188 lines
7.5 KiB
Nim
188 lines
7.5 KiB
Nim
## Assert-based tests for EnemyTracker and StateVector.
|
||
## Run: nim c -r tests/test_state.nim
|
||
|
||
import std/[math, strformat]
|
||
import arraymancer
|
||
|
||
# Import from parent dir
|
||
import PPO_Bot/enemy_tracker
|
||
import PPO_Bot/state_vector
|
||
|
||
template check(cond: bool, msg: string) =
|
||
if not cond:
|
||
quit("FAIL: " & msg, 1)
|
||
|
||
# ---------------------------------------------------------------------------
|
||
# EnemyTracker tests
|
||
# ---------------------------------------------------------------------------
|
||
|
||
block testBasicUpdate:
|
||
var t = initEnemyTracker()
|
||
t.update(200.0, 300.0, 90.0, 5.0, 80.0)
|
||
check t.hasContact, "hasContact after update"
|
||
check t.current.x == 200.0, "x after update"
|
||
check t.current.y == 300.0, "y after update"
|
||
check t.current.direction == 90.0, "direction after update"
|
||
check t.current.speed == 5.0, "speed after update"
|
||
check t.current.energy == 80.0, "energy after update"
|
||
check t.current.ticksSinceLastScan == 0, "ticksSinceLastScan reset"
|
||
|
||
block testFireDetection:
|
||
var t = initEnemyTracker()
|
||
# First update sets prevEnergy
|
||
t.update(100.0, 100.0, 0.0, 0.0, 100.0)
|
||
# Second update: energy drop of 3.0 → enemy fired power 3.0
|
||
t.update(100.0, 100.0, 0.0, 0.0, 97.0)
|
||
check t.current.hasFired, "hasFired when energy drops by 3.0"
|
||
check abs(t.current.lastFirePower - 3.0) < 0.001, "lastFirePower == 3.0"
|
||
|
||
block testNoFireOnSmallDrop:
|
||
var t = initEnemyTracker()
|
||
t.update(100.0, 100.0, 0.0, 0.0, 100.0)
|
||
# Drop of 0.05 — below MIN_FIRE_POWER threshold
|
||
t.update(100.0, 100.0, 0.0, 0.0, 99.95)
|
||
check not t.current.hasFired, "no fire on small energy drop"
|
||
|
||
block testDeadReckoning:
|
||
var t = initEnemyTracker()
|
||
# direction=0° in Tank Royale means north (y increases)
|
||
t.update(100.0, 100.0, 0.0, 5.0, 100.0)
|
||
t.deadReckon()
|
||
# x unchanged (sin 0° = 0), y increases by speed (cos 0° = 1)
|
||
check abs(t.current.x - 100.0) < 0.001, "dead reckon: x unchanged for dir=0"
|
||
check abs(t.current.y - 105.0) < 0.001, "dead reckon: y += speed for dir=0"
|
||
check t.current.ticksSinceLastScan == 1, "ticksSinceLastScan incremented"
|
||
|
||
block testDeadReckonEast:
|
||
var t = initEnemyTracker()
|
||
# direction=90° → east (sin 90° = 1, cos 90° = 0)
|
||
t.update(100.0, 100.0, 90.0, 5.0, 100.0)
|
||
t.deadReckon()
|
||
check abs(t.current.x - 105.0) < 0.001, "dead reckon east: x += speed"
|
||
check abs(t.current.y - 100.0) < 0.001, "dead reckon east: y unchanged"
|
||
|
||
block testHistoryWindow:
|
||
var t = initEnemyTracker()
|
||
# Feed 6 updates — history should hold last 5
|
||
for i in 1 .. 6:
|
||
t.update(float64(i) * 10.0, float64(i) * 20.0, 0.0, float64(i), 100.0)
|
||
check t.historyCount == 5, "historyCount capped at 5"
|
||
# history[0] should be the second-to-last scan (i=5)
|
||
check abs(t.history[0].x - 50.0) < 0.001, "history[0].x == 50 (i=5)"
|
||
check abs(t.history[4].x - 10.0) < 0.001, "history[4].x == 10 (i=1)"
|
||
|
||
# ---------------------------------------------------------------------------
|
||
# StateVector tests
|
||
# ---------------------------------------------------------------------------
|
||
|
||
block testStateVectorLength:
|
||
var t = initEnemyTracker()
|
||
t.update(400.0, 300.0, 45.0, 3.0, 80.0)
|
||
let bot = BotStateData(
|
||
x: 200.0, y: 200.0, direction: 90.0, speed: 4.0, energy: 50.0,
|
||
gunDirection: 180.0, gunHeat: 0.5,
|
||
arenaWidth: 800.0, arenaHeight: 600.0,
|
||
)
|
||
let sv = buildStateVector(bot, t)
|
||
check sv.shape == [57], "state vector has 57 elements"
|
||
|
||
block testStateVectorRange:
|
||
var t = initEnemyTracker()
|
||
t.update(400.0, 300.0, 180.0, 8.0, 100.0)
|
||
let bot = BotStateData(
|
||
x: 800.0, y: 600.0, direction: 360.0, speed: 8.0, energy: 100.0,
|
||
gunDirection: 360.0, gunHeat: 1.8,
|
||
arenaWidth: 800.0, arenaHeight: 600.0,
|
||
)
|
||
let sv = buildStateVector(bot, t)
|
||
for i in 0 ..< 57:
|
||
check sv[i] >= -2.0f32 and sv[i] <= 2.0f32,
|
||
&"sv[{i}]={sv[i]} out of [-2,2] range"
|
||
|
||
block testWallDistances:
|
||
# Bot at (100, 200) in 800×600 arena
|
||
# wallMax = max(800, 600) = 800
|
||
# top = (600 - 200) / 800 = 400/800 = 0.5
|
||
# bottom = 200 / 800 = 0.25
|
||
# left = 100 / 800 = 0.125
|
||
# right = (800 - 100) / 800 = 700/800 = 0.875
|
||
var t = initEnemyTracker()
|
||
let bot = BotStateData(
|
||
x: 100.0, y: 200.0, direction: 0.0, speed: 0.0, energy: 100.0,
|
||
gunDirection: 0.0, gunHeat: 0.0,
|
||
arenaWidth: 800.0, arenaHeight: 600.0,
|
||
)
|
||
let sv = buildStateVector(bot, t)
|
||
check abs(sv[18] - 0.5f32) < 0.001f32, "top wall = 0.5"
|
||
check abs(sv[19] - 0.25f32) < 0.001f32, "bottom wall = 0.25"
|
||
check abs(sv[20] - 0.125f32) < 0.001f32, "left wall = 0.125"
|
||
check abs(sv[21] - 0.875f32) < 0.001f32, "right wall = 0.875"
|
||
|
||
block testRelativeBearing:
