64 lines
1.8 KiB
Python
64 lines
1.8 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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from . import SmokeTest
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import time
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import threading
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import carla
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class TestStreamming(SmokeTest):
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lat = 0.0
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lon = 0.0
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def on_gnss_set(self, event):
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self.lat = event.latitude
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self.lon = event.longitude
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def on_gnss_check(self, event):
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self.assertAlmostEqual(event.latitude, self.lat, places=4)
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self.assertAlmostEqual(event.longitude, self.lon, places=4)
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def create_client(self):
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client = carla.Client(*self.testing_address)
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client.set_timeout(60.0)
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world = client.get_world()
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actors = world.get_actors()
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for actor in actors:
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if (actor.type_id == "sensor.other.gnss"):
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actor.listen(self.on_gnss_check)
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time.sleep(5)
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# stop
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for actor in actors:
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if (actor.type_id == "sensor.other.gnss"):
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actor.stop()
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def test_multistream(self):
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print("TestStreamming.test_multistream")
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# create the sensor
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world = self.client.get_world()
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bp = world.get_blueprint_library().find('sensor.other.gnss')
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bp.set_attribute("sensor_tick", str(1.0))
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gnss_sensor = world.spawn_actor(bp, carla.Transform())
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gnss_sensor.listen(self.on_gnss_set)
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world.wait_for_tick()
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# create 5 clients
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t = [0] * 5
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for i in range(5):
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t[i] = threading.Thread(target=self.create_client)
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t[i].setDaemon(True)
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t[i].start()
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# wait for ending clients
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for i in range(5):
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t[i].join()
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gnss_sensor.destroy()
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