def test_safety_system(self):
ts = env.TrafficState(width_lanes=3, height_cells=20, cars=0)
my_car = env.Car(5, 1, 10)
c1 = env.Car(15, 0, 14)
s = ts._render_state(my_car, [c1])
np.testing.assert_array_equal(s, [
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 10, 10, 10, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
])
# should be refused
ts._apply_action(my_car, env.Actions.goLeft, [c1])
self.assertEqual(my_car.cell, (1, 10))
c1 = env.Car(15, 0, 15)
# should move
ts._apply_action(my_car, env.Actions.goLeft, [c1])
self.assertEqual(my_car.cell, (0, 10))
s = ts._render_state(my_car, [c1])
np.testing.assert_array_equal(s, [
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 10, 10, 10, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
])
ts._update_safe_speed(my_car, [c1])
self.assertEqual(c1.safe_speed, 2)
# check in front of the car
ts = env.TrafficState(width_lanes=3, height_cells=20, cars=0)
my_car = env.Car(5, 1, 10)
c1 = env.Car(15, 0, 6)
s = ts._render_state(my_car, [c1])
np.testing.assert_array_equal(s, [
[0, 0, 0, 0, 0, 0, 10, 10, 10, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, +0, +0, +0, +0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
])
# should be refused
ts._apply_action(my_car, env.Actions.goLeft, [c1])
self.assertEqual(my_car.cell, (1, 10))
# should be refused
c1 = env.Car(15, 0, 1)
ts._apply_action(my_car, env.Actions.goLeft, [c1])
self.assertEqual(my_car.cell, (1, 10))
s = ts._render_state(my_car, [c1])
np.testing.assert_array_equal(s, [
[0, 10, 10, 10, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, +0, +0, +0, +0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
])
# should be accepted
c1 = env.Car(15, 0, 0)
ts._apply_action(my_car, env.Actions.goLeft, [c1])
self.assertEqual(my_car.cell, (0, 10))
def test_render_state(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,
np.array([
[
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],
]))
c2 = env.Car(0, 1, 0)
s = ts._render_state(my_car, [c1, c2])
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
],
[
0, 0, 0, 0, 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],
])
def test_check_collisions(self):
ts = env.TrafficState()
# history = [ts.snapshot()]
for _ in range(1000):
c = ts.is_collision()
if c is not None:
print("Collision! %s with %s" % c)
# with open("collision.txt", 'wt', encoding='utf-8') as fd:
# pprint.pprint(history, fd)
assert False
ts.tick()
def test_update_safe_speed(self):
ts = env.TrafficState(width_lanes=3, height_cells=20, cars=0)
# nothing should change
my_car = env.Car(5, 1, 10)
c1 = env.Car(15, 0, 10)
ts._update_safe_speed(my_car, [c1])
self.assertEqual(my_car.safe_speed, 5)
self.assertEqual(c1.safe_speed, 15)
# our car should be slowed down to the speed of upfront car
my_car = env.Car(20, 1, 10)
c1 = env.Car(10, 1, 2)
ts._update_safe_speed(my_car, [c1])
self.assertEqual(my_car.safe_speed, 10)
self.assertEqual(c1.safe_speed, 10)
def test_move_cars(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)
# relative speed is 10, so c1 should move 1 cell forward
ts._move_cars(my_car, [c1])
self.assertEqual(c1.cell_y, 9)
self.assertEqual(c1.pos_y, 98)
self.assertEqual(my_car.cell_y, 10)
c1 = env.Car(0, 0, 10)
# relative speed is -5, so, it should keep the current cell (due to rounding)
ts._move_cars(my_car, [c1])
self.assertEqual(c1.cell_y, 10)
self.assertEqual(c1.pos_y, 101)
ts._move_cars(my_car, [c1])
self.assertEqual(c1.cell_y, 10)
self.assertEqual(c1.pos_y, 102)
def test_render(self):
random.seed(10)
ts = env.TrafficState(state_render_view=(1, 10, 5))
self.assertEqual(ts.state.shape, (3, 15))
np.testing.assert_array_almost_equal(ts.state, [
[0.0325, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.04, 0.04, 0.04, 0.04, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 0.0325, 0.0325, 0.0325, 0.0325, 1, 1],
])
ts.tick(env.Actions.goLeft)
np.testing.assert_array_almost_equal(ts.state, [
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.0325, 0.0325, 0.0325, 0.0325, 1],
[0.0325, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.04, 0.04, 0.04, 0.04, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
])
for step in range(16):
ts.tick(env.Actions.noAction)
ts.tick(env.Actions.goLeft)
ts.tick(env.Actions.goLeft)
np.testing.assert_array_almost_equal(ts.state, [
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0.04, 0.04, 0.04, 0.04, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
])
def test_init(self):
ts = env.TrafficState()
self.assertEqual(len(ts.cars), ts.cars_count)
self.assertEqual(ts.my_car.cell_x, 3)
self.assertEqual(ts.my_car.cell_y, 46)
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
],
])