public void AddMixedNewAndExistingStates()
{
var statesToProcess = new NativeList <StateTransitionInfoPair <int, int, StateTransitionInfo> >(2, Allocator.TempJob);
statesToProcess.Add(new StateTransitionInfoPair <int, int, StateTransitionInfo>(k_StateOne, k_ActionOne, k_StateOne, new StateTransitionInfo()
{
Probability = 1, TransitionUtilityValue = 1
}));
statesToProcess.Add(new StateTransitionInfoPair <int, int, StateTransitionInfo>(k_StateTwo, k_ActionTwo, k_StateFour, new StateTransitionInfo()
{
Probability = 1, TransitionUtilityValue = 1
}));
var binnedStateKeys = GetBinnedStateKeys();
var stateTransitionInfoLookup = m_PlanGraph.StateTransitionInfoLookup;
var resultingStateLookup = m_PlanGraph.ResultingStateLookup;
var newStatesQueue = new NativeQueue <int>(Allocator.TempJob);
var newStatesToDestroy = new NativeQueue <int>(Allocator.TempJob);
var expansionJob = new GraphExpansionJob <int, int, TestStateDataContext, int>
{
BinnedStateKeys = binnedStateKeys,
NewStateTransitionInfoPairs = statesToProcess.AsDeferredJobArray(),
ActionLookup = m_PlanGraph.ActionLookup.AsParallelWriter(),
ActionInfoLookup = m_PlanGraph.ActionInfoLookup.AsParallelWriter(),
StateTransitionInfoLookup = stateTransitionInfoLookup.AsParallelWriter(),
ResultingStateLookup = resultingStateLookup.AsParallelWriter(),
NewStates = newStatesQueue.AsParallelWriter(),
PredecessorGraph = m_PlanGraph.PredecessorGraph.AsParallelWriter(),
StateDataContext = new TestStateDataContext(),
StatesToDestroy = newStatesToDestroy.AsParallelWriter(),
};
// Check to ensure edges do not exist
Assert.IsFalse(stateTransitionInfoLookup.TryGetValue(new StateTransition <int, int>(k_StateOne, k_ActionOne, k_StateOne), out _));
Assert.IsFalse(stateTransitionInfoLookup.TryGetValue(new StateTransition <int, int>(k_StateTwo, k_ActionTwo, k_StateFour), out _));
expansionJob.Schedule(statesToProcess, default).Complete();
// Only one new state; One was existing
Assert.AreEqual(1, newStatesQueue.Count);
Assert.AreEqual(1, newStatesToDestroy.Count);
// Action results for new edges
Assert.IsTrue(stateTransitionInfoLookup.TryGetValue(new StateTransition <int, int>(k_StateOne, k_ActionOne, k_StateOne), out _));
Assert.IsTrue(stateTransitionInfoLookup.TryGetValue(new StateTransition <int, int>(k_StateTwo, k_ActionTwo, k_StateFour), out _));
// Check for added edges (forward and reverse)
Assert.IsTrue(resultingStateLookup.TryGetFirstValue(new StateActionPair <int, int>(k_StateOne, k_ActionOne), out _, out _));
Assert.IsTrue(resultingStateLookup.TryGetFirstValue(new StateActionPair <int, int>(k_StateTwo, k_ActionTwo), out _, out _));
statesToProcess.Dispose();
binnedStateKeys.Dispose();
newStatesQueue.Dispose();
newStatesToDestroy.Dispose();
}
public void AddNoStates()
{
var statesToProcess = new NativeList <StateTransitionInfoPair <int, int, StateTransitionInfo> >(0, Allocator.TempJob);
var binnedStateKeys = GetBinnedStateKeys();
var newStatesQueue = new NativeQueue <int>(Allocator.TempJob);
var stateTransitionInfoLookup = m_PlanGraph.StateTransitionInfoLookup;
var resultingStateLookup = m_PlanGraph.ResultingStateLookup;
var predecessorGraph = m_PlanGraph.PredecessorGraph;
var newStatesToDestroy = new NativeQueue <int>(Allocator.TempJob);
var expansionJob = new GraphExpansionJob <int, int, TestStateDataContext, int>
{
BinnedStateKeys = binnedStateKeys,
NewStateTransitionInfoPairs = statesToProcess.AsDeferredJobArray(),
ActionLookup = m_PlanGraph.ActionLookup.AsParallelWriter(),
ActionInfoLookup = m_PlanGraph.ActionInfoLookup.AsParallelWriter(),
StateTransitionInfoLookup = stateTransitionInfoLookup.AsParallelWriter(),
ResultingStateLookup = resultingStateLookup.AsParallelWriter(),
NewStates = newStatesQueue.AsParallelWriter(),
PredecessorGraph = predecessorGraph.AsParallelWriter(),
StateDataContext = new TestStateDataContext(),
StatesToDestroy = newStatesToDestroy.AsParallelWriter(),
};
var stateTransitionInfosBefore = stateTransitionInfoLookup.Count();
var resultingStateLookupBefore = resultingStateLookup.Count();
var predecessorGraphBefore = predecessorGraph.Count();
expansionJob.Schedule(statesToProcess, default).Complete();
// No new action results, states, predecessor links, etc.
