diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml index 718a8598..5dc4fc10 100644 --- a/.github/workflows/CI.yml +++ b/.github/workflows/CI.yml @@ -41,4 +41,4 @@ jobs: env: IAI_API_KEY: ${{ secrets.IAI_API_KEY }} run: | - $HOME/.local/bin/poetry run pytest invertedai/tests/ + $HOME/.local/bin/poetry run pytest tests/ diff --git a/invertedai/__init__.py b/invertedai/__init__.py index da7c1c4a..a9d717e2 100644 --- a/invertedai/__init__.py +++ b/invertedai/__init__.py @@ -13,15 +13,16 @@ dev = strtobool(os.environ.get("IAI_DEV", "false")) if dev: dev_url = os.environ.get("IAI_DEV_URL", "http://localhost:8000") +commercial_url = "https://api.inverted.ai/v0/aws/m1" +academic_url = "https://api.inverted.ai/v0/academic/m1" log_level = os.environ.get("IAI_LOG_LEVEL", "WARNING") log_console = strtobool(os.environ.get("IAI_LOG_CONSOLE", "true")) log_file = strtobool(os.environ.get("IAI_LOG_FILE", "false")) -api_key = os.environ.get("IAI_API_KEY", "") logger = IAILogger(level=log_level, consoel=bool(log_console), log_file=bool(log_file)) -session = Session(api_key) +session = Session() add_apikey = session.add_apikey use_mock_api = session.use_mock_api diff --git a/invertedai/tests/__init__.py b/invertedai/tests/__init__.py deleted file mode 100644 index 139597f9..00000000 --- a/invertedai/tests/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ - - diff --git a/invertedai/utils.py b/invertedai/utils.py index 91f2c862..6f152de6 100644 --- a/invertedai/utils.py +++ b/invertedai/utils.py @@ -1,8 +1,12 @@ import requests import asyncio +from deprecated import deprecated import json +import logging +import os import re from typing import Dict, Optional +from requests import Response from requests.auth import AuthBase from requests.adapters import HTTPAdapter, Retry import invertedai as iai @@ -34,11 +38,11 @@ INITIALIZE_FOV = 120 AGENT_FOV = 35 +logger = logging.getLogger(__name__) class Session: - def __init__(self, api_token: str = ""): + def __init__(self): self.session = requests.Session() - self.session.auth = APITokenAuth(api_token) retries = Retry(total=5, backoff_factor=0.1, status_forcelist=[500, 502, 503, 504], @@ -54,18 +58,40 @@ def __init__(self, api_token: str = ""): "Connection": "keep-alive", } ) - self.base_url = self._get_base_url() + self._base_url = self._get_base_url() - def add_apikey(self, api_token: str = ""): - if not iai.dev and not api_token: - raise error.InvalidAPIKeyError("Empty API key received.") + @property + def base_url(self): + return self._base_url + + @base_url.setter + def base_url(self, value): + self._base_url = value + + + def _verify_api_key(self, api_token: str, verifying_url: str): + """ + Verifies the API key by making a request to the verifying URL. + + Args: + api_token (str): The API token to be used for authentication. + verifying_url (str): The URL to be used for verification. + + Returns: + str: The final verifying URL after fallback (if applicable). + + Raises: + error.AuthenticationError: If access is denied due to an invalid API key. + """ self.session.auth = APITokenAuth(api_token) - response = self.session.request(method="get", url=self.base_url) - if response.status_code != 200: - url_acd = "https://api.inverted.ai/v0/academic/m1" - response_acd = self.session.request(method="get", url=url_acd) + response = self.session.request(method="get", url=verifying_url) + if verifying_url == iai.commercial_url and response.status_code != 200: + # Check for academic access in case the previous call to the commercial server fails. + logger.warning("Commercial access denied and fallback to check for academic access.") + verifying_url = iai.academic_url + response_acd = self.session.request(method="get", url=verifying_url) if response_acd.status_code == 200: - self.base_url = url_acd + self.base_url = verifying_url response = response_acd elif response_acd.status_code != 403: response = response_acd @@ -73,9 +99,37 @@ def add_apikey(self, api_token: