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test_collision_determinism: update test 

- remove all references to sensors
 - reload each simulation in sync
 - replace all commands with apply_batch_sync
This commit is contained in:
Daniel Santos-Olivan 2021-09-01 15:09:18 +02:00 committed by DSantosO
parent 108b6b8524
commit 95dffb3ee1
1 changed files with 87 additions and 107 deletions
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194
PythonAPI/test/smoke/test_collision_determinism.py
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@ -25,6 +25,10 @@ except ImportError:
class DeterminismError(Exception):
pass
SpawnActor = carla.command.SpawnActor
FutureActor = carla.command.FutureActor
ApplyTargetVelocity = carla.command.ApplyTargetVelocity
class Scenario(object):
def __init__(self, client, world, save_snapshots_mode=False):
self.world = world
@ -35,16 +39,12 @@ class Scenario(object):
self.prefix = ""
self.save_snapshots_mode = save_snapshots_mode
self.snapshots = []
self.sensor_list = []
self.sensor_queue = Queue()
def init_scene(self, prefix, settings = None, spectator_tr = None):
self.prefix = prefix
self.actor_list = []
self.active = True
self.snapshots = []
self.sensor_list = []
self.sensor_queue = Queue()
self.reload_world(settings, spectator_tr)
@ -65,26 +65,24 @@ class Scenario(object):
def wait(self, frames=100):
for _i in range(0, frames):
self.world.tick()
if self.active:
for _s in self.sensor_list:
self.sensor_queue.get(True, 15.0)
def clear_scene(self):
for sensor in self.sensor_list:
sensor[1].destroy()
for actor in self.actor_list:
actor[1].destroy()
self.active = False
def reload_world(self, settings = None, spectator_tr = None):
self.client.reload_world()
if settings is not None:
self.world.apply_settings(settings)
self.wait(5)
self.client.reload_world(False)
# workaround: give time to UE4 to clean memory after loading (old assets)
time.sleep(5)
self.wait(5)
def reset_spectator(self, spectator_tr):
spectator = self.world.get_spectator()
spectator.set_transform(spectator_tr)
@ -129,70 +127,12 @@ class Scenario(object):
for _i in range(0, tics):
self.world.tick()
self.sensor_syncronization()
self.save_snapshots()
self.world.apply_settings(original_settings)
self.save_snapshots_to_disk()
self.clear_scene()
def add_sensor(self, sensor, sensor_type):
sen_idx = len(self.sensor_list)
if sensor_type == "LiDAR":
name = str(sen_idx) + "_LiDAR"
sensor.listen(lambda data : self.add_lidar_snapshot(data, name))
elif sensor_type == "SemLiDAR":
name = str(sen_idx) + "_SemLiDAR"
sensor.listen(lambda data : self.add_semlidar_snapshot(data, name))
elif sensor_type == "Radar":
name = str(sen_idx) + "_Radar"
sensor.listen(lambda data : self.add_radar_snapshot(data, name))
self.sensor_list.append((name, sensor))
def add_lidar_snapshot(self, lidar_data, name="LiDAR"):
if not self.active:
return
points = np.frombuffer(lidar_data.raw_data, dtype=np.dtype('f4'))
points = np.reshape(points, (int(points.shape[0] / 4), 4))
frame = lidar_data.frame - self.init_timestamp['frame0']
np.savetxt(self.get_filename(name, frame), points)
self.sensor_queue.put((lidar_data.frame, name))
def add_semlidar_snapshot(self, lidar_data, name="SemLiDAR"):
if not self.active:
return
data = np.frombuffer(lidar_data.raw_data, dtype=np.dtype([
('x', np.float32), ('y', np.float32), ('z', np.float32),
('CosAngle', np.float32), ('ObjIdx', np.uint32), ('ObjTag', np.uint32)]))
