55 lines
1.8 KiB
Python
55 lines
1.8 KiB
Python
# Copyright (c) 2021 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
|
|
|
|
class TestCollisionSensor(SyncSmokeTest):
|
|
def wait(self, frames=100):
|
|
for _i in range(0, frames):
|
|
self.world.tick()
|
|
|
|
def collision_callback(self, event, event_list):
|
|
event_list.append(event)
|
|
|
|
def run_collision_single_car_against_wall(self, bp_vehicle):
|
|
veh_transf = carla.Transform(carla.Location(30, -6, 1), carla.Rotation(yaw=-90))
|
|
vehicle = self.world.spawn_actor(bp_vehicle, veh_transf)
|
|
|
|
bp_col_sensor = self.world.get_blueprint_library().find('sensor.other.collision')
|
|
col_sensor = self.world.spawn_actor(bp_col_sensor, carla.Transform(), attach_to=vehicle)
|
|
|
|
event_list = []
|
|
col_sensor.listen(lambda data: self.collision_callback(data, event_list))
|
|
|
|
self.wait(100)
|
|
vehicle.set_target_velocity(10.0*veh_transf.rotation.get_forward_vector())
|
|
|
|
self.wait(100)
|
|
|
|
col_sensor.destroy()
|
|
vehicle.destroy()
|
|
|
|
return event_list
|
|
|
|
def test_single_car(self):
|
|
print("TestCollisionSensor.test_single_car")
|
|
|
|
bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
|
|
bp_vehicles = self.filter_vehicles_for_old_towns(bp_vehicles)
|
|
cars_failing = ""
|
|
for bp_veh in bp_vehicles:
|
|
# Run collision agains wall
|
|
event_list = self.run_collision_single_car_against_wall(bp_veh)
|
|
|
|
if len(event_list) == 0:
|
|
cars_failing += " %s" % bp_veh.id
|
|
|
|
# Check result events
|
|
if cars_failing != "":
|
|
self.fail("The collision sensor have failed for the cars: %s" % cars_failing)
|