def test_cant_change_lane_when_close_to_traffic_lights(self):
car1 = Car(98, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
light = TrafficLight(100)
self.assertFalse(control.can_change_lane(car1, lane1, lane2, [light]))
def test_gather_matching_genres(self):
self.fantasy, ig = Genre.lookup(self._db, classifier.Fantasy)
self.urban_fantasy, ig = Genre.lookup(self._db,
classifier.Urban_Fantasy)
self.cooking, ig = Genre.lookup(self._db, classifier.Cooking)
self.history, ig = Genre.lookup(self._db, classifier.History)
# Fantasy contains three subgenres and is restricted to fiction.
fantasy, default = Lane.gather_matching_genres(
[self.fantasy], Lane.FICTION_DEFAULT_FOR_GENRE)
eq_(4, len(fantasy))
eq_(True, default)
fantasy, default = Lane.gather_matching_genres([self.fantasy], True)
eq_(4, len(fantasy))
eq_(True, default)
fantasy, default = Lane.gather_matching_genres([self.fantasy], True,
[self.urban_fantasy])
eq_(3, len(fantasy))
eq_(True, default)
# Attempting to create a contradiction (like nonfiction fantasy)
# will create a lane broad enough to actually contain books
fantasy, default = Lane.gather_matching_genres([self.fantasy], False)
eq_(4, len(fantasy))
eq_(Lane.BOTH_FICTION_AND_NONFICTION, default)
# Fantasy and history have conflicting fiction defaults, so
# although we can make a lane that contains both, we can't
# have it use the default value.
assert_raises(UndefinedLane, Lane.gather_matching_genres,
[self.fantasy, self.history],
Lane.FICTION_DEFAULT_FOR_GENRE)
def process_image(self, image):
img_height, img_width, _ = image.shape
undistorted_img = self.undistort(image)
color_binary, combined_binary = self.thresholded_binary(
undistorted_img)
bin_image = self.transform_to_top_down(combined_binary)
left_fitx, right_fitx, ploty, left_fit, right_fit, leftx, lefty, rightx, righty = self.find_lane_lines(
bin_image)
left = Lane(leftx, lefty)
right = Lane(rightx, righty)
lanes = Lanes(left, right)
self.lanes_average.update(lanes)
if self.last_lanes is None:
self.last_lanes = lanes
if lanes.lanes_parallel(img_height) and lanes.distance_from_center(
(img_width / 2, img_height)) < 4.0:
self.last_lanes = lanes
self.output = self.draw_overlays(
image=image,
left_fit=self.lanes_average.lanes.left.pixels.fit,
right_fit=self.lanes_average.lanes.right.pixels.fit,
leftx=self.lanes_average.left.xs,
rightx=self.lanes_average.right.xs,
lefty=self.lanes_average.left.ys,
righty=self.lanes_average.right.ys)
return self.output
def test_can_change_lane_when_alone(self):
car1 = Car(20, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
light = TrafficLight(100)
self.assertTrue(control.can_change_lane(car1, lane1, lane2, [light]))
def test_can_change_lane_when_alone(self):
car1 = Car(20, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
light = TrafficLight(100)
self.assertTrue(control.can_change_lane(car1, lane1, lane2, [light]))
def __init__(self):
self.image_shape = [0, 0]
self.camera_calibration_path = '../camera_cal/'
self.output_images_path = '../output_images/'
self.input_video_path = '../input_video/'
self.output_video_path = '../output_video/'
self.sobel_kernel_size = 7
self.sx_thresh = (60, 255)
self.sy_thresh = (60, 150)
self.s_thresh = (170, 255)
self.mag_thresh = (40, 255)
self.dir_thresh = (.65, 1.05)
self.wrap_src = np.float32([[595, 450], [686, 450], [1102, 719], [206, 719]])
self.wrap_dst = np.float32([[320, 0], [980, 0], [980, 719], [320, 719]])
self.mask_offset = 30
self.vertices = [np.array([[206-self.mask_offset, 719],
[595-self.mask_offset, 460-self.mask_offset],
[686+self.mask_offset, 460-self.mask_offset],
[1102+self.mask_offset, 719]],
dtype=np.int32)]
self.mask_offset_inverse = 30
self.vertices_inverse = [np.array([[206+self.mask_offset_inverse, 719],
[595+self.mask_offset_inverse, 460-self.mask_offset_inverse],
[686-self.mask_offset_inverse, 460-self.mask_offset_inverse],
[1102-self.mask_offset_inverse, 719]],
dtype=np.int32)]
self.thresh = Threshold()
self.lane = Lane()
def test_get_search_target(self):
fantasy, ig = Genre.lookup(self._db, classifier.Fantasy)
lane = Lane(
self._db, "YA Fantasy", genres=fantasy,
languages='eng',
audiences=Lane.AUDIENCE_YOUNG_ADULT,
age_range=[15,16],
subgenre_behavior=Lane.IN_SUBLANES
)
sublanes = lane.sublanes.lanes
names = sorted([x.name for x in sublanes])
eq_(["Epic Fantasy", "Historical Fantasy", "Urban Fantasy"],
names)
# To start with, none of the lanes are searchable.
eq_(None, lane.search_target)
eq_(None, sublanes[0].search_target)
# If we make a lane searchable, suddenly there's a search target.
lane.searchable = True
eq_(lane, lane.search_target)
# The searchable lane also becomes the search target for its
# children.
eq_(lane, sublanes[0].search_target)
def search(cls, _db, title, url, lane, search_engine, query, pagination=None,
annotator=None
):
if not isinstance(lane, Lane):
search_lane = Lane(
_db, "Everything", searchable=True, fiction=Lane.BOTH_FICTION_AND_NONFICTION)
else:
search_lane = lane
results = search_lane.search(query, search_engine, pagination=pagination)
opds_feed = AcquisitionFeed(_db, title, url, results, annotator=annotator)
AcquisitionFeed.add_link_to_feed(feed=opds_feed.feed, rel='start', href=annotator.default_lane_url(), title=annotator.top_level_title())
if len(results) > 0:
# There are works in this list. Add a 'next' link.
AcquisitionFeed.add_link_to_feed(feed=opds_feed.feed, rel="next", href=annotator.search_url(lane, query, pagination.next_page))
if pagination.offset > 0:
AcquisitionFeed.add_link_to_feed(feed=opds_feed.feed, rel="first", href=annotator.search_url(lane, query, pagination.first_page))
previous_page = pagination.previous_page
if previous_page:
AcquisitionFeed.add_link_to_feed(feed=opds_feed.feed, rel="previous", href=annotator.search_url(lane, query, previous_page))
# Add "up" link and breadcrumbs
AcquisitionFeed.add_link_to_feed(feed=opds_feed.feed, rel="up", href=annotator.lane_url(search_lane), title=lane.display_name)
opds_feed.add_breadcrumbs(search_lane, annotator, include_lane=True)
annotator.annotate_feed(opds_feed, lane)
return unicode(opds_feed)
def test_custom_sublanes(self):
fantasy, ig = Genre.lookup(self._db, classifier.Fantasy)
urban_fantasy, ig = Genre.lookup(self._db, classifier.Urban_Fantasy)
urban_fantasy_lane = Lane(self._db,
"Urban Fantasy",
genres=urban_fantasy)
fantasy_lane = Lane(self._db,
"Fantasy",
fantasy,
genres=fantasy,
subgenre_behavior=Lane.IN_SAME_LANE,
sublanes=[urban_fantasy_lane])
eq_([urban_fantasy_lane], fantasy_lane.sublanes.lanes)
