Colab test (#495)

* add colab test to CI * update workflow * fix main.yaml * fix bug * fix bug * fix bug * add real-world example to colab * fix bug
metadriverse · Sep 12, 2023 · 7d6f8ef · 7d6f8ef
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Showing 6 changed files with 127 additions and 3 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -124,6 +124,29 @@ jobs:
           cd metadrive/
           pytest --cov=./ --cov-config=.coveragerc --cov-report=xml -sv tests/test_export_record_scenario
 
+  test_ipynb:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python 3.9
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.9
+      - name: Blackbox tests
+        run: |
+          pip install cython
+          pip install numpy
+          pip install -e .
+          python -m metadrive.pull_asset
+          pip install pytest
+          pip install pytest-cov
+          pip install ray
+          cd metadrive/
+          pip install nbmake pytest-xdist
+          mkdir ./tests/test_ipynb
+          cp ./examples/Basic_MetaDrive_Usages.ipynb ./tests/test_ipynb/
+          pytest --nbmake -n=auto ./tests/test_ipynb/
+
 #      - name: Upload coverage to Codecov
 #        uses: codecov/codecov-action@v1
 #        with:

diff --git a/metadrive/base_class/base_object.py b/metadrive/base_class/base_object.py
@@ -1,4 +1,5 @@
 import copy
+
 import logging
 import math
 from typing import Dict

diff --git a/metadrive/component/traffic_participants/pedestrian.py b/metadrive/component/traffic_participants/pedestrian.py
@@ -42,7 +42,8 @@ def reset(self, position, heading_theta: float = 0., random_seed=None, name=None
         self.current_speed_model = self.SPEED_LIST[0]
         if self._instance is not None:
             self._instance.detachNode()
-        self._instance = Pedestrian._MODEL[self.current_speed_model].instanceTo(self.origin)
+        if self.render:
+            self._instance = Pedestrian._MODEL[self.current_speed_model].instanceTo(self.origin)
 
     @classmethod
     def init_pedestrian_model(cls):

diff --git a/metadrive/engine/asset_loader.py b/metadrive/engine/asset_loader.py
@@ -1,4 +1,5 @@
 import os
+from metadrive.constants import RENDER_MODE_NONE
 import pathlib
 import sys
 from metadrive.pull_asset import pull_asset
@@ -24,6 +25,7 @@ def init_loader(engine):
         if engine.win is None:
             AssetLoader.logger.debug("Physics world mode")
             return
+        assert engine.mode != RENDER_MODE_NONE
         AssetLoader.logger.debug("Onscreen/Offscreen mode, Render/Load Elements")
         AssetLoader.loader = engine.loader
 

diff --git a/metadrive/engine/base_engine.py b/metadrive/engine/base_engine.py
@@ -671,7 +671,7 @@ def warmup(self):
         This function automatically initialize models/objects. It can prevent the lagging when creating some objects
         for the first time.
         """
-        if self.global_config["preload_models"]:
+        if self.global_config["preload_models"] and self.mode != RENDER_MODE_NONE:
             from metadrive.component.traffic_participants.pedestrian import Pedestrian
             from metadrive.component.traffic_light.base_traffic_light import BaseTrafficLight
             from metadrive.component.static_object.traffic_object import TrafficBarrier

