def test_errs():
""" Ensure that we can call custom methods without error """
domain = PST(NUM_UAV=2)
dummyState = domain.s0()
# state2Struct
rlpy_state = [1,2,9,3,1,0,1,1]
internState = domain.state2Struct(rlpy_state)
assert np.all(internState.locations == [1,2])
assert np.all(internState.fuel == [9,3])
assert np.all(internState.actuator == [1,0])
assert np.all(internState.sensor == [1,1])
# struct2State
locs = np.array([1,2])
fuel = np.array([9,3])
act = np.array([1,0])
sens = np.array([1,1])
sStruct = StateStruct(locs, fuel, act, sens)
assert np.all(domain.struct2State(sStruct) == [1,2,9,3,1,0,1,1])
# properties2StateVec
locs = np.array([1,2])
fuel = np.array([9,3])
act = np.array([1,0])
sens = np.array([1,1])
assert np.all(domain.properties2StateVec(locs, fuel, act, sens) == [1,2,9,3,1,0,1,1])
def test_errs():
""" Ensure that we can call custom methods without error """
domain = PST(NUM_UAV=2)
dummyState = domain.s0()
# state2Struct
rlpy_state = [1, 2, 9, 3, 1, 0, 1, 1]
internState = domain.state2Struct(rlpy_state)
assert np.all(internState.locations == [1, 2])
assert np.all(internState.fuel == [9, 3])
assert np.all(internState.actuator == [1, 0])
assert np.all(internState.sensor == [1, 1])
# struct2State
locs = np.array([1, 2])
fuel = np.array([9, 3])
act = np.array([1, 0])
sens = np.array([1, 1])
sStruct = StateStruct(locs, fuel, act, sens)
assert np.all(domain.struct2State(sStruct) == [1, 2, 9, 3, 1, 0, 1, 1])
# properties2StateVec
locs = np.array([1, 2])
fuel = np.array([9, 3])
act = np.array([1, 0])
sens = np.array([1, 1])
assert np.all(
domain.properties2StateVec(locs, fuel, act, sens) ==
[1, 2, 9, 3, 1, 0, 1, 1])
def test_transitions():
"""
Ensure that actions result in expected state transition behavior.
Test:
1) Actuator and sensor failure, associated lack of reward
2) Refuel
3) Repair
4) Presence of reward iff a UAV is in COMMS *and* SURVEIL
5) UAV Crash because of lack of fuel
"""
NUM_UAV = 2
nPosActions = 3 # = UAVAction.SIZE
actionLimits = nPosActions * np.ones(NUM_UAV, dtype='int')
# Test p=1 actuator failure when not at base
domain = PST(NUM_UAV=NUM_UAV)
dummyS = domain.s0()
domain.P_ACT_FAIL = 0.0
domain.P_SENSOR_FAIL = 1.0
locs = np.array([UAVLocation.COMMS, UAVLocation.COMMS])
fuel = np.array([10,10])
act = np.array([ActuatorState.RUNNING, ActuatorState.RUNNING])
sens = np.array([SensorState.RUNNING, SensorState.RUNNING])
actionVec = np.array([UAVAction.LOITER, UAVAction.LOITER])
a = vec2id(actionVec, actionLimits)
domain.state = domain.properties2StateVec(locs, fuel, act, sens)
r, ns, t, possA = domain.step(a)
# Assert that only change was reduction in fuel and failure of sensor
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel-1, \
act, np.array([0,0])))
# Test location change movement
actionVec = np.array([UAVAction.ADVANCE, UAVAction.ADVANCE])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs+1, fuel-2, \
act, np.array([0,0])))
# Test p=1 sensor failure when not at base
domain.FUEL_BURN_REWARD_COEFF = 0.0
domain.MOVE_REWARD_COEFF = 0.0
domain.P_ACT_FAIL = 1.0
actionVec = np.array([UAVAction.RETREAT, UAVAction.LOITER])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs + [0,1], fuel-3, \
np.array([0,0]), np.array([0,0])))
