def test_buffered_viewer(self):
env = GenerateRuntime()
buffered_viewer = BufferedViewer()
env._viewer = buffered_viewer
env.reset()
for step in range(0, 5):
env.step()
right_lane = CustomLaneCorridorConfig(
params=param_server,
lane_corridor_id=1,
road_ids=[0, 1],
controlled_ids=True,
behavior_model=BehaviorMobilRuleBased(param_server),
s_min=5.,
s_max=20.)
scenarios = \
ConfigWithEase(num_scenarios=3,
map_file_name="examples/data/DR_DEU_Merging_MT_v01_shifted.xodr",
random_seed=0,
params=param_server,
lane_corridor_configs=[left_lane, right_lane])
viewer = BufferedViewer()
env = Runtime(step_time=0.2,
viewer=viewer,
scenario_generator=scenarios,
render=True,
maintain_world_history=True)
# run BARKSCAPE
logger = logging.getLogger()
custom_stream = CustomStream(logger=logger)
bark_server = BaseServer(runner=BARKRunner,
runnable_object=env,
logger=logger,
stream=custom_stream)
bark_server.Start()