def test_move(self):
position = (42, 2)
obstacle = Obstacle(position=position, width=2, length=10)
after = obstacle.move()
self.assertEqual(position, after)
self.assertEqual(position, obstacle.position)
self.assertEqual(2, obstacle.width)
self.assertEqual(10, obstacle.length)
def test_tryAvoidObstacle(self, mocked_shuffled):
mocked_shuffled.side_effect = lambda xs: xs
# No obstacles on the road.
road = Mock(lane_width=1)
road.getNextVehicle.return_value = -1, None
car = ConventionalCar(position=(42, 1), velocity=5, road=road)
self.assertFalse(car._tryAvoidObstacle())
# Not an obstacle on the road in front.
road = Mock(lane_width=1)
road.getNextVehicle.return_value = 44, Mock()
car = ConventionalCar(position=(42, 1), velocity=5, road=road)
self.assertFalse(car._tryAvoidObstacle())
# Obstacle is far away.
road = Mock(lane_width=1)
road.getNextVehicle.return_value = 120, Obstacle(position=(120, 2),
length=1,
width=1)
car = ConventionalCar(position=(42, 1), velocity=5, road=road)
self.assertFalse(car._tryAvoidObstacle())
# Lanes not changed.
road = Mock(lane_width=1)
road.getNextVehicle.return_value = 44, Obstacle(position=(44, 2),
length=1,
width=1)
car = ConventionalCar(position=(42, 1), velocity=5, road=road)
car._canAvoid = Mock(return_value=False)
car._avoid = Mock()
self.assertFalse(car._tryAvoidObstacle())
car._avoid.assert_not_called()
self.assertEqual(car.position, (42, 1))
# Change to the first available lane.
road = Mock(lane_width=1)
road.getNextVehicle.return_value = 44, Obstacle(position=(44, 2),
length=1,
width=1)
car = ConventionalCar(position=(42, 1), velocity=5, road=road)
car._canAvoid = Mock(return_value=True)
car._avoid = Mock()
self.assertTrue(car._tryAvoidObstacle())
car._avoid.assert_called_once()
self.assertEqual(car.position, (42, 0))
# Change to the second available lane.
road = Mock(lane_width=1)
road.getNextVehicle.return_value = 44, Obstacle(position=(44, 2),
length=1,
width=1)
car = ConventionalCar(position=(42, 1), velocity=5, road=road)
car._avoid = Mock()
car._canAvoid = Mock(side_effect=[False, True])
self.assertTrue(car._tryAvoidObstacle())
car._avoid.assert_called_once()
self.assertEqual(car.position, (42, 2))
def _tryChangeEmergency(self) -> bool:
'''
Try changing the lane to create an emergency corridor.
:return: if vehicle performed an emergency action.
'''
emergency = self._getEmergency()
changeValue = self.road.lane_width // 2
# If there is no emergency or already avoiding the emergency, continue.
if emergency is None:
if self.road.isSingleLane(self):
return False
else:
_, absoluteLane = self.road.getAbsolutePosition(self.position)
change = changeValue if absoluteLane == -1 else -changeValue
# When coming back always get priority.
return self._tryAvoidWithChange(Obstacle((-1, -1), 0, 0),
change)
# If already creating emergency corridor don't move.
if not self.road.isSingleLane(self):
return True
# Decelerate slowly, cannot switch lanes when the speed is too high.
self.velocity = max(1, self.velocity - 1)
if self.velocity > 2:
return True
# Destination lane depends on the road position.
_, absoluteLane = self.road.getAbsolutePosition(self.position)
change = -changeValue if absoluteLane == 0 else changeValue
self._tryAvoidWithChange(emergency, change)
return True
def addObstacle(road: Road, obstacle: ObstacleValue) -> None:
lane, begin, end = obstacle
if not inBounds(lane, 0, road.lanes_count):
raise ValueError(f'invalid obstacle, lane {lane} is not on the road')
if not inBounds(begin, 0, road.length) or not inBounds(
end, 0, road.length):
raise ValueError(
f'invalid obstacle, position {(begin, end)} is not on the road')
length = end - begin + 1
width = road.lane_width
position = road.getRelativePosition(position=(end, lane))
obstacle = Obstacle(position=position, width=width, length=length)
road.addVehicle(obstacle)
def test_canAvoidObstacle(self):
# No space on a nearby lane.
car = Car(position=(0, 0), velocity=1, road=Mock())
car._isChangePossible = Mock(return_value=False)
self.assertFalse(car._canAvoid(obstacle=Mock(), destination=(0, 1)))
# No nearby vehicles on the destination lane.
car = Car(position=(0, 0), velocity=1, road=Mock())
car._isChangePossible = Mock(return_value=True)
car._isChangeSafe = Mock(return_value=True)
self.assertTrue(car._canAvoid(obstacle=Mock(), destination=(0, 1)))
