SirStone
cdde60d79f
- Add gotoTick/aimToTick controller functions (#25) - Update network dims: actor 5→6, state 42→44 (#26) - Rewrite mapActions for 6-dim command space (#27) - Delete stale weight files (shape mismatch) - Fix existing tests for new signatures Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
55 lines
2.6 KiB
Nim
55 lines
2.6 KiB
Nim
## Assert-based tests for controllers.nim.
|
|
## Run: nim c -r tests/test_controllers.nim
|
|
|
|
import std/math
|
|
import "../controllers"
|
|
|
|
template check(cond: bool, msg: string) =
|
|
if not cond:
|
|
quit("FAIL: " & msg, 1)
|
|
|
|
# ---------------------------------------------------------------------------
|
|
# gotoTick tests
|
|
# ---------------------------------------------------------------------------
|
|
|
|
block forwardMovement:
|
|
# Bot at (0,0) facing East (geometric 0°), target due east at (100,0) → bearing=0 → forward
|
|
let (spd2, turn2) = gotoTick(100.0, 0.0, 0.0, 0.0, 0.0, 0.0)
|
|
check spd2 > 0.0, "forward: targetSpeed should be positive"
|
|
check abs(turn2) < 1e-9, "forward: no turn needed when already aimed"
|
|
|
|
block reverseMovement:
|
|
# Bot at (100,0) facing East (direction=0), target at (0,0) — directly behind
|
|
# bearing = normalizeRelativeAngle(180 - 0) = 180 → |bearing|>90 → reverse
|
|
let (spd, _) = gotoTick(0.0, 0.0, 100.0, 0.0, 0.0, 0.0)
|
|
check spd < 0.0, "reverse: targetSpeed should be negative when target is behind"
|
|
|
|
block turnRateClamping:
|
|
# Bot at (0,0) facing North (game north = geometric 90°, so direction=90 in geometric)
|
|
# Target at (100,0) = East. bearing = normalizeRelativeAngle(0 - 90) = -90 → still ≤90
|
|
# Use large perpendicular target so bearing is 89°, and high speed → small maxTurn
|
|
# At speed=8, calcMaxTurnRate = 10 - 0.75*8 = 4°
|
|
# Bot facing East (0°), target at angle 89° bearing (just under 90)
|
|
let (_, turn) = gotoTick(100.0 * cos(89.0 * PI / 180.0), 100.0 * sin(89.0 * PI / 180.0), 0.0, 0.0, 0.0, 8.0)
|
|
check abs(turn) <= 4.0 + 1e-9, "turn rate clamped to calcMaxTurnRate at speed=8 (max 4°)"
|
|
|
|
# ---------------------------------------------------------------------------
|
|
# aimToTick tests
|
|
# ---------------------------------------------------------------------------
|
|
|
|
block gunShortestArc:
|
|
# Gun facing East (0°), target due north (geometric 90°) → turn left +90° but clamped to 20
|
|
let rate = aimToTick(0.0, 100.0, 0.0, 0.0, 0.0)
|
|
check rate > 0.0, "gun shortest arc: should turn toward target"
|
|
# Gun facing East (0°), target due south (geometric 270° → normalised -90°)
|
|
let rate2 = aimToTick(0.0, -100.0, 0.0, 0.0, 0.0)
|
|
check rate2 < 0.0, "gun shortest arc: should turn other way for target behind"
|
|
|
|
block gunTurnRateClamping:
|
|
# 180° away → clamped to ±20
|
|
let rate = aimToTick(-100.0, 0.0, 0.0, 0.0, 0.0) # target west, gun east
|
|
check abs(rate) <= 20.0 + 1e-9, "gun turn rate clamped to ±MAX_GUN_TURN_RATE"
|
|
check abs(abs(rate) - 20.0) < 1e-9, "gun turn rate at max when 180° away"
|
|
|
|
echo "test_controllers: all passed"
|