test script

.gitignore

@@ -11,3 +11,4 @@
 /documentation/build/
 dataset/*
 **/combine/
+**.json

scenarionet/tests/_test_combine_dataset_local.py

@@ -0,0 +1,21 @@
+import os
+
+from scenarionet import SCENARIONET_DATASET_PATH
+from scenarionet.builder.utils import combine_multiple_dataset
+from scenarionet.verifier.utils import verify_loading_into_metadrive
+
+
+def _test_combine_dataset():
+    dataset_paths = [os.path.join(SCENARIONET_DATASET_PATH, "nuscenes")]
+    dataset_paths.append(os.path.join(SCENARIONET_DATASET_PATH, "nuplan"))
+    dataset_paths.append(os.path.join(SCENARIONET_DATASET_PATH, "waymo"))
+    dataset_paths.append(os.path.join(SCENARIONET_DATASET_PATH, "nuscenes"))
+
+    combine_path = os.path.join(SCENARIONET_DATASET_PATH, "combined_dataset")
+    combine_multiple_dataset(combine_path, *dataset_paths, force_overwrite=True, try_generate_missing_file=True)
+    success, result = verify_loading_into_metadrive(combine_path)
+    assert success
+
+
+if __name__ == '__main__':
+    _test_combine_dataset()

scenarionet/tests/script/run_env.py

@@ -0,0 +1,60 @@
+import os
+
+from metadrive.envs.scenario_env import ScenarioEnv
+from metadrive.policy.replay_policy import ReplayEgoCarPolicy
+from metadrive.scenario.utils import get_number_of_scenarios
+
+from scenarionet import SCENARIONET_DATASET_PATH
+from scenarionet.builder.utils import combine_multiple_dataset
+
+if __name__ == '__main__':
+    dataset_paths = [os.path.join(SCENARIONET_DATASET_PATH, "nuscenes")]
+    dataset_paths.append(os.path.join(SCENARIONET_DATASET_PATH, "nuplan"))
+    dataset_paths.append(os.path.join(SCENARIONET_DATASET_PATH, "waymo"))
+    dataset_paths.append(os.path.join(SCENARIONET_DATASET_PATH, "nuscenes"))
+
+    combine_path = os.path.join(SCENARIONET_DATASET_PATH, "combined_dataset")
+    combine_multiple_dataset(combine_path, *dataset_paths, force_overwrite=True, try_generate_missing_file=True)
+
+    env = ScenarioEnv(
+        {
+            "use_render": True,
+            "agent_policy": ReplayEgoCarPolicy,
+            "manual_control": False,
+            "show_interface": True,
+            "debug": False,
+            "show_logo": False,
+            "show_fps": False,
+            "force_reuse_object_name": True,
+            "num_scenarios": get_number_of_scenarios(combine_path),
+            "horizon": 1000,
+            "no_static_vehicles": True,
+            "vehicle_config": dict(
+                show_navi_mark=False,
+                no_wheel_friction=True,
+                lidar=dict(num_lasers=120, distance=50, num_others=4),
+                lane_line_detector=dict(num_lasers=12, distance=50),
+                side_detector=dict(num_lasers=160, distance=50)
+            ),
+            "data_directory": combine_path,
+        }
+    )
+    success = []
+    env.reset(force_seed=91)
+    while True:
+        env.reset(force_seed=91)
+        for t in range(10000):
+            o, r, d, info = env.step([0, 0])
+            assert env.observation_space.contains(o)
+            c_lane = env.vehicle.lane
+            long, lat, = c_lane.local_coordinates(env.vehicle.position)
+            if env.config["use_render"]:
+                env.render(
+                    text={
+                        "seed": env.engine.global_seed + env.config["start_scenario_index"],
+                    }
+                )
+
+            if d and info["arrive_dest"]:
+                print("seed:{}, success".format(env.engine.global_random_seed))
+                break

scenarionet/tests/test_combine_dataset.py

@@ -21,7 +21,8 @@ def test_combine_multiple_dataset():
         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))
-        verify_loading_into_metadrive(dataset_path)
+        success, result = verify_loading_into_metadrive(dataset_path, result_save_dir="./test_dataset")
+        assert success
 
 
 if __name__ == '__main__':

scenarionet/verifier/utils.py

@@ -1,14 +1,20 @@
+import json
+import logging
 import os
 
+logger = logging.getLogger(__name__)
 import tqdm
 from metadrive.envs.scenario_env import ScenarioEnv
 from metadrive.policy.replay_policy import ReplayEgoCarPolicy
 from metadrive.scenario.utils import get_number_of_scenarios
 
 
-def verify_loading_into_metadrive(dataset_path):
+def verify_loading_into_metadrive(dataset_path, result_save_dir=None):
     scenario_num = get_number_of_scenarios(dataset_path)
-
+    if result_save_dir is not None:
+        assert os.path.exists(result_save_dir) and os.path.isdir(
+            result_save_dir), "Argument result_save_dir must be an existing dir"
+    success = True
     env = ScenarioEnv(
         {
             "agent_policy": ReplayEgoCarPolicy,
@@ -18,11 +24,20 @@ def verify_loading_into_metadrive(dataset_path):
             "data_directory": dataset_path,
         }
     )
+    error_files = []
     try:
         for i in tqdm.tqdm(range(scenario_num)):
             env.reset(force_seed=i)
     except Exception as e:
         file_name = env.engine.data_manager.summary_lookup[i]
         file_path = os.path.join(dataset_path, env.engine.data_manager.mapping[file_name], file_name)
-        raise ValueError("Scenario Error, seed: {}, file_path: {}. "
-                         "\n Error message: {}".format(i, file_path, e))
+        error_file = {"seed": i, "file_path": file_path, "error": e}
+        error_files.append(error_file)
+        logger.warning("\n Scenario Error, seed: {}, file_path: {}.\n Error message: {}".format(i, file_path, e))
+        success=False
+    finally:
+        env.close()
+    if result_save_dir is not None:
+        with open(os.path.join(result_save_dir, "error_scenarios_{}.json".format(os.path.basename(dataset_path))), "w+") as f:
+            json.dump(error_files, f)
+    return success, error_files