def test_new_scenario(beamng):
with beamng as bng:
scenario = Scenario('smallgrid', 'test_scenario')
vehicle = Vehicle('test_car', model='etk800')
scenario.add_vehicle(vehicle, pos=(0, 0, 0), rot=(0, 0, 0))
scenario.make(bng)
bng.load_scenario(scenario)
assert bng.get_scenario_name() == 'test_scenario'
scenario.delete(beamng)
with beamng as bng:
with pytest.raises(BNGValueError):
bng.load_scenario(scenario)
def test_vehicle_move(beamng):
with beamng as bng:
bng.set_steps_per_second(50)
bng.set_deterministic()
scenario = Scenario('smallgrid', 'move_test')
vehicle = Vehicle('test_car', model='etk800')
scenario.add_vehicle(vehicle, pos=(0, 0, 0), rot=(0, 0, 0))
scenario.make(bng)
bng.load_scenario(scenario)
bng.start_scenario()
bng.pause()
vehicle.control(throttle=1)
bng.step(120, wait=True)
vehicle.poll_sensors()
assert np.linalg.norm(vehicle.sensors['state'].data['pos']) > 1
scenario.delete(beamng)
def test_vehicle_move(beamng):
with beamng as bng:
bng.set_deterministic()
scenario = Scenario('smallgrid', 'move_test')
vehicle = Vehicle('test_car', model='etk800')
scenario.add_vehicle(vehicle, pos=(0, 0, 0), rot=(0, 0, 0))
scenario.make(bng)
bng.load_scenario(scenario)
bng.start_scenario()
bng.pause()
vehicle.control(throttle=1)
bng.step(120)
vehicle.update_vehicle()
assert np.linalg.norm(vehicle.state['pos']) > 1
scenario.delete(beamng)
def test_vehicle_ai(beamng):
with beamng as bng:
bng.set_deterministic()
scenario = Scenario('west_coast_usa', 'ai_test')
vehicle = Vehicle('test_car', model='etk800')
other = Vehicle('other', model='etk800')
pos = [-717.121, 101, 118.675]
scenario.add_vehicle(vehicle, pos=pos, rot=(0, 0, 45))
scenario.add_vehicle(other, pos=(-453, 700, 75), rot=(0, 0, 45))
scenario.make(bng)
bng.load_scenario(scenario)
bng.start_scenario()
bng.pause()
vehicle.ai_set_mode('span')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_waypoint('Bridge4_B')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_target('other', mode='chase')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_target('other', mode='flee')
assert_continued_movement(bng, vehicle, pos)
scenario.delete(beamng)
def test_vehicle_ai(beamng):
with beamng as bng:
bng.set_deterministic()
scenario = Scenario('west_coast_usa', 'ai_test')
vehicle = Vehicle('test_car', model='etk800')
other = Vehicle('other', model='etk800')
pos = [-717.121, 101, 118.675]
scenario.add_vehicle(vehicle, pos=pos, rot=(0, 0, 45))
scenario.add_vehicle(other, pos=(-453, 700, 75), rot=(0, 0, 45))
scenario.make(bng)
bng.load_scenario(scenario)
bng.start_scenario()
bng.pause()
vehicle.ai_set_mode('span')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_waypoint('Bridge4_B')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_target('other', mode='chase')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
vehicle.ai_set_target('other', mode='flee')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()
script = [
{
'x': -735,
'y': 86.7,
'z': 119,
't': 0
},
{
'x': -752,
'y': 70,
'z': 119,
't': 5
},
{
'x': -762,
'y': 60,
'z': 119,
't': 8
},
]
vehicle.ai_set_script(script)
bng.step(600, wait=True)
vehicle.update_vehicle()
ref = [script[1]['x'], script[1]['y'], script[1]['z']]
pos = vehicle.state['pos']
ref, pos = np.array(ref), np.array(pos)
assert np.linalg.norm(ref - pos) < 2.5
scenario.delete(beamng)