feat(SAC_LSTM_Bot): state vector module (#42)

35-dim normalized tensor (GameState → buildState). No history window — LSTM handles temporal context. Covers own-bot (7), enemy (7), derived (4), walls (4), bullets (12), scan staleness (1). All tests pass.
2026-08-20 23:37:56 +02:00
parent a0a3840980
commit f130bf1254
2 changed files with 204 additions and 0 deletions
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+## Tests for state.nim — assert-based, no framework.
+
+import std/math
+import arraymancer
+import SAC_LSTM_Bot/state
+
+proc makeBase(): GameState =
+  result.arenaWidth  = 1200.0
+  result.arenaHeight = 800.0
+  result.x = 600.0; result.y = 400.0
+  result.direction = 90.0; result.speed = 4.0
+  result.energy = 50.0
+  result.gunDirection = 90.0; result.gunHeat = 0.5
+
+proc allInRange(t: Tensor[float32]): bool =
+  for v in t:
+    if v < -1.01f32 or v > 1.01f32: return false
+  true
+
+proc hasNaN(t: Tensor[float32]): bool =
+  for v in t:
+    if v.float64.isNaN: return true
+  false
+
+# 1. Correct shape
+block:
+  let gs = makeBase()
+  let t = buildState(gs)
+  assert t.shape[0] == STATE_DIM, "wrong dim: " & $t.shape[0]
+  echo "PASS shape"
+
+# 2. All values in [-1, 1] for typical input
+block:
+  var gs = makeBase()
+  gs.hasContact = true
+  gs.enemy = EnemyData(x: 800.0, y: 300.0, direction: 45.0, speed: 6.0,
+                       energy: 80.0, hasFired: true, lastFirePower: 2.0,
+                       prevSpeed: 5.0, prevDirection: 40.0, hasPrevScan: true)
+  gs.bulletCount = 1
+  gs.bullets[0] = BulletData(x: 610.0, y: 410.0, power: 1.0)
+  gs.ticksSinceLastScan = 10
+  let t = buildState(gs)
+  assert not hasNaN(t), "NaN in tensor"
+  assert allInRange(t), "value out of [-1,1]"
+  echo "PASS range"
+
+# 3. Missing scan → valid tensor, no NaN, zeros for enemy fields
+block:
+  let gs = makeBase()   # hasContact = false
+  let t = buildState(gs)
+  assert not hasNaN(t), "NaN with no scan"
+  for i in 7 .. 17:
+    assert t[i] == 0.0f32, "enemy slot " & $i & " should be 0"
+  echo "PASS no-scan zeros"
+
+# 4. Bullet tracking: 0, 1, 2, 3 bullets
+block:
+  for n in 0 .. 3:
+    var gs = makeBase()
+    gs.bulletCount = n
+    for i in 0 ..< n:
+      gs.bullets[i] = BulletData(x: float64(600 + i * 10), y: float64(400 + i * 5), power: 1.0)
+    let t = buildState(gs)
+    assert not hasNaN(t), "NaN with " & $n & " bullets"
+    # slots beyond bulletCount must be 0
+    for i in n ..< 3:
+      let base = 22 + i * 4
+      for j in 0 ..< 4:
+        assert t[base + j] == 0.0f32, "bullet slot " & $i & " slot " & $j & " should be 0"
+  echo "PASS bullet tracking 0-3"
+
+# 5. Scan staleness increments and clamps
+block:
+  var gs = makeBase()
+  gs.hasContact = true
+  gs.ticksSinceLastScan = 0
+  assert buildState(gs)[34] == 0.0f32, "staleness at 0"
+  gs.ticksSinceLastScan = 15
+  let mid = buildState(gs)[34]
+  assert mid > 0.0f32 and mid < 1.0f32, "staleness mid not in (0,1)"
+  gs.ticksSinceLastScan = 30
+  assert buildState(gs)[34] == 1.0f32, "staleness at 30"
+  gs.ticksSinceLastScan = 60
+  assert buildState(gs)[34] == 1.0f32, "staleness clamp at 60"
+  echo "PASS staleness"
+
+echo "ALL TESTS PASSED"