f } } , { { 7f , 8f , 1 1f , 1 2f } } } ) ;
// Test reset
sensor . Reset ( ) ;
wrapped . CurrentObservation = new [ , , ] { { { 1 3f , 1 4f } } , { { 1 5f , 1 6f } } } ;
SensorTestHelper . CompareObservation ( sensor , new [ , , ] { { { 0f , 0f , 1 3f , 1 4f } } , { { 0f , 0f , 1 5f , 1 6f } } } ) ;
}
[Test]
public void TestStackedGetCompressedObservation ( )
{
var wrapped = new Dummy3DSensor ( ) ;
wrapped . Shape = new int [ ] { 1 , 1 , 3 } ;
var sensor = new StackingSensor ( wrapped , 2 ) ;
wrapped . CurrentObservation = new [ , , ] { { { 1f , 2f , 3f } } } ;
var expected1 = sensor . CreateEmptyPNG ( ) ;
expected1 = expected1 . Concat ( Array . ConvertAll ( new [ ] { 1f , 2f , 3f } , ( z ) = > ( byte ) z ) ) . ToArray ( ) ;
Assert . AreEqual ( sensor . GetCompressedObservation ( ) , expected1 ) ;
sensor . Update ( ) ;
wrapped . CurrentObservation = new [ , , ] { { { 4f , 5f , 6f } } } ;
var expected2 = Array . ConvertAll ( new [ ] { 1f , 2f , 3f , 4f , 5f , 6f } , ( z ) = > ( byte ) z ) ;
Assert . AreEqual ( sensor . GetCompressedObservation ( ) , expected2 ) ;
sensor . Update ( ) ;
wrapped . CurrentObservation = new [ , , ] { { { 7f , 8f , 9f } } } ;
var expected3 = Array . ConvertAll ( new [ ] { 4f , 5f , 6f , 7f , 8f , 9f } , ( z ) = > ( byte ) z ) ;
Assert . AreEqual ( sensor . GetCompressedObservation ( ) , expected3 ) ;
// Test reset
sensor . Reset ( ) ;
wrapped . CurrentObservation = new [ , , ] { { { 1 0f , 1 1f , 1 2f } } } ;
var expected4 = sensor . CreateEmptyPNG ( ) ;
expected4 = expected4 . Concat ( Array . ConvertAll ( new [ ] { 1 0f , 1 1f , 1 2f } , ( z ) = > ( byte ) z ) ) . ToArray ( ) ;
Assert . AreEqual ( sensor . GetCompressedObservation ( ) , expected4 ) ;
}
}
}
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