str = ""): raise error.AuthenticationError( "Access denied. Please check the provided API key." ) - elif response.status_code != 200: - raise error.APIError("The server is aware that it has erred or is incapable of performing the requested" - " method.") + return verifying_url + + + def add_apikey(self, api_token: str = "", key_type: Optional[str] = None, url: Optional[str] = None): + """ + Bind an API key to the session for authentication. + + Args: + api_token (str): The API key to be added. Defaults to an empty string. + key_type (str, optional): The type of API key. Defaults to None. When passed, the base_url will be set according to the key_type. + url (str, optional): The URL to be used for the request. Defaults to None. When passed, the base_rul will be set to the passed value and the key_type will be ignored. + + Raises: + InvalidAPIKeyError: If the API key is empty and not in development mode. + InvalidAPIKeyError: If the key_type is invalid. + AuthenticationError: If access is denied due to an invalid API key. + APIError: If the server encounters an error or is unable to perform the requested method. + """ + if not iai.dev and not api_token: + raise error.InvalidAPIKeyError("Empty API key received.") + if url is None: + request_url = self._get_base_url() + if key_type is not None and key_type not in ["commercial", "academic"]: + raise error.InvalidAPIKeyError(f"Invalid API key type: {key_type}.") + if key_type == "academic": + request_url = iai.academic_url + elif key_type == "commercial": + request_url = iai.commercial_url + if url is not None: + request_url = url + self.base_url = self._verify_api_key(api_token, request_url) def use_mock_api(self, use_mock: bool = True) -> None: invertedai.api.config.mock_api = use_mock @@ -166,7 +220,7 @@ def _get_base_url(self) -> str: The method path should be appended to the base_url """ if not iai.dev: - base_url = "https://api.inverted.ai/v0/aws/m1" + base_url = iai.commercial_url # Default to commercial when initializing. else: base_url = iai.dev_url # TODO: Add endpoint option and versioning to base_url diff --git a/poetry.lock b/poetry.lock index 81d52772..8253bbf3 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,35 +1,62 @@ # This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand. +[[package]] +name = "aiofiles" +version = "22.1.0" +description = "File support for asyncio." +optional = false +python-versions = ">=3.7,<4.0" +files = [ + {file = "aiofiles-22.1.0-py3-none-any.whl", hash = "sha256:1142fa8e80dbae46bb6339573ad4c8c0841358f79c6eb50a493dceca14621bad"}, + {file = "aiofiles-22.1.0.tar.gz", hash = "sha256:9107f1ca0b2a5553987a94a3c9959fe5b491fdf731389aa5b7b1bd0733e32de6"}, +] + 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[tool.poetry.group.dev.dependencies] numpy = "^1.17.0" diff --git a/tests/__init__.py b/tests/__init__.py index e69de29b..139597f9 100644 --- a/tests/__init__.py +++ b/tests/__init__.py @@ -0,0 +1,2 @@ + + diff --git a/tests/conftest.py b/tests/conftest.py new file mode 100644 index 00000000..18a94723 --- /dev/null +++ b/tests/conftest.py @@ -0,0 +1,3 @@ +import invertedai as iai +import os +iai.add_apikey(os.environ.get("IAI_API_KEY")) diff --git a/tests/run_tests.sh b/tests/run_tests.sh deleted file mode 100755 index 53bfbce5..00000000 --- a/tests/run_tests.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/bin/bash - -# Install the package using Poetry -poetry install --without dev,docs - -# Source the .env file for API keys -# source .env - -# Activate the virtual environment -source "$(poetry env info --path)/bin/activate" - -# Run pytest -pytest - -# Deactivate the virtual environment -deactivate - -# Remove the virtual environment -rm -rf "$(poetry env info --path)" \ No newline at end of file diff --git a/tests/test_api/test_blame.py b/tests/test_api/test_blame.py deleted file mode 100644 index f73d07f1..00000000 --- a/tests/test_api/test_blame.py +++ /dev/null @@ -1,119 +0,0 @@ -import pytest -from typing import List, Tuple -from invertedai.api.blame import BlameResponse, blame -from invertedai.common import AgentState, RecurrentState, AgentAttributes - - -@pytest.fixture -def location(): - return "carla:Town03" - - -@pytest.fixture -def colliding_agents(): - return (0, 1) - - -@pytest.fixture -def agent_state_history() -> List[List[AgentState]]: - return [[ - AgentState.fromlist((0.0, 0.0, 0.0, 0.0)), - AgentState.fromlist((10.0, 10.0, 0.0, 0.0)) - ], [ - AgentState.fromlist((0.0, 0.0, 0.0, 0.0)), - AgentState.fromlist((10.0, 10.0, 0.0, 0.0)) - ]] - - -@pytest.fixture -def agent_attributes() -> List[AgentAttributes]: - return [ - AgentAttributes.fromlist((2.0, 1.0, 0.5)), - AgentAttributes.fromlist((2.0, 1.0, 0.5)) - ] - - -@pytest.fixture -def get_reasons(): - return True - - -@pytest.fixture -def get_confidence_score(): - return True - - -def test_blame(location, colliding_agents, agent_state_history, agent_attributes, get_reasons, get_confidence_score): - response = blame(location=location, - colliding_agents=colliding_agents, - agent_state_history=agent_state_history, - agent_attributes=agent_attributes, - get_reasons=get_reasons, - get_confidence_score=get_confidence_score) - assert response is not None - assert isinstance(response, BlameResponse) - assert isinstance(response.agents_at_fault, Tuple) - assert isinstance(response.reasons, str) - assert isinstance(response.confidence_score, float) - assert len(response.birdviews) == 0 - - -def test_invalid_agent_states(location, colliding_agents, agent_attributes): - with pytest.raises(Exception): - blame(location=location, - colliding_agents=colliding_agents, - agent_state_history=[], - agent_attributes=agent_attributes) - with pytest.raises(Exception): - blame(location=location, - colliding_agents=colliding_agents, - agent_state_history=[[AgentState()]], - agent_attributes=agent_attributes) - with pytest.raises(Exception): - blame(location=location, - colliding_agents=colliding_agents, - agent_state_history=[[AgentState(x=[1.0], y=[2.0], orientation=[3.0], speed=[4.0]), - AgentState(x=[1.0], y=[2.0], orientation=[3.0])]], - agent_attributes=agent_attributes) - - -def test_invalid_agent_attributes(location, colliding_agents, agent_state_history): - with pytest.raises(Exception): - blame(location=location, - colliding_agents=colliding_agents, - agent_state_history=agent_state_history, - agent_attributes=[]) - with pytest.raises(Exception): - blame(location=location, - colliding_agents=colliding_agents, - agent_state_history=agent_state_history, - agent_attributes=[AgentAttributes()]) - with pytest.raises(Exception): - blame(location=location, - colliding_agents=colliding_agents, - agent_state_history=agent_state_history, - agent_attributes=[AgentAttributes(length=[1.0], width=[2.0], rear_axis_offset=[ - 3.0]), AgentAttributes(length=[1.0], width=[2.0])]) - - -def test_invalid_colliding_agents(location, agent_state_history, agent_attributes): - with pytest.raises(Exception): - blame(location=location, - colliding_agents=(), - agent_state_history=agent_state_history, - agent_attributes=agent_attributes) - with pytest.raises(Exception): - blame(location=location, - colliding_agents=(0, ), - agent_state_history=agent_state_history, - agent_attributes=agent_attributes) - with pytest.raises(Exception): - blame(location=location, - colliding_agents=(0, 1, 2), - agent_state_history=agent_state_history, - agent_attributes=agent_attributes) - with pytest.raises(Exception): - blame(location=location, - colliding_agents=(10000), - agent_state_history=agent_state_history, - agent_attributes=agent_attributes) diff --git a/tests/test_api/test_drive.py b/tests/test_api/test_drive.py deleted file mode 100644 index 9604f37e..00000000 --- a/tests/test_api/test_drive.py +++ /dev/null @@ -1,73 +0,0 @@ -import pytest -from typing import List -from invertedai.api.drive import DriveResponse, drive -from invertedai.common