| """Tests for the perception encoder module.""" |
|
|
| from __future__ import annotations |
|
|
| import numpy as np |
| import pytest |
|
|
| from agents.wayfinder.perception import PerceptionEncoder, GRID_SIZE, NUM_COLORS |
|
|
|
|
| class TestPerceptionEncoder: |
| """Test cases for PerceptionEncoder.""" |
|
|
| @pytest.fixture |
| def encoder(self) -> PerceptionEncoder: |
| """Create a test encoder instance.""" |
| return PerceptionEncoder(latent_dim=64, device="cpu") |
|
|
| @pytest.fixture |
| def sample_frame(self) -> np.ndarray: |
| """Create a sample 64×64 frame.""" |
| return np.random.randint(0, NUM_COLORS, size=(GRID_SIZE, GRID_SIZE), dtype=np.uint8) |
|
|
| def test_encode_returns_correct_shapes(self, encoder: PerceptionEncoder, sample_frame: np.ndarray) -> None: |
| """Test that encode returns latent and diff_mask with correct shapes.""" |
| latent, diff_mask = encoder.encode(sample_frame) |
| assert latent.shape == (64,) |
| assert diff_mask.shape == (GRID_SIZE, GRID_SIZE) |
| assert diff_mask.dtype == bool |
|
|
| def test_first_frame_diff_is_zero(self, encoder: PerceptionEncoder, sample_frame: np.ndarray) -> None: |
| """Test that the first frame has an all-zero diff mask.""" |
| _, diff_mask = encoder.encode(sample_frame) |
| assert not np.any(diff_mask) |
|
|
| def test_second_frame_diff_detects_changes(self, encoder: PerceptionEncoder, sample_frame: np.ndarray) -> None: |
| """Test that diff mask detects changes between frames.""" |
| encoder.encode(sample_frame) |
| modified = sample_frame.copy() |
| modified[0, 0] = (modified[0, 0] + 1) % NUM_COLORS |
| _, diff_mask = encoder.encode(modified) |
| assert diff_mask[0, 0] |
| assert not diff_mask[1, 1] |
|
|
| def test_encode_batch(self, encoder: PerceptionEncoder) -> None: |
| """Test batch encoding.""" |
| frames = np.random.randint(0, NUM_COLORS, size=(4, GRID_SIZE, GRID_SIZE), dtype=np.uint8) |
| latents = encoder.encode_batch(frames) |
| assert latents.shape == (4, 64) |
|
|
| def test_latent_is_float32(self, encoder: PerceptionEncoder, sample_frame: np.ndarray) -> None: |
| """Test that the latent is float32.""" |
| latent, _ = encoder.encode(sample_frame) |
| assert latent.dtype == np.float32 |
|
|
