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Make test LongEpisode always with autopilot

This commit is contained in:
nsubiron 2017-09-19 18:47:27 +02:00
parent f743608723
commit 99158bfb6e
1 changed files with 10 additions and 7 deletions
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17
Util/PythonClient/test/Basic.py
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@ -11,7 +11,7 @@ from carla.util import make_connection
class _BasicTestBase(test.CarlaServerTest):
def run_carla_client(self, carla_settings, number_of_episodes, number_of_frames):
def run_carla_client(self, carla_settings, number_of_episodes, number_of_frames, control=None):
with make_connection(CarlaClient, self.args.host, self.args.port, timeout=15) as client:
logging.info('CarlaClient connected, running %d episodes', number_of_episodes)
for _ in range(0, number_of_episodes):
@ -42,11 +42,14 @@ class _BasicTestBase(test.CarlaServerTest):
if len(images) != len(carla_settings._cameras):
raise RuntimeError('received %d images, expected %d' % (len(images), len(carla_settings._cameras)))
logging.debug('sending control...')
client.send_control(
steer=random.uniform(-1.0, 1.0),
throttle=0.3,
reverse=reverse,
autopilot=autopilot)
if control is not None:
client.send_control(**control)
else:
client.send_control(
steer=random.uniform(-1.0, 1.0),
throttle=0.3,
reverse=reverse,
autopilot=autopilot)
class UseCase(_BasicTestBase):
@ -96,4 +99,4 @@ class LongEpisode(_BasicTestBase):
def run(self):
settings = CarlaSettings()
settings.add_camera(Camera('DefaultCamera'))
self.run_carla_client(settings, 1, 2000)
self.run_carla_client(settings, 1, 2000, {'autopilot': True})