51 lines
1.9 KiB
Python
51 lines
1.9 KiB
Python
# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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import carla
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import random
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from . import SmokeTest
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class TestMap(SmokeTest):
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def test_reload_world(self):
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print("TestMap.test_reload_world")
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map_name = self.client.get_world().get_map().name
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world = self.client.reload_world()
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self.assertEqual(map_name, world.get_map().name)
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def test_load_all_maps(self):
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print("TestMap.test_load_all_maps")
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map_names = list(self.client.get_available_maps())
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random.shuffle(map_names)
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for map_name in map_names:
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if map_name != '/Game/Carla/Maps/BaseMap/BaseMap':
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world = self.client.load_world(map_name)
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m = world.get_map()
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self.assertEqual(map_name.split('/')[-1], m.name)
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self._check_map(m)
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def _check_map(self, m):
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for spawn_point in m.get_spawn_points():
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waypoint = m.get_waypoint(spawn_point.location, project_to_road=False)
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self.assertIsNotNone(waypoint)
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topology = m.get_topology()
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self.assertGreater(len(topology), 0)
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waypoints = list(m.generate_waypoints(2))
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self.assertGreater(len(waypoints), 0)
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random.shuffle(waypoints)
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for waypoint in waypoints[:200]:
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for _ in range(0, 20):
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self.assertGreaterEqual(waypoint.lane_width, 0.0)
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_ = waypoint.get_right_lane()
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_ = waypoint.get_left_lane()
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next_waypoints = waypoint.next(4)
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if not next_waypoints:
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break
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waypoint = random.choice(next_waypoints)
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_ = m.transform_to_geolocation(carla.Location())
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self.assertTrue(str(m.to_opendrive()))
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