Control number of episodes in ULTRA tests (rllib and train)

.github/workflows/ci-ultra-tests.yml

@@ -3,7 +3,7 @@ name: ULTRA CI Base Tests
 on: [push, pull_request]
 
 jobs:
-  test-base:
+  test-heavy-base-tests:
     runs-on: ubuntu-18.04
     if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
     container: huaweinoah/smarts:v0.4.13-minimal
@@ -28,12 +28,58 @@ jobs:
           pip install --upgrade --upgrade-strategy eager wheel
           pip install --upgrade -e .
           pip install --upgrade numpy
-      - name: Run ultra tests
+      - name: Run ultra tests (heavy)
         run: |
           cd ultra
           . .venv/bin/activate
           scl scenario build-all ultra/scenarios/pool
-          pytest -v ./tests/
+          pytest -v \
+          ./tests/ \
+          --ignore=./tests/test_ultra_package.py \
+          --ignore=./tests/test_adapter.py \
+          --ignore=./tests/test_env.py \
+          --ignore=./tests/test_episodes.py \
+          --ignore=./tests/test_scenarios.py \
+          --ignore=./tests/test_social_vehicles.py \
+          --ignore=./tests/test_rllib_train.py \
+
+  test-light-base-tests:
+    runs-on: ubuntu-18.04
+    if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
+    container: huaweinoah/smarts:v0.4.13-minimal
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Setup X11
+        run: |
+          /usr/bin/Xorg \
+            -noreset \
+            +extension GLX \
+            +extension RANDR \
+            +extension RENDER \
+            -logfile ./xdummy.log \
+            -config /etc/X11/xorg.conf :1 &
+      - name: Install dependencies
+        run: |
+          cd ultra
+          python3.7 -m venv .venv
+          . .venv/bin/activate
+          pip install --upgrade --upgrade-strategy eager pip
+          pip install --upgrade --upgrade-strategy eager wheel
+          pip install --upgrade -e .
+          pip install --upgrade numpy
+      - name: Run ultra tests (light)
+        run: |
+          cd ultra
+          . .venv/bin/activate
+          scl scenario build-all ultra/scenarios/pool
+          pytest -v \
+          ./tests/ \
+          --ignore=./tests/test_ultra_package.py \
+          --ignore=./tests/test_train.py \
+          --ignore=./tests/test_evaluate.py \
+          --ignore=./tests/test_analysis.py \
+
   test-package-via-setup:
     runs-on: ubuntu-18.04
     if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
@@ -64,6 +110,7 @@ jobs:
           . .venv/bin/activate
           scl scenario build-all ultra/scenarios/pool
           pytest -v ./tests/test_ultra_package.py
+
   test-package-via-wheel:
     runs-on: ubuntu-18.04
     if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
@@ -85,9 +132,9 @@ jobs:
           cd ultra
           python3.7 -m venv .venv
           . .venv/bin/activate
-          pip install --upgrade --upgrade-strategy eager pip
-          pip install --upgrade --upgrade-strategy eager wheel
-          pip install --upgrade --upgrade-strategy eager -e .
+          pip install --upgrade pip
+          pip install --upgrade -e .
+          pip install --upgrade numpy
           python setup.py bdist_wheel
           cd dist
           pip install $(ls . | grep ultra)
@@ -99,6 +146,7 @@ jobs:
           . .venv/bin/activate
           scl scenario build-all ultra/scenarios/pool
           pytest -v ./tests/test_ultra_package.py
+
   # test-package-via-pypi:
   #   runs-on: ubuntu-18.04
   #   if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository

CHANGELOG.md

@@ -12,6 +12,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ### Added 
 - Added `sanity-test` script and asked new users to run `sanity-test` instead of `make test` to ease the setup
 process
+- Added `on_shoulder` as part of events in observation returned from each step of simulation
 
 ## [0.4.15] - 2021-03-18
 ### Added
@@ -38,6 +39,7 @@ using the original coordinate system.  See Issue #325.
 - Envision now resumes from current frame after un-pausing.
 - Skipped generation of cut-in waypoints if they are further off-road than SMARTS currently supports to avoid process crash.
 - Fix envision error 15 by cleanly shutting down the envision worker process.
+- Refactored SMARTS class to not inherit from Panda3D's ShowBase; it's aggregated instead. See issue #597.
 
 ## [Format] - 2021-03-12
 ### Added 

smarts/core/events.py

@@ -22,9 +22,10 @@
 
 class Events(NamedTuple):
     collisions: bool
-    off_route: bool
-    reached_goal: bool
-    reached_max_episode_steps: bool
     off_road: bool
+    off_route: bool
+    on_shoulder: bool
     wrong_way: bool
     not_moving: bool
+    reached_goal: bool
+    reached_max_episode_steps: bool

smarts/core/motion_planner_provider.py

@@ -24,11 +24,11 @@
 from .bezier_motion_planner import BezierMotionPlanner
 from .controllers import ActionSpaceType
 from .coordinates import Heading, Pose
-from .provider import ProviderState
+from .provider import Provider, ProviderState
 from .vehicle import VEHICLE_CONFIGS, VehicleState
 
 
-class MotionPlannerProvider:
+class MotionPlannerProvider(Provider):
     def __init__(self):
         self._is_setup = False
 

smarts/core/provider.py

@@ -18,12 +18,14 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 from dataclasses import dataclass, field
-from typing import List
+from typing import List, Set
 
 import numpy as np
 
 from .coordinates import BoundingBox, Pose
 from .vehicle import VehicleState
+from .scenario import Scenario
+from .controllers import ActionSpaceType
 
 
 @dataclass
@@ -46,3 +48,29 @@ def filter(self, vehicle_ids):
                 del self.vehicles[index]
             except ValueError:
                 continue
+
+
+class Provider:
+    """A Provider tracks a (sub)set of vehicles that all share the same action space.
+    This is a base class (interface) from which all Providers should inherit."""
+
+    ## TAI: Consider renaming to VehicleSet or somesuch.
+
+    @property
+    def action_spaces(self) -> Set[ActionSpaceType]:
+        raise NotImplementedError
+
+    def setup(self, scenario: Scenario) -> ProviderState:
+        raise NotImplementedError
+
+    def step(self, actions, dt, elapsed_sim_time) -> ProviderState:
+        raise NotImplementedError
+
+    def sync(self, provider_state: ProviderState):
+        raise NotImplementedError
+
+    def reset(self):
+        raise NotImplementedError
+
+    def teardown(self):
+        raise NotImplementedError