def run(self):
self.ego.on_collision(self.on_collision)
self.npc1.on_collision(self.on_collision)
self.npc2.on_collision(self.on_collision)
try:
t0 = time.time()
self.sim.run(TIME_DELAY)
# self.npc1.follow(self.npc1Waypoints)
self.npc2.follow(self.npc2Waypoints)
distance = None
ttc = None
while True:
distance, ttc = self.ttc(distance, ttc)
egoCurrentState = self.ego.state
if egoCurrentState.speed > MAX_SPEED + SPEED_VARIANCE:
raise evaluator.TestException(
"EGO speed exceeded limit, {} > {} m/s".format(
egoCurrentState.speed, MAX_SPEED + SPEED_VARIANCE))
NPC1CurrentState = self.npc1.state
if NPC1CurrentState.speed > MAX_SPEED + SPEED_VARIANCE:
raise evaluator.TestException(
"NPC1 speed exceeded limit, {} > {} m/s".format(
NPC1CurrentState.speed,
MAX_SPEED + SPEED_VARIANCE))
NPC2CurrentState = self.npc2.state
if NPC2CurrentState.speed > MAX_SPEED + SPEED_VARIANCE:
raise evaluator.TestException(
"NPC2 speed exceeded limit, {} > {} m/s".format(
NPC2CurrentState.speed,
MAX_SPEED + SPEED_VARIANCE))
self.sim.run(0.5)
if time.time() - t0 > TIME_LIMIT:
break
except evaluator.TestException as e:
print("FAILED: " + repr(e))
exit()
print("Program Terminated")
def on_collision(agent1, agent2, contact):
raise evaluator.TestException("Ego collided with {}".format(agent2))
ego.on_collision(on_collision)
POV.on_collision(on_collision)
try:
t0 = time.time()
sim.run(TIME_DELAY) # The EGO should start moving first
POV.follow_closest_lane(True, MAX_POV_SPEED, False)
while True:
sim.run(0.5)
egoCurrentState = ego.state
if egoCurrentState.speed > MAX_EGO_SPEED + SPEED_VARIANCE:
raise evaluator.TestException(
"Ego speed exceeded limit, {} > {} m/s".format(
egoCurrentState.speed, MAX_EGO_SPEED + SPEED_VARIANCE))
POVCurrentState = POV.state
if POVCurrentState.speed > MAX_POV_SPEED + SPEED_VARIANCE:
raise evaluator.TestException(
"POV speed exceeded limit, {} > {} m/s".format(
POVCurrentState.speed, MAX_POV_SPEED + SPEED_VARIANCE))
if POVCurrentState.angular_velocity.y > MAX_POV_ROTATION:
raise evaluator.TestException(
"POV angular rotation exceeded limit, {} > {} deg/s".format(
POVCurrentState.angular_velocity, MAX_POV_ROTATION))
if time.time() - t0 > TIME_LIMIT:
break
except evaluator.TestException as e:
raise evaluator.TestException("Ego collided with {}".format(agent2))
ego.on_collision(on_collision)
POV.on_collision(on_collision)
try:
t0 = time.time()
sim.run(TIME_DELAY)
POV.follow(POVWaypoints)
while True:
egoCurrentState = ego.state
if egoCurrentState.speed > MAX_EGO_SPEED + SPEED_VARIANCE:
raise evaluator.TestException(
"Ego speed exceeded limit, {} > {} m/s".format(
egoCurrentState.speed, MAX_EGO_SPEED + SPEED_VARIANCE))
POVCurrentState = POV.state
if POVCurrentState.speed > MAX_EGO_SPEED + SPEED_VARIANCE:
raise evaluator.TestException(
"POV1 speed exceeded limit, {} > {} m/s".format(
POVCurrentState.speed, MAX_POV_SPEED + SPEED_VARIANCE))
sim.run(0.5)
if time.time() - t0 > TIME_LIMIT:
break
except evaluator.TestException as e:
print("FAILED: " + repr(e))
exit()
def on_collision(self, agent1, agent2, contact):
raise evaluator.TestException("Colision between {} and {}".format(
agent1, agent2))
POV3.follow_closest_lane(True, MAX_SPEED, False)
def on_collision(agent1, agent2, contact):
raise evaluator.TestException("{} collided with {}".format(agent1, agent2))
ego.on_collision(on_collision)
POV1.on_collision(on_collision)
POV2.on_collision(on_collision)
POV3.on_collision(on_collision)
try:
t0 = time.time()
while True:
egoCurrentState = ego.state
if egoCurrentState.speed > MAX_SPEED + SPEED_VARIANCE:
raise evaluator.TestException("Ego speed exceeded limit, {} > {} m/s".format(egoCurrentState.speed, MAX_SPEED + SPEED_VARIANCE))
POV1CurrentState = POV1.state
POV2CurrentState = POV2.state
POV3CurrentState = POV3.state
POVSeparation = evaluator.separation(POV1CurrentState.position, POV2CurrentState.position)
if POVSeparation > MAX_POV_SEPARATION + SEPARATION_VARIANCE:
raise evaluator.TestException("POV1 and POV2 are too far apart: {} > {}".format(POVSeparation, MAX_POV_SEPARATION + SEPARATION_VARIANCE))
if POV1CurrentState.speed > MAX_SPEED + SPEED_VARIANCE:
raise evaluator.TestException("POV1 speed exceeded limit, {} > {} m/s".format(POV1CurrentState.speed, MAX_SPEED + SPEED_VARIANCE))
if POV2CurrentState.speed > MAX_SPEED + SPEED_VARIANCE:
raise evaluator.TestException("POV2 speed exceeded limit, {} > {} m/s".format(POV2CurrentState.speed, MAX_SPEED + SPEED_VARIANCE))
if POV3CurrentState.speed > MAX_SPEED + SPEED_VARIANCE:
