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test_generators.py
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"""
scenariogeneration
https://github.com/pyoscx/scenariogeneration
This Source Code Form is subject to the terms of the Mozilla Public
License, v. 2.0. If a copy of the MPL was not distributed with this
file, You can obtain one at https://mozilla.org/MPL/2.0/.
Copyright (c) 2022 The scenariogeneration Authors.
"""
import pytest
from scenariogeneration import xodr, prettyprint
def test_create_left_lane_split_first_lane():
lanedef = xodr.LaneDef(10, 20, 1, 2, 1)
lanes = xodr.create_lanes_merge_split(
0, [lanedef], 30, xodr.std_roadmark_solid_solid(), 3, 3
)
assert len(lanes.lanesections) == 3
assert lanes.lanesections[0].s == 0
assert lanes.lanesections[1].s == 10
assert lanes.lanesections[2].s == 20
assert (
lanes.lanesections[0].centerlane.roadmark[0].marking_type
== xodr.RoadMarkType.solid_solid
)
assert (
lanes.lanesections[1].centerlane.roadmark[0].marking_type
== xodr.RoadMarkType.solid_solid
)
assert (
lanes.lanesections[2].centerlane.roadmark[0].marking_type
== xodr.RoadMarkType.solid_solid
)
assert len(lanes.lanesections[0].rightlanes) == 0
assert len(lanes.lanesections[1].rightlanes) == 0
assert len(lanes.lanesections[2].rightlanes) == 0
assert len(lanes.lanesections[0].leftlanes) == 1
assert len(lanes.lanesections[1].leftlanes) == 2
assert len(lanes.lanesections[2].leftlanes) == 2
## check some lane properties
assert (
lanes.lanesections[0].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[0].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[0].leftlanes[0].widths[0].c == 0
assert (
lanes.lanesections[1].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert lanes.lanesections[1].leftlanes[0].widths[0].a == 0
assert lanes.lanesections[1].leftlanes[0].widths[0].c != 0
assert (
lanes.lanesections[1].leftlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[1].leftlanes[1].widths[0].a == 3
assert lanes.lanesections[1].leftlanes[1].widths[0].c == 0
assert (
lanes.lanesections[2].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert (
lanes.lanesections[2].leftlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[2].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[2].leftlanes[0].widths[0].c == 0
assert lanes.lanesections[2].leftlanes[1].widths[0].a == 3
assert lanes.lanesections[2].leftlanes[1].widths[0].c == 0
def test_create_left_lane_split_second_lane():
lanedef = xodr.LaneDef(10, 20, 1, 2, 2)
lanes = xodr.create_lanes_merge_split(
0, [lanedef], 30, xodr.std_roadmark_solid_solid(), 3, 3
)
assert len(lanes.lanesections) == 3
assert lanes.lanesections[0].s == 0
assert lanes.lanesections[1].s == 10
assert lanes.lanesections[2].s == 20
assert len(lanes.lanesections[0].rightlanes) == 0
assert len(lanes.lanesections[1].rightlanes) == 0
assert len(lanes.lanesections[2].rightlanes) == 0
assert len(lanes.lanesections[0].leftlanes) == 1
assert len(lanes.lanesections[1].leftlanes) == 2
assert len(lanes.lanesections[2].leftlanes) == 2
## check some lane properties
assert (
lanes.lanesections[0].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[0].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[0].leftlanes[0].widths[0].c == 0
assert (
lanes.lanesections[1].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert lanes.lanesections[1].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[1].leftlanes[0].widths[0].c == 0
assert (
lanes.lanesections[1].leftlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[1].leftlanes[1].widths[0].a == 0
assert lanes.lanesections[1].leftlanes[1].widths[0].c != 0
assert (
lanes.lanesections[2].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert (
lanes.lanesections[2].leftlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[2].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[2].leftlanes[0].widths[0].c == 0
assert lanes.lanesections[2].leftlanes[1].widths[0].a == 3
assert lanes.lanesections[2].leftlanes[1].widths[0].c == 0
def test_create_right_lane_split_first_lane():
lanedef = xodr.LaneDef(10, 20, 1, 2, 1)
lanes = xodr.create_lanes_merge_split(
[lanedef], 0, 30, xodr.std_roadmark_solid_solid(), 3, 3
)
assert len(lanes.lanesections) == 3
assert lanes.lanesections[0].s == 0
assert lanes.lanesections[1].s == 10
assert lanes.lanesections[2].s == 20
assert len(lanes.lanesections[0].leftlanes) == 0
assert len(lanes.lanesections[1].leftlanes) == 0
assert len(lanes.lanesections[2].leftlanes) == 0
assert len(lanes.lanesections[0].rightlanes) == 1
assert len(lanes.lanesections[1].rightlanes) == 2
assert len(lanes.lanesections[2].rightlanes) == 2
## check some lane properties
assert (
lanes.lanesections[0].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[0].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[0].rightlanes[0].widths[0].c == 0
assert (
lanes.lanesections[1].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert lanes.lanesections[1].rightlanes[0].widths[0].a == 0
assert lanes.lanesections[1].rightlanes[0].widths[0].c != 0
assert (
lanes.lanesections[1].rightlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[1].rightlanes[1].widths[0].a == 3
assert lanes.lanesections[1].rightlanes[1].widths[0].c == 0
assert (
lanes.lanesections[2].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert (
lanes.lanesections[2].rightlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[2].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[2].rightlanes[0].widths[0].c == 0
assert lanes.lanesections[2].rightlanes[1].widths[0].a == 3
assert lanes.lanesections[2].rightlanes[1].widths[0].c == 0
def test_create_right_lane_split_second_lane():
lanedef = xodr.LaneDef(10, 20, 1, 2, 2)
lanes = xodr.create_lanes_merge_split(
[lanedef], 0, 30, xodr.std_roadmark_solid_solid(), 3, 3
)
assert len(lanes.lanesections) == 3
assert lanes.lanesections[0].s == 0
assert lanes.lanesections[1].s == 10
assert lanes.lanesections[2].s == 20
assert len(lanes.lanesections[0].leftlanes) == 0
assert len(lanes.lanesections[1].leftlanes) == 0
assert len(lanes.lanesections[2].leftlanes) == 0
assert len(lanes.lanesections[0].rightlanes) == 1
assert len(lanes.lanesections[1].rightlanes) == 2
assert len(lanes.lanesections[2].rightlanes) == 2
## check some lane properties
assert (
lanes.lanesections[0].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[0].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[0].rightlanes[0].widths[0].c == 0
assert (
lanes.lanesections[1].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert lanes.lanesections[1].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[1].rightlanes[0].widths[0].c == 0
assert (
lanes.lanesections[1].rightlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[1].rightlanes[1].widths[0].a == 0
assert lanes.lanesections[1].rightlanes[1].widths[0].c != 0
assert (
lanes.lanesections[2].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert (
lanes.lanesections[2].rightlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[2].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[2].rightlanes[0].widths[0].c == 0
assert lanes.lanesections[2].rightlanes[1].widths[0].a == 3
assert lanes.lanesections[2].rightlanes[1].widths[0].c == 0
def test_create_left_lane_merge_first_lane():
lanedef = xodr.LaneDef(10, 20, 2, 1, 1)
lanes = xodr.create_lanes_merge_split(
0, [lanedef], 30, xodr.std_roadmark_solid_solid(), 3, 3
)
assert len(lanes.lanesections) == 3
assert lanes.lanesections[0].s == 0
assert lanes.lanesections[1].s == 10
assert lanes.lanesections[2].s == 20
assert len(lanes.lanesections[0].rightlanes) == 0
assert len(lanes.lanesections[1].rightlanes) == 0
assert len(lanes.lanesections[2].rightlanes) == 0
assert len(lanes.lanesections[0].leftlanes) == 2
assert len(lanes.lanesections[1].leftlanes) == 2
assert len(lanes.lanesections[2].leftlanes) == 1
## check some lane properties
assert (
lanes.lanesections[0].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert (
