def test_mistyped_relative_to():
with pytest.raises(RuntimeParseError):
compileScenic('ego = Object facing 0 relative to 1@2')
def test_vector_operator():
scenario = compileScenic('ego = Object at (-3, 3) @ 0 + (100, 110) @ 0')
xs = [sampleEgo(scenario).position.x for i in range(100)]
assert all(97 <= x <= 113 for x in xs)
assert any(x < 105 for x in xs)
assert any(105 < x for x in xs)
def test_uniform_interval_wrong_type():
with pytest.raises(InterpreterParseError):
compileScenic('x = ([], 4)')
with pytest.raises(InterpreterParseError):
compileScenic('x = (-10, [])')
def test_independence():
scenario = compileScenic('ego = Object at Range(0, 1) @ Range(0, 1)')
pos = sampleEgo(scenario).position
assert pos.x != pos.y
def test_options(dist):
scenario = compileScenic(f'ego = Object at {dist}({{0: 1, 1: 9}}) @ 0')
xs = [sampleEgo(scenario).position.x for i in range(200)]
assert all(x == 0 or x == 1 for x in xs)
assert 145 <= sum(xs) < 200
def test_heading_wrong_type():
with pytest.raises(RuntimeParseError):
compileScenic('ego = Object with heading 4 @ 1')
def test_relative_heading_inconsistent():
"""A special case where we can detect inconsistency of the requirements."""
with pytest.raises(InconsistentScenarioError):
scenario = compileScenic('ego = Object\n'
'other = Object at 10@10\n'
'require abs(relative heading of other) < -1')
def test_nowhere():
with pytest.raises(InvalidScenarioError):
compileScenic('ego = Object with regionContainedIn nowhere')
def test_everywhere():
scenario = compileScenic('ego = Object with regionContainedIn everywhere')
sampleScene(scenario, maxIterations=1)
def test_noninterference():
for i in range(2):
scenario = compileScenic('ego = Object at VerifaiRange(0, 1) @ 0')
for j in range(5):
scene, iterations = scenario.generate(maxIterations=1)
assert len(scenario.externalSampler.cachedSample) == 1
def test_halton():
scenario = compileScenic('param verifaiSamplerType = "halton"\n'
'ego = Object at VerifaiRange(5, 15) @ 0')
xs = [sampleEgo(scenario).position.x for i in range(60)]
assert all(5 <= x <= 15 for x in xs)
assert 29 <= sum(x < 10 for x in xs) <= 31
def test_distance_no_ego():
with pytest.raises(RuntimeParseError):
compileScenic("""
other = Object
ego = Object at 2@2, facing distance to other
""")
def test_apparent_heading_no_ego():
with pytest.raises(RuntimeParseError):
compileScenic("""
other = Object
ego = Object at 2@2, facing apparent heading of other
""")
def test_mistyped_relative_to_lazy():
with pytest.raises(RuntimeParseError):
compileScenic("""
vf = VectorField("Foo", lambda pos: 0.5)
ego = Object facing 1@2 relative to (0 relative to vf)
""")
def test_specifier_layout(template, continuation, indent, gap):
"""Test legal specifier layouts, with and without line continuations."""
preamble = template.format(continuation=continuation, indent=indent)
program = preamble + gap + 'Object at 20@20'
print('TESTING PROGRAM:', program)
compileScenic(program)
def test_static_containment_violation():
with pytest.raises(InvalidScenarioError):
compileScenic("""
foo = RectangularRegion(0@0, 0, 5, 5)
ego = Object at 10@10, with regionContainedIn foo
""")
def test_dangling_specifier_list():
with pytest.raises(TokenParseError):
compileScenic('ego = Object with width 4,')
with pytest.raises(TokenParseError):
compileScenic('ego = Object with width 4, # comment')
def test_static_empty_container():
with pytest.raises(InvalidScenarioError):
compileScenic("""
foo = PolylineRegion([0@0, 1@1]).intersect(PolylineRegion([1@0, 2@1]))
ego = Object at Range(0, 2) @ Range(0, 1), with regionContainedIn foo
""")
def test_position_wrong_type():
with pytest.raises(RuntimeParseError):
compileScenic('ego = Object with position 4')
def test_static_visibility_violation():
with pytest.raises(InvalidScenarioError):
compileScenic("""
ego = Object at 10@0, facing -90 deg, with viewAngle 90 deg
Object at 0@10
""")
def test_list_param_lazy():
with pytest.raises(InvalidScenarioError):
compileScenic('vf = VectorField("Foo", lambda pos: 2 * pos.x)\n'
'x = 0 relative to vf\n'
'param p = Uniform([0, x], [0, x*2])[1]\n'
'ego = Object')
def test_static_intersection_violation():
with pytest.raises(InvalidScenarioError):
compileScenic("""
ego = Object at 0@0
Object at 1@0
""")
def test_uniform_interval_wrong_type():
with pytest.raises(RuntimeParseError):
compileScenic('x = Range([], 4)')
with pytest.raises(RuntimeParseError):
compileScenic('x = Range(-10, [])')
def test_param_in_requirement():
with pytest.raises(ScenicSyntaxError):
compileScenic("""
require param x = 4
ego = Object
""")
def test_operator():
scenario = compileScenic('ego = Object at -(100 + (0, 100)) @ 0')
xs = [sampleEgo(scenario).position.x for i in range(60)]
assert all(-200 <= x <= -100 for x in xs)
assert any(x < -150 for x in xs)
assert any(-150 < x for x in xs)
def test_mutate_in_requirement():
with pytest.raises(ScenicSyntaxError):
compileScenic("""
require mutate
ego = Object
""")
def test_shared_dependency():
scenario = compileScenic('x = (0, 1)\n' 'ego = Object at (x + x) @ 0')
xs = [sampleEgo(scenario).position.x for i in range(60)]
assert all(0 <= x <= 2 for x in xs)
assert any(x < 1 for x in xs)
assert any(1 < x for x in xs)
def test_require_in_requirement():
with pytest.raises(ScenicSyntaxError):
compileScenic("""
require (require True)
ego = Object
""")
def test_uniform_interval():
scenario = compileScenic('ego = Object at (100, 200) @ 0')
xs = [sampleEgo(scenario).position.x for i in range(60)]
assert all(100 <= x <= 200 for x in xs)
assert any(x < 150 for x in xs)
assert any(150 < x for x in xs)
def test_inherit_constructors(runLocally):
with runLocally():
scenario = compileScenic('from helper import Caerbannog\n'
'ego = Caerbannog')
