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test: fix connected components test (#112)
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* test: fix connected components test

* refactor: define local variable
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@JensSteenmetz
JensSteenmetz authored Jun 25, 2024
1 parent 103e9bd commit 71f8927
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4 changes: 2 additions & 2 deletions aplib.net-demo/Assets/Scenes/TestScenes/ConnectedComponentsTestScene.unity
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Expand Up @@ -20,7 +20,7 @@ RenderSettings:
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m_LinearFogStart: 0
m_LinearFogEnd: 300
m_AmbientSkyColor: {r: 0.21176471, g: 0.23394229, b: 0.25882354, a: 1}
m_AmbientSkyColor: {r: 1, g: 1, b: 1, a: 1}
m_AmbientEquatorColor: {r: 0.114, g: 0.125, b: 0.133, a: 1}
m_AmbientGroundColor: {r: 0.047, g: 0.043, b: 0.035, a: 1}
m_AmbientIntensity: 1
Expand Down Expand Up @@ -838,6 +838,7 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
maxAmmoCount: 0
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--- !u!114 &1220979210
MonoBehaviour:
m_ObjectHideFlags: 0
Expand All @@ -851,7 +852,6 @@ MonoBehaviour:
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--- !u!114 &1220979211
MonoBehaviour:
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155 changes: 77 additions & 78 deletions aplib.net-demo/Assets/Testing/AplibTests/ConnectedComponentsTests.cs
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@@ -1,35 +1,86 @@
using Aplib.Core;
using Aplib.Core.Agents;
using Aplib.Core.Belief.Beliefs;
using Aplib.Core.Belief.BeliefSets;
using Aplib.Core.Desire.DesireSets;
using Aplib.Core.Desire.Goals;
using Aplib.Core.Desire.GoalStructures;
using Aplib.Core.Intent.Actions;
using Aplib.Core.Intent.Tactics;
using Aplib.Integrations.Unity;
using Aplib.Integrations.Unity.Actions;
using LevelGeneration;
using NUnit.Framework;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using UnityEngine.SceneManagement;
using UnityEngine.TestTools;
using static Aplib.Core.Combinators;
using Action = Aplib.Core.Intent.Actions.Action<Testing.AplibTests.ConnectedComponentsBeliefSet>;
using BdiAgent = Aplib.Core.Agents.BdiAgent<Testing.AplibTests.ConnectedComponentsBeliefSet>;
using DesireSet = Aplib.Core.Desire.DesireSets.DesireSet<Testing.AplibTests.ConnectedComponentsBeliefSet>;
using Goal = Aplib.Core.Desire.Goals.Goal<Testing.AplibTests.ConnectedComponentsBeliefSet>;
using PrimitiveTactic = Aplib.Core.Intent.Tactics.PrimitiveTactic<Testing.AplibTests.ConnectedComponentsBeliefSet>;
using Tactic = Aplib.Core.Intent.Tactics.Tactic<Testing.AplibTests.ConnectedComponentsBeliefSet>;
using TransformPathfinderAction = Aplib.Integrations.Unity.Actions.TransformPathfinderAction<Testing.AplibTests.ConnectedComponentsBeliefSet>;

namespace Testing.AplibTests
{
public class ConnectedComponentsBeliefSet : BeliefSet
public class ConnectedComponentsBeliefSet : IBeliefSet
{
public Belief<GameObject, Rigidbody> PlayerRigidbody = new(
GameObject.Find("Player"),
x => x.GetComponent<Rigidbody>());
public Rigidbody PlayerRigidbody { get; } = GameObject.Find("Player").GetComponent<Rigidbody>();

public Belief<Queue<Vector3>, Vector3> GetCurrentTarget;

public Queue<Vector3> TargetPositionsInConnectedComponents { get; } = new(GetTargetPositionsInConnectedComponents());

public Queue<Vector3> TeleporterPositions { get; } = new(GetTeleporterLandingPoints());

public ConnectedComponentsBeliefSet()
{
GetCurrentTarget = new(
reference: TargetPositionsInConnectedComponents,
getObservationFromReference: positions => positions.Peek(),
shouldUpdate: () =>
{
if (TargetPositionsInConnectedComponents.Count == 0) return false;

Vector3 currentTarget = TargetPositionsInConnectedComponents.Peek();

if (Vector3.Distance(PlayerRigidbody.position, currentTarget) > 0.4f)
return false;

Debug.Log($"Reached target at {currentTarget}");
TargetPositionsInConnectedComponents.Dequeue();
Debug.Log($"Remaining targets: {TargetPositionsInConnectedComponents.Count}");

return TargetPositionsInConnectedComponents.Count > 0;
}
);
}

public void UpdateBeliefs()
{
GetCurrentTarget.UpdateBelief();
}

private static IEnumerable<Vector3> GetTargetPositionsInConnectedComponents()
{
GameObject gridGameObject = GameObject.Find("LevelGeneration");
LevelGenerationPipeline levelGenerationPipeline = gridGameObject.GetComponent<LevelGenerationPipeline>();
SpawningExtensions spawningExtensions = gridGameObject.GetComponent<SpawningExtensions>();

Vector3 centreOfCellHeightOffset = Vector3.up * 1.5f;

return levelGenerationPipeline.Grid
.DetermineConnectedComponents()
.Select(cells => spawningExtensions.CenterOfCell(cells.First()) + centreOfCellHeightOffset);
}

private static IEnumerable<Vector3> GetTeleporterLandingPoints()
=> GameObject.Find("Teleporters")
.GetComponentsInChildren<Teleporter.Teleporter>()
.Select(x => x.LandingPoint);
}

public class ConnectedComponentsTests
{
private const string _sceneName = "ConnectedComponentsTestScene";
private readonly Vector3 _centreOfCellHeightOffset = Vector3.up * 1.7f;

