-
Notifications
You must be signed in to change notification settings - Fork 1
/
test_leader.py
293 lines (272 loc) · 14.3 KB
/
test_leader.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
# Copyright (c) 2021 Martin Strunz <[email protected]>
# Copyright (c) 2021 Julian Heinovski <[email protected]>
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
import pytest
from direction import Direction
from message import Message
from state import State
class TestLeaderStates:
@pytest.mark.parametrize("return_value, expected_state",
[(None, State.IDLE),
(('foo_id', 12.3), State.VEHICLE_AHEAD)
])
def test_idle_2_vehicle_ahead(self, request, mocker, return_value, expected_state):
"""
idle -> vehicle ahead
"""
leader = request.config.leader
mocker.patch('util.get_leader', return_value=return_value)
leader.next_step()
assert leader.state == expected_state
@pytest.mark.parametrize("return_value, exp_state",
[(tuple(), State.IDLE)])
def test_vehicle_ahead_2_idle(self, request, mocker, return_value, exp_state):
"""
vehicle ahead -> idle
"""
leader = request.config.leader
leader.set_state(State.VEHICLE_AHEAD)
mocker.patch('util.get_neighbor', return_value=return_value)
leader.next_step()
assert leader.state == exp_state
@pytest.mark.parametrize("front_vehicle, speed, safety_dist, ot_time, lane_speed, exp_state",
[([('test_id', 80.1)], 22.2, 24.9, 45.1, float('inf'), State.VEHICLE_AHEAD),
([('test_id', 80.1)], 22.2, 25.0, 45.1, float('inf'), State.VEHICLE_AHEAD),
([('test_id', 80.1)], 22.2, 24.9, 45.0, float('inf'), State.VEHICLE_AHEAD),
([('test_id', 80.1)], 22.2, 25.0, 44.55, float('inf'), State.ASSERT_OWN_AREAS)
])
def test_vehicle_ahead_2_assert_own_areas(self, request, mocker, front_vehicle, speed, safety_dist,
ot_time, lane_speed, exp_state):
"""
vehicle ahead -> assert alpha and beta areas
"""
leader = request.config.leader
leader.set_state(State.VEHICLE_AHEAD)
leader.v_desired = safety_dist
mocker.patch('util.get_neighbor', return_value=front_vehicle)
mocker.patch('util.get_speed', return_value=speed)
mocker.patch('util.get_time', return_value=1)
mocker.patch('platoon_vehicle.PlatoonVehicle.safety_dist_platoon', return_value=safety_dist)
mocker.patch('platoon_leader.PlatoonLeader.t_over', return_value=ot_time)
mocker.patch('platoon_leader.PlatoonLeader.lane_speed', return_value=lane_speed)
leader.next_step()
assert leader.state == exp_state
@pytest.mark.parametrize("alpha_free, beta_free, exp_state",
[(False, False, State.LANE_CHANGE_ABORTED),
(False, True, State.LANE_CHANGE_ABORTED),
(True, False, State.LANE_CHANGE_ABORTED),
(True, True, State.REQUEST_SENSOR_DATA)])
def test_assert_own_areas_2_lane_change_aborted_or_request_sensor_data(self, request, mocker,
alpha_free, beta_free, exp_state):
"""
assert alpha and beta areas -> lane change aborted OR request sensor data
"""
leader = request.config.leader
leader.set_state(State.ASSERT_OWN_AREAS)
mocker.patch('platoon_vehicle.PlatoonVehicle.alpha_area_free', return_value=alpha_free)
mocker.patch('platoon_vehicle.PlatoonVehicle.beta_area_free', return_value=beta_free)
leader.next_step()
assert leader.state == exp_state
@pytest.mark.parametrize("direction, exp_state", [(Direction.LEFT, State.VEHICLE_AHEAD),
(Direction.RIGHT, State.PASSING)])
def test_lane_change_aborted_2_vehicle_ahead_or_passing(self, request, direction, exp_state):
"""
lane change aborted -> vehicle ahead OR passing
"""
leader = request.config.leader
leader.set_state(State.LANE_CHANGE_ABORTED)
leader.direction = direction
leader.next_step()
assert leader.state == exp_state
assert leader.timer > 0