# Test that no reward was received since the sensor is broken
assert r == 0
# Test Refuel
# After action below will be in locs + [-1,1], or REFUEL and SURVEIL
# respectively, with 4 fuel units consumed. Must LOITER to refill fuel though
actionVec = np.array([UAVAction.RETREAT, UAVAction.RETREAT])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
locs = np.array([UAVLocation.REFUEL, UAVLocation.COMMS])
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel-4, \
np.array([0,0]), np.array([0,0])))
# Refuel occurs after loitering
actionVec = np.array([UAVAction.LOITER, UAVAction.RETREAT])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
fuel = np.array([10,5])
locs = np.array([UAVLocation.REFUEL, UAVLocation.REFUEL])
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel, \
np.array([0,0]), np.array([0,0])))
# Test repair [note uav2 was never refueled since never loitered]
actionVec = np.array([UAVAction.RETREAT, UAVAction.RETREAT])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs-1, fuel-1, \
np.array([0,0]), np.array([0,0])))
# Repair only occurs after loiter [no fuel burned for BASE/REFUEL loiter
actionVec = np.array([UAVAction.LOITER, UAVAction.LOITER])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs-1, fuel-1, \
np.array([1,1]), np.array([1,1])))
# Test comms but no surveillance
domain.P_ACT_FAIL = 0.0
domain.P_SENSOR_FAIL = 0.0
actionVec = np.array([UAVAction.ADVANCE, UAVAction.ADVANCE])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel-2, \
np.array([1,1]), np.array([1,1])))
actionVec = np.array([UAVAction.ADVANCE, UAVAction.ADVANCE])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs+1, fuel-3, \
np.array([1,1]), np.array([1,1])))
assert r == 0 # no reward because only have comms, no surveil
# add 2 units of extra fuel to each and move
domain.state = domain.properties2StateVec(locs+1, fuel-1, \
np.array([1,1]), np.array([1,1]))
# Test surveillance but no comms
actionVec = np.array([UAVAction.ADVANCE, UAVAction.ADVANCE])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs+2, fuel-2, \
np.array([1,1]), np.array([1,1])))
assert r == 0 # no reward because have only surveil, no comms
# Test comms and surveillance
actionVec = np.array([UAVAction.RETREAT, UAVAction.LOITER])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
locs = np.array([UAVLocation.COMMS, UAVLocation.SURVEIL])
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel-3, \
np.array([1,1]), np.array([1,1])))
assert r == 0
# reward based on "s", not "ns", pickup reward here
actionVec = np.array([UAVAction.LOITER, UAVAction.LOITER])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
locs = np.array([UAVLocation.COMMS, UAVLocation.SURVEIL])
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel-4, \
np.array([1,1]), np.array([1,1])))
assert r == domain.SURVEIL_REWARD
# Test crash
# Since reward based on "s" not "ns", also pickup reward from prev step
actionVec = np.array([UAVAction.RETREAT, UAVAction.RETREAT])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs-1, fuel-5, \
np.array([1,1]), np.array([1,1])))
assert t == True
assert r == domain.CRASH_REWARD + domain.SURVEIL_REWARD
def test_transitions():
"""
Ensure that actions result in expected state transition behavior.
