回退了一些内容,增加了对于环境方法的描述

Env/test_no_traffic_lights.py

@@ -0,0 +1,76 @@
+"""测试禁用红绿灯功能"""
+from scenario_env import MultiAgentScenarioEnv
+from simple_idm_policy import ConstantVelocityPolicy
+from metadrive.engine.asset_loader import AssetLoader
+
+WAYMO_DATA_DIR = r"/home/huangfukk/MAGAIL4AutoDrive/Env"
+
+def test_no_traffic_lights():
+    """测试禁用红绿灯"""
+    print("=" * 60)
+    print("测试：禁用红绿灯功能")
+    print("=" * 60)
+    
+    env = MultiAgentScenarioEnv(
+        config={
+            "data_directory": AssetLoader.file_path(WAYMO_DATA_DIR, "exp_converted", unix_style=False),
+            "is_multi_agent": True,
+            "num_controlled_agents": 3,
+            "horizon": 300,
+            "use_render": True,
+            "sequential_seed": True,
+            "reactive_traffic": True,
+            "manual_control": True,
+            
+            # 车道检测与过滤配置
+            "filter_offroad_vehicles": True,
+            "lane_tolerance": 3.0,
+            "max_controlled_vehicles": 2,
+            
+            # 禁用红绿灯
+            "no_traffic_lights": True,  # 关键配置
+            
+            # 调试模式
+            "debug_lane_filter": False,
+            "verbose_reset": False,
+        },
+        agent2policy=ConstantVelocityPolicy(target_speed=50)
+    )
+
+    print("\n重置环境...")
+    obs = env.reset(0)
+    
+    # 检查红绿灯管理器状态
+    if hasattr(env.engine, 'light_manager') and env.engine.light_manager is not None:
+        num_lights = len(env.engine.light_manager._lane_index_to_obj)
+        print(f"✓ 红绿灯管理器中的红绿灯数量: {num_lights}")
+        if num_lights == 0:
+            print("✅ 成功：所有红绿灯已被移除！")
+        else:
+            print(f"⚠️  警告：仍有 {num_lights} 个红绿灯")
+    
+    print("\n运行几步测试...")
+    for step in range(100):
+        actions = {
+            aid: env.controlled_agents[aid].policy.act()
+            for aid in env.controlled_agents
+        }
+        
+        obs, rewards, dones, infos = env.step(actions)
+        env.render(mode="topdown")
+        
+        if step == 0:
+            print(f"步骤 {step}: 环境运行正常")
+        
+        if dones["__all__"]:
+            break
+    
+    print(f"\n测试完成，共运行 {step+1} 步")
+    print("请检查渲染窗口中是否还有红绿灯显示")
+    
+    env.close()
+    print("=" * 60)
+
+if __name__ == "__main__":
+    test_no_traffic_lights()
+