[SetUp]
public void SetUp()
Expand All @@ -47,85 +98,33 @@ public void SetUp()
[UnityTest]
public IEnumerator CanVisitEveryConnectedComponent()
{
// Arrange
ConnectedComponentsBeliefSet rootBeliefSet = new();
GameObject gridGameObject = GameObject.Find("LevelGeneration");
LevelGenerationPipeline levelGenerationPipeline = gridGameObject.GetComponent<LevelGenerationPipeline>();
SpawningExtensions spawningExtensions = gridGameObject.GetComponent<SpawningExtensions>();

// Arrange ==> Level information
Vector3[] cellsToVisit = levelGenerationPipeline.Grid.DetermineConnectedComponents()
.Select(cells => spawningExtensions.CenterOfCell(cells.First()) + _centreOfCellHeightOffset).ToArray();

Vector3[] teleporterPositions = GameObject.Find("Teleporters")
.GetComponentsInChildren<Teleporter.Teleporter>()
.Select(x => x.LandingPoint).ToArray();

int currentCellToVisitIndex = 0;
// Arrange
ConnectedComponentsBeliefSet connectedComponentBeliefSet = new();

Vector3 currentCellPosition()
{
return cellsToVisit[currentCellToVisitIndex];
}
// Remove doors and keys from the level.
GameObject doorsAndKeys = GameObject.Find("Doors and keys");
Object.Destroy(doorsAndKeys);

// Arrange ==> GoalStructure: Visit cell of the current connected component
TransformPathfinderAction<ConnectedComponentsBeliefSet> approachCurrentCellAction = new(
Tactic moveToNextComponent = new TransformPathfinderAction(
beliefSet => beliefSet.PlayerRigidbody,
currentCellPosition(),
1.4f);

Action<ConnectedComponentsBeliefSet> waitForTeleportAction = new(_ => { Debug.Log("Waiting for teleport..."); });
beliefSet => beliefSet.GetCurrentTarget,
1.5f);

PrimitiveTactic<ConnectedComponentsBeliefSet> approachCurrentCellTactic = new(approachCurrentCellAction);
PrimitiveTactic<ConnectedComponentsBeliefSet> waitForTeleportTactic = new(waitForTeleportAction,
beliefSet => teleporterPositions.Any(teleporterPosition =>
(teleporterPosition - ((Rigidbody)beliefSet.PlayerRigidbody).position).magnitude < 0.4f));
FirstOfTactic<ConnectedComponentsBeliefSet> waitForTeleportOrApproachCurrentCellTactic = new(
waitForTeleportTactic,
approachCurrentCellTactic);

Goal<ConnectedComponentsBeliefSet> approachCurrentCellGoal = new(waitForTeleportOrApproachCurrentCellTactic,
beliefSet => (currentCellPosition() - ((Rigidbody)beliefSet.PlayerRigidbody).position).magnitude <
1.5f);

PrimitiveGoalStructure<ConnectedComponentsBeliefSet> approachCurrentCellGoalStructure =
new(approachCurrentCellGoal);

RepeatGoalStructure<ConnectedComponentsBeliefSet> visitCurrentCellGoalStructure =
new(approachCurrentCellGoalStructure);

// Arrange ==> GoalStructure: Target the next cell until every cell has been targeted
Action<ConnectedComponentsBeliefSet> targetNextCellAction = new(_ =>
{
Debug.Log($"Reached cell at {currentCellPosition()}");
currentCellToVisitIndex++;
});

PrimitiveTactic<ConnectedComponentsBeliefSet> targetNextCellTactic = new(targetNextCellAction);
Goal<ConnectedComponentsBeliefSet> visitedEveryCellGoal = new(targetNextCellTactic,
_ => currentCellToVisitIndex >= cellsToVisit.Length);

PrimitiveGoalStructure<ConnectedComponentsBeliefSet> visitedEveryCellGoalStructure =
new(visitedEveryCellGoal);

// Arrange ==> GoalStructure: Visit every connected component
SequentialGoalStructure<ConnectedComponentsBeliefSet> visitCurrentCellAndVisitEveryCellGoalStructure =
new(visitCurrentCellGoalStructure, visitedEveryCellGoalStructure);

RepeatGoalStructure<ConnectedComponentsBeliefSet> visitEveryConnectedComponentGoalStructure =
new(visitCurrentCellAndVisitEveryCellGoalStructure);

// Arrange ==> DesireSet
DesireSet<ConnectedComponentsBeliefSet> desireSet = new(visitEveryConnectedComponentGoalStructure);
DesireSet visitAllComponents = new Goal(moveToNextComponent, HasVisitedEveryConnectedComponent);

// Act
BdiAgent<ConnectedComponentsBeliefSet> agent = new(rootBeliefSet, desireSet);
BdiAgent agent = new(connectedComponentBeliefSet, visitAllComponents);
AplibRunner testRunner = new(agent);

yield return testRunner.Test();

// Assert
Assert.AreEqual(CompletionStatus.Success, agent.Status);

// Local functions
static bool HasVisitedEveryConnectedComponent(ConnectedComponentsBeliefSet beliefSet)
=> beliefSet.TargetPositionsInConnectedComponents.Count == 0;
}
}
}

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