Introduce pytest structure for unit testing

.gitignore

@@ -13,5 +13,8 @@ _build
 # Editor files
 .idea/*
 
+# Test files
+.pytest_cache/*
+
 # Outputs
 **/out/*

setup.cfg

@@ -0,0 +1,2 @@
+[aliases]
+test=pytest

setup.py

@@ -18,7 +18,8 @@
 
     keywords='autonomous highway driving simulation environment reinforcement learning',
     packages=find_packages(exclude=['docs', 'tests*']),
-    install_requires=['gym', 'numpy', 'pygame', 'jupyter', 'matplotlib', 'pandas'],
+    install_requires=['gym', 'numpy', 'pygame', 'jupyter', 'matplotlib', 'pandas', 'pytest-runner'],
+    tests_require=['pytest'],
     extras_require={
         'dev': ['scipy'],
     },

tests/envs/test_gym.py

@@ -0,0 +1,32 @@
+from __future__ import division, print_function
+import gym
+
+import highway_env
+
+
+def test_highway_step():
+    env = gym.make('highway-v0')
+
+    env.reset()
+    for i in range(3):
+        action = env.action_space.sample()
+        obs, reward, done, info = env.step(action)
+    env.close()
+
+    assert obs
+    assert reward
+    assert not done
+
+
+def test_merge_step():
+    env = gym.make('highway-merge-v0')
+
+    env.reset()
+    for i in range(3):
+        action = env.action_space.sample()
+        obs, reward, done, info = env.step(action)
+    env.close()
+
+    assert obs
+    assert reward
+    assert not done

tests/full/generate_videos.py

@@ -0,0 +1,68 @@
+from __future__ import division, print_function
+
+import gym
+import highway_env
+
+from highway_env.vehicle.behavior import IDMVehicle
+from highway_env.agent.ttc_vi import TTCVIAgent
+from highway_env.agent.mcts import MCTSAgent
+from highway_env.wrappers.simulation import Simulation
+
+
+def highway_ttcvi():
+    IDMVehicle.POLITENESS = 0
+    env = gym.make('highway-v0')
+    env.vehicle.position[0] -= 70
+    env.vehicle.position[1] = 3*4
+    env.vehicle.target_lane_index = 3
+    agent = TTCVIAgent(env)
+    sim = Simulation(env, agent, render_agent=False)
+
+    sim.step()
+    sim.render()
+    while not sim.done:
+        sim.step()
+    sim.close()
+
+
+def highway_mcts():
+    IDMVehicle.POLITENESS = 0.2
+    env = gym.make('highway-v0')
+    env.vehicle.position[0] -= 70
+    env.vehicle.position[1] = 3*4
+    env.vehicle.target_lane_index = 3
+    agent = MCTSAgent(env, temperature=300, iterations=100)
+    sim = Simulation(env, agent)
+
+    sim.step()
+    sim.render()
+    while not sim.done:
+        sim.step()
+    sim.close()
+
+
+def merge():
+    IDMVehicle.POLITENESS = 0
+    env = gym.make('highway-merge-v0')
+    agent = MCTSAgent(env,
+                      prior_policy=MCTSAgent.fast_policy,
+                      rollout_policy=MCTSAgent.idle_policy,
+                      iterations=75,
+                      temperature=200,
+                      assume_vehicle_type=None)
+    sim = Simulation(env, agent, render_agent=False)
+
+    sim.step()
+    sim.render()
+    while not sim.done:
+        sim.step()
+    sim.close()
+
+
+if __name__ == '__main__':
+    for _ in range(10):
+        highway_mcts()
+    for _ in range(10):
+        highway_ttcvi()
+    for _ in range(0):
+        merge()

tests/road/test_road.py

@@ -0,0 +1,10 @@
+from __future__ import division, print_function
+import pytest
+
+from highway_env.road.road import Road
+
+
+def test_random():
+    r = Road.create_random_road(lanes_count=6, lane_width=4.0, vehicles_count=42)
+    assert len(r.lanes) == 6
+    assert len(r.vehicles) == 42

tests/vehicle/test_dynamics.py

@@ -0,0 +1,49 @@
+from __future__ import division, print_function
+import pytest
+
+from highway_env.road.road import Road
+from highway_env.vehicle.dynamics import Vehicle
+
+FPS = 15
+
+
+def test_step():
+    v = Vehicle(road=None, position=[0, 0], velocity=20, heading=0)
+    for _ in range(2*FPS):
+        v.step(dt=1/FPS)
+    assert v.position[0] == pytest.approx(40)
+    assert v.position[1] == pytest.approx(0)
+    assert v.velocity == pytest.approx(20)
+    assert v.heading == pytest.approx(0)
+
+
+def test_act():
+    v = Vehicle(road=None, position=[0, 0], velocity=20, heading=0)
+    v.act({'acceleration': 1, 'steering': 0})
+    for _ in range(1 * FPS):
+        v.step(dt=1/FPS)
+    assert v.velocity == pytest.approx(21)
+
+    v.act({'acceleration': 0, 'steering': 0.5})
+    for _ in range(1 * FPS):
+        v.step(dt=1/FPS)
+    assert v.velocity == pytest.approx(21)
+    assert v.position[1] > 0
+
+
+def test_brake():
+    v = Vehicle(road=None, position=[0, 0], velocity=20, heading=0)
+    for _ in range(10 * FPS):
+        v.act({'acceleration': min(max(-1*v.velocity, -6), 6), 'steering': 0})
+        v.step(dt=1/FPS)
+    assert v.velocity == pytest.approx(0, abs=0.01)
+
+
+def test_front():
+    r = Road.create_random_road(lanes_count=1, lane_width=0, vehicles_count=0)
+    v1 = Vehicle(road=r, position=[0, 0], velocity=20)
+    v2 = Vehicle(road=r, position=[10, 0], velocity=10)
+    r.vehicles.extend([v1, v2])
+
+    assert v1.lane_distance_to(v2) == pytest.approx(10)
+    assert v2.lane_distance_to(v1) == pytest.approx(-10)