def get_random_spot(on_right_side: bool,
kind: int,
min_width: float = 0.3) -> ParkingSpot:
width = (min_width + random.random()) if on_right_side else 0.35
obstacle = None
if kind == ParkingSpot.OCCUPIED or (kind == ParkingSpot.BLOCKED
and random.random() > 0.5):
obs_width = (random.random() / 2 + 0.5) * width
obstacle = ParkingObstacle(
width=obs_width,
x=0.2,
y=-(width - (0.5 - random.random()) * obs_width / 2) / 2,
)
return ParkingSpot(width=width, kind=kind, obstacle=obstacle)
def get_spot(side=0):
width = (0.5 + random.random()) * (0.2 + ROAD_WIDTH * side)
obs_width = (random.random() / 2 + 0.5) * width
return ParkingSpot(
width=width,
kind=random.choice([ParkingSpot.FREE, ParkingSpot.BLOCKED]),
obstacle=random.choice([
ParkingObstacle(
width=obs_width,
x=0.2,
y=-(width - random.random() / 2 * obs_width) / 2,
),
ParkingObstacle(
width=obs_width,
x=0.2,
y=-(width - random.random() / 2 * obs_width) / 2,
),
None,
]),
)
return default
return e == "True" or e == "1"
PARKING_LOT_RIGHT = env_as_bool("PARKING_LOT_RIGHT", True)
PARKING_LOT_LEFT = env_as_bool("PARKING_LOT_LEFT", True)
road = Road()
road.append(StraightRoad(length=2))
right_lots = ([
ParkingLot(
start=1,
spots=[
ParkingSpot(width=0.3,
kind=ParkingSpot.OCCUPIED,
obstacle=ParkingObstacle()),
ParkingSpot(width=0.4, kind=ParkingSpot.BLOCKED),
ParkingSpot(width=1),
ParkingSpot(width=0.3,
kind=ParkingSpot.OCCUPIED,
obstacle=ParkingObstacle()),
],
)
] if PARKING_LOT_RIGHT else [])
left_lots = ([
ParkingLot(
start=1,
spots=[
ParkingSpot(kind=ParkingSpot.OCCUPIED, obstacle=ParkingObstacle()),
def test_parking_area(self):
TF = Transform([1, 1], math.pi / 2)
left_spot1 = ParkingSpot(width=0.4, kind=ParkingSpot.FREE)
left_spot2 = ParkingSpot(width=0.4, kind=ParkingSpot.OCCUPIED)
right_spot = ParkingSpot(width=0.6, kind=ParkingSpot.BLOCKED)
# opening_angle 55 degrees
OPENING_ANGLE = math.radians(55)
LEFT_START = 2.25
LEFT_DEPTH = 0.5
RIGHT_START = 1.75
RIGHT_DEPTH = 0.3
LENGTH = 4
left_lot = ParkingLot(
start=LEFT_START,
opening_angle=OPENING_ANGLE,
depth=LEFT_DEPTH,
spots=[left_spot1, left_spot2],
)
right_lot = ParkingLot(
start=RIGHT_START,
opening_angle=OPENING_ANGLE,
depth=RIGHT_DEPTH,
spots=[right_spot],
)
pa = ParkingArea(
length=LENGTH,
left_lots=[left_lot],
right_lots=[right_lot],
transform=TF,
)
self.assertEqual(pa.__class__.TYPE, road_section_type.PARKING_AREA)
# test points for left_border calculated by hand
# left_lot start at 2.25, depth 0.5
# start_inner
si = Point(LEFT_START, Config.road_width)
# start_outer
so = Point(
si.x + LEFT_DEPTH / math.tan(OPENING_ANGLE),
Config.road_width + LEFT_DEPTH,
)
# end outer, both lots have 0.4 width
eo = Point(so.x + 0.8, so.y)
# end inner
ei = Point(eo.x + LEFT_DEPTH / math.tan(OPENING_ANGLE),
Config.road_width)
self.assertLineAlmostEqual(pa.left_lots[0].border,
TF * Line([si, so, eo, ei]))
# check first parking spot on left side width: 0.4
self.assertEqual(
pa.left_lots[0].spots[0].frame,
TF * Polygon([
Point(so.x, si.y), so,
Point(so.x + 0.4, so.y),
Point(so.x + 0.4, si.y)
]),
)
self.assertEqual(pa.left_lots[0].spots[0].kind, ParkingSpot.FREE)
# check second parking spot on left side width: 0.4
self.assertEqual(
pa.left_lots[0].spots[1].frame,
TF * Polygon([
Point(so.x + 0.4, si.y),
Point(so.x + 0.4, so.y), eo,