# You can just give the name of a genre as a sublane and it
# will work.
fantasy_lane = Lane(self._db,
"Fantasy",
fantasy,
genres=fantasy,
subgenre_behavior=Lane.IN_SAME_LANE,
sublanes="Urban Fantasy")
eq_([["Urban Fantasy"]],
[x.genre_names for x in fantasy_lane.sublanes.lanes])
def open(self):
fileName, _ = QtGui.QFileDialog.getOpenFileName(
self, "Open File", QtCore.QDir.currentPath())
if fileName:
image = QtGui.QImage(fileName)
if image.isNull():
QtGui.QMessageBox.information(self, "Image Viewer",
"Cannot load %s." % fileName)
return
Lane.purge()
image = mpimg.imread(fileName)
try:
res = image_pipeline(image)
except:
QtGui.QMessageBox.information(
self, "Image Viewer",
"Cannot detect lines in %s." % fileName)
return
plt.imsave('res.jpg', res)
image = QtGui.QImage('res.jpg')
self.imageLabel.setPixmap(QtGui.QPixmap.fromImage(image))
self.scaleFactor = 1.0
self.imageLabel.adjustSize()
def test_visible_sublanes(self):
fantasy, ig = Genre.lookup(self._db, classifier.Fantasy)
urban_fantasy, ig = Genre.lookup(self._db, classifier.Urban_Fantasy)
humorous, ig = Genre.lookup(self._db, classifier.Humorous_Fiction)
visible_sublane = Lane(self._db, "Humorous Fiction", genres=humorous)
visible_grandchild = Lane(self._db,
"Urban Fantasy",
genres=urban_fantasy)
invisible_sublane = Lane(self._db,
"Fantasy",
invisible=True,
genres=fantasy,
sublanes=[visible_grandchild],
subgenre_behavior=Lane.IN_SAME_LANE)
lane = Lane(self._db,
"English",
sublanes=[visible_sublane, invisible_sublane],
subgenre_behavior=Lane.IN_SAME_LANE)
eq_(2, len(lane.visible_sublanes))
assert visible_sublane in lane.visible_sublanes
assert visible_grandchild in lane.visible_sublanes
def init_lanes(self, capacities):
"""
Initialize lanes for each lane group, different lane groups might share the same lane
:param capacities:
:return:
"""
capacities = [int(c) for c in capacities]
self.capacity = sum(capacities)
if sum(capacities) == 5:
# if it's single lane, then all group share the same lane
self.single_lane = True
lane = Lane(self.link, self, max(capacities))
self.lanes["T"].append(lane)
self.lanes["L"].append(lane)
self.lanes["R"].append(lane)
else:
# create left,right lanes
left_lane = Lane(self.link, self, capacities[0])
right_lane = Lane(self.link, self, capacities[-1])
self.lanes["L"].append(left_lane)
self.lanes["R"].append(right_lane)
# create through lanes
for cap in capacities[1:-1]:
if cap:
self.lanes["T"].append(Lane(self.link, self, cap))
# if capacity is 5, then left/right and through group share the same lane
if capacities[0] == 5:
self.lanes["T"].insert(0, left_lane)
if capacities[-1] == 5:
self.lanes["T"].append(right_lane)
def get_lane_type(self, img, color_img):
right_lane = Lane()
left_lane = Lane()
# Detect color.
left_lane.color, right_lane.color = detect_color(color_img)
# Detect solid vs dotted and single vs double.
left_lane, right_lane, left_centers, right_centers = detect_dotted(
img, left_lane, right_lane)
# Handle errors. Don't update lane information unless new lane has been seen for 5 frames.
if left_lane != self.last_left:
if self.new_count_left >= 5 or self.first_frame:
self.last_left = left_lane
self.new_count_left = 0
else:
left_lane = self.last_left
self.new_count_left += 1
else:
self.new_count_left = 0
if right_lane != self.last_right:
if self.new_count_right >= 5 or self.first_frame:
self.last_right = right_lane
self.new_count_right = 0
self.first_frame = False
else:
right_lane = self.last_right
self.new_count_right += 1
else:
self.new_count_right = 0
return left_lane, right_lane, left_centers, right_centers
def quick_detect_lane_lines(image, last_lanes):
nonzero = image.nonzero()
nonzero_x, nonzero_y = np.array(nonzero[1]), np.array(nonzero[0])
last_left_p = np.poly1d(last_lanes.left.pixels.fit)
last_right_p = np.poly1d(last_lanes.right.pixels.fit)
margin = 100
left_lane_indices = ((nonzero_x > (last_left_p(nonzero_y) - margin)) &
(nonzero_x < (last_left_p(nonzero_y) + margin)))
right_lane_indices = ((nonzero_x > (last_right_p(nonzero_y) - margin)) &
(nonzero_x < (last_right_p(nonzero_y) + margin)))
# Again, extract left and right line pixel positions
left_x = nonzero_x[left_lane_indices]
left_y = nonzero_y[left_lane_indices]
right_x = nonzero_x[right_lane_indices]
right_y = nonzero_y[right_lane_indices]
left = Lane(left_x, left_y)
right = Lane(right_x, right_y)
return Lanes(left, right), image
def test_cant_change_lane_when_close_to_traffic_lights(self):
car1 = Car(98, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
light = TrafficLight(100)
self.assertFalse(control.can_change_lane(car1, lane1, lane2, [light]))
def compute_lane_from_candidates(line_candidates, img_shape):
# Compute lines that approximate the position of both road lanes.
#:param line_candidates: lines from hough transform
# :param img_shape: shape of image to which hough transform was applied
# :return: lines that approximate left and right lane position
pos_lines = [l for l in line_candidates if l.slope > 0]
neg_lines = [l for l in line_candidates if l.slope < 0]
# interpolate biases and slopes to compute equation of line that approximates
# left lane median is employed to filter outliers
neg_bias = np.median([l.bias for l in neg_lines]).astype(int)
neg_slope = np.median([l.slope for l in neg_lines])
x1, y1 = 0, neg_bias
x2, y2 = -np.int32(np.round(neg_bias / neg_slope)), 0
left_lane = Lane(x1, y1, x2, y2)
# interpolate biases and slopes to compute equation of line that approximates
# right lane median is employed to filter outliers
lane_right_bias = np.median([l.bias for l in pos_lines]).astype(int)
lane_right_slope = np.median([l.slope for l in pos_lines])
x1, y1 = 0, lane_right_bias
x2, y2 = np.int32(
np.round(
(img_shape[0] - lane_right_bias) / lane_right_slope)), img_shape[0]
right_lane = Lane(x1, y1, x2, y2)
return left_lane, right_lane
def update_position(self, maze, modifs):
"""depending on the player answer:
gives the conditions to update McGyver's position inside the maze.
modifs: given by the player in the move method of class Game
return: None if McGyver is out = True and stop reading this method"""
if self.is_out:
return
# initial position = Mcgyver tile in maze
# update position inside the maze
pos = maze.find_tile(McGyver)
lin = pos[0] + modifs[0]
lin = min(lin, 14)
lin = max(0, lin)
col = pos[1] + modifs[1]
col = min(col, 14)
col = max(0, col)
# if the new position (found with get_tile) is an item,
# print a lane (with set_tile)
tile = maze.get_tile(lin, col)
if isinstance(tile, Item):
self.inventory.append(tile.name)
maze.set_tile(lin, col, Lane())
# if the new position is Guardian -> check victory
if isinstance(maze.get_tile(lin, col), Guardian):
self.check_victory(maze)
# if the new position is a lane: replace by mg,
# and print lane instead of old position
if isinstance(maze.get_tile(lin, col), Lane):
maze.set_tile(pos[0], pos[1], Lane())
maze.set_tile(lin, col, self)
def __init__(self):
self.new_count_left = 0
self.new_count_right = 0
self.last_left = Lane()
self.last_right = Lane()
self.first_frame = True
self.left_fit = None
self.right_fit = None
def test_shouldnt_change_lane_to_go_faster_when_nothing(self):
car1 = Car(50, 0, 0, 10, 0)
lane0 = Lane()
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
light = TrafficLight(100)
self.assertFalse(control.should_change_lane_to_move_faster(car1, lane1,
[lane0, lane2], [light]))
def test_advance(self):
for i in range(1, 99):
test_car = Car(i, 0, 0, 0, 0)
lane = Lane()
lanes = [lane]
lane.add_car(test_car)
lights = [TrafficLight(100)]
for j in range(200):
control.advance(test_car, lane, lanes, lights, 30, 0.1)
self.assertTrue(test_car.position < 100,
