add new test

scenarionet/tests/test_filter.py

@@ -19,7 +19,7 @@ def test_filter_dataset():
     # nuscenes data has no light
     # light_condition = ScenarioFilter.make(ScenarioFilter.has_traffic_light)
     sdc_driving_condition = ScenarioFilter.make(ScenarioFilter.sdc_moving_dist, target_dist=30, condition="smaller")
-    answer = ['scene-0553', 'scene-0757', 'scene-1100']
+    answer = ['sd_nuscenes_v1.0-mini_scene-0553.pkl', '0.pkl', 'sd_nuscenes_v1.0-mini_scene-1100.pkl']
     summary, mapping = combine_multiple_dataset(
         output_path,
         *dataset_paths,
@@ -34,7 +34,7 @@ def test_filter_dataset():
             if a in s:
                 in_ = True
                 break
-        assert in_
+        assert in_, summary.keys()
 
     sdc_driving_condition = ScenarioFilter.make(ScenarioFilter.sdc_moving_dist, target_dist=5, condition="greater")
     summary, mapping = combine_multiple_dataset(

scenarionet/tests/test_generate_from_error_file.py

@@ -0,0 +1,29 @@
+import os
+import os.path
+
+from scenarionet import SCENARIONET_PACKAGE_PATH
+from scenarionet.builder.utils import combine_multiple_dataset, read_dataset_summary, read_scenario
+from scenarionet.verifier.utils import verify_loading_into_metadrive, set_random_drop
+
+
+def test_combine_multiple_dataset():
+    set_random_drop(True)
+    dataset_name = "nuscenes"
+    original_dataset_path = os.path.join(SCENARIONET_PACKAGE_PATH, "tests", "test_dataset", dataset_name)
+    dataset_paths = [original_dataset_path + "_{}".format(i) for i in range(5)]
+    output_path = os.path.join(SCENARIONET_PACKAGE_PATH, "tests", "combine")
+    combine_multiple_dataset(output_path, *dataset_paths, force_overwrite=True, try_generate_missing_file=True)
+
+    dataset_paths.append(output_path)
+    for dataset_path in dataset_paths:
+        summary, sorted_scenarios, mapping = read_dataset_summary(dataset_path)
+        for scenario_file in sorted_scenarios:
+            read_scenario(os.path.join(dataset_path, mapping[scenario_file], scenario_file))
+        success, result = verify_loading_into_metadrive(
+            dataset_path, result_save_dir="test_dataset", steps_to_run=1000, num_workers=4)
+        assert success
+    set_random_drop(False)
+
+
+if __name__ == '__main__':
+    test_combine_multiple_dataset()

scenarionet/verifier/utils.py

@@ -2,7 +2,7 @@ import logging
 import multiprocessing
 import os
 
-from metadrive.scenario.scenario_description import ScenarioDescription as SD
+import numpy as np
 
 from scenarionet.verifier.error import ErrorDescription as ED
 from scenarionet.verifier.error import ErrorFile as EF
@@ -14,6 +14,14 @@ from metadrive.policy.replay_policy import ReplayEgoCarPolicy
 from metadrive.scenario.utils import get_number_of_scenarios
 from functools import partial
 
+# this global variable is for generating broken scenarios for testing
+RANDOM_DROP = False
+
+
+def set_random_drop(drop):
+    global RANDOM_DROP
+    RANDOM_DROP = drop
+
 
 def verify_loading_into_metadrive(dataset_path, result_save_dir, steps_to_run=1000, num_workers=8):
     assert os.path.exists(result_save_dir) and os.path.isdir(result_save_dir), "result_save_dir must be an existing dir"
@@ -56,6 +64,7 @@ def verify_loading_into_metadrive(dataset_path, result_save_dir, steps_to_run=10
 
 
 def loading_into_metadrive(start_scenario_index, num_scenario, dataset_path, steps_to_run, metadrive_config=None):
+    global RANDOM_DROP
     logger.info(
         "================ Begin Scenario Loading Verification for scenario {}-{} ================ \n".format(
             start_scenario_index, num_scenario + start_scenario_index))
@@ -77,6 +86,8 @@ def loading_into_metadrive(start_scenario_index, num_scenario, dataset_path, ste
         try:
             env.reset(force_seed=scenario_index)
             arrive = False
+            if RANDOM_DROP and np.random.rand() < 0.5:
+                raise ValueError("Random Drop")
             for _ in range(steps_to_run):
                 o, r, d, info = env.step([0, 0])
                 if d and info["arrive_dest"]: