def test_number_of_successors_invisible_obstacle_and_variable_speeds(
obst, action, speed):
headlight_range = 2
road_test = Road(headlight_range, Car(1, speed), [obst])
probs = [prob for next_state, prob in road_test.successors(action)]
assert (len(probs) == 4 *
max(0, speed - int(action == LEFT or action == RIGHT)) + 1)
def test_board():
bumps = [Bump(-1, -1), Bump(0, 0), Bump(1, 3)]
pedestrians = [Pedestrian(-1, -1), Pedestrian(0, 1), Pedestrian(1, 2)]
headlight_range = 4
speed = 1
road = Road(headlight_range, Car(1, speed=speed), bumps + pedestrians)
patient = road.board()
assert patient.dtype == 'uint8'
x_board = np.full([headlight_range + 1, road._stage_width],
_byte(' '),
dtype='uint8')
x_board[:, 0] = _byte('|')
x_board[:, -2] = _byte('|')
x_board[:, 1] = _byte('d')
x_board[:, -3] = _byte('d')
x_board[-speed:, -1] = _byte('^')
x_board[0, 1] = bumps[0].to_byte()
x_board[1, 4] = bumps[0].to_byte()
x_board[0, 2] = pedestrians[0].to_byte()
x_board[1, 3] = pedestrians[0].to_byte()
x_board[headlight_range, 1 + 1] = _byte('C')
np.testing.assert_array_equal(patient, x_board)
def test_no_collision_if_obstacle_is_under_car():
hr = 3
car = Car(2, 4)
s = Road(headlight_range=hr, car=car, obstacles=[Bump(hr, 2)])
s_p = Road(headlight_range=hr, car=car, obstacles=[Bump(hr + 1, 2)])
num_collisions = s.count_obstacle_collisions(
s_p, lambda obs: int(isinstance(obs, Bump))).pop()
assert num_collisions == 0
def test_simple_collision():
hr = 3
car = Car(2, 4)
s = Road(headlight_range=hr, car=car, obstacles=[Bump(-1, -1)])
s_p = Road(headlight_range=hr, car=car, obstacles=[Bump(hr, 2)])
num_collisions = s.count_obstacle_collisions(
s_p, lambda obs: int(isinstance(obs, Bump))).pop()
assert num_collisions == 1
def test_crashing_into_right_wall():
patient = Road(1, Car(3, 1), [])
successors = list(patient.successors(RIGHT))
assert len(successors) == 1
s, p = successors[0]
assert p == 1.0
assert s.to_key() != patient.to_key()
assert s.to_key() == (-1, 0, frozenset())
assert s.to_s() == ' ' * 7 + '\n' + ' ' * 7
def test_car_offroad():
headlight_range = 4
road1 = Road(headlight_range, Car(0, 1), [])
action_taken1 = hand_coded_data_gathering_policy(road1)
assert action_taken1 == RIGHT
road2 = Road(headlight_range, Car(3, 1), [])
action_taken2 = hand_coded_data_gathering_policy(road2)
assert action_taken2 == LEFT
def test_moving_car_appears_when_stopped():
s = Road(headlight_range=3,
car=Car(2, 0),
obstacles=[Pedestrian(-1, -1, speed=1, prob_of_appearing=0.5)],
allowed_obstacle_appearance_columns=[{1}])
successors = [(sp.to_key(), prob) for sp, prob in s.successors(NO_OP)]
assert len(successors) == 2
assert successors[0] == ((2, 0, frozenset()), 0.5)
assert successors[1] == ((2, 0, frozenset([('p', 0, 1, 1, 0)])), 0.5)
def test_single_terminal_state():
s = Road(headlight_range=2,
car=Car(2, 0),
obstacles=[Pedestrian(-1, -1, speed=1, prob_of_appearing=0.13)],
allowed_obstacle_appearance_columns=[{1}])
info, _ = s.safety_information()
'''s X a X s X measurement'''
info = np.array(info)
terminal_states, sp = np.where(info[:, NO_OP, :, 0] == 1)
