package edu.brown.cs.burlap.experiencereplay;
import burlap.mdp.core.action.Action;
import burlap.mdp.singleagent.environment.EnvironmentOutcome;
import edu.brown.cs.burlap.ALEState;
import edu.brown.cs.burlap.action.ActionSet;
import edu.brown.cs.burlap.preprocess.PreProcessor;
import edu.brown.cs.burlap.vfa.StateVectorizor;
import org.bytedeco.javacpp.BytePointer;
import org.bytedeco.javacpp.FloatPointer;
import org.bytedeco.javacpp.Loader;
import org.bytedeco.javacpp.opencv_core;
import org.junit.After;
import org.junit.Assert;
import org.junit.Before;
import org.junit.Test;
import java.util.ArrayList;
import java.util.List;
import static org.bytedeco.javacpp.opencv_core.CV_32F;
import static org.bytedeco.javacpp.opencv_core.CV_8U;
/**
* Unit tests for FrameExperienceMemory.
*
* @author Melrose Roderick.
*/
public class TestFrameExperienceMemory {
FloatPointer input;
@Before
public void setup() {
Loader.load(opencv_core.class);
}
@After
public void teardown() {
}
@Test
public void TestSmall() {
BytePointer data0 = new BytePointer((byte)0, (byte)0);
BytePointer data1 = new BytePointer((byte)0, (byte)1);
BytePointer data2 = new BytePointer((byte)2, (byte)3);
BytePointer data3 = new BytePointer((byte)4, (byte)5);
BytePointer data4 = new BytePointer((byte)6, (byte)7);
BytePointer data5 = new BytePointer((byte)8, (byte)9);
BytePointer data6 = new BytePointer((byte)10, (byte)11);
BytePointer data7 = new BytePointer((byte)12, (byte)13);
opencv_core.Mat frame0 = new opencv_core.Mat(1, 2, CV_8U, data0);
opencv_core.Mat frame1 = new opencv_core.Mat(1, 2, CV_8U, data1);
opencv_core.Mat frame2 = new opencv_core.Mat(1, 2, CV_8U, data2);
opencv_core.Mat frame3 = new opencv_core.Mat(1, 2, CV_8U, data3);
opencv_core.Mat frame4 = new opencv_core.Mat(1, 2, CV_8U, data4);
opencv_core.Mat frame5 = new opencv_core.Mat(1, 2, CV_8U, data5);
opencv_core.Mat frame6 = new opencv_core.Mat(1, 2, CV_8U, data6);
opencv_core.Mat frame7 = new opencv_core.Mat(1, 2, CV_8U, data7);
ALEState aleState0 = new ALEState(frame0);
ALEState aleState1 = new ALEState(frame1);
ALEState aleState2 = new ALEState(frame2);
ALEState aleState3 = new ALEState(frame3);
ALEState aleState4 = new ALEState(frame4);
ALEState aleState5 = new ALEState(frame5);
ALEState aleState6 = new ALEState(frame6);
ALEState aleState7 = new ALEState(frame7);
input = new FloatPointer(2 * 2);
ActionSet actionSet = new ActionSet(new String[]{"Action0"});
Action action0 = actionSet.get(0);
FrameExperienceMemory experienceMemory = new FrameExperienceMemory(5, 2, new TestPreprocessor(2), actionSet);
FrameHistory state0 = experienceMemory.currentFrameHistory;
experienceMemory.addExperience(new EnvironmentOutcome(aleState0, action0, aleState1, 0, false));
FrameHistory state1 = experienceMemory.currentFrameHistory;
experienceMemory.addExperience(new EnvironmentOutcome(aleState1, action0, aleState2, 0, false));
FrameHistory state2 = experienceMemory.currentFrameHistory;
experienceMemory.addExperience(new EnvironmentOutcome(aleState2, action0, aleState3, 0, false));
FrameHistory state3 = experienceMemory.currentFrameHistory;
experienceMemory.addExperience(new EnvironmentOutcome(aleState3, action0, aleState4, 0, false));
FrameHistory state4 = experienceMemory.currentFrameHistory;
compare(state0, experienceMemory, new BytePointer[]{data0, data0}, 2);
compare(state1, experienceMemory, new BytePointer[]{data0, data1}, 2);
compare(state2, experienceMemory, new BytePointer[]{data1, data2}, 2);
compare(state3, experienceMemory, new BytePointer[]{data2, data3}, 2);
compare(state4, experienceMemory, new BytePointer[]{data3, data4}, 2);
experienceMemory.addExperience(new EnvironmentOutcome(aleState4, action0, aleState5, 0, false));
FrameHistory state5 = experienceMemory.currentFrameHistory;
