def test_ma_roundabout_close_spawn():
def _no_close_spawn(vehicles):
vehicles = list(vehicles.values())
for c1, v1 in enumerate(vehicles):
for c2 in range(c1 + 1, len(vehicles)):
v2 = vehicles[c2]
dis = norm(v1.position[0] - v2.position[0], v1.position[1] - v2.position[1])
assert distance_greater(v1.position, v2.position, length=2.2)
MultiAgentRoundaboutEnv._DEBUG_RANDOM_SEED = 1
env = MultiAgentRoundaboutEnv({"horizon": 50, "num_agents": 16, "map_config": {"exit_length": 30}})
env.seed(100)
try:
_check_spaces_before_reset(env)
for num_r in range(10):
obs = env.reset()
_check_spaces_after_reset(env)
for _ in range(10):
o, r, d, i = env.step({k: [0, 0] for k in env.vehicles.keys()})
assert not any(d.values())
_no_close_spawn(env.vehicles)
print('Finish {} resets.'.format(num_r))
finally:
env.close()
MultiAgentRoundaboutEnv._DEBUG_RANDOM_SEED = None
def test_infinite_agents():
env = MultiAgentRoundaboutEnv(
{
"map_config": dict(exit_length=20, lane_num=2),
# "use_render": True, "fast": True,
"num_agents": -1,
"delay_done": 50,
"horizon": 50,
"debug": True,
"random_traffic": False
}
)
try:
o = env.reset()
env.seed(100)
env._DEBUG_RANDOM_SEED = 100
max_num = old_num_of_vehicles = len(env.vehicles)
for i in range(1, 1000):
o, r, d, info = env.step({k: [1, 1] for k in env.vehicles})
print(
"{} Current active agents: ".format(i), len(env.vehicles), ". Objects: ",
len(env.agent_manager._object_to_agent)
)
max_num = max(len(env.vehicles), max_num)
# env.render(mode="top_down")
for kkk, iii in info.items():
if d[kkk]:
assert iii["episode_length"] > 1
if d["__all__"]:
o = env.reset()
print("Finish {} steps.".format(i))
finally:
env._DEBUG_RANDOM_SEED = None
env.close()
env = MultiAgentRoundaboutEnv({"num_agents": -1, "delay_done": 0, "horizon": 50, "debug": True})
try:
o = env.reset()
max_num = old_num_of_vehicles = len(env.vehicles)
for i in range(1, 300):
o, r, d, info = env.step({k: [0, 1] for k in env.vehicles})
# print("Current active agents: ", len(env.vehicles),
# ". Objects: ", len(env.agent_manager._object_to_agent))
max_num = max(len(env.vehicles), max_num)
# env.render(mode="top_down")
for kkk, iii in info.items():
if d[kkk]:
assert iii["episode_length"] > 1
if d["__all__"]:
o = env.reset()
print("Finish {} steps.".format(i))
finally:
env.close()
assert max_num > old_num_of_vehicles