'Car starting at %d fail' % i)
def test_advance(self):
for i in range(1, 99):
test_car = Car(i, 0, 0, 0, 0)
lane = Lane()
lanes = [lane]
lane.add_car(test_car)
lights = [TrafficLight(100)]
for j in range(200):
control.advance(test_car, lane, lanes, lights, 30, 0.1)
self.assertTrue(test_car.position < 100,
'Car starting at %d fail' % i)
def smoothen_over_time(lane_lines):
# Smooth the lane line inference over a window of frames and returns the average lines
avg_line_lt = np.zeros((len(lane_lines), 4))
avg_line_rt = np.zeros((len(lane_lines), 4))
for t in range(0, len(lane_lines)):
avg_line_lt[t] += lane_lines[t][0].get_coordinates()
avg_line_rt[t] += lane_lines[t][1].get_coordinates()
# axis=0 : rows
return Lane(*np.mean(avg_line_lt, axis=0)), Lane(
*np.mean(avg_line_rt, axis=0))
def bowling_game():
new_strategy = input(
"Do you want to input a new strategy? (Answer with Yes or No)\n")
if new_strategy.lower() == 'yes':
num_of_strategy = int(
input("Number of strategies you want to add:"))
if num_of_strategy != 0:
Strategies.add_strategy(num_of_strategy)
Strategies.display_strategies()
lanes = int(input("\nEnter the number of lanes: "))
Lane.lanes = lanes
Lane.start_game_lane()
def __init__(self, *args, **kwargs):
self.south = Lane("south")
self.north = Lane("north")
self.west = Lane("west")
self.east = Lane("east")
self.traffic_probability = self.fit_curve(False)
self.time = 0
def __init__(self):
self.ym_per_pix = 30 / 720 # meters per pixel in y dimension
self.xm_per_pix = 3.7 / 880 # meters per pixel in x dimension
self.src_points = np.float32([[240, 690], [1070, 690], [577, 460],
[706, 460]])
self.dst_points = np.float32([[200, 720], [1110, 720], [200, 25],
[1110, 25]])
self.saved_camera_calibration_path = './camera_cal/ \
saved_camera_calibration.p'
self.camera_calibration = self.__do_camera_calibration()
self.line_left = Lane()
self.line_right = Lane()
def detectLane(self, left, right, width):
lWall, lCenters, lAreas = left
rWall, rCenters, rAreas = right
walls = lWall, rWall
lArea, rArea = 0, 0
for a in lAreas:
lArea += a
for a in rAreas:
rArea += a
area = (lArea + rArea) / 2
print "lane area " + str(area)
centers = self.determineCentersOfLane(lCenters, rCenters)
x, y = [], []
for center in centers:
x.append(center[0])
y.append(center[1])
#y = mx + b
#slope = np.polyfit(x, y, 1)[0]
try:
if centers[0] is not (0, 0) or centers[1] is not (0, 0):
m, b = np.polyfit(y, x, 1)
Y = y[0], y[len(y) - 1]
X = int((Y[0] - b) / m), width / 2
print "x, y " + str((x, y))
x, y = (X[0], X[1]), (Y[0], Y[1])
print "x, y " + str((x, y))
slope = np.polyfit(x, y, 1)[0]
else:
slope = None
except:
slope = 0.0
if False:
print "slope %.3f" % slope
#slope = (x2-x1)/float(y2-y1) # I've inverted the slope so that 0 is vertical and infinity is horizontal
return Lane(walls, centers, slope, area)
def process_video_file(file_name, camera):
lane_object = Lane(camera.image_shape)
src_clip = VideoFileClip(file_name)
dst_clip = src_clip.fl_image(
lambda frame: process_image(frame, camera, lane_object))
dst_clip.write_videofile(get_out_file_name(file_name), audio=False)
def test_fetch_ignores_feeds_without_content(self):
facets = Facets.default(self._default_library)
pagination = Pagination.default()
lane = Lane(self._db,
self._default_library,
u"My Lane",
languages=['eng', 'chi'])
# Create a feed without content (i.e. don't update it)
contentless_feed = get_one_or_create(
self._db,
CachedFeed,
lane_name=lane.name,
type=CachedFeed.PAGE_TYPE,
languages=u"eng,chi",
facets=unicode(facets.query_string),
pagination=unicode(pagination.query_string))[0]
# It's not returned because it hasn't been updated.
args = (self._db, lane, CachedFeed.PAGE_TYPE, facets, pagination, None)
feed, fresh = CachedFeed.fetch(*args)
eq_(True, feed != contentless_feed)
eq_(False, fresh)
# But if the feed is updated, we get it back.
feed.update(self._db, u"Just feedy things")
result, fresh = CachedFeed.fetch(*args)
eq_(True, fresh)
eq_(feed, result)
def draw_lane_polygon(img):
offset_from_lane_edge = 20
color = Lane.COLORS['region_stable']
if not Lane.lines_exist(): return img
# Polygon points
p1 = [Lane.left_line.x1, Lane.left_line.y1]
p2 = [
Lane.left_line.get_x_coord(Lane.left_line.y2 + offset_from_lane_edge),
Lane.left_line.y2 + offset_from_lane_edge
]
p3 = [
Lane.right_line.get_x_coord(Lane.left_line.y2 + offset_from_lane_edge),
Lane.right_line.y2 + offset_from_lane_edge
]
p4 = [Lane.right_line.x1, Lane.right_line.y1]
polygon_points = np.array([p1, p2, p3, p4], np.int32).reshape((-1, 1, 2))
if not Lane.left_line.stable or not Lane.right_line.stable:
color = Lane.COLORS['region_unstable']
poly_img = np.zeros_like(img)
cv2.fillPoly(poly_img, [polygon_points], color)
return weighted_img(img, poly_img)
def test_refusal_to_create_expensive_feed(self):
facets = Facets.default()
pagination = Pagination.default()
lane = Lane(self._db, "My Lane", languages=['eng', 'chi'])
args = (self._db, lane, CachedFeed.PAGE_TYPE, facets, pagination, None)
# If we ask for a group feed that will be cached forever, and it's
# not around, we'll get a page feed instead.
feed, fresh = CachedFeed.fetch(*args,
max_age=Configuration.CACHE_FOREVER)
eq_(CachedFeed.PAGE_TYPE, feed.type)
# If we ask for the same feed, but we don't say it must be cached
# forever, it'll be created.
feed, fresh = CachedFeed.fetch(*args, max_age=0)
# Or if we explicitly demand that the feed be created, it will
# be created.
feed, fresh = CachedFeed.fetch(*args,
force_refresh=True,
max_age=Configuration.CACHE_FOREVER)
feed.update("Cache this forever!")
# Once the feed has content associated with it, we can ask for
# it in cached-forever mode and no longer get the exception.
feed, fresh = CachedFeed.fetch(*args,
max_age=Configuration.CACHE_FOREVER)
eq_("Cache this forever!", feed.content)
def test_query_works_from_lane_definition_handles_exclude_languages(self):
search = DummyExternalSearchIndex()
lane = Lane(
self._db,
self._default_library,
"Not english or spanish",
exclude_languages=set(['eng', 'spa']),
)
filter = search.make_filter(
lane.media,
lane.languages,
lane.exclude_languages,
lane.fiction,
list(lane.audiences),
lane.age_range,
lane.genre_ids,
)
exclude_languages_filter, medium_filter = filter['and']
expect_exclude_languages = ['eng', 'spa']
assert 'not' in exclude_languages_filter
assert 'terms' in exclude_languages_filter['not']
assert 'language' in exclude_languages_filter['not']['terms']
eq_(expect_exclude_languages,
sorted(exclude_languages_filter['not']['terms']['language']))
def test_lifecycle(self):
facets = Facets.default()
pagination = Pagination.default()
lane = Lane(self._db, "My Lane", languages=['eng', 'chi'])
# Fetch a cached feed from the database--it's empty.
args = (self._db, lane, CachedFeed.PAGE_TYPE, facets, pagination, None)
feed, fresh = CachedFeed.fetch(*args, max_age=0)
eq_(False, fresh)
eq_(None, feed.content)
eq_(pagination.query_string, feed.pagination)
eq_(facets.query_string, feed.facets)
eq_(lane.name, feed.lane_name)
eq_('eng,chi', feed.languages)
# Update the content
feed.update("The content")
self._db.commit()
# Fetch it again.
feed, fresh = CachedFeed.fetch(*args, max_age=0)
# Now it's cached! But not fresh, because max_age is zero
eq_("The content", feed.content)
eq_(False, fresh)
# Lower our standards, and it's fresh!
feed, fresh = CachedFeed.fetch(*args, max_age=1000)
eq_("The content", feed.content)
eq_(True, fresh)
def process_image(file_name, path, show):
"""
Loads a given image path, and applies the pipeline to it
:param file_name: The name of the file (without extension)
:param path: Path to the input (image, video) to process.