# Vehicle on the destination lane is a car willing to zip.
road = Mock()
other = Car(position=(0, 1), velocity=1, road=road)
road.getPreviousVehicle.return_value = 0, other
car = Car(position=(1, 0), velocity=1, road=road)
car._isChangePossible = Mock(return_value=True)
car._isChangeSafe = Mock(return_value=False)
obstacle = Mock()
self.assertNotIn(obstacle, other.zipped)
self.assertTrue(car._canAvoid(obstacle=obstacle, destination=(1, 1)))
# Vehicle on the destination lane is a static obstacle.
road = Mock()
other = Obstacle(position=(0, 1), length=1, width=1)
road.getPreviousVehicle.return_value = 0, other
car = Car(position=(1, 0), velocity=1, road=road)
car._isChangePossible = Mock(return_value=True)
car._isChangeSafe = Mock(return_value=False)
self.assertTrue(car._canAvoid(obstacle=obstacle, destination=(1, 1)))
# Vehicle on the destination lane is a car not willing to zip.
road = Mock()
other = Car(position=(0, 1), velocity=1, road=road)
road.getPreviousVehicle.return_value = 0, other
car = Car(position=(1, 0), velocity=1, road=road)
car._isChangePossible = Mock(return_value=True)
car._isChangeSafe = Mock(return_value=False)
obstacle = Mock()
other.zipped = {obstacle}
self.assertFalse(car._canAvoid(obstacle=obstacle, destination=(1, 1)))
def getVehicle(self, position: Position) -> Obstacle:
return Obstacle(position=position, width=1, length=1)
def test_tryAvoidObstacle(self):
# No obstacles on the road.
road = Mock(lane_width=1)
road.getNextVehicle.return_value = -1, None
car = AutonomousCar(position=(42, 1), velocity=5, road=road)
self.assertFalse(car._tryAvoidObstacle())
# Not an obstacle on the road in front.
road = Mock(lane_width=1)
road.getNextVehicle.return_value = 44, Mock()
car = AutonomousCar(position=(42, 1), velocity=5, road=road)
self.assertFalse(car._tryAvoidObstacle())
# Obstacle is far away.
road = Mock(lane_width=1)
road.getNextVehicle.return_value = 120, Obstacle(position=(120, 2),
length=1,
width=1)
car = AutonomousCar(position=(42, 1), velocity=5, road=road)
self.assertFalse(car._tryAvoidObstacle())
def mock_getMaxSpeed(prev: int, next: int,
other: int) -> typing.Callable[[Position], int]:
def f(position: Position) -> int:
if position == (0, 0):
return prev
if position == (0, 2):
return next
return other
return f
road = Mock(lane_width=1)
road.getNextVehicle.return_value = 5, Obstacle(position=(5, 1),
length=1,
width=1)
# Unable to change lanes.
car = AutonomousCar(position=(0, 1), velocity=5, road=road)
car._canAvoid = Mock(return_value=False)
car._avoid = Mock()
car._getMaxSpeed = Mock(side_effect=mock_getMaxSpeed(5, 4, 3))
self.assertFalse(car._tryAvoidObstacle())
car._avoid.assert_not_called()
self.assertEqual(car.position, (0, 1))
# Previous lane is the fastest.
car = AutonomousCar(position=(0, 1), velocity=5, road=road)
car._canAvoid = Mock(return_value=True)
car._avoid = Mock()
car._getMaxSpeed = Mock(side_effect=mock_getMaxSpeed(5, 4, 3))
self.assertTrue(car._tryAvoidObstacle())
car._avoid.assert_called_once()
self.assertEqual(car.position, (0, 0))
# Next lane is the fastest.
car = AutonomousCar(position=(0, 1), velocity=5, road=road)
car._canAvoid = Mock(return_value=True)
car._avoid = Mock()
car._getMaxSpeed = Mock(side_effect=mock_getMaxSpeed(4, 5, 3))
self.assertTrue(car._tryAvoidObstacle())
car._avoid.assert_called_once()
self.assertEqual(car.position, (0, 2))
# Current lane is the fastest.
car = AutonomousCar(position=(0, 1), velocity=5, road=road)
car._canAvoid = Mock(return_value=True)
car._avoid = Mock()
car._getMaxSpeed = Mock(side_effect=mock_getMaxSpeed(4, 3, 5))
self.assertFalse(car._tryAvoidObstacle())
car._avoid.assert_not_called()
self.assertEqual(car.position, (0, 1))
# Best lane is the same speed as current.
car = AutonomousCar(position=(0, 1), velocity=5, road=road)
car._canAvoid = Mock(return_value=True)
car._avoid = Mock()
car._getMaxSpeed = Mock(side_effect=mock_getMaxSpeed(5, 4, 5))
self.assertFalse(car._tryAvoidObstacle())
car._avoid.assert_not_called()
self.assertEqual(car.position, (0, 1))