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