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Ignore large maps for testing spawn points

This commit is contained in:
bernatx 2022-10-21 00:29:49 +02:00
parent c5abee5e79
commit bcf3471586
1 changed files with 42 additions and 40 deletions
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82
PythonAPI/test/smoke/test_spawnpoints.py
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@ -20,51 +20,53 @@ class TestSpawnpoints(SyncSmokeTest):
maps = self.client.get_available_maps()
for m in maps:
# load the map
self.client.load_world(m)
# workaround: give time to UE4 to clean memory after loading (old assets)
time.sleep(5)
self.world = self.client.get_world()
if m != '/Game/Carla/Maps/BaseMap/BaseMap' and m != '/Game/Carla/Maps/Town11/Town11' and m != '/Game/Carla/Maps/Town12/Town12':
# get all spawn points
spawn_points = self.world.get_map().get_spawn_points()
# load the map
self.client.load_world(m)
# workaround: give time to UE4 to clean memory after loading (old assets)
time.sleep(5)
self.world = self.client.get_world()
# Check why the world settings aren't applied after a reload
self.settings = self.world.get_settings()
settings = carla.WorldSettings(
no_rendering_mode=False,
synchronous_mode=True,
fixed_delta_seconds=0.05)
self.world.apply_settings(settings)
# get all spawn points
spawn_points = self.world.get_map().get_spawn_points()
# spawn all kind of vehicle
for vehicle in blueprints:
batch = [(vehicle, t) for t in spawn_points]
batch = [carla.command.SpawnActor(*args) for args in batch]
response = self.client.apply_batch_sync(batch, False)
# Check why the world settings aren't applied after a reload
self.settings = self.world.get_settings()
settings = carla.WorldSettings(
no_rendering_mode=False,
synchronous_mode=True,
fixed_delta_seconds=0.05)
self.world.apply_settings(settings)
self.assertFalse(any(x.error for x in response))
ids = [x.actor_id for x in response]
self.assertEqual(len(ids), len(spawn_points))
# spawn all kind of vehicle
for vehicle in blueprints:
batch = [(vehicle, t) for t in spawn_points]
batch = [carla.command.SpawnActor(*args) for args in batch]
response = self.client.apply_batch_sync(batch, False)
frame = self.world.tick()
snapshot = self.world.get_snapshot()
self.assertEqual(frame, snapshot.timestamp.frame)
self.assertFalse(any(x.error for x in response))
ids = [x.actor_id for x in response]
self.assertEqual(len(ids), len(spawn_points))
actors = self.world.get_actors()
self.assertTrue(all(snapshot.has_actor(x.id) for x in actors))
frame = self.world.tick()
snapshot = self.world.get_snapshot()
self.assertEqual(frame, snapshot.timestamp.frame)
for actor_id, t0 in zip(ids, spawn_points):
actor_snapshot = snapshot.find(actor_id)
self.assertIsNotNone(actor_snapshot)
t1 = actor_snapshot.get_transform()
# Ignore Z cause vehicle is falling.
self.assertAlmostEqual(t0.location.x, t1.location.x, places=2)
self.assertAlmostEqual(t0.location.y, t1.location.y, places=2)
self.assertAlmostEqual(t0.rotation.pitch, t1.rotation.pitch, places=2)
self.assertAlmostEqual(t0.rotation.yaw, t1.rotation.yaw, places=2)
self.assertAlmostEqual(t0.rotation.roll, t1.rotation.roll, places=2)
actors = self.world.get_actors()
self.assertTrue(all(snapshot.has_actor(x.id) for x in actors))
self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in ids], True)
frame = self.world.tick()
for actor_id, t0 in zip(ids, spawn_points):
actor_snapshot = snapshot.find(actor_id)
self.assertIsNotNone(actor_snapshot)
t1 = actor_snapshot.get_transform()
# Ignore Z cause vehicle is falling.
self.assertAlmostEqual(t0.location.x, t1.location.x, places=2)
self.assertAlmostEqual(t0.location.y, t1.location.y, places=2)
self.assertAlmostEqual(t0.rotation.pitch, t1.rotation.pitch, places=2)
self.assertAlmostEqual(t0.rotation.yaw, t1.rotation.yaw, places=2)
self.assertAlmostEqual(t0.rotation.roll, t1.rotation.roll, places=2)
self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in ids], True)
frame = self.world.tick()