huawei-noah · Gamenot · Feb 22, 2021 · Feb 22, 2021 · Feb 22, 2021 · Feb 23, 2021
diff --git a/.dockerignore b/.dockerignore
@@ -53,6 +53,7 @@
 **/traffic_histories.pkl
 **/*.trips.xml
 **/.venv
+**/.bugtest
 **/.vscode
 **/wheels/
 **/xdummy.log
@@ -62,4 +63,7 @@
 !smarts/sstudio/tests/*.rou.xml
 
 # Keep model assets
-!**/models/*.glb
+!**/models/*.glb
+
+# Keep bugtest
+!**/loop/**
diff --git a/.gitignore b/.gitignore
@@ -74,6 +74,7 @@ celerybeat-schedule
 # Environments
 .venv
 venv
+.bugtest
 
 # Spyder project settings
 .spyderproject

diff --git a/Dockerfile → bugtest.Dockerfile b/Dockerfile → bugtest.Dockerfile
@@ -52,14 +52,15 @@ RUN wget -O /etc/X11/xorg.conf http://xpra.org/xorg.conf && \
 ENV SUMO_HOME /usr/share/sumo
 
 # Install requirements.txt
-COPY requirements.txt /tmp/requirements.txt
-RUN pip install --no-cache-dir -r /tmp/requirements.txt
+COPY bugtest_requirements.txt /tmp/requirements.txt
 
 # Copy source files and install SMARTS
 ENV PYTHONPATH=/src
 COPY . /src
 WORKDIR /src
-RUN pip install --no-cache-dir -e .[train,test,dev]
+RUN pip install --no-cache-dir -e . && \
+    pip install --no-cache-dir -r /tmp/requirements.txt && \
+    rm -r .git
 
 # For Envision
 EXPOSE 8081
@@ -68,6 +69,7 @@ EXPOSE 8081
 #       could close x-server. Even though it's "running in the background".
 RUN echo "/usr/bin/Xorg " \
     "-noreset +extension GLX +extension RANDR +extension RENDER" \
-    "-logfile ./xdummy.log -config /etc/X11/xorg.conf -novtswitch $DISPLAY &" >> ~/.bashrc
+    "-logfile ./xdummy.log -config /etc/X11/xorg.conf -novtswitch $DISPLAY &" >> ~/.bashrc && \
+    echo "export PYTHONHASHSEED=42" >> ~/.bashrc
 