:param show: Show the outcome
:return: None
"""
# load the image
image = cv2.imread(path, cv2.IMREAD_UNCHANGED)
height, width = image.shape[:2]
# initialize the objects
threshold = Threshold()
lane = Lane(height=height)
camera = Camera(image_size=(width, height))
transform = Transform(width=width, height=height)
# process the frame
output = pipeline(image, camera, threshold, transform, lane)
# save the output
cv2.imwrite(f'data/processed/output_images/{file_name}.jpg', output)
def test_staff_picks_and_best_sellers_sublane(self):
staff_picks, ignore = self._customlist(
foreign_identifier=u"Staff Picks",
name=u"Staff Picks!",
data_source_name=DataSource.LIBRARY_STAFF,
num_entries=0)
best_sellers, ignore = self._customlist(
foreign_identifier=u"NYT Best Sellers",
name=u"Best Sellers!",
data_source_name=DataSource.NYT,
num_entries=0)
lane = Lane(self._db,
"Everything",
include_staff_picks=True,
include_best_sellers=True)
# A staff picks sublane and a best-sellers sublane have been
# created for us.
best, picks = lane.sublanes.lanes
eq_("Best Sellers", best.display_name)
eq_("Everything - Best Sellers", best.name)
nyt = DataSource.lookup(self._db, DataSource.NYT)
eq_(nyt.id, best.list_data_source_id)
eq_("Staff Picks", picks.display_name)
eq_("Everything - Staff Picks", picks.name)
eq_([staff_picks.id], picks.list_ids)
def test_should_change_lane_to_go_to_faster_lane(self):
car1 = Car(20, 0, 0, 10, 0)
car2 = Car(30, 0, 0, 10, 0)
car3 = Car(40, 0, 0, 10, 0)
car4 = Car(35, 0, 0, 10, 0)
lane0 = Lane()
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
lane1.add_car(car4)
lane0.add_car(car2)
lane2.add_car(car3)
light = TrafficLight(100)
self.assertEquals(control.should_change_lane_to_move_faster(car1, lane1,
[lane0, lane2], [light]), lane2)
def __init__(self):
super(TrafficMap, self).__init__(46, 139, 87, 255)
self.north_stop_line = None
self.east_stop_line = None
self.south_stop_line = None
self.west_stop_line = None
self.north_normal_button = Button("normal", "north", self)
self.east_normal_button = Button("normal", "east", self)
self.south_normal_button = Button("normal", "south", self)
self.west_normal_button = Button("normal", "west", self)
self.north_emergency_button = Button("emergency", "north", self)
self.east_emergency_button = Button("emergency", "east", self)
self.south_emergency_button = Button("emergency", "south", self)
self.west_emergency_button = Button("emergency", "west", self)
self.car_queue = []
self.from_north_light = TrafficLight("north")
self.from_east_light = TrafficLight("east")
self.from_south_light = TrafficLight("south")
self.from_west_light = TrafficLight("west")
self.from_north_light.push_handlers(self)
self.from_east_light.push_handlers(self)
self.from_south_light.push_handlers(self)
self.from_west_light.push_handlers(self)
self.north_lane = Lane(self, 'north')
self.south_lane = Lane(self, 'south')
self.east_lane = Lane(self, 'east')
self.west_lane = Lane(self, 'west')
self.central_occupied = 0
self.draw_road()
self.draw_button()
self.draw_light()
self.running_lane = "horizontal"
self.last_change_time = time.time()
pyglet.clock.schedule_interval(self.schedule, 0.1)
self.aging = False
def test_advance_with_car_in_front(self):
for i in range (1, 80):
test_car_1 = Car(i, 0, 0, 0, 0)
test_car_2 = Car(i + 19, 0, 0, 0, 0)
lane = Lane()
lanes = [lane]
lane.add_car(test_car_1)
lane.add_car(test_car_2)
lights = [TrafficLight(100)]
for j in range(200):
control.advance(test_car_1, lane, lanes, lights, 30, 0.1)
control.advance(test_car_2, lane, lanes, lights, 30, 0.1)
self.assertTrue(test_car_1.position < 100,
'First car at %d fail, pos(car1) = %f, pos(car2) = %f'
%(i, test_car_1.position, test_car_2.position))
self.assertTrue(test_car_2.position < 100,
'Second car at %d fails' % (i + 19))
self.assertTrue(test_car_1.position <= control.rear(
test_car_2, test_car_1.speed),
'First car ended up further than expected'
)
def test_cant_change_lane_when_car_slightly_in_front(self):
car1 = Car(20, 0, 0, 10, 0)
car2 = Car(25, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
lane2.add_car(car2)
light = TrafficLight(100)
self.assertFalse(control.can_change_lane(car1, lane1, lane2, [light]))
def test_can_change_lane_when_cars_around_but_far(self):
car1 = Car(50, 0, 0, 10, 0)
car2 = Car(20, 0, 0, 10, 0)
car3 = Car(70, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
lane2.add_car(car2)
lane2.add_car(car3)
light = TrafficLight(100)
self.assertTrue(control.can_change_lane(car1, lane1, lane2, [light]))
def __init__(
self,
tree_type="pro",
delay=0.4,
left_lane="computer",
right_lane="human",
debug=False,
perfect=0.0,
left_rollout=0.220,
right_rollout=0.220,
stats=False,
amin=1.0,
amax=3.0,
cmin=-0.009,
cmax=0.115,
auto_reset=False,
res="480x700",
fullscreen=False,
hw=False,
doublebuf=False,
):
self.perfect = perfect
self.left_rollout = left_rollout
self.right_rollout = right_rollout
self.amin = amin
self.amax = amax
self.auto_reset = auto_reset
self.two_player = left_lane == "human" and right_lane == "human"
self.debug = debug
self.stats = stats
self.delay = delay
self.start = threading.Event()
self.staged = threading.Event()
self.quitting = threading.Event()
self.tree_type = tree_type
self.tie = []
self.start_time = None
self.clock = pygame.time.Clock()
flags = 0
if hw:
flags = flags | pygame.HWSURFACE
if doublebuf:
flags = flags | pygame.DOUBLEBUF
if fullscreen:
resolution = (0, 0)
flags = flags | pygame.FULLSCREEN
pygame.mouse.set_visible(False)
else:
width, height = res.split("x")
resolution = (int(width), int(height))
self.screen = pygame.display.set_mode(resolution, flags)
self.scale()
self.left_lane = Lane(
tree_type=tree_type,
delay=delay,
start=self.start,
lane="left",
computer=(left_lane == "computer"),
perfect=perfect,
rollout=left_rollout,
cmin=cmin,
cmax=cmax,
surface=self.screen.subsurface(
pygame.Rect(self.rect.left, self.tree_rect.top, self.rect.centerx, self.tree_rect.height)
),
background=self.background,
)
self.right_lane = Lane(
tree_type=tree_type,
delay=delay,
start=self.start,
lane="right",
computer=(right_lane == "computer"),
perfect=perfect,
rollout=right_rollout,
cmin=cmin,
cmax=cmax,
surface=self.screen.subsurface(
pygame.Rect(self.rect.centerx, self.tree_rect.top, self.rect.centerx, self.tree_rect.height)
),
background=self.background,
)
self.lanes = {"left": self.left_lane, "right": self.right_lane}
if self.two_player:
self.human = None
elif right_lane == "human":
self.human = self.right_lane
elif left_lane == "human":
self.human = self.left_lane
else:
self.human = self.left_lane
if self.debug:
self.font = pygame.font.Font("assets/font.ttf", 50)
self.fps = self.font.render("", 1, (255, 255, 255))
clock = threading.Thread(None, self._clock, name="clock()")
# monitor = threading.Thread(None, self.thread_monitor,
# name="thread_monitor()")
clock.start()
# monitor.start()
self.reset()
self.event_loop()
clock.join()
class TrafficMap(ColorLayer):
def __init__(self):
super(TrafficMap, self).__init__(46, 139, 87, 255)
self.north_stop_line = None
self.east_stop_line = None
self.south_stop_line = None
self.west_stop_line = None
self.north_normal_button = Button("normal", "north", self)
self.east_normal_button = Button("normal", "east", self)
self.south_normal_button = Button("normal", "south", self)
self.west_normal_button = Button("normal", "west", self)
self.north_emergency_button = Button("emergency", "north", self)
self.east_emergency_button = Button("emergency", "east", self)