experienceMemory.addExperience(new EnvironmentOutcome(aleState5, action0, aleState6, 0, false));
FrameHistory state6 = experienceMemory.currentFrameHistory;
experienceMemory.addExperience(new EnvironmentOutcome(aleState6, action0, aleState7, 0, false));
FrameHistory state7 = experienceMemory.currentFrameHistory;
compare(state3, experienceMemory, new BytePointer[]{data2, data3}, 2);
compare(state4, experienceMemory, new BytePointer[]{data3, data4}, 2);
compare(state5, experienceMemory, new BytePointer[]{data4, data5}, 2);
compare(state6, experienceMemory, new BytePointer[]{data5, data6}, 2);
compare(state7, experienceMemory, new BytePointer[]{data6, data7}, 2);
}
@Test
public void TestRandom() {
int replaySize = 50;
int history = 4;
int frameSize = 10;
input = new FloatPointer(frameSize * history);
ActionSet actionSet = new ActionSet(new String[]{"Action0"});
Action action0 = actionSet.get(0);
FrameExperienceMemory experienceMemory = new FrameExperienceMemory(replaySize, history, new TestPreprocessor(frameSize), actionSet);
FrameHistory initialState = experienceMemory.currentFrameHistory;
BytePointer data0 = new BytePointer(history);
for (int f = 0; f < frameSize; f++) {
data0.position(f).put((byte)0);
}
data0.position(0);
List<BytePointer> dataList = new ArrayList<>();
for (int h = 0; h < history; h++) {
dataList.add(data0);
}
compare(initialState, experienceMemory, dataList.toArray(new BytePointer[history]), frameSize);
List<List<BytePointer>> dataListList = new ArrayList<>();
List<FrameHistory> states = new ArrayList<>();
ALEState prevAleState = null;
for (int n = 0; n < 100; n++) {
for (int i = 0; i < replaySize; i++) {
BytePointer data = new BytePointer(frameSize);
for (int f = 0; f < frameSize; f++) {
byte d = (byte) (Math.random()*126.0);
data.position(f).put(d);
}
data.position(0);
dataList.remove(0);
dataList.add(data);
opencv_core.Mat frame = new opencv_core.Mat(1, frameSize, CV_8U, data);
ALEState aleState = new ALEState(frame);
if (prevAleState != null) {
experienceMemory.addExperience(new EnvironmentOutcome(prevAleState, action0, aleState, 0, false));
FrameHistory state = experienceMemory.currentFrameHistory;
compare(state, experienceMemory, dataList.toArray(new BytePointer[history]), frameSize);
if (i < dataListList.size()) {
dataListList.set(i, new ArrayList<>(dataList));
states.set(i, state);
} else {
dataListList.add(new ArrayList<>(dataList));
states.add(state);
}
for (int k = 0; k < states.size(); k++) {
compare(states.get(k), experienceMemory, dataListList.get(k).toArray(new BytePointer[history]), frameSize);
}
}
prevAleState = aleState;
}
}
}
public void compare(FrameHistory state, StateVectorizor vectorizor, BytePointer[]dataArray, long outputSize) {
vectorizor.vectorizeState(state, input);
int i = 0;
for (BytePointer data : dataArray) {
for (int k = 0; k < outputSize; k++) {
Assert.assertEquals(input.get(i), data.get(k), 1e-6);
i++;
}
}
}
public class TestPreprocessor implements PreProcessor {
int frameSize;
public TestPreprocessor(int frameSize) {
this.frameSize = frameSize;
}
@Override
public void convertScreenToData(opencv_core.Mat screen, BytePointer data) {
if (screen.data().address() == data.address()) {
return;
}
BytePointer screenData = screen.data();
data.limit(data.position() + frameSize).put(screen.data().limit(frameSize));
}
@Override
public void convertDataToInput(BytePointer data, FloatPointer input, long size) {
int dataSize = outputSize() * (int)size;
opencv_core.Mat mat = new opencv_core.Mat(1, dataSize, CV_8U, data);
opencv_core.Mat floatMat = new opencv_core.Mat(1, dataSize, CV_32F, (new BytePointer(input)).position(input.position() * input.sizeof()));
mat.convertTo(floatMat, CV_32F, 1, 0);
}
@Override
public int outputSize() {
return frameSize;
}
}
}