Point(eo.x, ei.y)
]),
)
self.assertEqual(pa.left_lots[0].spots[1].kind, ParkingSpot.OCCUPIED)
# test points for right_border calculated by hand
# left_lot start at 1.75, depth 0.3
# start_inner
si = Point(RIGHT_START, -Config.road_width)
# start_outer
so = Point(
si.x + RIGHT_DEPTH / math.tan(OPENING_ANGLE),
-Config.road_width - RIGHT_DEPTH,
)
# end outer, lot has 0.6 width
eo = Point(so.x + 0.6, -Config.road_width - RIGHT_DEPTH)
# end inner
ei = Point(eo.x + RIGHT_DEPTH / math.tan(OPENING_ANGLE),
-Config.road_width)
self.assertLineAlmostEqual(pa.right_lots[0].border,
TF * Line([si, so, eo, ei]))
# check first parking spot on right side width: 0.6
# polygon points on right side are reversed
self.assertEqual(
pa.right_lots[0].spots[0].frame,
TF * Polygon([Point(eo.x, ei.y), eo, so,
Point(so.x, si.y)]),
)
self.assertEqual(
pa.right_lots[0].spots[0].kind,
ParkingSpot.BLOCKED,
)
ParkingSpot,
RightCircularArc,
StraightRoad,
)
road = Road()
road.append(ParkingArea(length=0.06, start_line=True))
road.append(StraightRoad(length=0.62))
road.append(
ParkingArea(
length=2.9,
right_lots=[
ParkingLot(
depth=0.32,
spots=[
ParkingSpot(width=1.15),
ParkingSpot(
width=0.25, kind=ParkingSpot.OCCUPIED, obstacle=ParkingObstacle()
),
ParkingSpot(width=0.045),
ParkingSpot(width=0.56, kind=ParkingSpot.BLOCKED),
ParkingSpot(width=0.32),
],
)
],
)
)
road.append(StraightRoad(length=0.53))
road.append(
ParkingArea(
length=3.8,
# - Beginning sphinx straight_road -
straight_road = StraightRoad(length=2)
# - Ending sphinx straight_road -
# - Beginning sphinx straight_road_obs -
straight_road_obs = StraightRoad(length=2)
straight_road_obs.add_obstacle(arc_length=1, y_offset=0, width=0.2, length=0.1)
# - Ending sphinx straight_road_obs -
# - Beginning sphinx parking_area -
parking_area = ParkingArea(
length=4,
start_line=True,
left_lots=[
ParkingLot(spots=[
ParkingSpot(kind=ParkingSpot.OCCUPIED, obstacle=ParkingObstacle()),
ParkingSpot(kind=ParkingSpot.BLOCKED),
], ),
ParkingLot(
start=2,
opening_angle=math.radians(40),
spots=[
ParkingSpot(),
ParkingSpot(kind=ParkingSpot.OCCUPIED,
obstacle=ParkingObstacle()),
],
),
],
right_lots=[
ParkingLot(
start=1,
ZebraCrossing,
)
from simulation.utils.road.sections.road_section import RoadSection
road = Road()
road.append(StraightRoad(length=1))
# Create a parking area with different kinds of parking spots
road.append(
ParkingArea(
length=4,
start_line=True,
left_lots=[
ParkingLot(
start=1,
spots=[ParkingSpot(),
ParkingSpot(kind=ParkingSpot.BLOCKED)])
],
right_lots=[
ParkingLot(
start=0.2,
spots=[
ParkingSpot(
kind=ParkingSpot.OCCUPIED,
width=0.7,
obstacle=ParkingObstacle(x=0.15,
y=-0.2,
width=0.3,
depth=0.25),
),
ParkingSpot(kind=ParkingSpot.BLOCKED),
ParkingObstacle,
StaticObstacle,
)
from simulation.utils.road.sections.road_section import RoadSection
road = Road()
road.append(StraightRoad(length=1))
# Create a parking area with different kinds of parking spots
road.append(
ParkingArea(
length=4,
start_line=True,
left_lots=[
ParkingLot(
start=1, spots=[ParkingSpot(), ParkingSpot(kind=ParkingSpot.BLOCKED)]
)
],
right_lots=[
ParkingLot(
start=0.2,
spots=[
ParkingSpot(
kind=ParkingSpot.OCCUPIED,
width=0.7,
obstacle=ParkingObstacle(center=[0.2, -0.2], width=0.3, depth=0.4),
),
ParkingSpot(kind=ParkingSpot.BLOCKED),
],
)
],