import AgentState, RecurrentState, AgentAttributes - - -@pytest.fixture -def location(): - return "carla:Town03" - - -@pytest.fixture -def agent_states() -> List[AgentState]: - return [ - AgentState.fromlist((0.0, 0.0, 0.0, 0.0)), - AgentState.fromlist((10.0, 10.0, 0.0, 0.0)) - ] - - -@pytest.fixture -def agent_attributes() -> List[AgentAttributes]: - return [ - AgentAttributes.fromlist((2.0, 1.0, 0.5)), - AgentAttributes.fromlist((2.0, 1.0, 0.5)) - ] - - -@pytest.fixture -def recurrent_states() -> List[RecurrentState]: - return [ - RecurrentState(), - RecurrentState() - ] - - -def test_drive(location, agent_states, agent_attributes, recurrent_states): - response = drive(location, agent_states, agent_attributes, recurrent_states) - assert response is not None - assert isinstance(response, DriveResponse) - assert len(response.agent_states) == len(agent_states) - assert len(response.recurrent_states) == len(recurrent_states) - assert len(response.birdview.encoded_image) == 0 - assert len(response.infractions) == 0 - - -def test_invalid_agent_states(location, agent_attributes, recurrent_states): - with pytest.raises(Exception): - drive(location, [], agent_attributes, recurrent_states) - with pytest.raises(Exception): - drive(location, [AgentState()], agent_attributes, recurrent_states) - with pytest.raises(Exception): - drive(location, [AgentState(x=[1.0], y=[2.0], orientation=[3.0], speed=[4.0]), AgentState( - x=[1.0], y=[2.0], orientation=[3.0])], agent_attributes, recurrent_states) - - -def test_invalid_agent_attributes(location, agent_states, recurrent_states): - with pytest.raises(Exception): - drive(location, agent_states, [], recurrent_states) - with pytest.raises(Exception): - drive(location, agent_states, [AgentAttributes()], recurrent_states) - with pytest.raises(Exception): - drive(location, agent_states, [AgentAttributes(length=[1.0], width=[2.0], rear_axis_offset=[ - 3.0]), AgentAttributes(length=[1.0], width=[2.0])], recurrent_states) - - -def test_invalid_recurrent_states(location, agent_states, agent_attributes): - with pytest.raises(Exception): - drive(location, agent_states, agent_attributes, []) - with pytest.raises(Exception): - drive(location, agent_states, agent_attributes, [RecurrentState()]) - with pytest.raises(Exception): - drive(location, agent_states, agent_attributes, [ - RecurrentState(packed=[0.0 for _ in range(128)]), RecurrentState()]) diff --git a/tests/test_api/test_initialize.py b/tests/test_api/test_initialize.py deleted file mode 100644 index c36489c1..00000000 --- a/tests/test_api/test_initialize.py +++ /dev/null @@ -1,148 +0,0 @@ -import pytest -from typing import List -import invertedai.error as error -from invertedai.api import initialize, InitializeResponse -from invertedai.common import AgentAttributes, AgentState, Image, InfractionIndicators, RecurrentState, TrafficLightStatesDict - -# Test case for a successful initialization - - -@pytest.fixture -def location(): - return "carla:Town03" - - -@pytest.fixture -def agent_states() -> List[AgentState]: - return [ - AgentState.fromlist((0.0, 0.0, 0.0, 0.0)), - AgentState.fromlist((10.0, 10.0, 0.0, 0.0)) - ] - - -@pytest.fixture -def agent_attributes() -> List[AgentAttributes]: - return [ - AgentAttributes.fromlist((2.0, 1.0, 0.5)), - AgentAttributes.fromlist((2.0, 1.0, 0.5)) - ] - - -def test_initialize_zero(location): - response = initialize( - location=location, - get_birdview=False, - location_of_interest=None, - get_infractions=False, - agent_count=0, - random_seed=None - ) - assert isinstance(response, InitializeResponse) - assert len(response.agent_states) == 0 - assert len(response.recurrent_states) == 0 - assert len(response.birdview.encoded_image) == 0 - assert len(response.infractions) == 0 - -# Test case for initialization with an agent count but no agent attributes - - -def test_initialize(location): - response = initialize( - location=location, - agent_attributes=None, - states_history=None, - traffic_light_state_history=None, - get_birdview=False, - location_of_interest=None, - get_infractions=False, - agent_count=10, - random_seed=None - ) - assert isinstance(response, InitializeResponse) - assert len(response.agent_states) == 10 - assert len(response.recurrent_states) == 10 - assert len(response.birdview.encoded_image) == 0 - assert len(response.infractions) == 0 - - -def test_initialize_with_conditional_agents(location, agent_attributes, agent_states): - response = initialize( - location=location, - agent_attributes=agent_attributes, - states_history=[agent_states], - get_birdview=False, - location_of_interest=None, - get_infractions=False, - agent_count=len(agent_attributes), - random_seed=None - ) - assert isinstance(response, InitializeResponse) - assert len(response.agent_states) == len(agent_attributes) - assert len(response.recurrent_states) == len(agent_attributes) - assert len(response.birdview.encoded_image) == 0 - assert len(response.infractions) == 0 - - -# Test case for initialization without agent count or attributes -def test_initialize_without_agent_count_and_attributes(location): - with pytest.raises(error.InvalidRequestError): - initialize( - location=location, - get_birdview=False, - location_of_interest=None, - get_infractions=False, - agent_count=None, - random_seed=None - ) - -# Test case for initialization with agent count less than the number of agents in states_history - - -def test_initialize_with_agent_count_less_than_history(location, agent_attributes, agent_states): - with pytest.raises(error.InvalidRequestError): - initialize( - location=location, - agent_attributes=agent_attributes, - states_history=[agent_states], - traffic_light_state_history=None, - get_birdview=False, - location_of_interest=None, - get_infractions=False, - agent_count=1, - random_seed=None - ) - -# Test case for initialization with incompatible number of agents in states_history and agent_attributes - - -def test_initialize_with_incompatible_agents(location): - with pytest.raises(ValueError): - initialize( - location=location, - agent_attributes=[AgentAttributes(speed=0.5, height=1.8)], - states_history=[[AgentState(position=(0, 0, 0))]], - traffic_light_state_history=None, - get_birdview=False, - location_of_interest=None, - get_infractions=False, - agent_count=None, - random_seed=None - ) - -# Test case for using mock api - - -def test_initialize_with_mock_api(monkeypatch, location): - monkeypatch.setattr("invertedai.api.config.should_use_mock_api", lambda: True) - response = initialize( - location=location, - agent_attributes=None, - states_history=None, - traffic_light_state_history=None, - get_birdview=False, - location_of_interest=None, - get_infractions=False, - agent_count=10, - random_seed=None - ) - assert isinstance(response, InitializeResponse) diff --git a/invertedai/tests/test_drive.py b/tests/test_drive.py similarity index 54% rename from invertedai/tests/test_drive.py rename to tests/test_drive.py index 7b8d84a4..97e187fe 100644 --- a/invertedai/tests/test_drive.py +++ b/tests/test_drive.py @@ -8,6 +8,12 @@ from invertedai.api.light import light from invertedai.error import InvalidRequestError +def recurrent_states_helper(states_to_extend): + result = [0.0] * 128 + result.extend(states_to_extend) + return result + + positive_tests = [ ("carla:Town04", None, @@ -20,20 +26,20 @@ dict(agent_type='car'), dict()], False, 5), - # ("canada:drake_street_and_pacific_blvd", - # None, - # [dict(agent_type='car'), - # dict(), - # dict(agent_type='pedestrian'), - # dict()], - # False, 5), - # ("canada:drake_street_and_pacific_blvd", - # None, - # [dict(agent_type='pedestrian'), - # dict(agent_type='pedestrian'), - # dict(agent_type='pedestrian'), - # dict(agent_type='pedestrian')], - # False, 5), + ("canada:drake_street_and_pacific_blvd", + None, + [dict(agent_type='car'), + dict(), + dict(agent_type='pedestrian'), + dict()], + False, 