74 lines
3.2 KiB
Python
74 lines
3.2 KiB
Python
# Copyright (c) 2020 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 time
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from . import SyncSmokeTest
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class TestSpawnpoints(SyncSmokeTest):
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def test_spawn_points(self):
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print("TestSpawnpoints.test_spawn_points")
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self.world = self.client.get_world()
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blueprints = self.world.get_blueprint_library().filter("vehicle.*")
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blueprints = self.filter_vehicles_for_old_towns(blueprints)
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# get all available maps
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maps = self.client.get_available_maps()
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for m in maps:
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if m != '/Game/Carla/Maps/BaseMap/BaseMap' and m != '/Game/Carla/Maps/Town11/Town11' and m != '/Game/Carla/Maps/Town12/Town12':
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# load the map
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self.client.load_world(m)
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# workaround: give time to UE4 to clean memory after loading (old assets)
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time.sleep(5)
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self.world = self.client.get_world()
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# get all spawn points
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spawn_points = self.world.get_map().get_spawn_points()
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# Check why the world settings aren't applied after a reload
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self.settings = self.world.get_settings()
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settings = carla.WorldSettings(
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no_rendering_mode=False,
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synchronous_mode=True,
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fixed_delta_seconds=0.05)
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self.world.apply_settings(settings)
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# spawn all kind of vehicle
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for vehicle in blueprints:
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batch = [(vehicle, t) for t in spawn_points]
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batch = [carla.command.SpawnActor(*args) for args in batch]
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response = self.client.apply_batch_sync(batch, False)
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self.assertFalse(any(x.error for x in response))
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ids = [x.actor_id for x in response]
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self.assertEqual(len(ids), len(spawn_points))
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frame = self.world.tick()
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snapshot = self.world.get_snapshot()
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self.assertEqual(frame, snapshot.timestamp.frame)
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actors = self.world.get_actors()
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self.assertTrue(all(snapshot.has_actor(x.id) for x in actors))
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for actor_id, t0 in zip(ids, spawn_points):
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actor_snapshot = snapshot.find(actor_id)
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self.assertIsNotNone(actor_snapshot)
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t1 = actor_snapshot.get_transform()
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# Ignore Z cause vehicle is falling.
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self.assertAlmostEqual(t0.location.x, t1.location.x, places=2)
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self.assertAlmostEqual(t0.location.y, t1.location.y, places=2)
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self.assertAlmostEqual(t0.rotation.pitch, t1.rotation.pitch, places=2)
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self.assertAlmostEqual(t0.rotation.yaw, t1.rotation.yaw, places=2)
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self.assertAlmostEqual(t0.rotation.roll, t1.rotation.roll, places=2)
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self.client.apply_batch_sync([carla.command.DestroyActor(x) for x in ids], True)
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frame = self.world.tick()
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