add common utils

scenarionet/builder/utils.py

@@ -6,21 +6,13 @@ import pickle
 import shutil
 from typing import Callable, List
 
-import metadrive.scenario.utils as sd_utils
-import numpy as np
 from metadrive.scenario.scenario_description import ScenarioDescription
 
+from scenarionet.common_utils import save_summary_anda_mapping
+
 logger = logging.getLogger(__name__)
 
 
-def read_dataset_summary(dataset_path):
-    return sd_utils.read_dataset_summary(dataset_path)
-
-
-def read_scenario(pkl_file_path):
-    return sd_utils.read_scenario_data(pkl_file_path)
-
-
 def try_generating_summary(file_folder):
     # Create a fake one
     files = os.listdir(file_folder)
@@ -108,20 +100,3 @@ def combine_multiple_dataset(
     return summaries, mappings
 
 
-def dict_recursive_remove_array_and_set(d):
-    if isinstance(d, np.ndarray):
-        return d.tolist()
-    if isinstance(d, set):
-        return tuple(d)
-    if isinstance(d, dict):
-        for k in d.keys():
-            d[k] = dict_recursive_remove_array_and_set(d[k])
-    return d
-
-
-def save_summary_anda_mapping(summary_file_path, mapping_file_path, summary, mapping):
-    with open(summary_file_path, "wb") as file:
-        pickle.dump(dict_recursive_remove_array_and_set(summary), file)
-    with open(mapping_file_path, "wb") as file:
-        pickle.dump(mapping, file)
-    print("Dataset Summary and Mapping are saved at: {}".format(summary_file_path))

scenarionet/common_utils.py

@@ -0,0 +1,81 @@
+import pickle
+
+import numpy as np
+from metadrive.scenario import utils as sd_utils
+
+
+def recursive_equal(data1, data2, need_assert=False):
+    from metadrive.utils.config import Config
+    if isinstance(data1, Config):
+        data1 = data1.get_dict()
+    if isinstance(data2, Config):
+        data2 = data2.get_dict()
+
+    if isinstance(data1, np.ndarray):
+        tmp = np.asarray(data2)
+        return np.all(data1 == tmp)
+
+    if isinstance(data2, np.ndarray):
+        tmp = np.asarray(data1)
+        return np.all(tmp == data2)
+
+    if isinstance(data1, dict):
+        is_ins = isinstance(data2, dict)
+        key_right = set(data1.keys()) == set(data2.keys())
+        if need_assert:
+            assert is_ins and key_right, (data1.keys(), data2.keys())
+        if not (is_ins and key_right):
+            return False
+        ret = []
+        for k in data1:
+            ret.append(recursive_equal(data1[k], data2[k], need_assert=need_assert))
+        return all(ret)
+
+    elif isinstance(data1, (list, tuple)):
+        len_right = len(data1) == len(data2)
+        is_ins = isinstance(data2, (list, tuple))
+        if need_assert:
+            assert len_right and is_ins, (len(data1), len(data2), data1, data2)
+        if not (is_ins and len_right):
+            return False
+        ret = []
+        for i in range(len(data1)):
+            ret.append(recursive_equal(data1[i], data2[i], need_assert=need_assert))
+        return all(ret)
+    elif isinstance(data1, np.ndarray):
+        ret = np.isclose(data1, data2).all()
+        if need_assert:
+            assert ret, (type(data1), type(data2), data1, data2)
+        return ret
+    else:
+        ret = data1 == data2
+        if need_assert:
+            assert ret, (type(data1), type(data2), data1, data2)
+        return ret
+
+
+def dict_recursive_remove_array_and_set(d):
+    if isinstance(d, np.ndarray):
+        return d.tolist()
+    if isinstance(d, set):
+        return tuple(d)
+    if isinstance(d, dict):
+        for k in d.keys():
+            d[k] = dict_recursive_remove_array_and_set(d[k])
+    return d
+
+
+def save_summary_anda_mapping(summary_file_path, mapping_file_path, summary, mapping):
+    with open(summary_file_path, "wb") as file:
+        pickle.dump(dict_recursive_remove_array_and_set(summary), file)
+    with open(mapping_file_path, "wb") as file:
+        pickle.dump(mapping, file)
+    print("Dataset Summary and Mapping are saved at: {}".format(summary_file_path))
+
+
+def read_dataset_summary(dataset_path):
+    return sd_utils.read_dataset_summary(dataset_path)
+
+
+def read_scenario(pkl_file_path):
+    return sd_utils.read_scenario_data(pkl_file_path)

scenarionet/converter/utils.py

@@ -6,7 +6,7 @@ import math
 import os
 import pickle
 import shutil
-from scenarionet.builder.utils import save_summary_anda_mapping
+from scenarionet.common_utils import save_summary_anda_mapping
 import numpy as np
 import tqdm
 from metadrive.scenario import ScenarioDescription as SD

scenarionet/tests/test_combine_dataset.py

@@ -2,7 +2,8 @@ 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.builder.utils import combine_multiple_dataset
+from scenarionet.common_utils import read_dataset_summary, read_scenario
 from scenarionet.verifier.utils import verify_loading_into_metadrive
 