self.south_emergency_button = Button("emergency", "south", self)
self.west_emergency_button = Button("emergency", "west", self)
self.car_queue = []
self.from_north_light = TrafficLight("north")
self.from_east_light = TrafficLight("east")
self.from_south_light = TrafficLight("south")
self.from_west_light = TrafficLight("west")
self.from_north_light.push_handlers(self)
self.from_east_light.push_handlers(self)
self.from_south_light.push_handlers(self)
self.from_west_light.push_handlers(self)
self.north_lane = Lane(self, 'north')
self.south_lane = Lane(self, 'south')
self.east_lane = Lane(self, 'east')
self.west_lane = Lane(self, 'west')
self.central_occupied = 0
self.draw_road()
self.draw_button()
self.draw_light()
self.running_lane = "horizontal"
self.last_change_time = time.time()
pyglet.clock.schedule_interval(self.schedule, 0.1)
self.aging = False
def draw_road(self):
road_image_1 = image.create(200, 800, image.SolidColorImagePattern(color=(190, 190, 190, 255)))
road_image_2 = image.create(800, 200, image.SolidColorImagePattern(color=(190, 190, 190, 255)))
road_1 = Sprite(road_image_1, position=(400, 400))
road_2 = Sprite(road_image_2, position=(400, 400))
self.add(road_1)
self.add(road_2)
self.draw_line()
def draw_line(self):
line_1 = Line(start=(0, 400), end=(300, 400), color=(255, 215, 0, 255), stroke_width=5)
self.add(line_1)
line_2 = Line(start=(400, 800), end=(400, 500), color=(255, 215, 0, 255), stroke_width=5)
self.add(line_2)
line_3 = Line(start=(500, 400), end=(800, 400), color=(255, 215, 0, 255), stroke_width=5)
self.add(line_3)
line_4 = Line(start=(400, 300), end=(400, 0), color=(255, 215, 0, 255), stroke_width=5)
self.add(line_4)
self.north_stop_line = Line(start=(300, 500), end=(500, 500), color=(255, 255, 255, 255), stroke_width=5)
self.add(self.north_stop_line)
self.east_stop_line = Line(start=(500, 500), end=(500, 300), color=(255, 255, 255, 255), stroke_width=5)
self.add(self.east_stop_line)
self.south_stop_line = Line(start=(500, 300), end=(300, 300), color=(255, 255, 255, 255), stroke_width=5)
self.add(self.south_stop_line)
self.west_stop_line = Line(start=(300, 300), end=(300, 500), color=(255, 255, 255, 255), stroke_width=5)
self.add(self.west_stop_line)
def draw_button(self):
self.add(self.north_normal_button)
self.add(self.east_normal_button)
self.add(self.south_normal_button)
self.add(self.west_normal_button)
self.add(self.north_emergency_button)
self.add(self.east_emergency_button)
self.add(self.south_emergency_button)
self.add(self.west_emergency_button)
def draw_light(self):
self.add(self.from_north_light)
self.add(self.from_south_light)
self.add(self.from_east_light)
self.add(self.from_west_light)
self.from_west_light.switch_signal()
self.from_east_light.switch_signal()
def add_car(self, type, from_direction):
car = None
if from_direction is "north":
car = Car(type, self.north_lane)
self.north_lane.add_car(car)
car.do(CustomizeMoveBy((0, -900), duration=4))
elif from_direction is "south":
car = Car(type, self.south_lane)
self.south_lane.add_car(car)
car.do(CustomizeMoveBy((0, 900), duration=4))
elif from_direction is "east":
car = Car(type, self.east_lane)
self.east_lane.add_car(car)
car.do(CustomizeMoveBy((-900, 0), duration=4))
elif from_direction is "west":
car = Car(type, self.west_lane)
self.west_lane.add_car(car)
car.do(CustomizeMoveBy((900, 0), duration=4))
self.add(car)
print car
self.car_queue.append(car)
def swtich_lights(self):
self.last_change_time = time.time()
self.from_north_light.switch_signal()
self.from_west_light.switch_signal()
self.from_east_light.switch_signal()
self.from_south_light.switch_signal()
def allow_vertical(self):
self.running_lane = "vertical"
self.last_change_time = time.time()
self.from_north_light.set_green()
self.from_south_light.set_green()
self.from_east_light.set_red()
self.from_west_light.set_red()
def allow_horizontal(self):
self.running_lane = "horizontal"
self.last_change_time = time.time()
self.from_west_light.set_green()
self.from_east_light.set_green()
self.from_north_light.set_red()
self.from_south_light.set_red()
def clear_central(self):
self.from_west_light.set_red()
self.from_east_light.set_red()
self.from_north_light.set_red()
self.from_south_light.set_red()
def has_emergency_car(self):
if not self.north_lane.has_emergency() and not self.south_lane.has_emergency() \
and not self.west_lane.has_emergency() and not self.east_lane.has_emergency():
return False
else:
return True
def has_waiting_car(self):
if self.north_lane.has_waiting_car() or self.south_lane.has_waiting_car() \
or self.west_lane.has_waiting_car() or self.east_lane.has_waiting_car():
return True
else:
return False
def has_emergency_waiting(self):
if not self.north_lane.has_emergency_waiting() and not self.south_lane.has_emergency_waiting() \
and not self.west_lane.has_emergency_waiting() and not self.east_lane.has_emergency_waiting():
return False
else:
return True
def is_empty(self):
if self.north_lane.normal_car_num + self.north_lane.emergency_car_num is 0 \
and self.south_lane.normal_car_num + self.south_lane.emergency_car_num is 0 \
and self.east_lane.normal_car_num + self.east_lane.emergency_car_num is 0 \
and self.west_lane.normal_car_num + self.west_lane.emergency_car_num is 0:
return True
else:
return False
def schedule(self, dt):
# print time.time() -self.last_change_time
# print "aging",self.aging
if time.time() - self.last_change_time > 4.0 and (self.aging or self.is_empty()):
# if self.aging or self.is_empty():
if not self.central_occupied:
if self.running_lane is "horizontal":
self.allow_vertical()
else:
self.allow_horizontal()
else:
self.clear_central()
else:
if not self.has_waiting_car():
self.aging = False
if not self.has_emergency_car():
if self.north_lane.normal_car_num > self.west_lane.normal_car_num and self.north_lane.normal_car_num > self.east_lane.normal_car_num \
or self.south_lane.normal_car_num > self.west_lane.normal_car_num and self.south_lane.normal_car_num > self.east_lane.normal_car_num:
if not self.central_occupied:
if self.running_lane is "horizontal":
self.allow_vertical()
for car in self.car_queue:
car.resume()
else:
if not self.central_occupied:
if self.running_lane is "vertical":
self.allow_horizontal()
for car in self.car_queue:
car.resume()
else:
if self.north_lane.emergency_car_num > self.west_lane.emergency_car_num and self.north_lane.emergency_car_num > self.east_lane.emergency_car_num \
or self.south_lane.emergency_car_num > self.west_lane.emergency_car_num and self.south_lane.emergency_car_num > self.east_lane.emergency_car_num:
if not self.central_occupied:
if self.running_lane is "horizontal":
self.allow_vertical()
for car in self.car_queue:
car.resume()
else:
if not self.central_occupied:
if self.running_lane is "vertical":
self.allow_horizontal()
for car in self.car_queue:
car.resume()
else:
self.clear_central()
else:
print "has waiting"
self.aging = True
if not self.has_emergency_waiting():
if self.north_lane.waiting_normal_car > self.west_lane.waiting_normal_car and self.north_lane.waiting_normal_car > self.east_lane.waiting_normal_car \
or self.south_lane.waiting_normal_car > self.west_lane.waiting_normal_car and self.south_lane.waiting_normal_car > self.east_lane.waiting_normal_car:
if not self.central_occupied:
if self.running_lane is "horizontal":
self.allow_vertical()
for car in self.car_queue:
car.resume()
else:
if not self.central_occupied:
if self.running_lane is "vertical":
self.allow_horizontal()