points = np.array([data['x'], data['y'], data['z'], data['CosAngle'], data['ObjTag']]).T
frame = lidar_data.frame - self.init_timestamp['frame0']
np.savetxt(self.get_filename(name, frame), points)
self.sensor_queue.put((lidar_data.frame, name))
def add_radar_snapshot(self, radar_data, name="Radar"):
if not self.active:
return
points = np.frombuffer(radar_data.raw_data, dtype=np.dtype('f4'))
points = np.reshape(points, (int(points.shape[0] / 4), 4))
frame = radar_data.frame - self.init_timestamp['frame0']
np.savetxt(self.get_filename(name, frame), points)
self.sensor_queue.put((radar_data.frame, name))
def sensor_syncronization(self):
# Sensor Syncronization
w_frame = self.world.get_snapshot().frame
for sensor in self.sensor_list:
s_frame = self.sensor_queue.get(True, 15.0)[0]
if w_frame != s_frame:
raise DeterminismError("FrameSyncError: Frames are not equal for sensor %s: %d %d" % (sensor[0], w_frame, s_frame))
class TwoCarsHighSpeedCollision(Scenario):
def init_scene(self, prefix, settings = None, spectator_tr = None):
@ -200,18 +140,29 @@ class TwoCarsHighSpeedCollision(Scenario):
blueprint_library = self.world.get_blueprint_library()
vehicle00_bp = blueprint_library.filter("tt")[0]
vehicle01_bp = blueprint_library.filter("mkz_2017")[0]
vehicle00_tr = carla.Transform(carla.Location(140, -256, 0.015), carla.Rotation(yaw=180))
vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
vehicle01_tr = carla.Transform(carla.Location(40, -255, 0.04), carla.Rotation(yaw=0))
vehicle01 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
self.wait(1)
vehicle00.set_target_velocity( carla.Vector3D(-50, 0, 0))
vehicle01.set_target_velocity(carla.Vector3D(+50, 0, 0))
batch = [
SpawnActor(vehicle00_bp, vehicle00_tr)
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(-50, 0, 0))),
SpawnActor(vehicle01_bp, vehicle01_tr)
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(+50, 0, 0)))
]
self.add_actor(vehicle00, "Car")
self.add_actor(vehicle01, "Car")
responses = self.client.apply_batch_sync(batch)
veh_ids = [x.actor_id for x in responses]
veh_refs = [self.world.get_actor(x) for x in veh_ids]
if (0 in veh_ids) or (None in veh_refs):
self.fail("%s: The test cars could not be correctly spawned" % (bp_veh.id))
self.add_actor(veh_refs[0], "Car")
self.add_actor(veh_refs[1], "Car")
self.wait(1)
@ -222,24 +173,31 @@ class ThreeCarsSlowSpeedCollision(Scenario):
blueprint_library = self.world.get_blueprint_library()
vehicle00_bp = blueprint_library.filter("prius")[0]
vehicle01_bp = blueprint_library.filter("a2")[0]
vehicle02_bp = blueprint_library.filter("lincoln")[0]
vehicle00_tr = carla.Transform(carla.Location(110, -255, 0.05), carla.Rotation(yaw=180))
vehicle00 = self.world.spawn_actor(blueprint_library.filter("prius")[0], vehicle00_tr)
vehicle01_tr = carla.Transform(carla.Location(53, -257, 0.00), carla.Rotation(yaw=0))
vehicle01 = self.world.spawn_actor(blueprint_library.filter("a2")[0], vehicle01_tr)
vehicle02_tr = carla.Transform(carla.Location(85, -230, 0.04), carla.Rotation(yaw=-90))
vehicle02 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle02_tr)
self.wait(1)
batch = [
SpawnActor(vehicle00_bp, vehicle00_tr)
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(-15, 0, 0))),
SpawnActor(vehicle01_bp, vehicle01_tr)
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(+15, 0, 0))),
SpawnActor(vehicle02_bp, vehicle02_tr)
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, -15, 0)))
]