Test:
1) Actuator and sensor failure, associated lack of reward
2) Refuel
3) Repair
4) Presence of reward iff a UAV is in COMMS *and* SURVEIL
5) UAV Crash because of lack of fuel
"""
NUM_UAV = 2
nPosActions = 3 # = UAVAction.SIZE
actionLimits = nPosActions * np.ones(NUM_UAV, dtype='int')
# Test p=1 actuator failure when not at base
domain = PST(NUM_UAV=NUM_UAV)
dummyS = domain.s0()
domain.P_ACT_FAIL = 0.0
domain.P_SENSOR_FAIL = 1.0
locs = np.array([UAVLocation.COMMS, UAVLocation.COMMS])
fuel = np.array([10, 10])
act = np.array([ActuatorState.RUNNING, ActuatorState.RUNNING])
sens = np.array([SensorState.RUNNING, SensorState.RUNNING])
actionVec = np.array([UAVAction.LOITER, UAVAction.LOITER])
a = vec2id(actionVec, actionLimits)
domain.state = domain.properties2StateVec(locs, fuel, act, sens)
r, ns, t, possA = domain.step(a)
# Assert that only change was reduction in fuel and failure of sensor
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel-1, \
act, np.array([0,0])))
# Test location change movement
actionVec = np.array([UAVAction.ADVANCE, UAVAction.ADVANCE])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs+1, fuel-2, \
act, np.array([0,0])))
# Test p=1 sensor failure when not at base
domain.FUEL_BURN_REWARD_COEFF = 0.0
domain.MOVE_REWARD_COEFF = 0.0
domain.P_ACT_FAIL = 1.0
actionVec = np.array([UAVAction.RETREAT, UAVAction.LOITER])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs + [0,1], fuel-3, \
np.array([0,0]), np.array([0,0])))
# Test that no reward was received since the sensor is broken
assert r == 0
# Test Refuel
# After action below will be in locs + [-1,1], or REFUEL and SURVEIL
# respectively, with 4 fuel units consumed. Must LOITER to refill fuel though
actionVec = np.array([UAVAction.RETREAT, UAVAction.RETREAT])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
locs = np.array([UAVLocation.REFUEL, UAVLocation.COMMS])
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel-4, \
np.array([0,0]), np.array([0,0])))
# Refuel occurs after loitering
actionVec = np.array([UAVAction.LOITER, UAVAction.RETREAT])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
fuel = np.array([10, 5])
locs = np.array([UAVLocation.REFUEL, UAVLocation.REFUEL])
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel, \
np.array([0,0]), np.array([0,0])))
# Test repair [note uav2 was never refueled since never loitered]
actionVec = np.array([UAVAction.RETREAT, UAVAction.RETREAT])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs-1, fuel-1, \
np.array([0,0]), np.array([0,0])))
# Repair only occurs after loiter [no fuel burned for BASE/REFUEL loiter
actionVec = np.array([UAVAction.LOITER, UAVAction.LOITER])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs-1, fuel-1, \
np.array([1,1]), np.array([1,1])))
# Test comms but no surveillance
domain.P_ACT_FAIL = 0.0
domain.P_SENSOR_FAIL = 0.0
actionVec = np.array([UAVAction.ADVANCE, UAVAction.ADVANCE])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel-2, \
np.array([1,1]), np.array([1,1])))
actionVec = np.array([UAVAction.ADVANCE, UAVAction.ADVANCE])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs+1, fuel-3, \
np.array([1,1]), np.array([1,1])))
assert r == 0 # no reward because only have comms, no surveil
# add 2 units of extra fuel to each and move
domain.state = domain.properties2StateVec(locs+1, fuel-1, \
np.array([1,1]), np.array([1,1]))
# Test surveillance but no comms
actionVec = np.array([UAVAction.ADVANCE, UAVAction.ADVANCE])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs+2, fuel-2, \
np.array([1,1]), np.array([1,1])))
assert r == 0 # no reward because have only surveil, no comms
# Test comms and surveillance
actionVec = np.array([UAVAction.RETREAT, UAVAction.LOITER])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
locs = np.array([UAVLocation.COMMS, UAVLocation.SURVEIL])
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel-3, \
np.array([1,1]), np.array([1,1])))
assert r == 0
# reward based on "s", not "ns", pickup reward here
actionVec = np.array([UAVAction.LOITER, UAVAction.LOITER])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
locs = np.array([UAVLocation.COMMS, UAVLocation.SURVEIL])
assert np.array_equiv(ns, domain.properties2StateVec(locs, fuel-4, \
np.array([1,1]), np.array([1,1])))
assert r == domain.SURVEIL_REWARD
# Test crash
# Since reward based on "s" not "ns", also pickup reward from prev step
actionVec = np.array([UAVAction.RETREAT, UAVAction.RETREAT])
a = vec2id(actionVec, actionLimits)
r, ns, t, possA = domain.step(a)
assert np.array_equiv(ns, domain.properties2StateVec(locs-1, fuel-5, \
np.array([1,1]), np.array([1,1])))
assert t == True
assert r == domain.CRASH_REWARD + domain.SURVEIL_REWARD
