def test_apply_action(self):
ts = env.TrafficState(width_lanes=3, height_cells=20, cars=0)
my_car = env.Car(5, 1, 10)
c1 = env.Car(15, 0, 10)
s = ts._render_state(my_car, [c1])
np.testing.assert_array_almost_equal(s, [
[
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.0075, 0.0075, 0.0075, 0.0075,
1, 1, 1, 1, 1, 1
],
[
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.0025, 0.0025, 0.0025, 0.0025,
1, 1, 1, 1, 1, 1
],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
])
ts._apply_action(c1, env.Actions.accelerate, [my_car])
self.assertEqual(c1.speed, 16)
ts._update_safe_speed(my_car, [c1])
s = ts._render_state(my_car, [c1])
np.testing.assert_array_almost_equal(s, [
[
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.008, 0.008, 0.008, 0.008, 1, 1,
1, 1, 1, 1
],
[
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.0025, 0.0025, 0.0025, 0.0025,
1, 1, 1, 1, 1, 1
],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
])
# should be ignored - central car is on the way
ts._apply_action(c1, env.Actions.goRight, [my_car])
self.assertEqual(c1.cell_x, 0)
s = ts._render_state(my_car, [c1])
np.testing.assert_array_almost_equal(s, [
[
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.008, 0.008, 0.008, 0.008, 1, 1,
1, 1, 1, 1
],
[
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.0025, 0.0025, 0.0025, 0.0025,
1, 1, 1, 1, 1, 1
],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
])
# move central car to the right
ts._apply_action(my_car, env.Actions.goRight, [c1])
self.assertEqual(my_car.cell_x, 2)
s = ts._render_state(my_car, [c1])
np.testing.assert_array_almost_equal(s, [
[
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.008, 0.008, 0.008, 0.008, 1, 1,
1, 1, 1, 1
],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.0025, 0.0025, 0.0025, 0.0025,
1, 1, 1, 1, 1, 1
],
])
# should now change lanes
ts._apply_action(c1, env.Actions.goRight, [my_car])
self.assertEqual(c1.cell_x, 1)
s = ts._render_state(my_car, [c1])
np.testing.assert_array_almost_equal(s, [
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.008, 0.008, 0.008, 0.008, 1, 1,
1, 1, 1, 1
],
[
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.0025, 0.0025, 0.0025, 0.0025,
1, 1, 1, 1, 1, 1
],
])
def test_shift(self):
c = env.Car(0, 0, 1)
c.shift_forward(rel_speed=env.Car.SpeedUnitsPerPos)
self.assertEqual(c.pos_y, 9)
self.assertEqual(c.cell_y, 0)
def test_overlaps(self):
c = env.Car(0, 0, 0)
self.assertTrue(c.overlaps(c))
self.assertTrue(c.overlaps(env.Car(0, 0, 1)))
self.assertTrue(c.overlaps(env.Car(0, 0, 2)))
self.assertTrue(c.overlaps(env.Car(0, 0, 3)))
self.assertTrue(c.overlaps(env.Car(0, 0, 4)))
self.assertFalse(c.overlaps(env.Car(0, 0, 5)))
self.assertTrue(c.overlaps(env.Car(0, 0, 5), safety_dist=1))
self.assertFalse(c.overlaps(env.Car(0, 1, 2)))
c = env.Car(0, 3, 20)
self.assertFalse(c.overlaps(env.Car(0, 3, 15)))
self.assertTrue(c.overlaps(env.Car(0, 3, 16)))
self.assertTrue(c.overlaps(env.Car(0, 3, 17)))
self.assertTrue(c.overlaps(env.Car(0, 3, 18)))
self.assertTrue(c.overlaps(env.Car(0, 3, 19)))
self.assertTrue(c.overlaps(env.Car(0, 3, 24)))
self.assertFalse(c.overlaps(env.Car(0, 3, 25)))
def test_is_inside(self):
c = env.Car(0, 0, 2)
self.assertTrue(c.is_inside(y_cells=6))
self.assertFalse(c.is_inside(y_cells=5))
self.assertFalse(env.Car(0, 0, -1).is_inside(y_cells=100))