def validate_sensor_configuration(sensors, agent_track, selected_track):
"""
Ensure that the sensor configuration is valid, in case the challenge mode is used
Returns true on valid configuration, false otherwise
"""
if Track(selected_track) != agent_track:
raise SensorConfigurationInvalid(
"You are submitting to the wrong track [{}]!".format(
Track(selected_track)))
sensor_count = {}
sensor_ids = []
for sensor in sensors:
# Check if the is has been already used
sensor_id = sensor['id']
if sensor_id in sensor_ids:
raise SensorConfigurationInvalid(
"Duplicated sensor tag [{}]".format(sensor_id))
else:
sensor_ids.append(sensor_id)
# Check if the sensor is valid
if agent_track == Track.SENSORS:
if sensor['type'].startswith('sensor.opendrive_map'):
raise SensorConfigurationInvalid(
"Illegal sensor used for Track [{}]!".format(
agent_track))
# Check the sensors validity
if sensor['type'] not in AgentWrapper.allowed_sensors:
raise SensorConfigurationInvalid(
"Illegal sensor used. {} are not allowed!".format(
sensor['type']))
# Check the extrinsics of the sensor
if 'x' in sensor and 'y' in sensor and 'z' in sensor:
if math.sqrt(sensor['x']**2 + sensor['y']**2 +
sensor['z']**2) > MAX_ALLOWED_RADIUS_SENSOR:
raise SensorConfigurationInvalid(
"Illegal sensor extrinsics used for Track [{}]!".
format(agent_track))
# Check the amount of sensors
if sensor['type'] in sensor_count:
sensor_count[sensor['type']] += 1
else:
sensor_count[sensor['type']] = 1
for sensor_type, max_instances_allowed in SENSORS_LIMITS.items():
if sensor_type in sensor_count and sensor_count[
sensor_type] > max_instances_allowed:
raise SensorConfigurationInvalid(
"Too many {} used! "
"Maximum number allowed is {}, but {} were requested.".
format(sensor_type, max_instances_allowed,
sensor_count[sensor_type]))
def _validate_sensor_configuration(self, selected_track):
"""
Ensure that the sensor configuration is valid, in case the challenge mode is used
Returns true on valid configuration, false otherwise
"""
if Track(selected_track) != self._agent.track:
raise SensorConfigurationInvalid("You are submitting to the wrong track [{}]!".format(Track(selected_track)))
sensor_count = {}
for sensor in self._agent.sensors():
if self._agent.track == Track.SENSORS:
if sensor['type'].startswith('sensor.opendrive_map'):
raise SensorConfigurationInvalid("Illegal sensor used for Track [{}]!".format(self._agent.track))
# let's check the extrinsics of the sensor
if 'x' in sensor and 'y' in sensor and 'z' in sensor:
if math.sqrt(sensor['x']**2 + sensor['y']**2 + sensor['z']**2) > MAX_ALLOWED_RADIUS_SENSOR:
raise SensorConfigurationInvalid(
"Illegal sensor extrinsics used for Track [{}]!".format(self._agent.track))
if sensor['type'] in sensor_count:
sensor_count[sensor['type']] += 1
else:
sensor_count[sensor['type']] = 0
for sensor_type, max_instances_allowed in SENSORS_LIMITS.items():
if sensor_type in sensor_count and sensor_count[sensor_type] > max_instances_allowed:
raise SensorConfigurationInvalid(
"Too many {} used! "
"Maximum number allowed is {}, but {} were requested.".format(sensor_type,
max_instances_allowed,
sensor_count[sensor_type]))