lanes.lanesections[0].leftlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[0].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[0].leftlanes[0].widths[0].c == 0
assert lanes.lanesections[0].leftlanes[1].widths[0].a == 3
assert lanes.lanesections[0].leftlanes[1].widths[0].c == 0
assert (
lanes.lanesections[1].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert lanes.lanesections[1].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[1].leftlanes[0].widths[0].c != 0
assert (
lanes.lanesections[1].leftlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[1].leftlanes[1].widths[0].a == 3
assert lanes.lanesections[1].leftlanes[1].widths[0].c == 0
assert (
lanes.lanesections[2].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[2].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[2].leftlanes[0].widths[0].c == 0
def test_create_left_lane_merge_second_lane():
lanedef = xodr.LaneDef(10, 20, 2, 1, 2)
lanes = xodr.create_lanes_merge_split(
0, [lanedef], 30, xodr.std_roadmark_solid_solid(), 3, 3
)
assert len(lanes.lanesections) == 3
assert lanes.lanesections[0].s == 0
assert lanes.lanesections[1].s == 10
assert lanes.lanesections[2].s == 20
assert len(lanes.lanesections[0].rightlanes) == 0
assert len(lanes.lanesections[1].rightlanes) == 0
assert len(lanes.lanesections[2].rightlanes) == 0
assert len(lanes.lanesections[0].leftlanes) == 2
assert len(lanes.lanesections[1].leftlanes) == 2
assert len(lanes.lanesections[2].leftlanes) == 1
## check some lane properties
assert (
lanes.lanesections[0].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert (
lanes.lanesections[0].leftlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[0].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[0].leftlanes[0].widths[0].c == 0
assert lanes.lanesections[0].leftlanes[1].widths[0].a == 3
assert lanes.lanesections[0].leftlanes[1].widths[0].c == 0
assert (
lanes.lanesections[1].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert lanes.lanesections[1].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[1].leftlanes[0].widths[0].c == 0
assert (
lanes.lanesections[1].leftlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[1].leftlanes[1].widths[0].a == 3
assert lanes.lanesections[1].leftlanes[1].widths[0].c != 0
assert (
lanes.lanesections[2].leftlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[2].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[2].leftlanes[0].widths[0].c == 0
def test_create_right_lane_merge_first_lane():
lanedef = xodr.LaneDef(10, 20, 2, 1, -1)
lanes = xodr.create_lanes_merge_split(
[lanedef], 0, 30, xodr.std_roadmark_solid_solid(), 3, 3
)
assert len(lanes.lanesections) == 3
assert lanes.lanesections[0].s == 0
assert lanes.lanesections[1].s == 10
assert lanes.lanesections[2].s == 20
assert len(lanes.lanesections[0].leftlanes) == 0
assert len(lanes.lanesections[1].leftlanes) == 0
assert len(lanes.lanesections[2].leftlanes) == 0
assert len(lanes.lanesections[0].rightlanes) == 2
assert len(lanes.lanesections[1].rightlanes) == 2
assert len(lanes.lanesections[2].rightlanes) == 1
## check some lane properties
assert (
lanes.lanesections[0].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert (
lanes.lanesections[0].rightlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[0].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[0].rightlanes[0].widths[0].c == 0
assert lanes.lanesections[0].rightlanes[1].widths[0].a == 3
assert lanes.lanesections[0].rightlanes[1].widths[0].c == 0
assert (
lanes.lanesections[1].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert lanes.lanesections[1].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[1].rightlanes[0].widths[0].c != 0
assert (
lanes.lanesections[1].rightlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[1].rightlanes[1].widths[0].a == 3
assert lanes.lanesections[1].rightlanes[1].widths[0].c == 0
assert (
lanes.lanesections[2].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[2].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[2].rightlanes[0].widths[0].c == 0
def test_create_right_lane_merge_second_lane():
