98 lines
3.4 KiB
Nim
98 lines
3.4 KiB
Nim
import unittest
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import arraymancer
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import std/math
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import SAC_LSTM_Bot/actions
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proc makeOutput(a0, a1, a2, a3: float): Tensor[float32] =
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result = newTensor[float32](4)
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result[0] = a0.float32
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result[1] = a1.float32
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result[2] = a2.float32
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result[3] = a3.float32
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suite "mapActions":
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test "ACTION_DIM is 4":
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check ACTION_DIM == 4
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# Speed-aware turn rate
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test "turn: output +1 at speed 0 -> +10 degrees":
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let m = mapActions(makeOutput(1.0, 0.0, 0.0, -1.0), 0.0, 0.0)
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check abs(m.turnRate - 10.0) < 1e-6
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test "turn: output -1 at speed 0 -> -10 degrees":
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let m = mapActions(makeOutput(-1.0, 0.0, 0.0, -1.0), 0.0, 0.0)
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check abs(m.turnRate - (-10.0)) < 1e-6
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test "turn: output +1 at speed 8 -> +4 degrees":
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let m = mapActions(makeOutput(1.0, 0.0, 0.0, -1.0), 8.0, 0.0)
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check abs(m.turnRate - 4.0) < 1e-6
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test "turn: output -1 at speed 8 -> -4 degrees":
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let m = mapActions(makeOutput(-1.0, 0.0, 0.0, -1.0), 8.0, 0.0)
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check abs(m.turnRate - (-4.0)) < 1e-6
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test "turn: output 0 -> 0 regardless of speed":
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let m = mapActions(makeOutput(0.0, 0.0, 0.0, -1.0), 5.0, 0.0)
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check abs(m.turnRate) < 1e-6
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# Acceleration range
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test "accel: output -1 -> -2.0":
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let m = mapActions(makeOutput(0.0, -1.0, 0.0, -1.0), 0.0, 0.0)
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check abs(m.acceleration - (-2.0)) < 1e-6
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test "accel: output +1 -> +1.0":
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let m = mapActions(makeOutput(0.0, 1.0, 0.0, -1.0), 0.0, 0.0)
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check abs(m.acceleration - 1.0) < 1e-6
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test "accel: output 0 -> midpoint -0.5":
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# value*1.5 - 0.5 at value=0 -> -0.5 (correct midpoint between -2 and +1)
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let m = mapActions(makeOutput(0.0, 0.0, 0.0, -1.0), 0.0, 0.0)
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check abs(m.acceleration - (-0.5)) < 1e-6
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# Gun turn rate
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test "gun turn: output +1 -> +20 degrees":
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let m = mapActions(makeOutput(0.0, 0.0, 1.0, -1.0), 0.0, 0.0)
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check abs(m.gunTurnRate - 20.0) < 1e-6
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test "gun turn: output -1 -> -20 degrees":
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let m = mapActions(makeOutput(0.0, 0.0, -1.0, -1.0), 0.0, 0.0)
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check abs(m.gunTurnRate - (-20.0)) < 1e-6
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test "gun turn: output 0 -> 0":
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let m = mapActions(makeOutput(0.0, 0.0, 0.0, -1.0), 0.0, 0.0)
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check abs(m.gunTurnRate) < 1e-6
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# Fire threshold
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test "fire: output -0.5 -> no fire (firePower == 0)":
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let m = mapActions(makeOutput(0.0, 0.0, 0.0, -0.5), 0.0, 0.0)
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check m.firePower == 0.0
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test "fire: output 0.0 -> no fire (boundary, not positive)":
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let m = mapActions(makeOutput(0.0, 0.0, 0.0, 0.0), 0.0, 0.0)
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check m.firePower == 0.0
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test "fire: output +0.5 -> fire with correct power":
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let m = mapActions(makeOutput(0.0, 0.0, 0.0, 0.5), 0.0, 0.0)
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# 0.5 * 2.9 + 0.1 = 1.55
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check abs(m.firePower - 1.55) < 1e-5
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test "fire: output +1.0 -> fire power near 3.0":
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let m = mapActions(makeOutput(0.0, 0.0, 0.0, 1.0), 0.0, 0.0)
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check abs(m.firePower - 3.0) < 1e-5
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test "fire: output +1.0 but gunHeat > 0 -> no fire":
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let m = mapActions(makeOutput(0.0, 0.0, 0.0, 1.0), 0.0, 1.5)
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check m.firePower == 0.0
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test "fire: output +0.001 (just above 0) -> fires with power near 0.1":
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let m = mapActions(makeOutput(0.0, 0.0, 0.0, 0.001), 0.0, 0.0)
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check m.firePower > 0.0
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check m.firePower < 0.2
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# Speed-aware turn with negative speed (reverse)
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test "turn: speed -8 (reversing) -> same magnitude as speed +8":
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let fwd = mapActions(makeOutput(1.0, 0.0, 0.0, -1.0), 8.0, 0.0)
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let rev = mapActions(makeOutput(1.0, 0.0, 0.0, -1.0), -8.0, 0.0)
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check abs(fwd.turnRate - rev.turnRate) < 1e-6
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