5), + ("canada:drake_street_and_pacific_blvd", + None, + [dict(agent_type='pedestrian'), + dict(agent_type='pedestrian'), + dict(agent_type='pedestrian'), + dict(agent_type='pedestrian')], + False, 5), ("canada:ubc_roundabout", [[dict(center=dict(x=60.82, y=1.22), orientation=0.63, speed=11.43), dict(center=dict(x=-36.88, y=-33.93), orientation=-2.64, speed=9.43)]], @@ -53,16 +59,40 @@ False, None), ] negative_tests = [ - ("canada:drake_street_and_pacific_blvd", - None, - [dict(agent_type='car'), - dict(), - dict(agent_type='bicycle'), - dict()], - False, 5), + ("carla:Town03", + [dict(center=dict(x=-21.2, y=-17.11), orientation=4.54, speed=1.8), + dict(center=dict(x=-5.81, y=-49.47), orientation=1.62, speed=11.4)], + [dict(length=0.97, agent_type="pedestrian"), + dict(length=4.86, width=2.12, rear_axis_offset=1.85, agent_type='car')], + [dict(packed=recurrent_states_helper( + [21.203039169311523, -17.10862159729004, -1.3971855640411377, 1.7982733249664307])), + dict(packed=recurrent_states_helper( + [5.810295104980469, -49.47068786621094, 1.5232856273651123, 11.404326438903809]))], + False), + ("carla:Town03", + [dict(center=dict(x=-21.2, y=-17.11), orientation=4.54, speed=1.8), + dict(center=dict(x=-5.81, y=-49.47), orientation=1.62, speed=11.4)], + [dict(length=0.97, width=1.06, rear_axis_offset=None, agent_type="pedestrian"), + dict(length=4.86, width=2.12, agent_type='car')], + [dict(packed=recurrent_states_helper( + [21.203039169311523, -17.10862159729004, -1.3971855640411377, 1.7982733249664307])), + dict(packed=recurrent_states_helper( + [5.810295104980469, -49.47068786621094, 1.5232856273651123, 11.404326438903809]))], + False), + ("carla:Town03", + [dict(center=dict(x=-21.2, y=-17.11), orientation=4.54, speed=1.8), + dict(center=dict(x=-5.81, y=-49.47), orientation=1.62, speed=11.4)], + [dict(length=0.97, width=1.06, agent_type="pedestrian"), + dict(width=2.12, rear_axis_offset=1.85)], + [dict(packed=recurrent_states_helper( + [21.203039169311523, -17.10862159729004, -1.3971855640411377, 1.7982733249664307])), + dict(packed=recurrent_states_helper( + [5.810295104980469, -49.47068786621094, 1.5232856273651123, 11.404326438903809]))], + False), ] -def run_drive(location, states_history, agent_attributes, get_infractions, agent_count, simulation_length: int = 20): +def run_initialize_drive_flow(location, states_history, agent_attributes, get_infractions, agent_count, + simulation_length: int = 20): location_info_response = location_info(location=location, rendering_fov=200) if any(actor.agent_type == "traffic-light" for actor in location_info_response.static_actors): scene_has_lights = True @@ -94,13 +124,28 @@ def run_drive(location, states_history, agent_attributes, get_infractions, agent assert isinstance(updated_state, DriveResponse) and updated_state.agent_states is not None and updated_state.recurrent_states is not None + +def run_direct_drive(location, agent_states, agent_attributes, recurrent_states, get_infractions): + drive_response = drive( + agent_attributes=agent_attributes, + agent_states=agent_states, + recurrent_states=recurrent_states, + traffic_lights_states=None, + get_birdview=False, + location=location, + get_infractions=get_infractions + ) + assert isinstance(drive_response, + DriveResponse) and drive_response.agent_states is not None and drive_response.recurrent_states is not None + + @pytest.mark.parametrize("location, states_history, agent_attributes, get_infractions, agent_count", negative_tests) def test_negative(location, states_history, agent_attributes, get_infractions, agent_count, simulation_length: int = 20): with pytest.raises(InvalidRequestError): - run_drive(location, states_history, agent_attributes, get_infractions, agent_count) + run_direct_drive(location, states_history, agent_attributes, get_infractions, agent_count) @pytest.mark.parametrize("location, states_history, agent_attributes, get_infractions, agent_count", positive_tests) def