using System.Collections; using NUnit.Framework; using UnityEngine; using UnityEngine.TestTools; using Unity.MLAgents.Extensions.Sensors; namespace Unity.MLAgents.Extensions.Tests.Sensors { public class CountingGridSensorPerceiveTests { GameObject testGo; GameObject boxGo; GameObject boxGoTwo; GameObject boxGoThree; // CountingGridSensor gridSensor; GridSensorComponent gridSensorComponent; // Use built-in tags const string k_Tag1 = "Player"; const string k_Tag2 = "Respawn"; public GameObject CreateBlock(Vector3 postion, string tag, string name) { GameObject boxGo = new GameObject(name); boxGo.tag = tag; boxGo.transform.position = postion; boxGo.AddComponent(); return boxGo; } [UnitySetUp] public IEnumerator SetupScene() { testGo = new GameObject("test"); testGo.transform.position = Vector3.zero; gridSensorComponent = testGo.AddComponent(); boxGo = CreateBlock(new Vector3(3f, 0f, 3f), k_Tag1, "box1"); yield return null; } [TearDown] public void ClearScene() { Object.DestroyImmediate(boxGo); Object.DestroyImmediate(boxGoTwo); Object.DestroyImmediate(boxGoThree); Object.DestroyImmediate(testGo); } [UnityTest] public IEnumerator OneChannelDepthOneCount() { string[] tags = { k_Tag1 }; int[] depths = { 1 }; Color[] colors = { Color.red, Color.magenta }; GridObsTestUtils.SetComponentParameters(gridSensorComponent, tags, depths, GridDepthType.Counting, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); var gridSensor = (GridSensor)gridSensorComponent.CreateSensors()[0]; yield return null; gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 1, gridSensor.m_PerceptionBuffer.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 1f }, 4); float[] expectedDefault = new float[] { 0 }; GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault); } [UnityTest] public IEnumerator OneChannelDepthOneCountMax() { string[] tags = { k_Tag1 }; int[] depths = { 1 }; Color[] colors = { Color.red, Color.magenta }; GridObsTestUtils.SetComponentParameters(gridSensorComponent, tags, depths, GridDepthType.Counting, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); var gridSensor = (GridSensor)gridSensorComponent.CreateSensors()[0]; boxGoTwo = CreateBlock(new Vector3(3.1f, 0f, 3.1f), k_Tag1, "box2"); yield return null; gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 1, gridSensor.m_PerceptionBuffer.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 1f }, 4); float[] expectedDefault = new float[] { 0f }; GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault); } [UnityTest] public IEnumerator OneChannelDepthFourCount() { string[] tags = { k_Tag1 }; int[] depths = { 4 }; Color[] colors = { Color.red, Color.magenta }; GridObsTestUtils.SetComponentParameters(gridSensorComponent, tags, depths, GridDepthType.Counting, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); var gridSensor = (GridSensor)gridSensorComponent.CreateSensors()[0]; boxGoTwo = CreateBlock(new Vector3(3.1f, 0f, 3.1f), k_Tag1, "box2"); yield return null; gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 1, gridSensor.m_PerceptionBuffer.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { .5f }, 4); float[] expectedDefault = new float[] { 0 }; GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault); } [UnityTest] public IEnumerator TwoChannelDepthFourCount() { string[] tags = { k_Tag1, k_Tag2 }; int[] depths = { 4, 1 }; Color[] colors = { Color.red, Color.magenta }; GridObsTestUtils.SetComponentParameters(gridSensorComponent, tags, depths, GridDepthType.Counting, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); var gridSensor = (GridSensor)gridSensorComponent.CreateSensors()[0]; boxGoTwo = CreateBlock(new Vector3(3.1f, 0f, 3.1f), k_Tag1, "box2"); boxGoThree = CreateBlock(new Vector3(2.9f, 0f, 2.9f), k_Tag2, "box2"); yield return null; gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 2, gridSensor.m_PerceptionBuffer.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { .5f, 1 }, 4); float[] expectedDefault = new float[] { 0, 0 }; GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault); } } }