|
||
# Game convention: north=0°, CW. arctan2(dx,dy) used.
|
||
# Bot at (0,0) dir=0°. Enemy at (0,100) → due north → absDir=0°.
|
||
# relBearing = (0 - 0 + 540) mod 360 - 180 = 0°. normalized = 0/180 = 0.0
|
||
var t = initEnemyTracker()
|
||
t.update(0.0, 100.0, 0.0, 0.0, 100.0)
|
||
let bot = BotStateData(
|
||
x: 0.0, y: 0.0, direction: 0.0, speed: 0.0, energy: 100.0,
|
||
gunDirection: 0.0, gunHeat: 0.0,
|
||
arenaWidth: 800.0, arenaHeight: 600.0,
|
||
)
|
||
let sv = buildStateVector(bot, t)
|
||
check abs(sv[16] - 0.0f32) < 0.01f32, "relative bearing = 0.0 (due north), got " & $sv[16]
|
||
|
||
block testRelativeBearingEast:
|
||
# Enemy at (100,0) → due east → absDir=90°.
|
||
# relBearing = (90 - 0 + 540) mod 360 - 180 = 90°. normalized = 90/180 = 0.5
|
||
var t = initEnemyTracker()
|
||
t.update(100.0, 0.0, 0.0, 0.0, 100.0)
|
||
let bot = BotStateData(
|
||
x: 0.0, y: 0.0, direction: 0.0, speed: 0.0, energy: 100.0,
|
||
gunDirection: 0.0, gunHeat: 0.0,
|
||
arenaWidth: 800.0, arenaHeight: 600.0,
|
||
)
|
||
let sv = buildStateVector(bot, t)
|
||
check abs(sv[16] - 0.5f32) < 0.01f32, "relative bearing east = 0.5, got " & $sv[16]
|
||
|
||
block testHistoryPaddedWhenEmpty:
|
||
var t = initEnemyTracker()
|
||
let bot = BotStateData(
|
||
x: 400.0, y: 300.0, direction: 0.0, speed: 0.0, energy: 100.0,
|
||
gunDirection: 0.0, gunHeat: 0.0,
|
||
arenaWidth: 800.0, arenaHeight: 600.0,
|
||
)
|
||
let sv = buildStateVector(bot, t)
|
||
for i in 22 ..< 42:
|
||
check sv[i] == 0.0f32, &"history slot {i} should be 0 when no contact"
|
||
# indices 42-43 (goto inputs) default to 0 when not provided
|
||
check sv[42] == 0.0f32, "sv[42] (remainingGotoDistance) should default to 0"
|
||
check sv[43] == 0.0f32, "sv[43] (remainingGunAngle) should default to 0"
|
||
# indices 44-55 (bullet slots) default to 0 when no bullets provided
|
||
for i in 44 ..< 56:
|
||
check sv[i] == 0.0f32, &"bullet slot {i} should be 0 when no bullets"
|
||
# index 56 (staleness): no contact so ticksSinceLastScan=0 → 0/30 = 0
|
||
check sv[56] == 0.0f32, "sv[56] staleness should be 0 when no contact"
|
||
|
||
block testBulletSlots:
|
||
var t = initEnemyTracker()
|
||
t.update(400.0, 300.0, 0.0, 0.0, 100.0) # enemy at (400,300)
|
||
let bot = BotStateData(
|
||
x: 200.0, y: 200.0, direction: 0.0, speed: 0.0, energy: 100.0,
|
||
gunDirection: 0.0, gunHeat: 0.0,
|
||
arenaWidth: 800.0, arenaHeight: 600.0,
|
||
)
|
||
# Bullet at (300,250), power 1.0 → speed = 20-3 = 17
|
||
# relX = 300-200 = 100, relY = 250-200 = 50 (relative to bot, not enemy)
|
||
# dist to bot = sqrt(100^2+50^2) ≈ 111.8, ticks ≈ 111.8/17 ≈ 6.58
|
||
let b = BulletData(x: 300.0, y: 250.0, power: 1.0)
|
||
let sv = buildStateVector(bot, t, 0.0, 0.0, [b], 1)
|
||
check abs(sv[44] - (100.0/800.0).float32) < 0.001f32, "bullet relX"
|
||
check abs(sv[45] - (50.0/600.0).float32) < 0.001f32, "bullet relY"
|
||
check abs(sv[46] - (17.0/20.0).float32) < 0.001f32, "bullet speed norm"
|
||
# second slot should be zero-padded
|
||
for i in 48 ..< 57:
|
||
check sv[i] == 0.0f32, &"unused bullet slot {i} should be 0"
|
||
|
||
echo "All tests passed"
|