test_postivie(location, states_history, agent_attributes, get_infractions, agent_count, simulation_length: int = 20): - run_drive(location, states_history, agent_attributes, get_infractions, agent_count) + run_initialize_drive_flow(location, states_history, agent_attributes, get_infractions, agent_count) diff --git a/invertedai/tests/test_initialize.py b/tests/test_initialize.py similarity index 91% rename from invertedai/tests/test_initialize.py rename to tests/test_initialize.py index 7f13ca33..72a29777 100644 --- a/invertedai/tests/test_initialize.py +++ b/tests/test_initialize.py @@ -20,7 +20,7 @@ dict(center=dict(x=-46.62, y=-25.02), orientation=0.04, speed=1.09)], [dict(center=dict(x=-31.1, y=-23.36), orientation=2.21, speed=0.11), dict(center=dict(x=-47.62, y=-23.02), orientation=0.04, speed=1.09)]], - [dict(length=1.39, width=1.78, rear_axis_offset=0.0, agent_type='pedestrian'), + [dict(length=1.39, width=1.78, agent_type='pedestrian'), dict(length=1.37, width=1.98, rear_axis_offset=0.0, agent_type='pedestrian'), dict(agent_type='pedestrian'), dict(agent_type='car')], @@ -31,7 +31,7 @@ [dict(center=dict(x=-31.1, y=-23.36), orientation=2.21, speed=0.11), dict(center=dict(x=-47.62, y=-23.02), orientation=0.04, speed=1.09)]], [dict(length=1.39, width=1.78, rear_axis_offset=0.0, agent_type='pedestrian'), - dict(length=1.37, width=1.98, rear_axis_offset=0.0, agent_type='pedestrian'), + dict(length=1.37, width=1.98, agent_type='pedestrian'), dict(agent_type='car'), dict()], False, None), @@ -40,8 +40,8 @@ dict(center=dict(x=-46.62, y=-25.02), orientation=0.04, speed=1.09)], [dict(center=dict(x=-31.1, y=-23.36), orientation=2.21, speed=0.11), dict(center=dict(x=-47.62, y=-23.02), orientation=0.04, speed=1.09)]], - [dict(length=1.39, width=1.78, rear_axis_offset=0.0, agent_type='pedestrian'), - dict(length=1.37, width=1.98, rear_axis_offset=0.0, agent_type='pedestrian'), + [dict(length=1.39, width=1.78, agent_type='pedestrian'), + dict(length=1.37, width=1.98, rear_axis_offset=None, agent_type='pedestrian'), dict(agent_type='car'), dict()], False, 5), @@ -78,8 +78,8 @@ dict(center=dict(x=-46.62, y=-25.02), orientation=0.04, speed=1.09)], [dict(center=dict(x=-31.1, y=-23.36), orientation=2.21, speed=0.11), dict(center=dict(x=-47.62, y=-23.02), orientation=0.04, speed=1.09)]], - [dict(length=1.39, width=1.78, rear_axis_offset=0.0, agent_type='pedestrian'), - dict(length=1.37, width=1.98, rear_axis_offset=0.0, agent_type='pedestrian'), + [dict(length=1.39, width=1.78, agent_type='pedestrian'), + dict(length=1.37, width=1.98, agent_type='pedestrian'), dict(agent_type='pedestrian'), dict(agent_type='car')], False, 6), @@ -100,7 +100,7 @@ dict(center=dict(x=-46.62, y=-25.02), orientation=0.04, speed=1.09)], [dict(center=dict(x=-31.1, y=-23.36), orientation=2.21, speed=0.11), dict(center=dict(x=-47.62, y=-23.02), orientation=0.04, speed=1.09)]], - [dict(length=1.39, rear_axis_offset=0.0, agent_type='pedestrian'), + [dict(length=1.39, agent_type='pedestrian'), dict(width=1.98, rear_axis_offset=0.0, agent_type='pedestrian'), dict(agent_type='pedestrian'), dict(agent_type='car')], @@ -110,8 +110,8 @@ dict(center=dict(x=-46.62, y=-25.02), orientation=0.04, speed=1.09)], [dict(center=dict(x=-31.1, y=-23.36), orientation=2.21, speed=0.11), dict(center=dict(x=-47.62, y=-23.02), orientation=0.04, speed=1.09)]], - [dict(length=1.39, rear_axis_offset=0.0, agent_type='pedestrian'), - dict(length=1.37, width=1.98, agent_type='pedestrian'), + [dict(length=1.39, width=1.20, agent_type='pedestrian'), + dict(length=1.37, width=1.98, agent_type='car'), dict(agent_type='pedestrian'), dict(agent_type='car')], False, None), @@ -137,7 +137,6 @@ False, 1), ] - def run_initialize(location, states_history, agent_attributes, get_infractions, agent_count): location_info_response = location_info(location=location, rendering_fov=200) if any(actor.agent_type == "traffic-light" for actor in location_info_response.static_actors):