test_scenario_transformer.py

from pathlib import Path
import pytest
from definitions import TEST_ROOT
from ads_scenario_transformer.transformer.scenario_transformer import ScenarioTransformer, ScenarioTransformerConfiguration
from ads_scenario_transformer.openscenario import OpenScenarioEncoder
from ads_scenario_transformer.tools.error import InvalidScenarioInputError, LaneFindingError


def test_invalid_scenario_input(borregas_vector_map_path,
                                borregas_apollo_map_path,
                                borregas_doppel_scenario160_path):

    configuration = ScenarioTransformerConfiguration(
        apollo_scenario_path=borregas_doppel_scenario160_path,
        apollo_hd_map_path=borregas_apollo_map_path,
        vector_map_path=borregas_vector_map_path,
        road_network_lanelet_map_path=
        "/home/sora/Desktop/changnam/autoware_map/BorregasAve/lanelet2_map.osm",
        obstacle_waypoint_frequency_in_sec=2,
        use_last_position_as_destination=True,
        add_violation_detecting_conditions=True)

    with pytest.raises(InvalidScenarioInputError) as excinfo:
        transformer = ScenarioTransformer(configuration=configuration)

    assert "No localization poses found in scenario" in str(excinfo.value)


def test_scenario_transformer(borregas_doppel_scenario9_path,
                              borregas_vector_map_path,
                              borregas_apollo_map_path):

    configuration = ScenarioTransformerConfiguration(
        apollo_scenario_path=borregas_doppel_scenario9_path,
        apollo_hd_map_path=borregas_apollo_map_path,
        vector_map_path=borregas_vector_map_path,
        road_network_lanelet_map_path=
        "/home/sora/Desktop/changnam/autoware_map/borregasave_map/lanelet2_map.osm",
        obstacle_waypoint_frequency_in_sec=1,
        use_last_position_as_destination=True,
        add_violation_detecting_conditions=True)
    transformer = ScenarioTransformer(configuration=configuration)

    scenario = transformer.transform()

    encoded_scenario = OpenScenarioEncoder.encode_proto_pyobject_to_dict(
        proto_pyobject=scenario, wrap_result_with_typename=False)

    assert len(transformer.entities.scenarioObjects) == 7
    assert encoded_scenario['OpenSCENARIO']['RoadNetwork']['LogicFile'][
        'filepath'] == configuration.road_network_lanelet_map_path
    assert len(
        encoded_scenario['OpenSCENARIO']['Entities']['ScenarioObject']) == 7
    assert len(encoded_scenario['OpenSCENARIO']['Storyboard']['Story']) == 7


def test_gen_all_samples(
        borregas_vector_map_path, borregas_apollo_map_path,
        borregas_scenorita_scenario1_path, borregas_scenorita_scenario9_path,
        borregas_scenorita_scenario34_path, borregas_scenorita_scenario75_path,
        borregas_scenorita_scenario94_path,
        borregas_scenorita_scenario140_path, borregas_doppel_scenario9_path,
        borregas_doppel_scenario10_path, borregas_doppel_scenario48_path):

    scenario_paths = [
        borregas_scenorita_scenario1_path, borregas_scenorita_scenario9_path,
        borregas_scenorita_scenario75_path, borregas_scenorita_scenario34_path,
        borregas_doppel_scenario9_path, borregas_doppel_scenario48_path,
        borregas_scenorita_scenario94_path,
        borregas_scenorita_scenario140_path, borregas_doppel_scenario10_path
    ]

    for scenario_path in scenario_paths:
        try:
            configuration = ScenarioTransformerConfiguration(
                apollo_scenario_path=scenario_path,
                apollo_hd_map_path=borregas_apollo_map_path,
                vector_map_path=borregas_vector_map_path,
                road_network_lanelet_map_path=
                "/home/sora/Desktop/changnam/autoware_map/BorregasAve/lanelet2_map.osm",
                obstacle_waypoint_frequency_in_sec=5,
                use_last_position_as_destination=True,
                add_violation_detecting_conditions=True)
            transformer = ScenarioTransformer(configuration=configuration)
            scenario = transformer.transform()
            scenario_yaml = OpenScenarioEncoder.encode_proto_pyobject_to_yaml(
                proto_pyobject=scenario, wrap_result_with_typename=False)

            filename = Path(scenario_path).parent.stem + "-" + Path(
                scenario_path).stem

            with open(f"{TEST_ROOT}/output/{filename}.yaml", 'w') as file:
                file.write(scenario_yaml)
        except Exception as ex:
            print(ex)

    # assert True == False