for car in self.car_queue:
car.resume()
else:
if self.north_lane.waiting_emergency_car > self.west_lane.waiting_emergency_car and self.north_lane.waiting_emergency_car > self.east_lane.waiting_emergency_car \
or self.south_lane.waiting_emergency_car > self.west_lane.waiting_emergency_car and self.south_lane.waiting_emergency_car > self.east_lane.waiting_emergency_car:
if not self.central_occupied:
if self.running_lane is "horizontal":
self.allow_vertical()
for car in self.car_queue:
car.resume()
else:
if not self.central_occupied:
if self.running_lane is "vertical":
self.allow_horizontal()
for car in self.car_queue:
car.resume()
else:
self.clear_central()
class ControlTest(unittest.TestCase):
def setUp(self):
self.car = Car(200, 0, 0, 0, 0)
self.lane = Lane()
self.lane.add_car(self.car)
def test_next_in_set(self):
self.assertEquals(
control._next_in_set(3, [1, 2, 3, 4, 5], key = lambda x: x), 3
)
self.assertEquals(
control._next_in_set(3, [1, 2, 3.5, 4, 5], key = lambda x: x), 3.5
)
def test_prev_in_set(self):
self.assertEquals(
control._prev_in_set(3, [1, 2, 3, 4, 5], key = lambda x: x), 3
)
self.assertEquals(
control._prev_in_set(3, [1, 2.5, 3.5, 4, 5], key = lambda x: x), 2.5
)
def test_cant_advance_on_traffic_light(self):
red_light = TrafficLight(200, initial_state='Red')
self.assertFalse(
control.can_advance(self.car, self.lane, [self.lane], [red_light], 0)
)
def test_can_advance_on_green(self):
light = TrafficLight(200)
self.assertTrue(
control.can_advance(self.car, self.lane, [self.lane], [light], 0)
)
def test_car_cant_advance_due_to_traffic(self):
light = TrafficLight(200)
other_car = Car(200 + Car.length, 0, 0, 0, 0)
self.lane.add_car(other_car)
self.assertFalse(
control.can_advance(self.car, self.lane, [self.lane], [light], 0)
)
# Cleanup
self.lane.remove_car(other_car)
def test_get_next_car_before_next_traffic_light_returns_car(self):
light = TrafficLight(100)
self.car.position = 20
other_car = Car(80, 0, 0, 0, 0)
self.lane.add_car(other_car)
self.assertEquals(
control.get_next_car_before_next_traffic_light(
self.car, self.lane, [light]
), other_car
)
self.lane.remove_car(other_car)
self.car.position = 200
def test_get_next_car_before_next_traffic_light_returns_none(self):
light = TrafficLight(100)
self.car.position = 20
other_car = Car(120, 0, 0, 0, 0)
self.lane.add_car(other_car)
self.assertFalse(
control.get_next_car_before_next_traffic_light(
self.car, self.lane, [light]
)
)
self.lane.remove_car(other_car)
self.car.position = 200
def test_get_next_car_before_next_traffic_light_when_car_on_light(self):
light = TrafficLight(200)
other_car = Car(220, 0, 0, 0, 0)
self.lane.add_car(other_car)
self.assertFalse(
control.get_next_car_before_next_traffic_light(
self.car, self.lane, [light]
)
)
self.lane.remove_car(other_car)
def test_solve_quadratic_equation_with_one_negative_solution(self):
self.assertEquals(control.solve_quadratic_equation(1, -3, -10), 5)
def test_solve_quadratic_equation_with_one_solution(self):
self.assertEquals(control.solve_quadratic_equation(1, -8, 16), 4)
def test_solve_quadratic_equation_with_two_positive_solutions(self):
self.assertEquals(control.solve_quadratic_equation(1, -7, 10), 2)
def test_get_target_time_without_reaching_max_speed(self):
test_car = Car(0, 0, 0, 5, 0)
self.assertTrue(
abs(control.get_target_time(test_car, 10) - 1.6108) < 0.0001
)
def test_get_target_time_reaching_max_speed(self):
test_car = Car(0, 0, 0, 5, 0)
self.assertTrue(
abs(control.get_target_time(test_car, 100) -
(20.0 / 9 + 200.0 / 3) < 0.0001)
)
def test_advance(self):
for i in range(1, 99):
test_car = Car(i, 0, 0, 0, 0)
lane = Lane()
lanes = [lane]
lane.add_car(test_car)
lights = [TrafficLight(100)]
for j in range(200):
control.advance(test_car, lane, lanes, lights, 30, 0.1)
self.assertTrue(test_car.position < 100,
'Car starting at %d fail' % i)
def test_advance_with_car_in_front(self):
for i in range (1, 80):
test_car_1 = Car(i, 0, 0, 0, 0)
test_car_2 = Car(i + 19, 0, 0, 0, 0)
lane = Lane()
lanes = [lane]
lane.add_car(test_car_1)
lane.add_car(test_car_2)
lights = [TrafficLight(100)]
for j in range(200):
control.advance(test_car_1, lane, lanes, lights, 30, 0.1)
control.advance(test_car_2, lane, lanes, lights, 30, 0.1)
self.assertTrue(test_car_1.position < 100,
'First car at %d fail, pos(car1) = %f, pos(car2) = %f'
%(i, test_car_1.position, test_car_2.position))
self.assertTrue(test_car_2.position < 100,
'Second car at %d fails' % (i + 19))
self.assertTrue(test_car_1.position <= control.rear(
test_car_2, test_car_1.speed),
'First car ended up further than expected'
)
def test_cant_change_lane_when_car_beside(self):
car1 = Car(20, 0, 0, 10, 0)
car2 = Car(20, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
lane2.add_car(car2)
light = TrafficLight(100)
self.assertFalse(control.can_change_lane(car1, lane1, lane2, [light]))
def test_cant_change_lane_when_car_slightly_behind(self):
car1 = Car(20, 0, 0, 10, 0)
car2 = Car(15, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
lane2.add_car(car2)
light = TrafficLight(100)
self.assertFalse(control.can_change_lane(car1, lane1, lane2, [light]))
def test_cant_change_lane_when_car_slightly_in_front(self):
car1 = Car(20, 0, 0, 10, 0)
car2 = Car(25, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
lane2.add_car(car2)
light = TrafficLight(100)
self.assertFalse(control.can_change_lane(car1, lane1, lane2, [light]))
def test_cant_change_lane_when_close_to_traffic_lights(self):
car1 = Car(98, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
light = TrafficLight(100)
self.assertFalse(control.can_change_lane(car1, lane1, lane2, [light]))
def test_cant_change_to_lane_with_opposite_direction(self):
car = Car(20, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane('SOUTH')
light = TrafficLight(100)
self.assertFalse(control.can_change_lane(car, lane1, lane2, [light]))
def test_can_change_lane_when_alone(self):
car1 = Car(20, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
light = TrafficLight(100)
self.assertTrue(control.can_change_lane(car1, lane1, lane2, [light]))
def test_can_change_lane_when_cars_around_but_far(self):
car1 = Car(50, 0, 0, 10, 0)
car2 = Car(20, 0, 0, 10, 0)
car3 = Car(70, 0, 0, 10, 0)
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
lane2.add_car(car2)
lane2.add_car(car3)
light = TrafficLight(100)
self.assertTrue(control.can_change_lane(car1, lane1, lane2, [light]))
def test_shouldnt_change_lane_to_go_faster_when_nothing(self):
car1 = Car(50, 0, 0, 10, 0)
lane0 = Lane()
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
light = TrafficLight(100)
self.assertFalse(control.should_change_lane_to_move_faster(car1, lane1,
[lane0, lane2], [light]))
def test_shouldnt_change_lane_to_go_faster_when_no_cars_in_front(self):
car1 = Car(10, 0, 0, 10, 0)
car0 = Car(50, 0, 0, 10, 0)
car2 = Car(40, 0, 0, 10, 0)
lane0 = Lane()
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
lane0.add_car(car0)
lane2.add_car(car2)
light = TrafficLight(100)
self.assertFalse(control.should_change_lane_to_move_faster(car1, lane1,
[lane0, lane2], [light]))
def test_should_change_lane_to_go_to_faster_lane(self):
car1 = Car(20, 0, 0, 10, 0)
car2 = Car(30, 0, 0, 10, 0)
car3 = Car(40, 0, 0, 10, 0)
car4 = Car(35, 0, 0, 10, 0)
lane0 = Lane()
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
lane1.add_car(car4)
lane0.add_car(car2)
lane2.add_car(car3)
light = TrafficLight(100)
self.assertEquals(control.should_change_lane_to_move_faster(car1, lane1,
