def test_list_object_lazy():
scenario = lazyTestScenario('Uniform([0, x], [1, x])[1]',
offset='Uniform(0, 1)')
hs = [sampleEgo(scenario).heading for i in range(60)]
assert all(h == pytest.approx(1) or h == pytest.approx(2) for h in hs)
assert any(h == pytest.approx(1) for h in hs)
assert any(h == pytest.approx(2) for h in hs)
def test_vector_method_lazy():
scenario = lazyTestScenario(
'vf.followFrom(Uniform(0, 90 deg) @ 0, x, steps=1).y')
hs = [sampleEgo(scenario).heading for i in range(60)]
assert all(h == pytest.approx(1) or h == pytest.approx(-1) for h in hs)
assert any(h == pytest.approx(1) for h in hs)
assert any(h == pytest.approx(-1) for h in hs)
def test_shared_dependency():
scenario = compileScenic('x = Range(-1, 1)\n'
'ego = Object at (x * x) @ 0')
xs = [sampleEgo(scenario).position.x for i in range(60)]
assert all(0 <= x <= 1 for x in xs)
assert any(x < 0.25 for x in xs)
assert any(0.25 < x for x in xs)
def test_requirement():
scenario = compileScenic("""
ego = Object at Range(-10, 10) @ 0
require ego.position.x >= 0
""")
xs = [sampleEgo(scenario, maxIterations=60).position.x for i in range(60)]
assert all(0 <= x <= 10 for x in xs)
def test_uniform_discrete():
scenario = compileScenic('ego = Object at Uniform(1, 2, 3.4) @ 0')
xs = [sampleEgo(scenario).position.x for i in range(100)]
assert all(x == 1 or x == 2 or x == 3.4 for x in xs)
assert any(x == 1 for x in xs)
assert any(x == 2 for x in xs)
assert any(x == 3.4 for x in xs)
def test_intersection_requirement_disabled_2():
scenario = compileScenic("""
ego = Object at Range(0, 2) @ 0
other = Object with allowCollisions True
""")
xs = [sampleEgo(scenario, maxIterations=60).position.x for i in range(60)]
assert any(x < 1 for x in xs)
def test_containment_requirement():
scenario = compileScenic("""
foo = RectangularRegion(0@0, 0, 10, 10)
ego = Object at Range(0, 10) @ 0, with regionContainedIn foo
""")
xs = [sampleEgo(scenario, maxIterations=60).position.x for i in range(60)]
assert all(0 <= x <= 5 for x in xs)
def test_intersection_requirement():
scenario = compileScenic("""
ego = Object at Range(0, 2) @ 0
other = Object
""")
xs = [sampleEgo(scenario, maxIterations=60).position.x for i in range(60)]
assert all(x >= 1 for x in xs)
def test_halton():
scenario = compileScenic('from scenic.core.external_params import *\n'
'param verifaiSamplerType = "halton"\n'
'ego = Object at VerifaiRange(5, 15) @ 0')
xs = [sampleEgo(scenario).position.x for i in range(60)]
assert all(5 <= x <= 15 for x in xs)
assert 29 <= sum(x < 10 for x in xs) <= 31
def test_vector_operator():
scenario = compileScenic(
'ego = Object at Range(-3, 3) @ 0 + Range(100, 110) @ 0')
xs = [sampleEgo(scenario).position.x for i in range(100)]
assert all(97 <= x <= 113 for x in xs)
assert any(x < 105 for x in xs)
assert any(105 < x for x in xs)
def test_list_nested_argument():
scenario = compileScenic("""
mylist = Uniform(list(range(1000)), [1, 1, 1, 1, 2000])
ego = Object with foo max(*mylist)
""")
vs = [sampleEgo(scenario).foo for i in range(60)]
assert 5 <= sum((v == 2000) for v in vs) <= 55
def test_soft_requirement():
scenario = compileScenic("""
ego = Object at Range(-10, 10) @ 0
require[0.9] ego.position.x >= 0
""")
xs = [sampleEgo(scenario, maxIterations=60).position.x for i in range(350)]
count = sum(x >= 0 for x in xs)
assert 255 <= count < 350
def test_in_distribution():
scenario = compileScenic('ra = RectangularRegion(0@0, 0, 2, 2)\n'
'rb = RectangularRegion(10@0, 0, 2, 2)\n'
'ego = Object in Uniform(ra, rb)')
xs = [sampleEgo(scenario).position.x for i in range(60)]
assert all(-1 <= x <= 1 or 9 <= x <= 11 for x in xs)