 

scenarionet/tests/test_generate_from_error_file.py

@@ -1,8 +1,10 @@
 import os
 import os.path
-
+from metadrive.scenario.utils import assert_scenario_equal
 from scenarionet import SCENARIONET_PACKAGE_PATH
-from scenarionet.builder.utils import combine_multiple_dataset, read_dataset_summary, read_scenario
+from scenarionet.builder.utils import combine_multiple_dataset
+from scenarionet.common_utils import read_dataset_summary, read_scenario
+from scenarionet.verifier.error import ErrorFile
 from scenarionet.verifier.utils import verify_loading_into_metadrive, set_random_drop
 
 
@@ -11,18 +13,27 @@ def test_combine_multiple_dataset():
     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")
+    dataset_path = os.path.join(SCENARIONET_PACKAGE_PATH, "tests", "combine")
-    combine_multiple_dataset(output_path, *dataset_paths, force_overwrite=True, try_generate_missing_file=True)
+    combine_multiple_dataset(dataset_path, *dataset_paths, force_overwrite=True, try_generate_missing_file=True)
 
-    dataset_paths.append(output_path)
+    summary, sorted_scenarios, mapping = read_dataset_summary(dataset_path)
-    for dataset_path in dataset_paths:
+    for scenario_file in sorted_scenarios:
-        summary, sorted_scenarios, mapping = read_dataset_summary(dataset_path)
+        read_scenario(os.path.join(dataset_path, mapping[scenario_file], scenario_file))
-        for scenario_file in sorted_scenarios:
+    success, logs = verify_loading_into_metadrive(
-            read_scenario(os.path.join(dataset_path, mapping[scenario_file], scenario_file))
+        dataset_path, result_save_dir="test_dataset", steps_to_run=1000, num_workers=4)
-        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)
+    # regenerate
+    file_name = ErrorFile.get_error_file_name(dataset_path)
+    error_file_path = os.path.join("test_dataset", file_name)
+
+    pass_dataset = os.path.join(SCENARIONET_PACKAGE_PATH, "tests", "passed_senarios")
+    fail_dataset = os.path.join(SCENARIONET_PACKAGE_PATH, "tests", "failed_scenarios")
+    pass_summary, pass_mapping = ErrorFile.generate_dataset(error_file_path, pass_dataset, broken_scenario=False)
+    fail_summary, fail_mapping = ErrorFile.generate_dataset(error_file_path, fail_dataset, broken_scenario=True)
+
+    read_pass_summary, _, read_pass_mapping = read_dataset_summary(pass_dataset)
+    read_fail_summary, _, read_fail_mapping, = read_dataset_summary(fail_dataset)
+
 
 
 if __name__ == '__main__':

scenarionet/verifier/error.py

@@ -5,8 +5,7 @@ from typing import List
 
 from metadrive.scenario.scenario_description import ScenarioDescription as SD
 
-from scenarionet.builder.utils import read_dataset_summary
+from scenarionet.common_utils import save_summary_anda_mapping, read_dataset_summary
-from scenarionet.builder.utils import save_summary_anda_mapping
 
 logger = logging.getLogger(__name__)
 
@@ -35,6 +34,10 @@ class ErrorFile:
     DATASET = "dataset_path"
     ERRORS = "errors"
 
+    @classmethod
+    def get_error_file_name(cls, dataset_path):
+        return "{}_{}.json".format(cls.PREFIX, os.path.basename(dataset_path))
+
     @classmethod
     def dump(cls, save_dir, errors: List, dataset_path):
         """
@@ -43,9 +46,11 @@ class ErrorFile:
         :param errors: error list, containing a list of dict from ErrorDescription.make()
         :param dataset_path: dataset_path, the dir of dataset_summary.pkl
         """
-        file_name = "{}_{}.json".format(cls.PREFIX, os.path.basename(dataset_path))
+        file_name = cls.get_error_file_name(dataset_path)
-        with open(os.path.join(save_dir, file_name), "w+") as f:
+        path = os.path.join(save_dir, file_name)
+        with open(path, "w+") as f:
             json.dump({cls.DATASET: dataset_path, cls.ERRORS: errors}, f, indent=4)
+        return path
 
     @classmethod
     def generate_dataset(cls, error_file_path, new_dataset_path, force_overwrite=False, broken_scenario=False):

scenarionet/verifier/utils.py

@@ -46,21 +46,20 @@ def verify_loading_into_metadrive(dataset_path, result_save_dir, steps_to_run=10
     # Run, workers and process result from worker
     with multiprocessing.Pool(num_workers) as p:
         all_result = list(p.imap(func, argument_list))
-    result = all([i[0] for i in all_result])
+    success = all([i[0] for i in all_result])
     errors = []
     for _, error in all_result:
         errors += error
-
-    # save result
-    EF.dump(result_save_dir, errors, dataset_path)
-
     # logging
-    if result:
+    if success:
         logger.info("All scenarios can be loaded successfully!")
     else:
+        # save result
+        path = EF.dump(result_save_dir, errors, dataset_path)
         logger.info(
-            "Fail to load all scenarios, see log for more details! Number of failed scenarios: {}".format(len(errors)))
+            "Fail to load all scenarios. Number of failed scenarios: {}. "
-    return result, errors
+            "See: {} more details! ".format(len(errors), path))
+    return success, errors
 
 
 def loading_into_metadrive(start_scenario_index, num_scenario, dataset_path, steps_to_run, metadrive_config=None):
@@ -86,7 +85,7 @@ 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:
+            if RANDOM_DROP and np.random.rand() < 0.8:
                 raise ValueError("Random Drop")
             for _ in range(steps_to_run):
                 o, r, d, info = env.step([0, 0])