| from __future__ import annotations |
|
|
| import unittest |
|
|
| from autofarm.contracts import ActionType, ControlState, MissionTask, PriorityBand |
| from tests.sim_support import make_interactive_environment |
|
|
|
|
| class InteractiveChallengeRadiusTest(unittest.TestCase): |
| def test_challenge_placement_keeps_robot_belief_until_measurement(self) -> None: |
| env = make_interactive_environment(zone_id="zone_r02_c01") |
| self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("scenario_priority_hint"), 0.4) |
| self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("recommended_action"), "none") |
| self.assertFalse(bool(env._zone_state("zone_r02_c01").static_features.get("needs_intervention", False))) |
|
|
| success, _ = env.place_challenge("actionable_high_priority", "zone_r02_c01", radius=1) |
|
|
| self.assertTrue(success) |
| self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("scenario_priority_hint"), 0.4) |
| self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("recommended_action"), "none") |
| self.assertFalse(bool(env._zone_state("zone_r02_c01").static_features.get("needs_intervention", False))) |
| self.assertEqual(env.hidden_zone_states["zone_r02_c01"].true_priority_hint, 0.88) |
| self.assertEqual(env.hidden_zone_states["zone_r02_c01"].true_recommended_action, "irrigate") |
| self.assertTrue(env.hidden_zone_states["zone_r02_c01"].true_needs_intervention) |
|
|
| def test_planning_observation_masks_active_challenge_summaries(self) -> None: |
| env = make_interactive_environment(zone_id="zone_r02_c01") |
|
|
| success, _ = env.place_challenge("actionable_high_priority", "zone_r02_c01", radius=1) |
|
|
| self.assertTrue(success) |
| self.assertEqual(env.observation().active_challenge_summaries_by_zone, {"zone_r02_c01": ["Drought"]}) |
| self.assertEqual(env.planning_observation().active_challenge_summaries_by_zone, {}) |
|
|
| def test_move_over_tile_triggers_direct_measurement_and_resolves_unseen_state(self) -> None: |
| env = make_interactive_environment(zone_id="zone_r02_c01") |
| success, _ = env.place_challenge("actionable_high_priority", "zone_r02_c01", radius=1) |
|
|
| self.assertTrue(success) |
| self.assertEqual(env.hidden_zone_states["zone_r02_c01"].control_state, ControlState.INSPECT_REQUIRED) |
|
|
| event = env._move_to_neighbor( |
| MissionTask( |
| task_type=ActionType.MOVE, |
| target_zone="zone_r02_c01", |
| priority=1.0, |
| preconditions=[], |
| rationale="enter field", |
| ), |
| "zone_r02_c01", |
| ) |
|
|
| self.assertEqual(event.action, ActionType.MOVE) |
| self.assertEqual(event.control_state_before, ControlState.INSPECT_REQUIRED) |
| self.assertEqual(event.control_state_after, ControlState.RESOLVED_COMPLETE) |
| self.assertEqual(env.hidden_zone_states["zone_r02_c01"].guarded_context.inspection_count, 1) |
| self.assertEqual(env.hidden_zone_states["zone_r02_c01"].current_uncertainty, 0.0) |
| self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("recommended_action"), "irrigate") |
| self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("scenario_priority_hint"), 0.88) |
| self.assertIn("Drive-over measurement refreshed the tile state.", event.details["revealed_facts"]) |
|
|
| def test_radius_one_targets_only_the_selected_tile(self) -> None: |
| env = make_interactive_environment(zone_id="zone_r02_c02") |
|
|
| self.assertEqual(env.challenge_target_zone_ids("zone_r02_c02", radius=1), ["zone_r02_c02"]) |
|
|
| success, _ = env.place_challenge("actionable_high_priority", "zone_r02_c02", radius=1) |
|
|
| self.assertTrue(success) |
| self.assertEqual(set(env.active_challenges), {"zone_r02_c02"}) |
| self.assertEqual(env.hidden_zone_states["zone_r02_c02"].true_priority_band, PriorityBand.HIGH) |
|
|
| def test_radius_two_forms_a_single_ring_around_the_selected_tile(self) -> None: |
| env = make_interactive_environment(zone_id="zone_r02_c02") |
| expected_zone_ids = { |
| "zone_r01_c01", |
| "zone_r01_c02", |
| "zone_r01_c03", |
| "zone_r02_c01", |
| "zone_r02_c02", |
| "zone_r02_c03", |
| "zone_r03_c01", |
| "zone_r03_c02", |
| "zone_r03_c03", |
| } |
|
|
| self.assertEqual(set(env.challenge_target_zone_ids("zone_r02_c02", radius=2)), expected_zone_ids) |
|
|
| success, message = env.place_challenge("actionable_high_priority", "zone_r02_c02", radius=2) |
|
|
| self.assertTrue(success) |
| self.assertIn("radius 2", message) |
| self.assertEqual(set(env.active_challenges), expected_zone_ids) |
|
|
| def test_radius_three_clips_cleanly_at_the_field_border(self) -> None: |
| env = make_interactive_environment(zone_id="zone_r02_c02") |
| expected_zone_ids = { |
| "zone_r01_c01", |
| "zone_r01_c02", |
| "zone_r01_c03", |
| "zone_r02_c01", |
| "zone_r02_c02", |
| "zone_r02_c03", |
| "zone_r03_c01", |
| "zone_r03_c02", |
| } |
|
|
| self.assertEqual(set(env.challenge_target_zone_ids("zone_r01_c01", radius=3)), expected_zone_ids) |
|
|
| success, message = env.place_challenge("actionable_high_priority", "zone_r01_c01", radius=3) |
|
|
| self.assertTrue(success) |
| self.assertIn("8 tiles", message) |
| self.assertEqual(set(env.active_challenges), expected_zone_ids) |
|
|
| def test_radius_placement_skips_tiles_with_existing_active_challenges(self) -> None: |
| env = make_interactive_environment(zone_id="zone_r02_c02") |
|
|
| success, _ = env.place_challenge("actionable_high_priority", "zone_r02_c02", radius=1) |
| self.assertTrue(success) |
|
|
| success, message = env.place_challenge("actionable_high_priority", "zone_r02_c02", radius=2) |
|
|
| self.assertTrue(success) |
| self.assertIn("Skipped 1 tile", message) |
| self.assertEqual(len(env.active_challenges), 9) |
|
|
|
|
| if __name__ == "__main__": |
| unittest.main() |
|
|
