From 2e254528a223221c66f6114606217e6b118682e2 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sun, 10 Mar 2019 12:58:56 +0100
Subject: [PATCH] Add some smoke tests

---
 PythonAPI/test/smoke/__init__.py       | 13 ++++++
 PythonAPI/test/smoke/test_blueprint.py | 25 +++++++++++
 PythonAPI/test/smoke/test_client.py    | 24 +++++++----
 PythonAPI/test/smoke/test_sync.py      | 58 ++++++++++++++++++++++++++
 4 files changed, 112 insertions(+), 8 deletions(-)
 create mode 100644 PythonAPI/test/smoke/test_blueprint.py
 create mode 100644 PythonAPI/test/smoke/test_sync.py

diff --git a/PythonAPI/test/smoke/__init__.py b/PythonAPI/test/smoke/__init__.py
index 5fbe05bf0..3c646d1c8 100644
--- a/PythonAPI/test/smoke/__init__.py
+++ b/PythonAPI/test/smoke/__init__.py
@@ -7,6 +7,7 @@
 import glob
 import os
 import sys
+import unittest
 
 try:
     sys.path.append(glob.glob('../../dist/carla-*%d.%d-%s.egg' % (
@@ -16,4 +17,16 @@ try:
 except IndexError:
     pass
 
+import carla
+
+
 TESTING_ADDRESS=('localhost', 3654)
+
+
+class SmokeTest(unittest.TestCase):
+    def setUp(self):
+        self.client = carla.Client(*TESTING_ADDRESS)
+        self.client.set_timeout(2.0)
+
+    def tearDown(self):
+        self.client = None
diff --git a/PythonAPI/test/smoke/test_blueprint.py b/PythonAPI/test/smoke/test_blueprint.py
new file mode 100644
index 000000000..eeb9181eb
--- /dev/null
+++ b/PythonAPI/test/smoke/test_blueprint.py
@@ -0,0 +1,25 @@
+# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+import re
+
+from . import SmokeTest
+
+
+class TestBlueprintLibrary(SmokeTest):
+    def test_blueprint_ids(self):
+        library = self.client.get_world().get_blueprint_library()
+        self.assertTrue([x for x in library])
+        self.assertTrue([x for x in library.filter('sensor.*')])
+        self.assertTrue([x for x in library.filter('static.*')])
+        self.assertTrue([x for x in library.filter('vehicle.*')])
+        self.assertTrue([x for x in library.filter('walker.*')])
+        rgx = re.compile(r'\S+\.\S+\.\S+')
+        for bp in library:
+            self.assertTrue(rgx.match(bp.id))
+        rgx = re.compile(r'(vehicle)\.\S+\.\S+')
+        for bp in library.filter('vehicle.*'):
+            self.assertTrue(rgx.match(bp.id))
diff --git a/PythonAPI/test/smoke/test_client.py b/PythonAPI/test/smoke/test_client.py
index ead6d02e7..bc76afc7d 100644
--- a/PythonAPI/test/smoke/test_client.py
+++ b/PythonAPI/test/smoke/test_client.py
@@ -4,15 +4,23 @@
 # This work is licensed under the terms of the MIT license.
 # For a copy, see <https://opensource.org/licenses/MIT>.
 
-import carla
+import random
 
-import unittest
+from . import SmokeTest
 
 
-from . import TESTING_ADDRESS
-
-
-class TestClient(unittest.TestCase):
+class TestClient(SmokeTest):
     def test_version(self):
-        c = carla.Client(*TESTING_ADDRESS)
-        self.assertEqual(c.get_client_version(), c.get_server_version())
+        self.assertEqual(self.client.get_client_version(), self.client.get_server_version())
+
+    def test_reload_world(self):
+        map_name = self.client.get_world().get_map().name
+        world = self.client.reload_world()
+        self.assertEqual(map_name, world.get_map().name)
+
+    def test_load_all_maps(self):
+        map_names = list(self.client.get_available_maps())
+        random.shuffle(map_names)
+        for map_name in map_names:
+            world = self.client.load_world(map_name)
+            self.assertEqual(map_name.split('/')[-1], world.get_map().name)
diff --git a/PythonAPI/test/smoke/test_sync.py b/PythonAPI/test/smoke/test_sync.py
new file mode 100644
index 000000000..65eb14f84
--- /dev/null
+++ b/PythonAPI/test/smoke/test_sync.py
@@ -0,0 +1,58 @@
+# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+from . import SmokeTest
+
+import carla
+
+try:
+    import queue
+except ImportError:
+    import Queue as queue
+
+
+class TestSynchronousMode(SmokeTest):
+    def setUp(self):
+        super(TestSynchronousMode, self).setUp()
+        self.world = self.client.get_world()
+        self.settings = self.world.get_settings()
+        settings = carla.WorldSettings(
+            no_rendering_mode=False,
+            synchronous_mode=True)
+        self.world.apply_settings(settings)
+
+    def tearDown(self):
+        self.world.apply_settings(self.settings)
+        self.settings = None
+        self.world = None
+        super(TestSynchronousMode, self).tearDown()
+
+
+    def test_camera_on_synchronous_mode(self):
+        cam_bp = self.world.get_blueprint_library().find('sensor.camera.rgb')
+        t = carla.Transform(carla.Location(z=10))
+        camera = self.world.spawn_actor(cam_bp, t)
+        try:
+
+            image_queue = queue.Queue()
+            camera.listen(image_queue.put)
+
+            frame = None
+
+            for _ in range(0, 100):
+                self.world.tick()
+                ts = self.world.wait_for_tick()
+
+                if frame is not None:
+                    self.assertEqual(ts.frame_count, frame + 1)
+
+                frame = ts.frame_count
+
+                image = image_queue.get()
+                self.assertEqual(image.frame_number, ts.frame_count)
+
+        finally:
+            camera.destroy()