[lane0, lane2], [light]), lane2)
def test_should_change_lane_to_go_to_no_car_lane(self):
car1 = Car(20, 0, 0, 10, 0)
car2 = Car(30, 0, 0, 10, 0)
car3 = Car(60, 0, 0, 10, 0)
lane0 = Lane()
lane1 = Lane()
lane2 = Lane()
lane1.add_car(car1)
lane1.add_car(car3)
lane0.add_car(car2)
light = TrafficLight(100)
self.assertEquals(control.should_change_lane_to_move_faster(car1, lane1,
[lane0, lane2], [light]), lane2)
def test_shouldnt_change_lane_when_cant_change_lane(self):
car0 = Car(18, 0, 0, 10, 0)
car1 = Car(20, 0, 0, 10, 0)
car2 = Car(25, 0, 0, 10, 0)
car3 = Car(23, 0, 0, 10, 0)
lane0 = Lane()
lane1 = Lane()
lane2 = Lane()
lane0.add_car(car0)
lane1.add_car(car1)
lane1.add_car(car3)
lane2.add_car(car2)
light = TrafficLight(100)
self.assertFalse(control.should_change_lane_to_move_faster(car1, lane1,
[lane0, lane2], [light]))
def test_shouldnt_change_lane_when_current_lane_is_fastest(self):
car0 = Car(30, 0, 0, 10, 0)
car1 = Car(20, 0, 0, 10, 0)
car2 = Car(45, 0, 0, 10, 0)
car3 = Car(50, 0, 0, 10, 0)
lane0 = Lane()
lane1 = Lane()
lane2 = Lane()
lane0.add_car(car0)
lane1.add_car(car1)
lane1.add_car(car3)
lane2.add_car(car2)
light = TrafficLight(100)
self.assertFalse(control.should_change_lane_to_move_faster(car1, lane1,
[lane0, lane2], [light]))
def test_bus_arrived_at_stop_at_full_capacity(self):
lane = Lane()
stop = BusStop(lane, 30, 10)
line = BusLine([stop], 0, 500)
bus = Bus(line, 10, 100)
control.bus_stop(bus, stop)
self.assertEquals(bus.people_carried, 100)
self.assertEquals(stop.people, 10)
def test_bus_arrived_and_people_were_left_at_stop(self):
lane = Lane()
stop = BusStop(lane, 30, 10)
line = BusLine([stop], 0, 500)
bus = Bus(line, 10, 93)
control.bus_stop(bus, stop)
self.assertEquals(bus.people_carried, 100)
self.assertEquals(stop.people, 3)
def test_bus_arrived_and_everybody_got_on_the_bus(self):
lane = Lane()
stop = BusStop(lane, 30, 10)
line = BusLine([stop], 0, 500)
bus = Bus(line, 10, 10)
control.bus_stop(bus, stop)
self.assertEquals(bus.people_carried, 20)
self.assertEquals(stop.people, 0)
def test_appear_cars_between_two_lanes(self):
lanes = [Lane(), Lane()]
lights = [TrafficLight(100)]
def test_get_target_lanes(self):
lanes = [Lane(), Lane(), Lane(), Lane(), Lane(), Lane(), Lane(), Lane()]
self.assertEquals(control._get_target_lanes(lanes[3], lanes, 4, 4),
[lanes[2], None])
self.assertEquals(control._get_target_lanes(lanes[0], lanes, 4, 4),
[None, lanes[1]])
self.assertEquals(control._get_target_lanes(lanes[2], lanes, 4, 4),
[lanes[1], lanes[3]])
self.assertEquals(control._get_target_lanes(lanes[4], lanes, 4, 4),
[None, lanes[5]])
self.assertEquals(control._get_target_lanes(lanes[7], lanes, 4, 4),
[lanes[6], None])
def test_shouldnt_change_lane_when_current_lane_is_fastest(self):
car0 = Car(30, 0, 0, 10, 0)
car1 = Car(20, 0, 0, 10, 0)
car2 = Car(45, 0, 0, 10, 0)
car3 = Car(50, 0, 0, 10, 0)
lane0 = Lane()
lane1 = Lane()
lane2 = Lane()
lane0.add_car(car0)
lane1.add_car(car1)
lane1.add_car(car3)
lane2.add_car(car2)
light = TrafficLight(100)
self.assertFalse(control.should_change_lane_to_move_faster(car1, lane1,
[lane0, lane2], [light]))
def setUp(self):
self.car = Car(200, 0, 0, 0, 0)
self.lane = Lane()
self.lane.add_car(self.car)
class Tree:
def __init__(
self,
tree_type="pro",
delay=0.4,
left_lane="computer",
right_lane="human",
debug=False,
perfect=0.0,
left_rollout=0.220,
right_rollout=0.220,
stats=False,
amin=1.0,
amax=3.0,
cmin=-0.009,
cmax=0.115,
auto_reset=False,
res="480x700",
fullscreen=False,
hw=False,
doublebuf=False,
):
self.perfect = perfect
self.left_rollout = left_rollout
self.right_rollout = right_rollout
self.amin = amin
self.amax = amax
self.auto_reset = auto_reset
self.two_player = left_lane == "human" and right_lane == "human"
self.debug = debug
self.stats = stats
self.delay = delay
self.start = threading.Event()
self.staged = threading.Event()
self.quitting = threading.Event()
self.tree_type = tree_type
self.tie = []
self.start_time = None
self.clock = pygame.time.Clock()
flags = 0
if hw:
flags = flags | pygame.HWSURFACE
if doublebuf:
flags = flags | pygame.DOUBLEBUF
if fullscreen:
resolution = (0, 0)
flags = flags | pygame.FULLSCREEN
pygame.mouse.set_visible(False)
else:
width, height = res.split("x")
resolution = (int(width), int(height))
self.screen = pygame.display.set_mode(resolution, flags)
self.scale()
self.left_lane = Lane(
tree_type=tree_type,
delay=delay,
start=self.start,
lane="left",
computer=(left_lane == "computer"),
perfect=perfect,
rollout=left_rollout,
cmin=cmin,
cmax=cmax,
surface=self.screen.subsurface(
pygame.Rect(self.rect.left, self.tree_rect.top, self.rect.centerx, self.tree_rect.height)
),
background=self.background,
)
self.right_lane = Lane(
tree_type=tree_type,
delay=delay,
start=self.start,
lane="right",
computer=(right_lane == "computer"),
perfect=perfect,
rollout=right_rollout,
cmin=cmin,
cmax=cmax,
surface=self.screen.subsurface(
pygame.Rect(self.rect.centerx, self.tree_rect.top, self.rect.centerx, self.tree_rect.height)
),
background=self.background,
)
self.lanes = {"left": self.left_lane, "right": self.right_lane}
if self.two_player:
self.human = None
elif right_lane == "human":
self.human = self.right_lane
elif left_lane == "human":
self.human = self.left_lane
else:
self.human = self.left_lane
if self.debug:
self.font = pygame.font.Font("assets/font.ttf", 50)
self.fps = self.font.render("", 1, (255, 255, 255))
clock = threading.Thread(None, self._clock, name="clock()")
# monitor = threading.Thread(None, self.thread_monitor,
# name="thread_monitor()")
clock.start()
# monitor.start()
self.reset()
self.event_loop()
clock.join()
# monitor.join()
def scale(self):
self.rect = self.screen.get_rect()
background = pygame.image.load("assets/background.png")
background.convert()
# background = utils.load_background()
background_rect = background.get_rect()
if float(self.rect.width) / float(self.rect.height) <= 1.6:
background = pygame.transform.smoothscale(
background, (int(round(self.rect.height * 1.6, 0)), self.rect.height)
)
else:
background = pygame.transform.smoothscale(
background, (self.rect.width, int(round(self.rect.width / 1.6, 0)))
)
background_rect = background.get_rect()
temp_rect = self.rect.move(0, 0)
temp_rect.centerx = background_rect.centerx
temp_rect.centery = background_rect.centery
self.background = background.subsurface(temp_rect)
# self.vignette = utils.load_vignette()
self.vignette = pygame.image.load("assets/vignette.png")
self.vignette.convert_alpha()
self.vignette = pygame.transform.smoothscale(self.vignette, (self.rect.width, self.rect.height))
self.tree = pygame.image.load("assets/tree.png")
self.tree.convert_alpha()
self.tree_rect = self.tree.get_rect()
self.tree_rect = self.tree_rect.fit(self.rect)
self.tree = pygame.transform.smoothscale(self.tree, (self.tree_rect.width, self.tree_rect.height))
self.tree_rect.midbottom = self.rect.midbottom
self.background.blit(self.vignette, (0, 0))
self.background.blit(self.tree, (self.tree_rect.left, 0))
self.screen.blit(self.background, (0, 0))
pygame.display.flip()
def reset(self):
self.tie = []
self.start_time = None
self.start.clear()
self.staged.clear()
for lane in self.lanes.values():
lane.reset()
if self.quitting.is_set():
return
threading.Thread(None, self.staging, name="staging()").start()
def staging(self):
while not self.quitting.is_set() and not (self.left_lane.staged.is_set() and self.right_lane.staged.is_set()):
time.sleep(0.001)
if self.quitting.is_set():