assert np.all(terminal_states == sp)
assert len(terminal_states) == 1
def test_safety_information():
patient = Road(headlight_range=1, car=Car(2, 0), obstacles=[Bump(-1, -1)])
counts, state_indices = patient.safety_information()
counts = np.array(counts)
assert len(counts.shape) == 4
assert counts.shape[0] == len(state_indices)
assert counts.shape[1] == len(ACTIONS)
assert counts.shape[2] == len(state_indices)
assert counts.shape[3] == 7
def test_transition_probs_with_invisible_obstacle(obst, action):
headlight_range = 2
road_test = Road(headlight_range, Car(1, 1), [obst])
probs = [prob for next_state, prob in road_test.successors(action)]
if action == LEFT or action == RIGHT:
assert probs == [1.0]
else:
assert len(probs) == 5
sum_probs = 0.0
for i in range(len(probs)):
assert 0.0 <= probs[i] <= 1.0
sum_probs += probs[i]
assert sum_probs == pytest.approx(1.0)
assert probs[1:] == [obst.prob_of_appearing / 4] * 4
assert probs[0] == 1 - sum([obst.prob_of_appearing / 4] * 4)
def test_successor_function_with_identical_states(p):
expected_probs = [
(1 - p)**2
] + [2 * p * (1 - p) / 4] * 4 + [2 * p / 3.0 * p / 4.0] * 6
expected_probs = [
pytest.approx(prob) for prob in expected_probs if prob > 0
]
state = Road(headlight_range=3,
car=Car(1, 1),
obstacles=[
Bump(-1, -1, prob_of_appearing=p),
Bump(-1, -1, prob_of_appearing=p)
])
probs = [p for (s, p) in state.successors(NO_OP)]
assert sum(probs) == pytest.approx(1.0)
assert probs == expected_probs
def test_tabulate_single_reward():
patient = Road(headlight_range=1, car=Car(2, 0), obstacles=[Bump(-1, -1)])
transitions, rewards, state_indices = patient.tabulate(dg_rewards.reward)
transitions = np.array(transitions)
rewards = np.array(rewards)
assert len(transitions.shape) == 3
assert len(rewards.shape) == 2
assert transitions.shape[0] == len(state_indices)
assert transitions.shape[0] == rewards.shape[0]
assert transitions.shape[1] == rewards.shape[1]
for t in transitions:
for ta in t:
assert sum(ta) == pytest.approx(1.0)
def test_to_s():
bumps = [Bump(-1, -1), Bump(0, 0), Bump(1, 3)]
pedestrians = [Pedestrian(-1, -1), Pedestrian(0, 1), Pedestrian(1, 2)]
headlight_range = 4
speed = 1
patient = Road(headlight_range, Car(1, speed=speed),
bumps + pedestrians).to_s()
assert patient == '|bp d| \n|d pb| \n|d d| \n|d d| \n|dC d|^'
def test_policy_speeds_up_but_does_not_overdrive_headlights():
headlight_range = 4
road = Road(headlight_range, Car(2, headlight_range + 1), [])
action_taken = hand_coded_data_gathering_policy(road)
assert action_taken == DOWN
road = Road(headlight_range, Car(2, headlight_range), [])
action_taken = hand_coded_data_gathering_policy(road)
assert action_taken == NO_OP
road = Road(headlight_range, Car(2, headlight_range - 1), [])
action_taken = hand_coded_data_gathering_policy(road)
assert action_taken == NO_OP
road = Road(headlight_range, Car(2, headlight_range - 2), [])
action_taken = hand_coded_data_gathering_policy(road)
assert action_taken == UP
def test_car_can_only_overdrive_headlights_by_one_unit():
headlight_range = 2
with pytest.raises(ValueError):
