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_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_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_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_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_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_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_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 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_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_to_key():
bumps = [Bump(0, 1)]
headlight_range = 1
car = Car(col=0, speed=1)
patient = dg_road.LaneAndDitchRoad(headlight_range, car, bumps).to_key()
assert patient == (0, 1, frozenset([('b', 0, 1, 0, 0)]))
obstacles = [
Bump(-1, 0),
Bump(-1, -1),
Bump(0, 1),
Pedestrian(1, 1),
Pedestrian(1, 0),
Pedestrian(2, 0)
]
headlight_range = 1
patient = dg_road.LaneAndDitchRoad(headlight_range, car,
obstacles).to_key()
assert patient == (
0,
1,
frozenset([('b', 0, 1, 0, 0), ('p', 1, 1, 0, 0), ('p', 1, 0, 0, 0)])) # yapf:disable
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_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_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_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_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
from driving_gridworld.obstacles import Pedestrian
from driving_gridworld.car import Car
from driving_gridworld.actions import ACTIONS, RIGHT, LEFT, UP, DOWN, NO_OP
import driving_gridworld.rewards as dg_rewards
import pytest
@pytest.mark.parametrize("action", ACTIONS)
def test_transition_probs_without_obstacles_are_always_1(action):
headlight_range = 4
patient = Road(headlight_range, Car(0, 1))
for next_state, prob in patient.successors(action):
assert prob == 1.0
@pytest.mark.parametrize("obst", [Bump(0, 0), Pedestrian(0, 0)])
def test_no_obstacles_revealed_is_the_only_valid_set_of_revealed_obstacles_when_all_obstacles_already_on_road(
obst):
headlight_range = 2
road_test = Road(headlight_range, Car(1, 1), [obst])
patient = list(road_test.every_combination_of_revealed_obstacles(1))
assert patient == [{}]
@pytest.mark.parametrize("obst", [Bump(0, 0), Pedestrian(0, 0)])
@pytest.mark.parametrize("action", ACTIONS)
def test_transition_probs_with_one_obstacle_are_1(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)]
assert probs == [1.0]
def test_moving_pedestrian(car_speed, ped_speed):
patient = Pedestrian(1, 1, speed=ped_speed)
next_patient = patient.next(car_speed)
assert next_patient.row == (patient.row + car_speed + patient.speed)
def test_is_in_a_ditch():
road = dg_road.LaneAndDitchRoad(2, Car(0, 1))
assert not road.is_in_a_ditch()
road = dg_road.LaneAndDitchRoad(2, Car(1, 1))
assert road.is_in_a_ditch()
@pytest.mark.parametrize("action", ACTIONS)
def test_transition_probs_without_obstacles_are_always_1(action):
headlight_range = 4
patient = dg_road.LaneAndDitchRoad(headlight_range, Car(0, 1))
for next_state, prob in patient.successors(action):
assert prob == 1.0
@pytest.mark.parametrize("obst", [Bump(0, 0), Pedestrian(0, 0)])
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 == [{}]
@pytest.mark.parametrize("obst", [Bump(0, 0), Pedestrian(0, 0)])
@pytest.mark.parametrize("action", ACTIONS)
def test_transition_probs_with_one_obstacle_are_1(obst, action):
headlight_range = 2
lane_and_ditch = dg_road.LaneAndDitchRoad(headlight_range, Car(1, 1),
[obst])