def test_interrupt_guard_subbehavior():
scenario = compileScenic("""
behavior Foo():
try:
take 1
interrupt when Foo():
wait
ego = Object with behavior Foo
""")
with pytest.raises(RuntimeParseError):
sampleEgoActions(scenario, maxSteps=1)
def test_interrupt_unassigned_local():
scenario = compileScenic("""
behavior Foo():
try:
i = 0
take 1
interrupt when i == 1:
i = 2
ego = Object with behavior Foo
""")
with pytest.raises(NameError) as exc_info:
sampleEgoActions(scenario, maxSteps=1)
checkErrorLineNumber(5, exc_info)
def test_behavior_globals_read_list():
scenario = compileScenic("""
behavior Foo():
while True:
take foo[1]
ego = Object with behavior Foo
foo = [5, Range(10, 20)]
""")
actions1 = sampleEgoActions(scenario, maxSteps=2)
assert len(actions1) == 2
assert 10 <= actions1[0] <= 20
assert actions1[0] == actions1[1]
actions2 = sampleEgoActions(scenario, maxSteps=1)
assert len(actions2) == 1
assert actions2[0] != actions1[0]
def test_behavior_globals_read():
scenario = compileScenic("""
behavior Foo():
while True:
take other.position.x
ego = Object with behavior Foo
other = Object at Range(10, 20) @ 15
""")
actions1 = sampleEgoActions(scenario, maxSteps=2)
assert len(actions1) == 2
assert 10 <= actions1[0] <= 20
assert actions1[0] == actions1[1]
actions2 = sampleEgoActions(scenario, maxSteps=1)
assert len(actions2) == 1
assert actions2[0] != actions1[0]
def test_behavior_globals_read_module(runLocally):
with runLocally():
scenario = compileScenic("""
import helper4
behavior Foo():
while True:
take helper4.foo
ego = Object with behavior Foo
""")
actions1 = sampleEgoActions(scenario, maxSteps=2)
assert len(actions1) == 2
assert 0 <= actions1[0] <= 1
assert actions1[0] == actions1[1]
actions2 = sampleEgoActions(scenario, maxSteps=1)
assert len(actions2) == 1
assert actions2[0] != actions1[0]
def test_behavior_self():
scenario = compileScenic("""
behavior Foo():
take self.bar
ego = Object with behavior Foo, with bar 3
""")
actions = sampleEgoActions(scenario, maxSteps=1)
assert tuple(actions) == (3, )
def test_behavior_end_early():
scenario = compileScenic("""
behavior Foo():
take 5
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=3)
assert tuple(actions) == (5, None, None)
def test_behavior_list_actions():
scenario = compileScenic("""
behavior Foo():
take [1, 4, 9]
take 5
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=2, singleAction=False)
assert tuple(actions) == ((1, 4, 9), (5, ))
def test_behavior_actions():
scenario = compileScenic("""
behavior Foo():
take 3
take 5
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=2)
assert tuple(actions) == (3, 5)
def test_behavior_lazy():
scenario = compileScenic("""
vf = VectorField("Foo", lambda pos: pos.x)
behavior Foo():
take 1 relative to vf
ego = Object at 0.5@0, with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=1)
assert tuple(actions) == (pytest.approx(1.5), )
def test_terminate():
scenario = compileScenic("""
behavior Foo():
take 1
terminate
take 2
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=3)
assert tuple(actions) == (1, )
def test_behavior_require_call():
scenario = compileScenic("""
behavior Foo():
x = Uniform([], [1, 2])
require len(x) > 0
take [x]
ego = Object with behavior Foo
""")
for i in range(30):
actions = sampleEgoActions(scenario, maxSteps=1, maxIterations=30)
assert actions[0] == [1, 2]
def test_dynamic_derived_property():
scenario = compileScenic("""
behavior Foo():
for i in range(3):
self.position = self.position + 0@1
wait
ego = Object with behavior Foo
terminate when ego.left.position.y >= 3
""")
actions = sampleEgoActions(scenario, maxSteps=4)
assert len(actions) == 3
def test_behavior_calls():
"""Ordinary function calls inside behaviors should still work."""