vehicle00.set_target_velocity(carla.Vector3D(-15, 0, 0))
vehicle01.set_target_velocity(carla.Vector3D(+15, 0, 0))
vehicle02.set_target_velocity(carla.Vector3D(0, -15, 0))
responses = self.client.apply_batch_sync(batch)
self.add_actor(vehicle00, "Car")
self.add_actor(vehicle01, "Car")
self.add_actor(vehicle02, "Car")
veh_ids = [x.actor_id for x in responses]
veh_refs = [self.world.get_actor(x) for x in veh_ids]
self.add_actor(veh_refs[0], "Car")
self.add_actor(veh_refs[1], "Car")
self.add_actor(veh_refs[2], "Car")
self.wait(1)
@ -250,18 +208,29 @@ class CarBikeCollision(Scenario):
blueprint_library = self.world.get_blueprint_library()
car_bp = blueprint_library.filter("mkz_2017")[0]
bike_bp = blueprint_library.filter("gazelle")[0]
car_tr = carla.Transform(carla.Location(50, -255, 0.04), carla.Rotation(yaw=0))
car = self.world.spawn_actor(blueprint_library.filter("*lincoln*")[0], car_tr)
bike_tr = carla.Transform(carla.Location(85, -245, 0.04), carla.Rotation(yaw=-90))
bike = self.world.spawn_actor(blueprint_library.filter("*gazelle*")[0], bike_tr)
self.wait(1)
car.set_target_velocity(carla.Vector3D(+30, 0, 0))
bike.set_target_velocity(carla.Vector3D(0, -12, 0))
batch = [
SpawnActor(car_bp, car_tr)
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(30, 0, 0))),
SpawnActor(bike_bp, bike_tr)
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(0, -12, 0)))
]
self.add_actor(car, "Car")
self.add_actor(bike, "Bike")
responses = self.client.apply_batch_sync(batch)
veh_ids = [x.actor_id for x in responses]
veh_refs = [self.world.get_actor(x) for x in veh_ids]
if (0 in veh_ids) or (None in veh_refs):
self.fail("%s: The test cars could not be correctly spawned" % (bp_veh.id))
self.add_actor(veh_refs[0], "Car")
self.add_actor(veh_refs[1], "Bike")
self.wait(1)
@ -272,21 +241,32 @@ class CarWalkerCollision(Scenario):
blueprint_library = self.world.get_blueprint_library()
car_tr = carla.Transform(carla.Location(50, -255, 0.04), carla.Rotation(yaw=0))
car = self.world.spawn_actor(blueprint_library.filter("*lincoln*")[0], car_tr)
walker_tr = carla.Transform(carla.Location(85, -255, 1.00), carla.Rotation(yaw=-90))
car_bp = blueprint_library.filter("mkz_2017")[0]
walker_bp = blueprint_library.filter("walker.pedestrian.0007")[0]
if walker_bp.has_attribute('is_invincible'):
walker_bp.set_attribute('is_invincible', 'false')
walker = self.world.spawn_actor(walker_bp, walker_tr)
car_tr = carla.Transform(carla.Location(50, -255, 0.04), carla.Rotation(yaw=0))
walker_tr = carla.Transform(carla.Location(85, -255, 1.00), carla.Rotation(yaw=-90))
batch = [
SpawnActor(car_bp, car_tr)
.then(ApplyTargetVelocity(FutureActor, carla.Vector3D(20, 0, 0))),
SpawnActor(walker_bp, walker_tr)
]
responses = self.client.apply_batch_sync(batch)
veh_ids = [x.actor_id for x in responses]
veh_refs = [self.world.get_actor(x) for x in veh_ids]
if (0 in veh_ids) or (None in veh_refs):
self.fail("%s: The test cars could not be correctly spawned" % (bp_veh.id))
self.wait(1)
car.set_target_velocity(carla.Vector3D(+20, 0, 0))
walker.set_simulate_physics(True)
self.add_actor(car, "Car")
self.add_actor(walker, "Walker")
self.add_actor(veh_refs[0], "Car")
self.add_actor(veh_refs[1], "Walker")
self.wait(1)
@ -433,7 +413,7 @@ class TestCollisionDeterminism(SmokeTest):
# Remove all the output files
shutil.rmtree(output_path)
def _test_three_cars(self):
def test_three_cars(self):
print("TestCollisionDeterminism.test_three_cars")
# Setting output temporal folder