return
# The following line sets the window for the randomized delay between
# both lanes having fully staged and the race starting.
if self.amin == self.amax:
autostart = self.amin
else:
autostart = random.randrange(self.amin * 1000.0, self.amax * 1000.0, 1) / 1000.0
self.start_time = time.time() + autostart
if self.left_lane.staged.is_set() and self.right_lane.staged.is_set():
self.staged.set()
else:
self.reset()
return
while (
time.time() < self.start_time - 0.1 and self.left_lane.staged.is_set() and self.right_lane.staged.is_set()
):
time.sleep(0.001)
if self.left_lane.staged.is_set() and self.right_lane.staged.is_set():
threading.Thread(None, self.race, name="race()").start()
else:
self.reset()
return
def timer(self):
left = threading.Thread(None, self.left_lane.timer, name="Left Lane timer()")
right = threading.Thread(None, self.right_lane.timer, name="Right Lane timer()")
if self.tree_type == "sportsman":
green_time = self.start_time + (3 * self.delay)
else:
green_time = self.start_time + self.delay
y2time = self.start_time + self.delay
y3time = self.start_time + (self.delay * 2)
left.start()
right.start()
self.start.set()
while time.time() < self.start_time:
continue
self.left_lane.y1.set()
self.right_lane.y1.set()
if self.tree_type == "sportsman":
while time.time() < y2time:
continue
self.left_lane.y2.set()
self.right_lane.y2.set()
while time.time() < y3time:
continue
self.left_lane.y3.set()
self.right_lane.y3.set()
while time.time() < green_time:
continue
self.left_lane.g.set()
self.right_lane.g.set()
self.left_lane.launched.wait()
self.right_lane.launched.wait()
left.join()
right.join()
def race(self):
self.left_lane.start_time = self.right_lane.start_time = self.start_time
self.timer()
time.sleep(0.1)
self.start_time = None
# print "Left start time: %0.7f" % self.left_lane.start_time
# print "Right start time: %0.7f" % self.right_lane.start_time
if self.two_player:
if self.tie[0].foul.is_set():
self.tie[1].win()
else:
self.tie[0].win()
elif self.left_lane.reaction < self.right_lane.reaction:
if self.left_lane.foul.is_set():
if self.right_lane.foul.is_set():
self.right_lane.win()
# print "Winner: Right Lane RT %0.3f (foul)" % self.right_lane.reaction
# print "Loser: Left Lane RT %0.3f (foul)" % self.left_lane.reaction
self.right_lane.win()
# print "Winner: Right Lane RT %0.3f" % self.right_lane.reaction
# print "Loser: Left Lane RT %0.3f (foul)" % self.left_lane.reaction
else:
self.left_lane.win()
# print "Winner: Left Lane RT %0.3f" % self.left_lane.reaction
# print "Loser: Right Lane RT %0.3f" % self.right_lane.reaction
elif self.right_lane.reaction < self.left_lane.reaction:
if self.right_lane.foul.is_set():
if self.left_lane.foul.is_set():
self.left_lane.win()
# print "Winner: Left Lane RT %0.3f (foul)" % self.left_lane.reaction
# print "Loser: Right Lane RT %0.3f (foul)" % self.right_lane.reaction
self.left_lane.win()
# print "Winner: Left Lane RT %0.3f" % self.left_lane.reaction
# print "Loser: Right Lane RT %0.3f (foul)" % self.right_lane.reaction
else:
self.right_lane.win()
# print "Winner: Right Lane RT %0.3f" % self.right_lane.reaction
# print "Loser: Left Lane RT %0.3f" % self.left_lane.reaction
elif self.left_lane.reaction == self.right_lane.reaction:
for lane in self.lanes.values():
lane.win()
if self.stats:
print "Round %d: Left Lane: %0.3f\tRight Lane: %0.3f" % (
len(self.left_lane.log),
self.left_lane.reaction,
self.right_lane.reaction,
)
if self.auto_reset:
reset = time.time() + self.auto_reset
while time.time() < reset:
if self.quitting.is_set():
return
self.reset()
def win(self, lane):
print "win lane %s" % lane
self.lanes[lane].win()
def event_loop(self):
pygame.event.set_allowed(None)
pygame.event.set_allowed([KEYDOWN, KEYUP, QUIT])
while not self.quitting.is_set():
event = pygame.event.wait()
if event.type == KEYDOWN and event.key in [K_m, K_z, K_SPACE]:
if self.two_player:
if not (self.right_lane.pre_staged.is_set() or self.left_lane.pre_staged.is_set()):
if not self.auto_reset:
self.reset()
elif event.key == K_m and self.right_lane.pre_staged.is_set():
self.right_lane.stage()
elif event.key == K_z and self.left_lane.pre_staged.is_set():
self.left_lane.stage()
elif event.key == K_SPACE:
if self.human.pre_staged.is_set():
self.human.stage()
# while pygame.key.get_pressed()[K_SPACE]:
# pygame.event.pump()
# if self.human.staged.is_set() and self.start.is_set():
# self.human.launched_time = time.time()
# self.human.launched.set()
# else:
# self.human.staged.clear()
# self.human.lights[1].off()
elif not self.auto_reset:
self.reset()
elif event.type == KEYUP and event.key in [K_m, K_z, K_SPACE]:
if self.two_player:
if event.key == K_m:
if self.right_lane.staged.is_set() and self.start.is_set():
self.right_lane.launched_time = time.time()
self.right_lane.launched.set()
self.tie.append(self.right_lane)
else:
self.right_lane.staged.clear()
self.right_lane.lights[1].off()
elif event.key == K_z:
if self.left_lane.staged.is_set() and self.start.is_set():
self.left_lane.launched_time = time.time()
self.left_lane.launched.set()
self.tie.append(self.left_lane)
else:
self.left_lane.staged.clear()
self.left_lane.lights[1].off()
elif event.key == K_SPACE:
if self.human.staged.is_set() and self.start.is_set():
self.human.launched_time = time.time()
self.human.launched.set()
else:
self.human.staged.clear()
self.human.lights[1].off()
elif event.type == pygame.QUIT or (event.type == KEYDOWN and event.key in [K_ESCAPE, K_q]):
self.quit()
# print event
def draw(self):
self.left_lane.draw()
self.right_lane.draw()
dirty = []
if self.left_lane.dirty:
dirty += self.left_lane.dirty_rects
self.left_lane.dirty = False
self.left_lane.dirty_rects = []
if self.right_lane.dirty:
dirty += self.right_lane.dirty_rects
self.right_lane.dirty = False
self.right_lane.dirty_rects = []
if self.debug:
self.fps = self.font.render("%0.1f" % self.clock.get_fps(), 1, (255, 255, 255))
fps_rect = self.fps.get_rect()
fps_rect.top = 10
fps_rect.left = 10
self.screen.blit(self.background, (fps_rect.left, fps_rect.top), fps_rect)
self.screen.blit(self.fps, (fps_rect.left, fps_rect.top))
dirty.append(fps_rect)
if dirty:
pygame.display.update(dirty)
def _clock(self):
while not self.quitting.is_set():
self.clock.tick()
self.draw()
def thread_monitor(self):
if not self.debug:
return
last_count = 0
while not self.quitting.is_set():
if threading.active_count() == last_count:
continue
else:
last_count = threading.active_count()
print "\nActive threads:"
for thread in sorted(threading.enumerate(), key=threading.Thread.getName):
print " " + thread.name
def print_stats(self):
for lane in self.lanes.values():
if lane.log:
print lane.lane, "stats:"
best = None
worst = None
for react in lane.log:
if not best and not worst:
worst = best = react
if react < best and react >= self.delay:
best = react
if react > best and best < self.delay:
best = react
if react > worst:
worst = react
print "\tBest: %0.3f" % best
print "\tWorst: %0.3f" % worst
print "\tAverage: %0.3f" % round(sum(lane.log) / len(lane.log), 3)
def quit(self):
self.quitting.set()
self.reset()
if self.stats:
self.print_stats()
pygame.quit()
