70 lines
3.1 KiB
Nim
70 lines
3.1 KiB
Nim
## Assert-based tests for actions.nim.
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## Run: nim c -r tests/test_actions.nim
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import arraymancer
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import std/math
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import PPO_Bot/actions
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template check(cond: bool, msg: string) =
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if not cond:
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quit("FAIL: " & msg, 1)
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let arenaW = 1200.0
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let arenaH = 800.0
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# Build a 6-element zero tensor and a helper to set individual values
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proc makeRaw(vals: array[6, float32]): Tensor[float32] =
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result = zeros[float32](6)
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for i in 0 ..< 6: result[i] = vals[i]
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# --- 6-dim input produces a valid BotActions ---
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block basicDecode:
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let raw = makeRaw([0.0'f32, 0.0, 0.0, 0.0, 0.0, 0.0])
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let acts = mapActions(raw, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
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# sigmoid(0)*arenaW = 0.5*1200 = 600, sigmoid(0)*arenaH = 0.5*800 = 400
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check abs(acts.gotoX - 600.0) < 1e-6, "gotoX = sigmoid(0)*arenaW"
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check abs(acts.gotoY - 400.0) < 1e-6, "gotoY = sigmoid(0)*arenaH"
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check abs(acts.aimToX - 600.0) < 1e-6, "aimToX = sigmoid(0)*arenaW"
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check abs(acts.aimToY - 400.0) < 1e-6, "aimToY = sigmoid(0)*arenaH"
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# --- Coordinates bounded to arena size ---
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block coordBounds:
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# Large positive raw → sigmoid ≈ 1 → close to arenaW/arenaH
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let rawHigh = makeRaw([100.0'f32, 100.0, 100.0, 100.0, 0.0, 0.0])
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let actsHigh = mapActions(rawHigh, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
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check actsHigh.gotoX <= arenaW + 1e-9, "gotoX <= arenaWidth"
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check actsHigh.gotoY <= arenaH + 1e-9, "gotoY <= arenaHeight"
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check actsHigh.gotoX >= 0.0, "gotoX >= 0"
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# Large negative raw → sigmoid ≈ 0 → close to 0
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let rawLow = makeRaw([-100.0'f32, -100.0, -100.0, -100.0, 0.0, 0.0])
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let actsLow = mapActions(rawLow, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
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check actsLow.gotoX >= -1e-9, "gotoX >= 0 (low raw)"
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check actsLow.gotoY >= -1e-9, "gotoY >= 0 (low raw)"
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# --- Fire triggers correctly ---
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block fireTrigger:
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# tanh(positive) >= 0 → fire when gunHeat = 0
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let rawFire = makeRaw([0.0'f32, 0.0, 0.0, 0.0, 1.0, 0.0])
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let actsFire = mapActions(rawFire, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
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check actsFire.shouldFire, "positive tanh → should fire when gun cool"
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# tanh(negative) < 0 → no fire
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let rawNoFire = makeRaw([0.0'f32, 0.0, 0.0, 0.0, -1.0, 0.0])
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let actsNoFire = mapActions(rawNoFire, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
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check not actsNoFire.shouldFire, "negative tanh → no fire"
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# gunHeat > 0 → no fire even with positive decision
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let actsHot = mapActions(rawFire, 0.5, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
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check not actsHot.shouldFire, "positive tanh but gun hot → no fire"
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# --- Fire power in [0.1, 3.0] ---
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block firePowerRange:
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let rawMin = makeRaw([0.0'f32, 0.0, 0.0, 0.0, 0.0, -100.0])
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let rawMax = makeRaw([0.0'f32, 0.0, 0.0, 0.0, 0.0, 100.0])
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let actsMin = mapActions(rawMin, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
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let actsMax = mapActions(rawMax, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
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check actsMin.firePower >= 0.1 - 1e-6, "firePower >= 0.1"
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check actsMax.firePower <= 3.0 + 1e-6, "firePower <= 3.0"
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echo "test_actions: all passed"
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