 SHELL ["/bin/bash", "-c", "-l"]
diff --git a/bugtest_requirements.txt b/bugtest_requirements.txt
@@ -0,0 +1,218 @@
+absl-py==0.11.0
+aiohttp==3.7.3
+aiohttp-cors==0.7.0
+aioredis==1.3.1
+alabaster==0.7.12
+apipkg==1.5
+appdirs==1.4.4
+argon2-cffi==20.1.0
+astunparse==1.6.3
+async-timeout==3.0.1
+atari-py==0.2.6
+attrs==20.3.0
+Automat==20.2.0
+Babel==2.9.0
+backcall==0.2.0
+beautifulsoup4==4.9.3
+black==20.8b1
+bleach==3.3.0
+blessings==1.7
+cachetools==4.2.1
+casadi==3.5.5
+certifi==2020.12.5
+cffi==1.14.5
+chardet==3.0.4
+click==7.1.2
+cloudpickle==1.3.0
+colorama==0.4.4
+colorful==0.5.4
+commonmark==0.9.1
+constantly==15.1.0
+coverage==5.4
+cryptography==3.4.6
+cycler==0.10.0
+decorator==4.4.2
+defusedxml==0.6.0
+dm-tree==0.1.5
+docutils==0.16
+entrypoints==0.3
+evdev==1.4.0
+execnet==1.8.0
+filelock==3.0.12
+future==0.18.2
+gast==0.3.3
+gitdb==4.0.5
+GitPython==3.1.13
+google==3.0.0
+google-api-core==1.26.0
+google-auth==1.27.0
+google-auth-oauthlib==0.4.2
+google-pasta==0.2.0
+googleapis-common-protos==1.52.0
+gpustat==0.6.0
+grpcio==1.30.0
+grpcio-tools==1.30.0
+gym==0.18.0
+h5py==2.10.0
+hiredis==1.1.0
+hyperlink==21.0.0
+idna==2.10
+imageio==2.9.0
+imagesize==1.2.0
+importlib-metadata==3.4.0
+importlib-resources==5.1.0
+incremental==17.5.0
+iniconfig==1.1.1
+ipykernel==5.4.3
+ipython==7.20.0
+ipython-genutils==0.2.0
+isort==5.7.0
+jedi==0.18.0
+jeepney==0.6.0
+Jinja2==2.11.3
+joblib==1.0.1
+jsonpatch==1.28
+jsonpointer==2.0
+jsonschema==3.2.0
+jupyter-client==6.1.11
+jupyter-core==4.7.1
+Keras-Preprocessing==1.1.2
+keyring==22.0.1
+kiwisolver==1.3.1
+lz4==3.1.3
+Markdown==3.3.3
+MarkupSafe==1.1.1
+matplotlib==3.3.4
+maturin==0.9.1
+mistune==0.8.4
+msgpack==1.0.2
+multidict==5.1.0
+mypy-extensions==0.4.3
+nbconvert==5.6.1
+nbdime==2.1.0
+nbformat==5.1.2
+networkx==2.5
+notebook==6.2.0
+numpy==1.18.5
+nvidia-ml-py3==7.352.0
+oauthlib==3.1.0
+open-agent==0.0.0
+opencensus==0.7.12
+opencensus-context==0.1.2
+opencv-python==4.5.1.48
+opencv-python-headless==4.3.0.36
+opengen==0.6.4
+opt-einsum==3.3.0
+packaging==20.9
+panda3d==1.10.8
+panda3d-gltf==0.12
+panda3d-simplepbr==0.7
+pandas==1.2.2
+pandocfilters==1.4.3
+parso==0.8.1
+pathspec==0.8.1
+pbr==5.5.1
+pexpect==4.8.0
+pickleshare==0.7.5
+Pillow==7.2.0
+pkginfo==1.7.0
+pluggy==0.13.1
+prometheus-client==0.9.0
+prompt-toolkit==3.0.16
+protobuf==3.14.0
+psutil==5.8.0
+ptyprocess==0.7.0
+py==1.10.0
+py-cpuinfo==7.0.0
+py-spy==0.3.4
+pyasn1==0.4.8
+pyasn1-modules==0.2.8
+pybullet==3.0.8
+pycparser==2.20
+pyglet==1.5.0
+Pygments==2.8.0
+PyHamcrest==2.0.2
+pynput==1.7.3
+pyparsing==2.4.7
+pyrsistent==0.17.3
+pytest==6.2.2
+pytest-benchmark==3.2.3
+pytest-cov==2.11.1
+pytest-forked==1.3.0
+pytest-notebook==0.6.1
+pytest-xdist==2.2.1
+python-dateutil==2.8.1
+python-xlib==0.29
