/// <summary>
/// Generates the observations for the provided sensor, and returns true if they equal the
/// expected values. If they are unequal, errorMessage is also set.
/// This should not generally be used in production code. It is only intended for
/// simplifying unit tests.
/// </summary>
/// <param name="sensor"></param>
/// <param name="expected"></param>
/// <param name="errorMessage"></param>
/// <returns></returns>
public static bool CompareObservation(ISensor sensor, float[,,] expected, out string errorMessage)
{
var tensorShape = new TensorShape(0, expected.GetLength(0), expected.GetLength(1), expected.GetLength(2));
var numExpected = tensorShape.height * tensorShape.width * tensorShape.channels;
const float fill = -1337f;
var output = new float[numExpected];
for (var i = 0; i < numExpected; i++)
{
output[i] = fill;
}
if (numExpected > 0)
{
if (fill != output[0])
{
errorMessage = "Error setting output buffer.";
return(false);
}
}
ObservationWriter writer = new ObservationWriter();
writer.SetTarget(output, sensor.GetObservationShape(), 0);
// Make sure ObservationWriter didn't touch anything
if (numExpected > 0)
{
if (fill != output[0])
{
errorMessage = "ObservationWriter.SetTarget modified a buffer it shouldn't have.";
return(false);
}
}
sensor.Write(writer);
for (var h = 0; h < tensorShape.height; h++)
{
for (var w = 0; w < tensorShape.width; w++)
{
for (var c = 0; c < tensorShape.channels; c++)
{
if (expected[h, w, c] != output[tensorShape.Index(0, h, w, c)])
{
errorMessage = $"Expected and actual differed in position [{h}, {w}, {c}]. " +
$"Expected: {expected[h, w, c]} Actual: {output[tensorShape.Index(0, h, w, c)]} ";
return(false);
}
}
}
}
errorMessage = null;
return(true);
}
/// <summary>
/// Generates the observations for the provided sensor, and returns true if they equal the
/// expected values. If they are unequal, errorMessage is also set.
/// This should not generally be used in production code. It is only intended for
/// simplifying unit tests.
/// </summary>
/// <param name="sensor"></param>
/// <param name="expected"></param>
/// <param name="errorMessage"></param>
/// <returns></returns>
public static bool CompareObservation(ISensor sensor, float[] expected, out string errorMessage)
{
var numExpected = expected.Length;
const float fill = -1337f;
var output = new float[numExpected];
for (var i = 0; i < numExpected; i++)
{
output[i] = fill;
}
if (numExpected > 0)
{
if (fill != output[0])
{
errorMessage = "Error setting output buffer.";
return(false);
}
}
ObservationWriter writer = new ObservationWriter();
writer.SetTarget(output, sensor.GetObservationShape(), 0);
// Make sure ObservationWriter didn't touch anything
if (numExpected > 0)
{
if (fill != output[0])
{
errorMessage = "ObservationWriter.SetTarget modified a buffer it shouldn't have.";
return(false);
}
}
sensor.Write(writer);
for (var i = 0; i < output.Length; i++)
{
if (expected[i] != output[i])
{
errorMessage = $"Expected and actual differed in position {i}. Expected: {expected[i]} Actual: {output[i]} ";
return(false);
}
}
errorMessage = null;
return(true);
}
/// <inheritdoc/>
public int Write(ObservationWriter writer)
{
// First, call the wrapped sensor's write method. Make sure to use our own writer, not the passed one.
var wrappedShape = m_WrappedSensor.GetObservationShape();
m_LocalWriter.SetTarget(m_StackedObservations[m_CurrentIndex], wrappedShape, 0);
m_WrappedSensor.Write(m_LocalWriter);
// Now write the saved observations (oldest first)
var numWritten = 0;
for (var i = 0; i < m_NumStackedObservations; i++)
{
var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations;
writer.AddList(m_StackedObservations[obsIndex], numWritten);
numWritten += m_UnstackedObservationSize;
}
return(numWritten);
}
/// <inheritdoc/>
public int Write(ObservationWriter writer)
{
// First, call the wrapped sensor's write method. Make sure to use our own writer, not the passed one.
m_LocalWriter.SetTarget(m_StackedObservations[m_CurrentIndex], m_WrappedSpec, 0);
m_WrappedSensor.Write(m_LocalWriter);
// Now write the saved observations (oldest first)
var numWritten = 0;
if (m_WrappedSpec.Rank == 1)
{
for (var i = 0; i < m_NumStackedObservations; i++)
{
var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations;
writer.AddList(m_StackedObservations[obsIndex], numWritten);
numWritten += m_UnstackedObservationSize;
}
}
else
{
for (var i = 0; i < m_NumStackedObservations; i++)
{
var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations;
for (var h = 0; h < m_WrappedSpec.Shape[0]; h++)
{
for (var w = 0; w < m_WrappedSpec.Shape[1]; w++)
{
for (var c = 0; c < m_WrappedSpec.Shape[2]; c++)
{
writer[h, w, i *m_WrappedSpec.Shape[2] + c] = m_StackedObservations[obsIndex][m_tensorShape.Index(0, h, w, c)];
}
}
}
}
numWritten = m_WrappedSpec.Shape[0] * m_WrappedSpec.Shape[1] * m_WrappedSpec.Shape[2] * m_NumStackedObservations;
}
return(numWritten);
}