assert any(x < 5 for x in xs)
assert any(x > 5 for x in xs)
def test_tuple():
scenario = compileScenic('ego = Object with foo tuple([3, Uniform(1, 2)])')
ts = [sampleEgo(scenario).foo for i in range(60)]
assert all(type(t) is tuple for t in ts)
assert all(t[0] == 3 for t in ts)
assert all(t[1] == 1 or t[1] == 2 for t in ts)
assert any(t[1] == 1 for t in ts)
assert any(t[1] == 2 for t in ts)
def test_attribute():
scenario = compileScenic('place = Uniform(1 @ 1, 2 @ 4, 3 @ 9)\n'
'ego = Object at place.x @ place.y')
xs = [sampleEgo(scenario).position.x for i in range(100)]
assert all(x == 1 or x == 2 or x == 3 for x in xs)
assert any(x == 1 for x in xs)
assert any(x == 2 for x in xs)
assert any(x == 3 for x in xs)
def test_method():
scenario = compileScenic('field = VectorField("Foo", lambda pos: pos[1])\n'
'ang = field[0 @ (100, 200)]\n'
'ego = Object facing ang')
angles = [sampleEgo(scenario).heading for i in range(60)]
assert all(100 <= x <= 200 for x in angles)
assert any(x < 150 for x in angles)
assert any(150 < x for x in angles)
def test_function():
scenario = compileScenic(
'ego = Object at sin(Uniform(45 deg, 90 deg)) @ 0')
xs = [sampleEgo(scenario).position.x for i in range(60)]
valA, valB = (pytest.approx(math.sin(math.radians(a))) for a in (45, 90))
assert all(x == valA or x == valB for x in xs)
assert any(x == valA for x in xs)
assert any(x == valB for x in xs)
def test_inside_delayed_argument():
scenario = lazyTestScenario('Uniform(1.2, x)', offset='Uniform(-1, 1)')
hs = [sampleEgo(scenario).heading for i in range(140)]
assert all(h == 1.2 or h == pytest.approx(0) or h == pytest.approx(2)
for h in hs)
assert any(h == 1.2 for h in hs)
assert any(h == pytest.approx(0) for h in hs)
assert any(h == pytest.approx(2) for h in hs)
def test_requirement():
scenario = compileScenic("""
scenario Main():
setup:
ego = Object with width Range(1, 3)
require ego.width > 2
""")
ws = [sampleEgo(scenario, maxIterations=60).width for i in range(60)]
assert all(2 < w <= 3 for w in ws)
def test_containment():
"""Test pruning based on object containment."""
scenario = compileScenic(
'workspace = Workspace(PolygonalRegion([0@0, 2@0, 2@2, 0@2]))\n'
'ego = Object in workspace')
# Sampling should only require 1 iteration after pruning
xs = [sampleEgo(scenario).position.x for i in range(60)]
assert all(0.5 <= x <= 1.5 for x in xs)
assert any(0.5 <= x <= 0.7 or 1.3 <= x <= 1.5 for x in xs)
def test_list_filtered():
scenario = compileScenic("""
mylist = [Range(-10, -5), Range(3, 7), Range(-1, 1)]
filtered = filter(lambda x: x > 0, mylist)
ego = Object with foo Uniform(*filtered)
""")
vs = [sampleEgo(scenario).foo for i in range(60)]
assert all(v > 0 for v in vs)
assert any(v < 1 for v in vs)
def test_mutate():
scenario = compileScenic("""
ego = Object at 3@1, facing 0
mutate
""")
ego1 = sampleEgo(scenario)
assert ego1.position.x != pytest.approx(3)
assert ego1.position.y != pytest.approx(1)
assert ego1.heading != pytest.approx(0)
def test_namedtuple():
scenario = compileScenic(
'from collections import namedtuple\n'
'Data = namedtuple("Data", ["bar", "baz"])\n'
'ego = Object with foo Data(bar=3, baz=Uniform(1, 2))')
ts = [sampleEgo(scenario).foo for i in range(60)]
assert all(t.bar == 3 for t in ts)
assert all(t.baz == 1 or t.baz == 2 for t in ts)
assert any(t.baz == 1 for t in ts)
assert any(t.baz == 2 for t in ts)
def test_in_heading_distribution():
scenario = compileScenic(
'ra = RectangularRegion(0@0, 0, 2, 2)\n'
'ra.orientation = VectorField("foo", lambda pt: 1)\n'
'rb = PolylineRegion([0 @ 0, 1 @ 1])\n'
'ego = Object in Uniform(ra, rb)')
