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>
59 lines
2.4 KiB
Nim
59 lines
2.4 KiB
Nim
## test_network.nim — assert-based tests for network.nim and actions.nim.
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## Run: nim c --threads:on tests/test_network.nim && ./tests/test_network
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import arraymancer
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import std/[math, strformat]
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import ../network
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import ../actions
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func isFiniteF(x: float32): bool = classify(x) notin {fcNan, fcInf, fcNegInf}
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func isNaNF(x: float32): bool = classify(x) == fcNan
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when isMainModule:
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# ---- MLP forward shape ----
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let mlp = initMLP(STATE_DIM, 64, ACTION_DIM)
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let inp = zeros[float32](STATE_DIM)
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let mlpOut = mlp.forward(inp)
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assert mlpOut.shape[0] == ACTION_DIM, &"MLP output shape wrong: {mlpOut.shape}"
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# ---- ActorCritic actorForward ----
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let ac = initActorCritic()
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let state = zeros[float32](STATE_DIM)
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let (acts, logP) = ac.actorForward(state)
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assert acts.shape[0] == ACTION_DIM, &"actorForward actions shape wrong: {acts.shape}"
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assert not isNaNF(logP), "logProb is NaN"
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assert isFiniteF(logP), &"logProb not finite: {logP}"
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# ---- criticForward ----
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let v = ac.criticForward(state)
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assert not isNaNF(v), "critic value is NaN"
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assert isFiniteF(v), &"critic value not finite: {v}"
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# ---- logStd floor: collapsing logStd should not break actorForward ----
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var ac2 = initActorCritic()
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for i in 0..<ACTION_DIM: ac2.logStd[i] = -10.0'f32
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let (acts2, logP2) = ac2.actorForward(state)
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assert acts2.shape[0] == ACTION_DIM, "acts2 shape wrong after logStd=-10"
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assert isFiniteF(logP2), &"logP2 not finite with floored logStd: {logP2}"
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# ---- action mapping ranges ----
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let raw = randomNormalTensor[float32](ACTION_DIM)
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let speed = 4.0'f32
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# arena 800×600, bot at centre, heading north, gun north
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let botActs = mapActions(raw, 0.0'f32, 800.0, 600.0, 400.0, 300.0, 0.0, speed.float, 0.0) # gunHeat=0 → fire allowed
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assert botActs.targetSpeed >= -8.0'f32 and botActs.targetSpeed <= 8.0'f32,
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&"targetSpeed out of range: {botActs.targetSpeed}"
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assert botActs.gunTurnRate >= -20.0'f32 and botActs.gunTurnRate <= 20.0'f32,
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&"gunTurnRate out of range: {botActs.gunTurnRate}"
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assert botActs.firePower >= 0.1'f32 and botActs.firePower <= 3.0'f32,
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&"firePower out of range: {botActs.firePower}"
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# shouldFire=false when gunHeat > 0
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let noFire = mapActions(raw, 1.0'f32, 800.0, 600.0, 400.0, 300.0, 0.0, speed.float, 0.0)
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assert not noFire.shouldFire, "shouldFire should be false when gunHeat > 0"
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echo "All tests passed"
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