lanedef = xodr.LaneDef(10, 20, 2, 1, 2)
lanes = xodr.create_lanes_merge_split(
[lanedef], 0, 30, xodr.std_roadmark_solid_solid(), 3, 3
)
assert len(lanes.lanesections) == 3
assert lanes.lanesections[0].s == 0
assert lanes.lanesections[1].s == 10
assert lanes.lanesections[2].s == 20
assert len(lanes.lanesections[0].leftlanes) == 0
assert len(lanes.lanesections[1].leftlanes) == 0
assert len(lanes.lanesections[2].leftlanes) == 0
assert len(lanes.lanesections[0].rightlanes) == 2
assert len(lanes.lanesections[1].rightlanes) == 2
assert len(lanes.lanesections[2].rightlanes) == 1
## check some lane properties
assert (
lanes.lanesections[0].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert (
lanes.lanesections[0].rightlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[0].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[0].rightlanes[0].widths[0].c == 0
assert lanes.lanesections[0].rightlanes[1].widths[0].a == 3
assert lanes.lanesections[0].rightlanes[1].widths[0].c == 0
assert (
lanes.lanesections[1].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.broken
)
assert lanes.lanesections[1].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[1].rightlanes[0].widths[0].c == 0
assert (
lanes.lanesections[1].rightlanes[1].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[1].rightlanes[1].widths[0].a == 3
assert lanes.lanesections[1].rightlanes[1].widths[0].c != 0
assert (
lanes.lanesections[2].rightlanes[0].roadmark[0].marking_type
== xodr.RoadMarkType.solid
)
assert lanes.lanesections[2].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[2].rightlanes[0].widths[0].c == 0
def test_create_lanes_with_uniform_lane_width_diff():
lanes = xodr.create_lanes_merge_split(1, 1, 30, xodr.std_roadmark_solid(), 3, 4)
assert len(lanes.lanesections) == 1
assert len(lanes.lanesections[0].leftlanes) == 1
assert len(lanes.lanesections[0].rightlanes) == 1
assert lanes.lanesections[0].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[0].leftlanes[0].widths[0].c != 0
assert lanes.lanesections[0].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[0].rightlanes[0].widths[0].c != 0
def test_create_lanes_with_lane_width_change_in_middle():
lanedef_right = xodr.LaneDef(10, 20, 2, 2, None, [4, 5], [3, 4])
lanedef_left = xodr.LaneDef(10, 20, 2, 2, None, [3, 4], [4, 5])
lanes = xodr.create_lanes_merge_split(
[lanedef_right], [lanedef_left], 30, xodr.std_roadmark_solid(), 3, 3
)
assert len(lanes.lanesections) == 3
assert len(lanes.lanesections[0].leftlanes) == 2
assert len(lanes.lanesections[0].rightlanes) == 2
assert lanes.lanesections[0].rightlanes[0].widths[0].a == 4
assert lanes.lanesections[0].rightlanes[0].widths[0].c == 0
assert lanes.lanesections[0].rightlanes[1].widths[0].a == 5
assert lanes.lanesections[0].rightlanes[1].widths[0].c == 0
assert lanes.lanesections[0].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[0].rightlanes[0].widths[0].c == 0
assert lanes.lanesections[0].leftlanes[1].widths[0].a == 4
assert lanes.lanesections[0].rightlanes[1].widths[0].c == 0
assert lanes.lanesections[1].rightlanes[0].widths[0].a == 4
assert lanes.lanesections[1].rightlanes[0].widths[0].c != 0
assert lanes.lanesections[1].rightlanes[1].widths[0].a == 5
assert lanes.lanesections[1].rightlanes[1].widths[0].c != 0
assert lanes.lanesections[1].leftlanes[0].widths[0].a == 3
assert lanes.lanesections[1].rightlanes[0].widths[0].c != 0
assert lanes.lanesections[1].leftlanes[1].widths[0].a == 4
assert lanes.lanesections[1].rightlanes[1].widths[0].c != 0
assert lanes.lanesections[2].rightlanes[0].widths[0].a == 3
assert lanes.lanesections[2].rightlanes[0].widths[0].c == 0
assert lanes.lanesections[2].rightlanes[1].widths[0].a == 4
assert lanes.lanesections[2].rightlanes[1].widths[0].c == 0
assert lanes.lanesections[2].leftlanes[0].widths[0].a == 4
assert lanes.lanesections[2].rightlanes[0].widths[0].c == 0
assert lanes.lanesections[2].leftlanes[1].widths[0].a == 5
assert lanes.lanesections[2].rightlanes[1].widths[0].c == 0