patient = Road(headlight_range, Car(0, speed=headlight_range + 2))
patient = Road(headlight_range, Car(0, headlight_range + 1))
assert patient.speed_limit() == headlight_range + 1
patient = next(patient.successors(UP))[0]
assert patient.speed_limit() == headlight_range + 1
patient._car.speed == patient.speed_limit()
patient = next(patient.successors(DOWN))[0]
patient._car.speed == headlight_range
def test_obstacles_outside_headlight_range_are_hidden():
bumps = [Bump(-1, 0)]
headlight_range = 4
patient = Road(headlight_range, Car(1, 1), bumps).obstacle_layers()
assert len(patient) == 1
x_bump_layer = np.full([headlight_range + 1, 7], False)
np.testing.assert_array_equal(patient[str(bumps[0])], x_bump_layer)
def new_road(headlight_range=3):
return Road(
headlight_range,
Car(2, 0),
obstacles=[
Bump(-1, -1, prob_of_appearing=0.16),
Pedestrian(-1, -1, speed=1, prob_of_appearing=0.13)
],
allowed_obstacle_appearance_columns=[{2}, {1}],
allow_crashing=True)
def test_obstacles_cannot_appear_in_the_same_position(p):
s = Road(headlight_range=3,
car=Car(2, 1),
obstacles=[
Bump(-1, -1, prob_of_appearing=p),
Pedestrian(-1, -1, prob_of_appearing=p)
],
allowed_obstacle_appearance_columns=[{1}, {1}])
successors = [(sp.to_key(), prob) for sp, prob in s.successors(NO_OP)]
if p < 1:
assert len(successors) == 3
assert successors[2] == ((2, 1, frozenset([('p', 0, 1, 0, 0)])),
p * (1 - p))
assert successors[0] == ((2, 1, frozenset()),
pytest.approx(1 - p - p * (1 - p)))
else:
assert len(successors) == 1
assert successors[int(p < 1) * 1] == ((2, 1, frozenset([('b', 0, 1, 0, 0)
])), p)
assert sum(prob for _, prob in successors) == pytest.approx(1)
def test_to_key():
bumps = [Bump(0, 2)]
headlight_range = 1
car = Car(2, 1)
patient = Road(headlight_range, car, bumps).to_key()
assert patient == (2, 1, frozenset([('b', 0, 2, 0, 0)]))
obstacles = [
Bump(-1, 0),
Bump(-1, -1),
Bump(0, 2),
Pedestrian(1, 1),
Pedestrian(1, 2),
Pedestrian(2, 3)
]
headlight_range = 1
car = Car(2, 1)
patient = Road(headlight_range, car, obstacles).to_key()
assert patient == (
2,
1,
frozenset([('b', 0, 2, 0, 0), ('p', 1, 1, 0, 0), ('p', 1, 2, 0, 0)])) # yapf:disable
def test_car_has_crashed(col):
patient = Road(4, Car(col, 1), [])
assert patient.has_crashed()
assert patient.has_crashed(Car(col, 1))
assert not patient.has_crashed(Car(0, 1))
assert patient.to_key() == (-1, 0, frozenset())
for action in ACTIONS:
successors, probs = zip(*patient.successors(action))
assert [s.to_key() for s in successors] == [(-1, 0, frozenset())]
assert sum(probs) == pytest.approx(1.0)
def test_scores_obst_same_col_as_car(obst_class, car_col):
headlight_range = 4
obst = obst_class(0, car_col)
road = Road(headlight_range, Car(car_col, 1), [obst])
score = hand_coded_obstacle_score(obst, road)
scores = hand_coded_score_for_columns_adjacent_to_car(road)
if car_col == 0:
assert scores == [-np.inf, -2 + score, 0]
elif car_col == 1:
assert scores == [-2, score, 0]
elif car_col == 2:
assert scores == [0, score, -2]
else:
assert scores == [0, -2 + score, -np.inf]
def test_fast_obstacles(p):
s = Road(headlight_range=3,
car=Car(2, 1),