+pytz==2021.1
+PyWavelets==1.1.1
+PyYAML==5.4.1
+pyzmq==22.0.3
+ray==1.0.1.post1
+readme-renderer==28.0
+redis==3.4.1
+regex==2020.11.13
+requests==2.25.1
+requests-oauthlib==1.3.0
+requests-toolbelt==0.9.1
+retry==0.9.2
+rfc3986==1.4.0
+rich==9.11.0
+rsa==4.7.1
+Rtree==0.9.7
+scikit-image==0.18.1
+scikit-learn==0.24.1
+scipy==1.4.1
+SecretStorage==3.3.1
+Send2Trash==1.5.0
+sh==1.14.1
+Shapely==1.7.1
+six==1.15.0
+sklearn==0.0
+smmap==3.0.5
+snowballstemmer==2.1.0
+soupsieve==2.2
+Sphinx==3.5.1
+sphinx-rtd-theme==0.5.1
+sphinxcontrib-apidoc==0.3.0
+sphinxcontrib-applehelp==1.0.2
+sphinxcontrib-devhelp==1.0.2
+sphinxcontrib-htmlhelp==1.0.3
+sphinxcontrib-jsmath==1.0.1
+sphinxcontrib-qthelp==1.0.3
+sphinxcontrib-serializinghtml==1.1.4
+supervisor==4.2.1
+tableprint==0.9.1
+tabulate==0.8.8
+tensorboard==2.2.2
+tensorboard-plugin-wit==1.8.0
+tensorboardX==2.1
+tensorflow==2.2.1
+tensorflow-estimator==2.2.0
+termcolor==1.1.0
+terminado==0.9.2
+testpath==0.4.4
+threadpoolctl==2.1.0
+tifffile==2021.2.1
+toml==0.10.2
+torch==1.4.0
+torchfile==0.1.0
+torchvision==0.5.0
+tornado==6.1
+tqdm==4.57.0
+traitlets==5.0.5
+trimesh==3.9.7
+twine==3.3.0
+Twisted==20.3.0
+typed-ast==1.4.2
+typing-extensions==3.7.4.3
+urllib3==1.26.3
+visdom==0.1.8.9
+wcwidth==0.2.5
+webencodings==0.5.1
+websocket-client==0.57.0
+Werkzeug==1.0.1
+wrapt==1.12.1
+yarl==1.6.3
+yattag==1.14.0
+zipp==3.4.0
+zope.interface==5.2.0
diff --git a/crash_test/agent_007_0_0 b/crash_test/agent_007_0_0
diff --git a/crash_test/agent_kla_1_0 b/crash_test/agent_kla_1_0
diff --git a/crash_test/agent_oa_3_0 b/crash_test/agent_oa_3_0
diff --git a/crash_test/agent_oa_4_0 b/crash_test/agent_oa_4_0
diff --git a/crash_test/agent_oa_5_0 b/crash_test/agent_oa_5_0
diff --git a/crash_test/agent_oa_6_0 b/crash_test/agent_oa_6_0
diff --git a/crash_test/speed.txt b/crash_test/speed.txt
@@ -0,0 +1 @@
+46
diff --git a/crash_test/steps.txt b/crash_test/steps.txt
@@ -0,0 +1 @@
+106
diff --git a/crash_trial.sh b/crash_trial.sh
@@ -0,0 +1,29 @@
+TEMP_DIR=${1}_TMP
+START=${2}
+COUNT=${3}
+MAX_STEPS=${4}
+BEST_STEPS=$MAX_STEPS
+
+
+for (( SPEED=$START; SPEED<$START + $COUNT; SPEED++ ))
+do
+    if [[ -d $TEMP_DIR ]]; then
+        rm -r $TEMP_DIR
+    fi
+    PYTHONHASHSEED=42 python3.7 examples/bugtest.py scenarios/loop --speed ${SPEED} --save-dir $TEMP_DIR --max-steps $MAX_STEPS --write --headless
+    STEPS=$?
+    if (( $STEPS < $BEST_STEPS )); then
+        echo $STEPS > ${TEMP_DIR}/steps.txt
+        echo $SPEED > ${TEMP_DIR}/speed.txt
+        echo "Steps taken ${STEPS}0, Speed: ${SPEED}"
+        if [[ -d $1 ]]; then
+            rm -r $1
+        fi
+        mv ${TEMP_DIR} $1
+        BEST_STEPS=$STEPS
+        break
+    fi
+done
+if [[ -d $TEMP_DIR ]]; then
+    rm -r $TEMP_DIR
+fi