test_renderer.py

import unittest

import numpy as np

from f110_gym.envs import F110Env
from f110_gym.envs.utils import deep_update


class TestRenderer(unittest.TestCase):
    @staticmethod
    def _make_env(config={}, render_mode=None) -> F110Env:
        import gymnasium as gym
        import f110_gym

        base_config = {
            "map": "Spielberg",
            "num_agents": 1,
            "timestep": 0.01,
            "integrator": "rk4",
            "control_input": ["speed", "steering_angle"],
            "model": "st",
            "observation_config": {"type": "kinematic_state"},
            "params": {"mu": 1.0},
        }
        config = deep_update(base_config, config)

        env = gym.make("f110_gym:f110-v0", config=config, render_mode=render_mode,)

        return env

    def test_human_render(self):
        env = self._make_env(render_mode="human")
        env.reset()
        for _ in range(100):
            action = env.action_space.sample()
            env.step(action)
            env.render()
        env.close()

        self.assertTrue(True, "Human render test failed")

    def test_rgb_array_render(self):
        env = self._make_env(render_mode="rgb_array")
        env.reset()
        for _ in range(100):
            action = env.action_space.sample()
            env.step(action)
            frame = env.render()

            self.assertTrue(isinstance(frame, np.ndarray), "Frame is not a numpy array")
            self.assertTrue(len(frame.shape) == 3, "Frame is not a 3D array")
            self.assertTrue(frame.shape[2] == 3, "Frame does not have 3 channels")

        env.close()

        self.assertTrue(True, "rgb_array render test failed")

    def test_rgb_array_list(self):
        env = self._make_env(render_mode="rgb_array_list")
        env.reset()

        steps = 100
        for _ in range(steps):
            action = env.action_space.sample()
            env.step(action)

        frame_list = env.render()

        self.assertTrue(
            isinstance(frame_list, list), "the returned object is not a list of frames"
        )
        self.assertTrue(
            len(frame_list) == steps + 1,
            "the returned list does not have the correct number of frames",
        )
        self.assertTrue(
            all([isinstance(frame, np.ndarray) for frame in frame_list]),
            "not all frames are numpy arrays",
        )
        self.assertTrue(
            all([len(frame.shape) == 3 for frame in frame_list]),
            "not all frames are 3D arrays",
        )
        self.assertTrue(
            all([frame.shape[2] == 3 for frame in frame_list]),
            "not all frames have 3 channels",
        )

        env.close()