def test_request_sensor_data_2_wait_for_responses(self, request):
"""
request sensor data -> wait for responses
"""
leader = request.config.leader
leader.set_state(State.REQUEST_SENSOR_DATA)
assert len(leader.c2x.queue) == 0
leader.next_step()
assert len(leader.c2x.queue) == 1
assert leader.state == State.WAIT_FOR_RESPONSES
def test_wait_for_responses_2_lane_change_aborted(self, request):
"""
wait for responses -> lane change aborted
"""
leader = request.config.leader
leader.set_state(State.WAIT_FOR_RESPONSES)
leader.next_step()
assert leader.state == State.LANE_CHANGE_ABORTED
def test_wait_for_responses_2_assert_maneuver_area(self, request, mocker):
"""
wait for responses -> assert maneuver area
"""
leader = request.config.leader
leader.set_state(State.WAIT_FOR_RESPONSES)
leader.timer = 10
leader.waiting_for_reply = ['Platoon_1']
mocker.patch('c2x.C2X.receive', return_value=[{'id': 0,
'src': 'Platoon_1',
'dest': 'Platoon_0',
'msg': Message.RESP_SENSOR_DATA,
'data': None,
'receive-min-step': 0
}])
leader.next_step()
assert leader.state == State.ASSERT_MANEUVER_AREA
@pytest.mark.parametrize("assert_result, exp_state", [([{'own-area-free': True}], State.LANE_CHANGE_SAFE),
([{'own-area-free': False}], State.LANE_CHANGE_ABORTED)])
def test_assert_maneuver_area_2_lane_change_aborted_or_lane_change_safe(self, request, assert_result, exp_state):
"""
assert maneuver area -> lane change aborted OR lane change safe
"""
leader = request.config.leader
leader.set_state(State.ASSERT_MANEUVER_AREA)
leader.safety_data = assert_result
leader.next_step()
assert leader.state == exp_state
def test_lane_change_safe_2_changing_lane(self, request, mocker):
"""
lane change safe -> changing lane
"""
leader = request.config.leader
leader.set_state(State.LANE_CHANGE_SAFE)
assert len(leader.c2x.queue) == 0
mocker.patch('util.get_time', result_value=0)
leader.next_step()
assert len(leader.c2x.queue) == 1
assert leader.state == State.CHANGING_LANE
def test_changing_lane_2_lane_change_complete(self, request, mocker):
"""
changing lane -> lane change complete
"""
leader = request.config.leader
leader.set_state(State.CHANGING_LANE)
leader.in_lane_change = True
leader.in_new_lane = True
mocker.patch('util.get_lateral_speed', return_value=0)
mocker.patch('util.get_lateral_offset', return_value=0)
mocker.patch('util.get_neighbor', return_value=[])
mocker.patch('util.is_centered', return_value=True)
leader.next_step()
assert leader.state == State.LANE_CHANGE_COMPLETE
@pytest.mark.parametrize("direction, exp_states", [(Direction.LEFT, [State.PASSING, State.PASSING]),
(Direction.RIGHT, [State.OVERTAKING_COMPLETE, State.IDLE])])
def test_lane_change_complete_2_passing_or_idle(self, request, direction, exp_states):
"""
lane change complete -> passing OR idle
"""
leader = request.config.leader
leader.set_state(State.LANE_CHANGE_COMPLETE)
leader.direction = direction
assert len(leader.c2x.queue) == 0
leader.next_step()
assert len(leader.c2x.queue) == 1
assert leader.state == exp_states[0]
if direction == Direction.RIGHT:
leader.next_step()
assert leader.state == exp_states[1]
@pytest.mark.parametrize("front_vehicle, speed, safety_dist, ot_time, lane_speed, exp_state",
[([('test_id', 80.1)], 22.2, 24.9, 45.1, float('inf'), State.ASSERT_OWN_AREAS),
([('test_id', 80.1)], 22.2, 25.0, 45.1, float('inf'), State.ASSERT_OWN_AREAS),
([('test_id', 80.1)], 22.2, 24.9, 45.0, float('inf'), State.ASSERT_OWN_AREAS),
([('test_id', 80.1)], 22.2, 25.0, 44.55, float('inf'), State.PASSING)
])
def test_passing_2_assert_own_areas(self, request, mocker, front_vehicle, speed, safety_dist,
ot_time, lane_speed, exp_state):
"""
