def test_car_does_not_bounce_off_wall(col_action): col = col_action[0] action = col_action[1] car = Car(col, 1) speed_limit = 5 next_car = car.next(action, speed_limit) assert next_car.col < 0 or next_car.col > 3
def test_prob_of_moving_car_appearing(): car_col = 0 s = dg_road.LaneAndDitchRoad( headlight_range=3, car=Car(col=car_col, speed=0), obstacles=[Pedestrian(-1, -1, speed=1, prob_of_appearing=0.05)], 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] == ((car_col, 0, frozenset()), 0.95) assert successors[1] == ((car_col, 0, frozenset([('p', 0, 1, 1, 0)])), 0.05) s = dg_road.LaneAndDitchRoad( headlight_range=3, car=Car(col=car_col, speed=1), obstacles=[Pedestrian(-1, -1, speed=1, prob_of_appearing=0.05)], allowed_obstacle_appearance_columns=[{1}]) successors = [(sp.to_key(), prob) for sp, prob in s.successors(NO_OP)] assert len(successors) == 3 assert successors[0] == ((car_col, 1, frozenset()), 1 - (0.05 * (1 - 0.05) + 0.05)) assert successors[1] == ((car_col, 1, frozenset([('p', 0, 1, 1, 0)])), 0.05 * (1 - 0.05)) assert successors[2] == ((car_col, 1, frozenset([('p', 1, 1, 1, 0)])), 0.05)
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_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_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_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_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_fast_obstacles(p): car_col = 0 s = dg_road.LaneAndDitchRoad( headlight_range=3, car=Car(col=car_col, speed=1), obstacles=[Pedestrian(-1, -1, speed=4, prob_of_appearing=p)], allowed_obstacle_appearance_columns=[{1}]) successors = sorted([(sp.to_key(), prob) for sp, prob in s.successors(NO_OP)], key=lambda x: x[1]) if p < 1: assert len(successors) == 5 assert successors[0] == ((car_col, 1, frozenset([('p', 0, 1, 4, 0)])), (1 - p)**4 * p) assert successors[1] == ((car_col, 1, frozenset([('p', 1, 1, 4, 0)])), (1 - p)**3 * p) assert successors[2] == ((car_col, 1, frozenset([('p', 2, 1, 4, 0)])), (1 - p)**2 * p) assert successors[3] == ((car_col, 1, frozenset([('p', 3, 1, 4, 0)])), (1 - p)**1 * p) else: assert len(successors) == 1 assert successors[-1] == ((car_col, 1, frozenset()), pytest.approx((1 - p)**5 + p)) assert sum(prob for _, prob in successors) == pytest.approx(1)
def test_probabilities_error(): state = dg_road.LaneAndDitchRoad(headlight_range=3, car=Car(1, 1), obstacles=[Bump(-1, -1), Bump(-1, -1)]) probs = [p for (s, p) in state.successors(NO_OP)] assert sum(probs) == pytest.approx(1.0)
def test_speedometer_layer(speed): headlight_range = 4 patient = dg_road.LaneAndDitchRoad(headlight_range, Car(1, speed=speed), []) x = np.full([headlight_range + 1, 5], False) x[headlight_range + 1 - speed:, -1] = True np.testing.assert_array_equal(patient.speedometer_layer(), x)
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_no_obstacles_revealed_is_the_only_valid_set_of_revealed_obstacles_when_all_obstacles_already_on_road( obst): headlight_range = 2 lane_and_ditch = dg_road.LaneAndDitchRoad(headlight_range, Car(1, 1), [obst]) patient = list(lane_and_ditch.every_combination_of_revealed_obstacles(1)) assert patient == [{}]
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_to_s(): bumps = [Bump(-1, -1), Bump(0, 0), Bump(1, 1)] pedestrians = [Pedestrian(-1, -1), Pedestrian(0, 1), Pedestrian(1, 0)] headlight_range = 4 speed = 1 patient = dg_road.LaneAndDitchRoad(headlight_range, Car(1, speed=speed), bumps + pedestrians).to_s() assert patient == '|bp| \n|pb| \n| d| \n| d| \n| C|^'
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_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 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_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 new_road(): if one_way: return dg_road.LaneAndDitchRoad( headlight_range, Car(0, 0), obstacles=[ Bump(-1, -1, prob_of_appearing=1.0), ], allowed_obstacle_appearance_columns=[{0, 1}], allow_crashing=allow_crashing) else: return dg_road.Road(headlight_range, Car(2, 0), obstacles=[ Bump(-1, -1, prob_of_appearing=1.0), ], allowed_obstacle_appearance_columns=[{0, 1}], allow_crashing=allow_crashing)
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_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_obstacle_appearance_prob(p): car_col = 0 s = dg_road.LaneAndDitchRoad(headlight_range=3, car=Car(col=car_col, speed=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] == ((car_col, 1, frozenset()), 1.0 - p) else: assert len(successors) == 1 assert successors[int(p < 1) * 1] == ((car_col, 1, frozenset([('b', 0, 1, 0, 0)])), p) s = dg_road.LaneAndDitchRoad(headlight_range=3, car=Car(col=car_col, speed=1), obstacles=[ Bump(-1, -1, prob_of_appearing=p), Pedestrian(-1, -1, prob_of_appearing=p) ], allowed_obstacle_appearance_columns=[{0}, {1}]) successors = [(sp.to_key(), prob) for sp, prob in s.successors(NO_OP)] if p < 1: assert len(successors) == 4 assert successors[1] == ((car_col, 1, frozenset([('b', 0, 0, 0, 0)])), pytest.approx(p * (1 - p))) assert successors[2] == ((car_col, 1, frozenset([('p', 0, 1, 0, 0)])), pytest.approx(p * (1 - p))) assert successors[0] == ((car_col, 1, frozenset()), pytest.approx(1 - 2 * p * (1 - p) - p * p)) else: assert len(successors) == 1 assert successors[int(p < 1) * 3] == ((car_col, 1, frozenset([('b', 0, 0, 0, 0), ('p', 0, 1, 0, 0)])), pytest.approx(p * p))
def test_number_of_successors_invisible_obstacle_and_variable_speeds( obst, action, speed): headlight_range = 2 lane_and_ditch = dg_road.LaneAndDitchRoad(headlight_range, Car(1, speed), [obst]) probs = [prob for next_state, prob in lane_and_ditch.successors(action)] print(action) print(probs) if action == RIGHT: assert probs == [1.0] else: assert (len(probs) == 2 * max(0, speed - int(action == LEFT)) + 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_crashing_into_right_wall(): patient = dg_road.LaneAndDitchRoad(headlight_range=1, car=Car(col=1, speed=1), obstacles=[]) 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._stage_width == 5 assert s.to_s() == ' ' * 5 + '\n' + ' ' * 5
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_no_collision_if_obstacle_is_removed_from_the_road(): hr = 3 car = Car(2, 4) s_p = dg_road.LaneAndDitchRoad(headlight_range=hr, car=car, obstacles=[Bump(-1, -1)]) s = dg_road.LaneAndDitchRoad(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 == 0