def test_step():
v = ControlledVehicle(road=None, position=[0, 0], speed=20, heading=0)
for _ in range(2 * FPS):
v.step(dt=1 / FPS)
assert v.position[0] == pytest.approx(40)
assert v.position[1] == pytest.approx(0)
assert v.speed == pytest.approx(20)
assert v.heading == pytest.approx(0)
def test_speed_control():
road = Road(RoadNetwork.straight_road_network(1))
v = ControlledVehicle(road=road, position=road.network.get_lane(("0", "1", 0)).position(0, 0), speed=20, heading=0)
v.act('FASTER')
for _ in range(int(3 * v.TAU_ACC * FPS)):
v.act()
v.step(dt=1/FPS)
assert v.speed == pytest.approx(20 + v.DELTA_SPEED, abs=0.5)
assert v.position[1] == pytest.approx(0)
assert v.lane_index[2] == 0
def test_lane_change():
road = Road(RoadNetwork.straight_road_network(2))
v = ControlledVehicle(road=road, position=road.network.get_lane(("0", "1", 0)).position(0, 0), speed=20, heading=0)
v.act('LANE_RIGHT')
for _ in range(3 * FPS):
v.act()
v.step(dt=1/FPS)
assert v.speed == pytest.approx(20)
assert v.position[1] == pytest.approx(StraightLane.DEFAULT_WIDTH, abs=StraightLane.DEFAULT_WIDTH/4)
assert v.lane_index[2] == 1
def test_velocity_control():
road = Road(RoadNetwork.straight_road_network(1))
v = ControlledVehicle(road=road,
position=road.network.get_lane(
(0, 1, 0)).position(0, 0),
velocity=20,
heading=0)
v.act('FASTER')
for _ in range(int(3 * v.TAU_A * FPS)):
v.act()
v.step(dt=1 / FPS)
assert v.velocity == pytest.approx(20 + v.DELTA_VELOCITY, abs=0.5)
assert v.position[1] == pytest.approx(0)
assert v.lane_index[2] == 0