vehicle ahead -> assert alpha and beta areas
"""
leader = request.config.leader
leader.set_state(State.PASSING)
leader.v_desired = safety_dist
leader.direction = Direction.RIGHT
mocker.patch('util.get_neighbor', return_value=front_vehicle)
mocker.patch('util.get_speed', return_value=speed)
mocker.patch('platoon_vehicle.PlatoonVehicle.safety_dist_platoon', return_value=safety_dist)
mocker.patch('platoon_leader.PlatoonLeader.t_over', return_value=ot_time)
mocker.patch('platoon_leader.PlatoonLeader.lane_speed', return_value=lane_speed)
leader.next_step()
assert leader.state == exp_state
@pytest.mark.parametrize("alpha_free, beta_free, member_not_following, neighbor, should_overtake, exp_state",
[(True, False, False, ('foo_id', 30.0), True, State.ABORT),
(False, True, False, ('foo_id', 30.0), True, State.ABORT),
(False, False, False, ('foo_id', 30.0), True, State.ABORT),
(True, True, False, ('foo_id', 30.0), True, State.CHANGING_LANE),
(True, True, True, ('foo_id', 30.0), True, State.ABORT),
(True, True, True, ('foo_id', 30.0), False, State.ABORT)])
def test_changing_lane_2_abort_alpha_beta(self, request, mocker,
alpha_free, beta_free, member_not_following, neighbor, should_overtake,
exp_state):
"""
changing lane -> abort (due to alpha or beta area not free OR member not following OR slower vehicle changed)
"""
leader = request.config.leader
leader.in_lane_change = True
leader.set_state(State.CHANGING_LANE)
mocker.patch('platoon_vehicle.PlatoonVehicle.alpha_area_free', return_value=alpha_free)
mocker.patch('platoon_vehicle.PlatoonVehicle.beta_area_free', return_value=beta_free)
mocker.patch('platoon_vehicle.PlatoonVehicle.front_or_rear_member_not_following',
return_value=member_not_following)
mocker.patch('util.get_lateral_speed', return_value=0.3)
mocker.patch('util.get_lateral_offset', return_value=0.4)
mocker.patch('util.get_neighbor', return_value=[neighbor])
mocker.patch('platoon_leader.PlatoonLeader.should_overtake', return_value=[should_overtake, 0, 0, 0])
leader.next_step()
assert leader.state == exp_state
@pytest.mark.parametrize("msg, exp_state", [([{'id': 0,
'src': 'Platoon_1',
'dest': 'Platoon_0',
'msg': Message.ABORT,
'data': None,
'receive-min-step': 0
}], State.ABORT),
([], State.CHANGING_LANE)])
def test_changing_lane_2_abort_message(self, request, mocker, msg, exp_state):
"""
changing lane -> abort
"""
leader = request.config.leader
leader.in_lane_change = True
leader.set_state(State.CHANGING_LANE)
mocker.patch('platoon_vehicle.PlatoonVehicle.get_messages_by_type', return_value=msg)
mocker.patch('util.get_lateral_speed', return_value=0.3)
mocker.patch('util.get_lateral_offset', return_value=0.4)
mocker.patch('platoon_vehicle.PlatoonVehicle.alpha_area_free', return_value=True)
mocker.patch('platoon_vehicle.PlatoonVehicle.beta_area_free', return_value=True)
mocker.patch('platoon_vehicle.PlatoonVehicle.front_or_rear_member_not_following', return_value=False)
mocker.patch('util.get_neighbor', return_value=[])
leader.next_step()
assert leader.state == exp_state
def test_abort_2_changing_back(self, request):
"""
abort -> changing back
"""
leader = request.config.leader
leader.set_state(State.ABORT)
assert len(leader.c2x.queue) == 0
leader.next_step()
assert len(leader.c2x.queue) == 1
assert leader.state == State.CHANGING_BACK
def test_changing_back_2_lane_change_aborted(self, request, mocker):
"""
changing back -> lane change aborted
"""
leader = request.config.leader
leader.set_state(State.CHANGING_BACK)
leader.in_new_lane = True
mocker.patch('util.is_centered', return_value=True)
leader.next_step()
assert leader.state == State.LANE_CHANGE_ABORTED