Assert.AreEqual(0, newStatesQueue.Count);
Assert.AreEqual(0, newStatesToDestroy.Count);
Assert.AreEqual(stateTransitionInfosBefore, stateTransitionInfoLookup.Count());
Assert.AreEqual(resultingStateLookupBefore, resultingStateLookup.Count());
Assert.AreEqual(predecessorGraphBefore, predecessorGraph.Count());
statesToProcess.Dispose();
binnedStateKeys.Dispose();
newStatesQueue.Dispose();
newStatesToDestroy.Dispose();
}
public void MatchManyExistingStates()
{
const int kRootState = 0;
const int kActionCount = 1000;
PlanGraph <int, StateInfo, int, ActionInfo, StateTransitionInfo> planGraph = default;
NativeMultiHashMap <int, int> binnedStateKeys = default;
NativeQueue <int> newStatesQueue = default;
NativeList <StateTransitionInfoPair <int, int, StateTransitionInfo> > statesToProcess = default;
NativeQueue <int> newStatesToDestroy = default;
Measure.Method(() =>
{
var stateTransitionInfoLookup = planGraph.StateTransitionInfoLookup;
var resultingStateLookup = planGraph.ResultingStateLookup;
var expansionJob = new GraphExpansionJob <int, int, TestStateDataContext, int>
{
BinnedStateKeys = binnedStateKeys,
NewStateTransitionInfoPairs = statesToProcess.AsDeferredJobArray(),
ActionLookup = planGraph.ActionLookup.AsParallelWriter(),
ActionInfoLookup = planGraph.ActionInfoLookup.AsParallelWriter(),
StateTransitionInfoLookup = stateTransitionInfoLookup.AsParallelWriter(),
ResultingStateLookup = resultingStateLookup.AsParallelWriter(),
NewStates = newStatesQueue.AsParallelWriter(),
PredecessorGraph = planGraph.PredecessorGraph.AsParallelWriter(),
StateDataContext = new TestStateDataContext(),
StatesToDestroy = newStatesToDestroy.AsParallelWriter(),
};
expansionJob.Schedule(statesToProcess, default).Complete();
}).SetUp(() =>
{
// One root node and all children nodes of a single depth
planGraph = PlanGraphUtility.BuildTree(kActionCount, 1, 1);
planGraph.ExpandBy(kActionCount, kActionCount);
newStatesQueue = new NativeQueue <int>(Allocator.TempJob);
newStatesToDestroy = new NativeQueue <int>(Allocator.TempJob);
// Extend graph by one depth with the same number of actions / resulting states that loop back on themselves
statesToProcess = new NativeList <StateTransitionInfoPair <int, int, StateTransitionInfo> >(kActionCount, Allocator.TempJob);
for (var i = 0; i < kActionCount; i++)
{
statesToProcess.Add(new StateTransitionInfoPair <int, int, StateTransitionInfo>(kRootState, i, i, new StateTransitionInfo()
{
Probability = 1, TransitionUtilityValue = 1
}));
}
binnedStateKeys = GetBinnedStateKeys(planGraph);
}).CleanUp(() =>
{
planGraph.Dispose();
newStatesQueue.Dispose();
statesToProcess.Dispose();
binnedStateKeys.Dispose();
newStatesToDestroy.Dispose();
}).WarmupCount(1).MeasurementCount(30).IterationsPerMeasurement(1).Run();
PerformanceUtility.AssertRange(4.3, 6.25);
}
