def test_boids(smarts, scenarios, bubble):
# TODO: this is a hack to specify a seed to make this test pass
seed(int(os.getenv("PYTHONHASHSEED", 42)))
scenario = next(scenarios)
smarts.reset(scenario)
index = smarts.vehicle_index
geometry = bubble_geometry(bubble, smarts.road_network)
triggered_multiple_vehicles_in_bubble = False
triggered_multiple_vehicles_airlocked = False
# vehicle: steps per zone
steps_driven_in_zones = defaultdict(lambda: ZoneSteps())
# TODO: It's possible that multiple vehicles get spawned within the 500 steps but
# not all of them make it through the bubble completely causing the test to
# fail.
for _ in range(500):
smarts.step({})
hijacked_actor_ids = []
shadowed_actor_ids = []
for vehicle in index.vehicles:
position = Point(vehicle.position)
in_bubble = position.within(geometry.bubble)
is_shadowing = index.shadow_actor_id_from_vehicle_id(
vehicle.id) is not None
is_agent_controlled = vehicle.id in index.agent_vehicle_ids
zone_steps = steps_driven_in_zones[vehicle.id]
if position.within(geometry.bubble):
zone_steps.in_bubble += 1
hijacked_actor_ids.append(
index.actor_id_from_vehicle_id(vehicle.id))
assert in_bubble and not is_shadowing and is_agent_controlled
elif position.within(geometry.airlock_entry):
zone_steps.airlock_entry += 1
shadowed_actor_ids.append(
index.shadow_actor_id_from_vehicle_id(vehicle.id))
assert not in_bubble and is_shadowing and not is_agent_controlled
elif position.within(geometry.airlock_exit):
zone_steps.airlock_exit += 1
# TODO: Presently not implemented, but `is_shadowing` should be True
assert not in_bubble and not is_shadowing and is_agent_controlled
else:
zone_steps.outside_bubble += 1
assert not in_bubble and not is_shadowing and not is_agent_controlled
if len(hijacked_actor_ids) > 1:
triggered_multiple_vehicles_in_bubble = True
if len(shadowed_actor_ids) > 1:
triggered_multiple_vehicles_airlocked = True
assert (len(set(hijacked_actor_ids)) <=
1), "Boid vehicles must be controlled by the same actor"
assert (len(set(shadowed_actor_ids)) <=
1), "Boid vehicles must be shadowed by the same actor"
# Just to have some padding, we want to be in each region at least 5 steps
min_steps = 5
for vehicle_id, zone in steps_driven_in_zones.items():
assert all([
zone.in_bubble > min_steps,
zone.outside_bubble > min_steps,
zone.airlock_entry > min_steps,
zone.airlock_exit > min_steps,
]), (f"vehicle_id={vehicle_id}, zone={zone} doesn't meet "
f"min_steps={min_steps} requirement")
assert (triggered_multiple_vehicles_in_bubble
), "Multiple vehicles did not enter the bubble simultaneously"
assert (triggered_multiple_vehicles_airlocked
), "Multiple vehicles were not airlocked simultaneously"
def test_bubble_hijacking(smarts, scenarios, bubbles, num_vehicles):
"""Ensures bubble airlocking, hijacking, and relinquishing are functional.
Additionally, we test with multiple bubbles and vehicles to ensure operation is
correct in these conditions as well.
"""
scenario = next(scenarios)
smarts.reset(scenario)
index = smarts.vehicle_index
geometries = [bubble_geometry(b, smarts.road_network) for b in bubbles]
# bubble: vehicle: steps per zone
steps_driven_in_zones = {
b.id: defaultdict(lambda: ZoneSteps())
for b in bubbles
}
vehicles_made_to_through_bubble = {b.id: [] for b in bubbles}
for _ in range(300):
smarts.step({})
for vehicle in index.vehicles:
for bubble, geometry in zip(bubbles, geometries):
position = Point(vehicle.position)
in_bubble = position.within(geometry.bubble)
is_shadowing = (index.shadow_actor_id_from_vehicle_id(
vehicle.id) is not None)
is_agent_controlled = vehicle.id in index.agent_vehicle_ids()
zone_steps = steps_driven_in_zones[bubble.id][vehicle.id]
if position.within(geometry.bubble):
zone_steps.in_bubble += 1
assert in_bubble and not is_shadowing and is_agent_controlled
elif position.within(geometry.airlock_entry):
zone_steps.airlock_entry += 1
assert not in_bubble and is_shadowing and not is_agent_controlled
elif position.within(geometry.airlock_exit):
zone_steps.airlock_exit += 1
# TODO: Presently not implemented, but `is_shadowing` should be True
assert not in_bubble and not is_shadowing and is_agent_controlled
if vehicle.id not in vehicles_made_to_through_bubble[
bubble.id]:
vehicles_made_to_through_bubble[bubble.id].append(
vehicle.id)
elif not any(
[position.within(geom.airlock) for geom in geometries]):
# Not in any bubble; airlock is the encompassing region
zone_steps.outside_bubble += 1
assert (not in_bubble and not is_shadowing
and not is_agent_controlled)
# Just to have some padding, we want to be in each region at least 5 steps
min_steps = 5
for bubble_id, zones in steps_driven_in_zones.items():
vehicle_ids = vehicles_made_to_through_bubble[bubble_id]
assert (len(vehicle_ids) >=
num_vehicles), "Insufficient no. vehicles drove through bubble"
for vehicle_id in vehicle_ids[:num_vehicles]:
zone = zones[vehicle_id]
assert all([
zone.in_bubble > min_steps,
zone.outside_bubble > min_steps,
zone.airlock_entry > min_steps,
zone.airlock_exit > min_steps,
]), (
f"bubble={bubble_id}, vehicle_id={vehicle_id}, zone={zone} doesn't meet "
f"min_steps={min_steps} requirement")