hs = [sampleEgo(scenario).heading for i in range(60)]
h2 = pytest.approx(-math.pi / 4)
assert all(h == 1 or h == h2 for h in hs)
assert any(h == 1 for h in hs)
assert any(h == h2 for h in hs)
def test_shared_dependency_lazy_1():
scenario = compileScenic("""
vf = VectorField("Foo", lambda pos: 2 * pos.x)
x = 1 relative to vf
y = Uniform(0, x)
ego = Object with foo y, with bar y
""")
for i in range(60):
ego = sampleEgo(scenario)
assert ego.foo == 0 or ego.foo == 1
assert ego.foo == ego.bar
def test_method_lazy_2():
# See previous comment
scenario = compileScenic(
'from scenic.core.distributions import distributionMethod\n'
'class Foo(object):\n'
' @distributionMethod\n'
' def bar(self, arg):\n'
' return -arg * Range(100, 200)\n'
'vf = VectorField("Baz", lambda pos: 1 + pos.x)\n'
'ego = Object facing Foo().bar(0 relative to vf)')
angles = [sampleEgo(scenario).heading for i in range(60)]
assert all(-200 <= x <= -100 for x in angles)
assert any(x < -150 for x in angles)
assert any(-150 < x for x in angles)
def test_relative_heading():
scenario = compileScenic(
'r1 = PolygonalRegion([0@0, 10@0, 10@10, 0@10])\n' # First cell: heading 0 deg
'r2 = PolygonalRegion([20@0, 30@0, 30@10, 20@10])\n' # Second cell: heading 90 deg
'vf = PolygonalVectorField("Foo", [[r1.polygons, 0], [r2.polygons, 90 deg]])\n'
'union = r1.union(r2)\n'
'ego = Object in union, facing vf\n' # Objects can be in either cell
'other = Object in union, facing vf\n'
'require (relative heading of other) >= 60 deg' # Forces ego in cell 1, other in cell 2
)
# Sampling should only require 1 iteration after pruning
xs = [sampleEgo(scenario).position.x for i in range(60)]
assert all(0 <= x <= 10 for x in xs)
assert any(x > 5 for x in xs)
def test_intersection(cached_maps):
scenario = compileDrivingScenario(
cached_maps, """
intersection = Uniform(*network.intersections)
lane = Uniform(*intersection.incomingLanes)
maneuver = Uniform(*lane.maneuvers)
ego = Car on maneuver.connectingLane.centerline
""")
for i in range(50):
ego = sampleEgo(scenario, maxIterations=1000)
intersection = ego.intersection
assert intersection is not None
directions = intersection.nominalDirectionsAt(ego)
assert any(ego.heading == pytest.approx(direction)
for direction in directions)
def test_method_lazy():
# There are no distributionMethods built into the core language at this time,
# so we need to define our own
scenario = compileScenic(
'from scenic.core.distributions import distributionMethod\n'
'class Foo:\n'
' @distributionMethod\n'
' def bar(self, arg):\n'
' return -arg\n'
'vf = VectorField("Baz", lambda pos: 1 + pos.x)\n'
'ego = Object facing Foo().bar((100, 200) * (0 relative to vf))')
angles = [sampleEgo(scenario).heading for i in range(60)]
assert all(-200 <= x <= 100 for x in angles)
assert any(x < -150 for x in angles)
assert any(-150 < x for x in angles)
def test_relative_heading():
"""Test pruning based on requirements bounding relative headings."""
scenario = compileScenic("""
r1 = PolygonalRegion([0@0, 10@0, 10@10, 0@10]) # First cell: heading 0 deg
r2 = PolygonalRegion([20@0, 30@0, 30@10, 20@10]) # Second cell: heading 90 deg
vf = PolygonalVectorField("Foo", [[r1.polygons, 0], [r2.polygons, 90 deg]])
union = r1.union(r2)
ego = Object in union, facing vf # Objects can be in either cell
other = Object in union, facing vf
require (relative heading of other) >= 60 deg # Forces ego in cell 1, other in cell 2
""")
# Sampling should only require 1 iteration after pruning
xs = [sampleEgo(scenario).position.x for i in range(60)]
assert all(0 <= x <= 10 for x in xs)
assert any(x > 5 for x in xs)
