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TestSensorDeterminism: better frame check and optimized world reload

This commit is contained in:
Daniel Santos-Oliván 2021-05-13 12:41:54 +02:00 committed by bernat
parent 70396659b1
commit c49da25c99
1 changed files with 14 additions and 9 deletions
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23
PythonAPI/test/smoke/test_sensor_determinism.py
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@ -4,7 +4,7 @@
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
from . import SyncSmokeTest
from . import SmokeTest
import carla
import time
@ -79,12 +79,13 @@ class Scenario(object):
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)
if spectator_tr is not None:
self.reset_spectator(spectator_tr)
self.client.reload_world(False)
def reset_spectator(self, spectator_tr):
spectator = self.world.get_spectator()
spectator.set_transform(spectator_tr)
@ -190,8 +191,13 @@ class Scenario(object):
w_frame = self.world.get_snapshot().frame
for sensor in self.sensor_list:
s_frame = self.sensor_queue.get(True, 15.0)[0]
while s_frame < w_frame:
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))
raise DeterminismError("FrameSyncError: Frames are not equal for sensor %s: %d %d"
% (sensor[0], w_frame, s_frame))
class SpawnAllRaycastSensors(Scenario):
def init_scene(self, prefix, settings = None, spectator_tr = None):
@ -311,19 +317,18 @@ class SensorScenarioTester():
raise DeterminismError("SensorOutputError: Scenario %s is not deterministic: %d / %d" % (self.scenario_name, determ_repet[0], repetitions))
class TestSensorDeterminism(SyncSmokeTest):
class TestSensorDeterminism(SmokeTest):
def test_all_sensors(self):
print("TestSensorDeterminism.test_all_sensors")
orig_settings = self.world.get_settings()
# Setting output temporal folder
output_path = os.path.dirname(os.path.realpath(__file__))
output_path = os.path.join(output_path, "_sensors") + os.path.sep
if not os.path.exists(output_path):
os.mkdir(output_path)
# Loading Town03 for test
self.client.load_world("Town03")
try:
test_sensors = SensorScenarioTester(SpawnAllRaycastSensors(self.client, self.world), output_path)
test_sensors.test_scenario(repetitions=5, sim_tics = 100)
@ -333,7 +338,7 @@ class TestSensorDeterminism(SyncSmokeTest):
shutil.rmtree(output_path)
self.fail(err)
self.world.apply_settings(orig_settings)
# Remove all the output files
shutil.rmtree(output_path)
self.client.load_world("Town03")