def test_vehicle_spawned_in_bubble_is_not_captured(vehicle, bubble):
manager = BubbleManager([bubble], road_network)
# Spawned inside bubble, didn't "drive through" airlocking region, so should _not_
# get captured
vehicle = Vehicle(
id="vehicle-1",
pose=Pose.from_center((0, 0, 0), Heading(0)),
showbase=mock.MagicMock(),
chassis=mock.Mock(),
)
change = manager.step_bubble_state([vehicle], [])
assert len(manager.vehicle_ids_in_bubble(bubble)) == 0
# Spawned vehicle drove through airlock so _should_ get captured
vehicle = Vehicle(
id="vehicle-2",
pose=Pose.from_center((-8, 0, 0), Heading(0)),
showbase=mock.MagicMock(),
chassis=mock.Mock(),
)
change = manager.step_bubble_state([vehicle], [])
vehicle.position = (-6, 0)
change = manager.step_bubble_state([vehicle], [])
assert len(manager.vehicle_ids_in_bubble(bubble)) == 1
manager.teardown()
def test_bubble_manager_state_change(vehicle, bubble):
manager = BubbleManager([bubble], road_network)
# Outside airlock and bubble
vehicle = Vehicle(
id="vehicle-1",
pose=Pose.from_center((0, 0, 0), Heading(0)),
showbase=mock.MagicMock(),
chassis=mock.Mock(),
)
vehicle.position = (-8, 0)
change = manager.step_bubble_state([vehicle], [])
assert len(change.entered_airlock_1) == len(change.entered_bubble) == 0
# Inside airlock, begin collecting experiences, but don't hijack
vehicle.position = (-6, 0)
change = manager.step_bubble_state([vehicle], [])
assert len(change.entered_airlock_1) == 1 and len(
change.entered_bubble) == 0
# Entered bubble, now hijack
vehicle.position = (-3, 0)
change = manager.step_bubble_state([vehicle], [])
assert len(change.entered_airlock_1) == 0 and len(
change.entered_bubble) == 1
assert change.entered_bubble[0][0] == vehicle.id
# Leave bubble into exiting airlock
vehicle.position = (6, 0)
change = manager.step_bubble_state([], [vehicle])
assert len(change.entered_bubble) == 0 and len(change.exited_bubble) == 1
# Exit bubble and airlock, now relinquish
vehicle.position = (8, 0)
change = manager.step_bubble_state([vehicle], [])
assert len(change.exited_bubble) == 0 and len(change.exited_airlock_2) == 1
manager.teardown()
def start_keep_alive_boid_agents(self, sim):
for bubble in filter(
lambda b: b.is_boid and b.keep_alive, sim.scenario.bubbles
):
actor = bubble.actor
agent_id = BubbleManager._make_boid_social_agent_id(actor)
social_agent = make_social_agent(
locator=actor.agent_locator, **actor.policy_kwargs,
)
actor = bubble.actor
social_agent_data_model = SocialAgent(
id=SocialAgentId.new(actor.name),
name=actor.name,
is_boid=True,
is_boid_keep_alive=True,
agent_locator=actor.agent_locator,
policy_kwargs=actor.policy_kwargs,
initial_speed=actor.initial_speed,
)
self.start_social_agent(agent_id, social_agent, social_agent_data_model)
def test_bubble_manager_limit(vehicle, bubble):
limit = 2
bubble = replace(bubble, limit=limit)
manager = BubbleManager([bubble], road_network)
vehicles_captured = [
Vehicle(
id=f"vehicle-{i}",
pose=Pose.from_center((0, 0, 0), Heading(0)),
showbase=mock.MagicMock(),
chassis=mock.Mock(),
) for i in range(limit)
]
vehicles_not_captured = [
Vehicle(
id=f"vehicle-{i}",
pose=Pose.from_center((0, 0, 0), Heading(0)),
showbase=mock.MagicMock(),
chassis=mock.Mock(),
) for i in range(5)
]
for position in [(-8, 0), (-6, 0), (-3, 0), (0, 0), (6, 0), (8, 0)]:
for vehicle in vehicles_captured:
vehicle.position = position
for vehicle in vehicles_not_captured:
vehicle.position = position
change = manager.step_bubble_state(vehicles_captured,
vehicles_not_captured)
vehicle_ids_in_bubble = manager.vehicle_ids_in_bubble(bubble)
assert len(vehicle_ids_in_bubble) <= limit
assert set(vehicle_ids_in_bubble).issubset(
set([v.id for v in vehicles_captured]))
manager.teardown()
