using System.Collections; using NUnit.Framework; using UnityEngine; using UnityEngine.TestTools; using Unity.MLAgents.Extensions.Sensors; using Unity.MLAgents.Extensions.TestUtils.Sensors; using System.Linq; namespace Unity.MLAgents.Extensions.Tests.Sensors { public class ChannelPerceiveTests { GameObject testGo; GameObject boxGo; SimpleTestGridSensor gridSensor; GridSensorDummyData dummyData; // Use built-in tags const string k_Tag1 = "Player"; [UnitySetUp] public IEnumerator SetupScene() { testGo = new GameObject("test"); testGo.transform.position = Vector3.zero; gridSensor = testGo.AddComponent(); boxGo = new GameObject("block"); boxGo.tag = k_Tag1; boxGo.transform.position = new Vector3(3f, 0f, 3f); boxGo.AddComponent(); dummyData = boxGo.AddComponent(); yield return null; } [TearDown] public void ClearScene() { Object.DestroyImmediate(boxGo); Object.DestroyImmediate(testGo); } [UnityTest] public IEnumerator OneChannelDepthOneBelowZeroException() { string[] tags = { k_Tag1 }; int[] depths = { 1 }; dummyData.Data = new float[] { -0.1f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; Assert.Throws(() => { gridSensor.Perceive(); }); } [UnityTest] public IEnumerator OneChannelDepthOneAboveDepthException() { string[] tags = { k_Tag1 }; int[] depths = { 1 }; dummyData.Data = new float[] { 1.1f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; Assert.Throws(() => { gridSensor.Perceive(); }); } [UnityTest] public IEnumerator OneChannelDepthOneGoodValue() { string[] tags = { k_Tag1 }; int[] depths = { 1 }; dummyData.Data = new float[] { .2f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; float[] output = gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 1, output.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { .2f }, 4); float[] expectedDefault = new float[] { 0 }; GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault); } [UnityTest] public IEnumerator OneChannelDepthThreeBelowZeroException() { string[] tags = { k_Tag1 }; int[] depths = { 3 }; dummyData.Data = new float[] { -1f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; Assert.Throws(() => { gridSensor.Perceive(); }); } [UnityTest] public IEnumerator OneChannelDepthThreeAboveDepthException() { string[] tags = { k_Tag1 }; int[] depths = { 3 }; dummyData.Data = new float[] { 4f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; Assert.Throws(() => { gridSensor.Perceive(); }); } [UnityTest] public IEnumerator OneChannelDepthThreeGoodValueInt() { string[] tags = { k_Tag1 }; int[] depths = { 3 }; dummyData.Data = new float[] { 2f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; float[] output = gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 1, output.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 2f / 3f }, 4); float[] expectedDefault = new float[] { 0 }; GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault); } [UnityTest] public IEnumerator OneChannelDepthThreeGoodValueFloat() { string[] tags = { k_Tag1 }; int[] depths = { 3 }; dummyData.Data = new float[] { 2.4f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; float[] output = gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 1, output.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 2.4f / 3f }, 4); float[] expectedDefault = new float[] { 0 }; GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault); } [UnityTest] public IEnumerator TwoChannelDepthOneOneBelowZeroException() { string[] tags = { k_Tag1 }; int[] depths = { 1, 1 }; dummyData.Data = new float[] { -1, 1 }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; Assert.Throws(() => { gridSensor.Perceive(); }); } [UnityTest] public IEnumerator TwoChannelDepthOneOneAboveDepthException() { string[] tags = { k_Tag1 }; int[] depths = { 1, 1 }; dummyData.Data = new float[] { 1, 3 }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; Assert.Throws(() => { gridSensor.Perceive(); }); } [UnityTest] public IEnumerator TwoChannelDepthOneOneGoodValues() { string[] tags = { k_Tag1 }; int[] depths = { 1, 1 }; dummyData.Data = new float[] { .4f, .3f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; float[] output = gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 2, output.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { .4f, .3f }, 4); float[] expectedDefault = new float[] { 0, 0 }; GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault); } [UnityTest] public IEnumerator TwoChannelDepthOneThreeAboveDepthException() { string[] tags = { k_Tag1 }; int[] depths = { 1, 3 }; dummyData.Data = new float[] { .4f, 4f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; Assert.Throws(() => { gridSensor.Perceive(); }); } [UnityTest] public IEnumerator TwoChannelDepthOneThreeGoodValues() { string[] tags = { k_Tag1 }; int[] depths = { 1, 3 }; dummyData.Data = new float[] { .4f, 1f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; float[] output = gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 2, output.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { .4f, 1f / 3f }, 4); float[] expectedDefault = new float[] { 0, 0 }; GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault); } [UnityTest] public IEnumerator TwoChannelDepthThreeOneGoodValues() { string[] tags = { k_Tag1 }; int[] depths = { 3, 1 }; dummyData.Data = new float[] { 1f, .4f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; float[] output = gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 2, output.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 1f / 3f, .4f }, 4); float[] expectedDefault = new float[] { 0, 0 }; GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault); } [UnityTest] public IEnumerator TwoChannelDepthThreeThreeGoodValues() { string[] tags = { k_Tag1 }; int[] depths = { 3, 3 }; dummyData.Data = new float[] { 1f, 2.2f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; float[] output = gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 2, output.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 1f / 3f, 2.2f / 3 }, 4); float[] expectedDefault = new float[] { 0, 0 }; GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault); } [UnityTest] public IEnumerator ThreeChannelDepthFiveOneThreeGoodValues() { string[] tags = { k_Tag1 }; int[] depths = { 5, 1, 3 }; dummyData.Data = new float[] { 3f, .6f, 2.2f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; float[] output = gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 3, output.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 3f / 5f, .6f, 2.2f / 3f }, 4); float[] expectedDefault = new float[] { 0, 0, 0 }; GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault); } [UnityTest] public IEnumerator ProperReset() { string[] tags = { k_Tag1 }; int[] depths = { 5, 1, 3 }; dummyData.Data = new float[] { 3f, .6f, 2.2f }; Color[] colors = { Color.red, Color.magenta }; gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors); gridSensor.Start(); yield return null; float[] output = gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 3, output.Length); int[] subarrayIndicies = new int[] { 77, 78, 87, 88 }; float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 3f / 5f, .6f, 2.2f / 3f }, 4); float[] expectedDefault = new float[] { 0, 0, 0 }; GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault); Object.DestroyImmediate(boxGo); yield return null; output = gridSensor.Perceive(); Assert.AreEqual(10 * 10 * 3, output.Length); subarrayIndicies = new int[0]; expectedSubarrays = new float[0][]; GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault); } } }