diff --git a/metadrive/examples/Basic_MetaDrive_Usages.ipynb b/metadrive/examples/Basic_MetaDrive_Usages.ipynb
@@ -67,6 +67,10 @@
    "outputs": [],
    "source": [
     "# @title Test Installation\n",
+    "from metadrive.engine.engine_utils import close_engine\n",
+    "close_engine()\n",
+    "# NOTE: usually you don't need the above lines. It is only for avoiding a potential bug when running on colab\n",
+    "\n",
     "from metadrive import MetaDriveEnv\n",
     "from metadrive.examples import expert\n",
     "\n",
@@ -115,6 +119,9 @@
    "outputs": [],
    "source": [
     "# @title A minimalist example of using MetaDrive with the built-in PPO expert policy\n",
+    "from metadrive.engine.engine_utils import close_engine\n",
+    "close_engine()\n",
+    "# NOTE: usually you don't need the above lines. It is only for avoiding a potential bug when running on colab\n",
     "\n",
     "import os\n",
     "os.environ['SDL_VIDEODRIVER']='dummy'\n",
@@ -172,6 +179,10 @@
    "outputs": [],
    "source": [
     "# @title PPO expert policy can also drive in the safety-critical SafeMetaDrive environment\n",
+    "from metadrive.engine.engine_utils import close_engine\n",
+    "close_engine()\n",
+    "# NOTE: usually you don't need the above lines. It is only for avoiding a potential bug when running on colab\n",
+    "\n",
     "import os\n",
     "os.environ['SDL_VIDEODRIVER']='dummy'\n",
     "# Note: this step is only for cheating Colab\n",
@@ -230,6 +241,10 @@
    "outputs": [],
    "source": [
     "# @title Multi-agent Environment Visualization\n",
+    "from metadrive.engine.engine_utils import close_engine\n",
+    "close_engine()\n",
+    "# NOTE: usually you don't need the above lines. It is only for avoiding a potential bug when running on colab\n",
+    "\n",
     "import os\n",
     "os.environ['SDL_VIDEODRIVER']='dummy'\n",
     "# Note: this step is only for cheating Colab\n",
@@ -275,6 +290,80 @@
     "Image(open(\"demo.gif\", 'rb').read())"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# @title Real-world Scenario Environment Visualization\n",
+    "from metadrive.engine.engine_utils import close_engine\n",
+    "close_engine()\n",
+    "# NOTE: usually you don't need the above lines. It is only for avoiding a potential bug when running on colab\n",
+    "\n",
+    "import argparse\n",
+    "import random\n",
+    "from metadrive.policy.replay_policy import ReplayEgoCarPolicy\n",
+    "from metadrive.constants import HELP_MESSAGE\n",
+    "from metadrive.engine.asset_loader import AssetLoader\n",
+    "from metadrive.envs.real_data_envs.waymo_env import WaymoEnv\n",
+    "\n",
+    "\n",
+    "class DemoWaymoEnv(WaymoEnv):\n",
+    "    def reset(self, seed=None):\n",
+    "        if self.engine is not None:\n",
+    "            seeds = [i for i in range(self.config[\"num_scenarios\"])]\n",
+    "            seeds.remove(self.current_seed)\n",
+    "            seed = random.choice(seeds)\n",
+    "        return super(DemoWaymoEnv, self).reset(seed=seed)\n",
+    "\n",
+    "\n",
+    "extra_args = dict(film_size=(1200, 1200))\n",
+    "asset_path = AssetLoader.asset_path\n",
+    "\n",
+    "try:\n",
+    "    env = DemoWaymoEnv(\n",
+    "        {\n",
+    "            \"manual_control\": False,\n",
+    "            \"reactive_traffic\": False,\n",
+    "            \"use_render\": False,\n",
+    "            \"agent_policy\": ReplayEgoCarPolicy,\n",
+    "            \"data_directory\": AssetLoader.file_path(asset_path, \"waymo\", return_raw_style=False),\n",
+    "            \"num_scenarios\": 3\n",
+    "        }\n",
+    "    )\n",
+    "    o, _ = env.reset()\n",
+    "    frames = []\n",
+    "    for i in range(1, 100000):\n",
+    "        o, r, tm, tc, info = env.step([1.0, 0.])\n",
+    "        frame=env.render(\n",
+    "            mode=\"top_down\",\n",
+    "            **extra_args\n",
+    "        )\n",
+    "        frames.append(frame)\n",
+    "        if tm or tc:\n",
+    "            env.reset()\n",
+    "            break\n",
+    "    \n",
+    "except Exception as e:\n",
+    "    raise e\n",
+    "finally:\n",
+    "    env.close()\n",
+    "        \n",
+    "# render image\n",
+    "print(\"\\nGenerate gif...\")\n",
+    "import pygame\n",
+    "import numpy as np\n",
+    "from PIL import Image\n",
+    "\n",
+    "imgs = [pygame.surfarray.array3d(frame) for frame in frames]\n",
+    "imgs = [Image.fromarray(img) for img in imgs]\n",
+    "imgs[0].save(\"demo.gif\", save_all=True, append_images=imgs[1:], duration=50, loop=0)\n",
+    "print(\"\\nOpen gif...\")\n",
+    "from IPython.display import Image\n",
+    "Image(open(\"demo.gif\", 'rb').read())"
+   ]
+  },
   {
    "attachments": {},
    "cell_type": "markdown",
@@ -300,6 +389,10 @@
    "outputs": [],
    "source": [
     "# @title Draw the generated maps in top-down view\n",
+    "from metadrive.engine.engine_utils import close_engine\n",
+    "close_engine()\n",
+    "# NOTE: usually you don't need the above lines. It is only for avoiding a potential bug when running on colab\n",
+    "\n",
     "\n",
     "import random\n",
     "\n",
@@ -342,6 +435,10 @@
     "# @title Draw the generated maps in top-down view with fixed block sequence\n",
     "# @markdown You can also specify the road block sequence then randomize the block parameters.\n",
     "# @markdown Please refer to [documentation](https://metadrive-simulator.readthedocs.io/en/latest/env_config.html#map-config) for the meaning of the map string.\n",
+    "from metadrive.engine.engine_utils import close_engine\n",
+    "close_engine()\n",
+    "# NOTE: usually you don't need the above lines. It is only for avoiding a potential bug when running on colab\n",
+    "\n",
     "\n",
     "import random\n",
     "\n",
@@ -392,7 +489,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.9.17"
+   "version": "3.9.18"
   }
  },
  "nbformat": 4,