scenario = compileScenic("""
def func(a, *b, c=0, d=1, **e):
return [a, len(b), c, d, len(e)]
behavior Foo():
take [func(4, 5, 6, blah=4, c=10)]
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=1)
assert tuple(actions) == ([4, 2, 10, 1, 1], )
def test_interrupt_first():
scenario = compileScenic("""
behavior Foo():
try:
while True:
take 1
interrupt when simulation().currentTime == 0:
take 2
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=3)
assert tuple(actions) == (2, 1, 1)
def test_subbehavior_for_time():
scenario = compileScenic("""
behavior Foo():
while True:
take 1
behavior Bar():
do Foo() for 3 seconds
take 2
ego = Object with behavior Bar
""")
actions = sampleEgoActions(scenario, maxSteps=7, timestep=0.5)
assert tuple(actions) == (1, 1, 1, 1, 1, 1, 2)
def test_subbehavior_until():
scenario = compileScenic("""
behavior Foo():
while True:
take 1
behavior Bar():
do Foo() until simulation().currentTime == 2
take 2
ego = Object with behavior Bar
""")
actions = sampleEgoActions(scenario, maxSteps=4)
assert tuple(actions) == (1, 1, 2, None)
def test_interrupt_actionless():
scenario = compileScenic("""
behavior Foo():
i = 0
try:
for i in range(3):
take 1
interrupt when i == 1:
i = 2
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=5)
assert tuple(actions) == (1, 1, 1, None, None)
def test_behavior_nesting():
scenario = compileScenic("""
behavior Foo(a):
take a
take a
behavior Bar():
take 1
do Foo(2)
take 3
ego = Object with behavior Bar
""")
actions = sampleEgoActions(scenario, maxSteps=4)
assert tuple(actions) == (1, 2, 2, 3)
def test_terminate_when():
scenario = compileScenic("""
flag = False
behavior Foo():
global flag
take 1
flag = True
take 2
ego = Object with behavior Foo
terminate when flag
""")
actions = sampleEgoActions(scenario, maxSteps=3)
assert tuple(actions) == (1, 2)
def test_behavior_calls_nested():
"""Nested function calls inside behaviors should still work."""
scenario = compileScenic("""
def funcA(x):
return x+1
def funcB(x):
return x*2
behavior Foo():
take funcA(funcB(5))
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=1)
assert tuple(actions) == (11, )
def test_behavior_calls_side_effects():
scenario = compileScenic("""
x = 0
def func():
global x
x += 1
return x
behavior Foo():
while True:
take func()
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=4)
assert tuple(actions) == (1, 2, 3, 4)
def test_interrupt_no_handlers():
"""Test a try-except statement that isn't actually a try-interrupt statement."""
scenario = compileScenic("""
behavior Foo():
try:
for i in range(3):
take 1
raise Exception
except Exception:
take 2
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=3)
assert tuple(actions) == (1, 2, None)
def test_interrupt_break_2():
scenario = compileScenic("""
behavior Foo():
while True:
try:
for i in range(3):
take 1
interrupt when simulation().currentTime == 1:
for i in range(3):
take 2
break
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=4)
assert tuple(actions) == (1, 2, 1, 1)
def test_monitor():
scenario = compileScenic("""
monitor Monitor:
while True:
if ego.blah >= 3:
terminate
wait
behavior Foo():
while True:
take self.blah
self.blah += 1
ego = Object with blah 0, with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=5)
assert tuple(actions) == (0, 1, 2, 3)
def test_interrupt_nested_3():
scenario = compileScenic("""
behavior Bar():
try:
try:
for i in range(3):
take 1
interrupt when 1 <= simulation().currentTime <= 2:
take 2
interrupt when simulation().currentTime == 1:
take 3
ego = Object with behavior Bar
""")
actions = sampleEgoActions(scenario, maxSteps=6)
assert tuple(actions) == (1, 3, 2, 1, 1, None)
def test_behavior_require_scene():
scenario = compileScenic("""
behavior Foo():
while True:
take self.foo
require self.foo < 0
ego = Object with foo Range(-1, 1), with behavior Foo
""")
for i in range(50):
actions = sampleEgoActions(scenario,
maxSteps=2,
maxIterations=1,
maxScenes=50)
assert len(actions) == 2
assert actions[0] < 0
assert actions[0] == actions[1]
def test_interrupt_abort():
scenario = compileScenic("""
behavior Foo():
while True:
take 3
try:
for i in range(3):
take 1
interrupt when simulation().currentTime == 2:
for i in range(3):
take 2
abort
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=8)
assert tuple(actions) == (3, 1, 2, 3, 1, 1, 1, 3)
def test_interrupt_continue():
scenario = compileScenic("""
behavior Foo():
while True:
take 4
try:
for i in range(2):
take 1
interrupt when simulation().currentTime == 2:
take 2
continue
take 3
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=7)
assert tuple(actions) == (4, 1, 2, 4, 1, 1, 4)
def test_interrupt_except():
scenario = compileScenic("""
behavior Foo():
try:
for i in range(3):
take 1
interrupt when simulation().currentTime == 1:
take 2
raise Exception
take 3
except Exception:
take 4
ego = Object with behavior Foo
""")
actions = sampleEgoActions(scenario, maxSteps=4)
assert tuple(actions) == (1, 2, 4, None)