obstacles=[Pedestrian(-1, -1, speed=4, prob_of_appearing=p)],
allowed_obstacle_appearance_columns=[{1}])
successors = [(sp.to_key(), prob) for sp, prob in s.successors(NO_OP)]
if p < 1:
assert len(successors) == 5
assert successors[3] == ((2, 1, frozenset([('p', 0, 1, 4, 0)])),
(1 - p)**4 * p)
assert successors[2] == ((2, 1, frozenset([('p', 1, 1, 4, 0)])),
(1 - p)**3 * p)
assert successors[1] == ((2, 1, frozenset([('p', 2, 1, 4, 0)])),
(1 - p)**2 * p)
assert successors[4] == ((2, 1, frozenset([('p', 3, 1, 4, 0)])),
(1 - p)**1 * p)
else:
assert len(successors) == 1
assert successors[0] == ((2, 1, frozenset()),
pytest.approx((1 - p)**5 + p))
assert sum(prob for _, prob in successors) == pytest.approx(1)
def test_layers():
bumps = [Bump(-1, -1), Bump(0, 0), Bump(1, 3)]
pedestrians = [Pedestrian(-1, -1), Pedestrian(0, 1), Pedestrian(1, 2)]
headlight_range = 4
speed = 1
patient = Road(headlight_range, Car(1, speed=speed),
bumps + pedestrians).layers()
assert len(patient) == 7
x_bump_layer = np.full([headlight_range + 1, 7], False)
x_bump_layer[0, 1] = True
x_bump_layer[1, 4] = True
np.testing.assert_array_equal(patient[str(bumps[0])], x_bump_layer)
x_pedestrian_layer = np.full([headlight_range + 1, 7], False)
x_pedestrian_layer[0, 2] = True
x_pedestrian_layer[1, 3] = True
np.testing.assert_array_equal(patient[str(pedestrians[0])],
x_pedestrian_layer)
x_car_layer = np.full([headlight_range + 1, 7], False)
x_car_layer[headlight_range, 1 + 1] = True
np.testing.assert_array_equal(patient['C'], x_car_layer)
x_wall_layer = np.full([headlight_range + 1, 7], False)
x_wall_layer[:, 0] = True
x_wall_layer[:, -2] = True
np.testing.assert_array_equal(patient['|'], x_wall_layer)
x_ditch_layer = np.full([headlight_range + 1, 7], False)
x_ditch_layer[:, 1] = True
x_ditch_layer[:, -3] = True
np.testing.assert_array_equal(patient['d'], x_ditch_layer)
x_speedometer_layer = np.full([headlight_range + 1, 7], False)
x_speedometer_layer[-speed:, -1] = True
np.testing.assert_array_equal(patient['^'], x_speedometer_layer)
x_empty_layer = np.logical_not(
np.logical_or(
x_speedometer_layer,
np.logical_or(
x_ditch_layer,
np.logical_or(np.logical_or(x_bump_layer, x_pedestrian_layer),
np.logical_or(x_car_layer, x_wall_layer)))))
np.testing.assert_array_equal(patient[' '], x_empty_layer)
def test_collision_if_car_changes_lanes_into_obstacle():
hr = 3
s = Road(headlight_range=hr, car=Car(2, 1), obstacles=[Bump(hr, 1)])
s_p = Road(headlight_range=hr, car=Car(1, 1), obstacles=[Bump(hr, 1)])
num_collisions = s.count_obstacle_collisions(
s_p, lambda obs: int(isinstance(obs, Bump))).pop()
assert num_collisions == 1
num_collisions = s_p.count_obstacle_collisions(
s, lambda obs: int(isinstance(obs, Bump))).pop()
assert num_collisions == 0
def test_collision_if_car_drives_at_full_speed():
hr = 3
s = Road(headlight_range=hr, car=Car(2, hr), obstacles=[Bump(hr + 1, 2)])
s_p = Road(headlight_range=hr, car=Car(2, hr), obstacles=[Bump(hr, 2)])
num_collisions = s.count_obstacle_collisions(
s_p, lambda obs: int(isinstance(obs, Bump))).pop()
assert num_collisions == 1
num_collisions = s_p.count_obstacle_collisions(
