public void TestAllowMixedActions()
{
// Make sure discrete + continuous actuators are allowed.
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }), "actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 }, 3, 10, 4);
}
public void CanOverwriteMask()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
masker.SetActionEnabled(0, 1, false);
var mask = masker.GetMask();
Assert.IsTrue(mask[1]);
masker.SetActionEnabled(0, 1, true);
Assert.IsFalse(mask[1]);
}
public void TestIndexSet()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2");
manager.Add(actuator1);
Assert.IsTrue(manager.NumDiscreteActions == 4);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 10);
manager[0] = actuator2;
Assert.IsTrue(manager.NumDiscreteActions == 3);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 6);
}
public void MaskReset()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
masker.WriteMask(1, new[] { 1, 2, 3 });
masker.ResetMask();
var mask = masker.GetMask();
for (var i = 0; i < 15; i++)
{
Assert.IsFalse(mask[i]);
}
}
public void TestUpdateActionsContinuous()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeContinuous(3),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var continuousActionBuffer = new[] { 0f, 1f, 2f, 3f, 4f, 5f };
manager.UpdateActions(new ActionBuffers(continuousActionBuffer,
Array.Empty <int>()));
Assert.IsTrue(manager.StoredActions.ContinuousActions.SequenceEqual(continuousActionBuffer));
}
public void SecondBranchMask()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new[] { actuator1 }, 15, 3);
masker.WriteMask(1, new[] { 1, 2, 3 });
var mask = masker.GetMask();
Assert.IsFalse(mask[0]);
Assert.IsFalse(mask[4]);
Assert.IsTrue(mask[5]);
Assert.IsTrue(mask[6]);
Assert.IsTrue(mask[7]);
Assert.IsFalse(mask[8]);
Assert.IsFalse(mask[9]);
}
public void FirstBranchMask()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
var mask = masker.GetMask();
Assert.IsNull(mask);
masker.WriteMask(0, new[] { 1, 2, 3 });
mask = masker.GetMask();
Assert.IsFalse(mask[0]);
Assert.IsTrue(mask[1]);
Assert.IsTrue(mask[2]);
Assert.IsTrue(mask[3]);
Assert.IsFalse(mask[4]);
Assert.AreEqual(mask.Length, 15);
}
public void TestSortActuators(string culture)
{
List <IActuator> actuators = new List <IActuator>();
var actuator0 = new TestActuator(ActionSpec.MakeContinuous(2), "Apple");
var actuator1 = new TestActuator(ActionSpec.MakeContinuous(2), "Æble");
actuators.Add(actuator0);
actuators.Add(actuator1);
var originalCulture = CultureInfo.CurrentCulture;
CultureInfo.CurrentCulture = new CultureInfo(culture);
ActuatorManager.SortActuators(actuators);
CultureInfo.CurrentCulture = originalCulture;
Assert.AreEqual(actuator1, actuators[0]);
Assert.AreEqual(actuator0, actuators[1]);
}
public void TestHeuristic()
{
var manager = new ActuatorManager(2);
var va1 = new TestActuator(ActionSpec.MakeDiscrete(1, 2, 3), "name");
var va2 = new TestActuator(ActionSpec.MakeDiscrete(3, 2, 1, 8), "name1");
manager.Add(va1);
manager.Add(va2);
var actionBuf = new ActionBuffers(Array.Empty <float>(), new[] { 0, 0, 0, 0, 0, 0, 0 });
manager.ApplyHeuristic(actionBuf);
Assert.IsTrue(va1.m_HeuristicCalled);
Assert.AreEqual(va1.m_DiscreteBufferSize, 3);
Assert.IsTrue(va2.m_HeuristicCalled);
Assert.AreEqual(va2.m_DiscreteBufferSize, 4);
}
public void TestClear()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
Assert.IsTrue(manager.NumDiscreteActions == 6);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 12);
manager.Clear();
Assert.IsTrue(manager.NumDiscreteActions == 0);
Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 0);
}
public void TestUpdateActionsDiscrete()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var discreteActionBuffer = new[] { 0, 1, 2, 3, 4, 5 };
manager.UpdateActions(new ActionBuffers(Array.Empty <float>(),
discreteActionBuffer));
Debug.Log(manager.StoredActions.DiscreteActions);
Debug.Log(discreteActionBuffer);
Assert.IsTrue(manager.StoredActions.DiscreteActions.SequenceEqual(discreteActionBuffer));
}
public void ThrowsError()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
Assert.Catch <UnityAgentsException>(
() => masker.WriteMask(0, new[] { 5 }));
Assert.Catch <UnityAgentsException>(
() => masker.WriteMask(1, new[] { 5 }));
masker.WriteMask(2, new[] { 5 });
Assert.Catch <UnityAgentsException>(
() => masker.WriteMask(3, new[] { 1 }));
masker.GetMask();
masker.ResetMask();
masker.WriteMask(0, new[] { 0, 1, 2, 3 });
Assert.Catch <UnityAgentsException>(
() => masker.GetMask());
}
public void TestExecuteActionsDiscrete()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }), "actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 1, 1 }), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var discreteActionBuffer = new[] { 0, 1, 2, 3, 4, 5, 6 };
manager.UpdateActions(new ActionBuffers(Array.Empty <float>(),
discreteActionBuffer));
manager.ExecuteActions();
var actuator1Actions = actuator1.LastActionBuffer.DiscreteActions;
var actuator2Actions = actuator2.LastActionBuffer.DiscreteActions;
TestSegmentEquality(actuator1Actions, discreteActionBuffer); TestSegmentEquality(actuator2Actions, discreteActionBuffer);
}
public void ThrowsError()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
Assert.Catch <UnityAgentsException>(
() => masker.SetActionEnabled(0, 5, false));
Assert.Catch <UnityAgentsException>(
() => masker.SetActionEnabled(1, 5, false));
masker.SetActionEnabled(2, 5, false);
Assert.Catch <UnityAgentsException>(
() => masker.SetActionEnabled(3, 1, false));
masker.GetMask();
masker.ResetMask();
masker.SetActionEnabled(0, 0, false);
masker.SetActionEnabled(0, 1, false);
masker.SetActionEnabled(0, 2, false);
masker.SetActionEnabled(0, 3, false);
Assert.Catch <UnityAgentsException>(
() => masker.GetMask());
}
public void TestExecuteActionsContinuous()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeContinuous(3),
"actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var continuousActionBuffer = new[] { 0f, 1f, 2f, 3f, 4f, 5f };
manager.UpdateActions(new ActionBuffers(continuousActionBuffer,
Array.Empty <int>()));
manager.ExecuteActions();
var actuator1Actions = actuator1.LastActionBuffer.ContinuousActions;
var actuator2Actions = actuator2.LastActionBuffer.ContinuousActions;
TestSegmentEquality(actuator1Actions, continuousActionBuffer);
TestSegmentEquality(actuator2Actions, continuousActionBuffer);
}
public void MultipleMaskEdit()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
masker.WriteMask(0, new[] { 0, 1 });
masker.WriteMask(0, new[] { 3 });
masker.WriteMask(2, new[] { 1 });
var mask = masker.GetMask();
for (var i = 0; i < 15; i++)
{
if ((i == 0) || (i == 1) || (i == 3) || (i == 10))
{
Assert.IsTrue(mask[i]);
}
else
{
Assert.IsFalse(mask[i]);
}
}
}
