Added smoke test for sensor_tick check

PythonAPI/test/smoke/test_sensor_tick_time.py

@@ -0,0 +1,64 @@
+# Copyright (c) 2020 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 SyncSmokeTest
+
+import carla
+import time
+
+class Sensor():
+  def __init__(self, world, bp_sensor, sensor_tick):
+    self.bp_sensor = bp_sensor
+    bp_sensor.set_attribute("sensor_tick", str(sensor_tick))
+    self.sensor = world.spawn_actor(bp_sensor, carla.Transform())
+    self.sensor.listen(lambda sensor_data: self.listen(sensor_data))
+    self.num_ticks = 0
+
+  def destroy(self):
+    self.sensor.destroy()
+
+  def listen(self, sensor_data):
+    self.num_ticks += 1
+
+class TestSensorTickTime(SyncSmokeTest):
+  def test_sensor_tick_time(self):
+    print("TestSensorTickTime.test_sensor_tick_time")
+
+    bp_lib = self.world.get_blueprint_library()
+
+    sensor_exception = {
+      "sensor.camera.dvs",
+      "sensor.other.obstacle"
+    }
+    spawned_sensors = []
+    sensor_tick = 1.0
+
+    for bp_sensor in bp_lib.filter("sensor.*"):
+
+      if bp_sensor.id in sensor_exception:
+         continue
+
+      if bp_sensor.has_attribute("sensor_tick"):
+        spawned_sensors.append(Sensor(self.world, bp_sensor, sensor_tick))
+
+    num_ticks = 10
+    for _ in range(0, num_ticks):
+      self.world.tick()
+    time.sleep(1.0)
+
+    dt = 0.05 # self.settings.fixed_delta_seconds
+    total_time = num_ticks * dt
+    num_sensor_ticks = total_time/sensor_tick
+
+    print("Total time: {} = {} x {}".format(total_time, num_ticks, self.settings.fixed_delta_seconds))
+    print("Expected sensor ticks: {}".format(num_sensor_ticks))
+    for sensor in spawned_sensors:
+      print("{} ticks {} _".format(sensor.bp_sensor.id, sensor.num_ticks))
+      self.assertEqual(sensor.num_ticks, num_sensor_ticks,
+        "\n\n {} does not match tick count".format(sensor.bp_sensor.id))
+      sensor.destroy()
+
+