s, lambda obs: int(isinstance(obs, Bump))).pop()
assert num_collisions == 0
def test_scores_obst_more_than_1_col_away(obst_class, car_col):
headlight_range = 4
for i in [2, 3]:
obst_col = (car_col + i) % 5
obst = obst_class(0, obst_col)
road = Road(headlight_range, Car(car_col, 1), [obst])
scores = hand_coded_score_for_columns_adjacent_to_car(road)
if car_col == 0:
assert scores == [-np.inf, -2, 0]
elif car_col == 1:
assert scores == [-2, 0, 0]
elif car_col == 2:
assert scores == [0, 0, -2]
else:
assert scores == [0, -2, -np.inf]
def simple_road_factory(headlight_range=5,
num_bumps=3,
num_pedestrians=3,
speed=1,
discount=0.99,
bump_appearance_prob=0.2,
pedestrian_appearance_prob=0.2,
car_col=2):
car = Car(car_col, speed)
initial_bumps = [
Bump(-1, -1, prob_of_appearing=bump_appearance_prob)
for _ in range(num_bumps)
]
initial_pedestrians = [
Pedestrian(-1, -1, prob_of_appearing=pedestrian_appearance_prob)
for _ in range(num_pedestrians)
]
return Road(headlight_range, car, initial_bumps + initial_pedestrians)
def test_obstacle_layers():
bumps = [Bump(-1, -1), Bump(0, 0), Bump(1, 3)]
pedestrians = [Pedestrian(-1, -1), Pedestrian(0, 1), Pedestrian(1, 2)]
headlight_range = 4
patient = Road(headlight_range, Car(1, 1),
bumps + pedestrians).obstacle_layers()
assert len(patient) == 2
x_bump_layer = np.full([headlight_range + 1, 7], False)
x_bump_layer[0, 1] = True
x_bump_layer[1, 4] = True
np.testing.assert_array_equal(patient[str(bumps[0])], x_bump_layer)
x_pedestrian_layer = np.full([headlight_range + 1, 7], False)
x_pedestrian_layer[0, 2] = True
x_pedestrian_layer[1, 3] = True
np.testing.assert_array_equal(patient[str(pedestrians[0])],
x_pedestrian_layer)
def test_obstacle_appearance_prob(p):
s = Road(headlight_range=3,
car=Car(2, 1),
obstacles=[Bump(-1, -1, prob_of_appearing=p)],
allowed_obstacle_appearance_columns=[{1}])
successors = [(sp.to_key(), prob) for sp, prob in s.successors(NO_OP)]
if p < 1:
assert len(successors) == 2
assert successors[0] == ((2, 1, frozenset()), 1.0 - p)
else:
assert len(successors) == 1
assert successors[int(p < 1) * 1] == ((2, 1, frozenset([('b', 0, 1, 0, 0)
])), p)
s = Road(headlight_range=3,
car=Car(2, 1),
obstacles=[
Bump(-1, -1, prob_of_appearing=p),
Pedestrian(-1, -1, prob_of_appearing=p)
],
allowed_obstacle_appearance_columns=[{1}, {2}])
successors = [(sp.to_key(), prob) for sp, prob in s.successors(NO_OP)]
if p < 1:
assert len(successors) == 4
assert successors[1] == ((2, 1, frozenset([('b', 0, 1, 0, 0)])),
pytest.approx(p * (1 - p)))
assert successors[2] == ((2, 1, frozenset([('p', 0, 2, 0, 0)])),
pytest.approx(p * (1 - p)))
assert successors[0] == ((2, 1, frozenset()),
pytest.approx(1 - 2 * p * (1 - p) - p * p))
else:
assert len(successors) == 1
assert successors[int(p < 1) * 3] == ((2, 1,
frozenset([('b', 0, 1, 0, 0),
('p', 0, 2, 0, 0)])),
pytest.approx(p * p))
def test_pedestrian_in_front_of_car():
obstacles = [Pedestrian(3, 2)]
headlight_range = 4
road = Road(headlight_range, Car(2, 1), obstacles)
action_taken = hand_coded_data_gathering_policy(road)
assert action_taken == LEFT