move all test genrtaed file to tmp, add genertae error set test

.gitignore

@@ -12,3 +12,7 @@
 dataset/*
 **/combine/
 **.json
+
+**/tmp/**
+**/failed_scenarios/
+**/passed_senarios/

scenarionet/common_utils.py

@@ -1,3 +1,4 @@
+import os.path
 import pickle
 
 import numpy as np
@@ -77,5 +78,12 @@ 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 read_scenario(dataset_path, mapping, scenario_file_name):
+    """
+    read a scenario
+    :param dataset_path: the location where dataset_summary.pkl is
+    :param mapping: a dict recording the relative position from dataset_path to real scenario file
+    :param scenario_file_name: scenario filename
+    :return: ScenarioDescription
+    """
+    return sd_utils.read_scenario_data(os.path.join(dataset_path, mapping[scenario_file_name], scenario_file_name))

scenarionet/tests/test_combine_dataset.py

@@ -12,13 +12,13 @@ def test_combine_multiple_dataset():
     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")
+    output_path = os.path.join(SCENARIONET_PACKAGE_PATH, "tests", "tmp", "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))
+            read_scenario(dataset_path, mapping, scenario_file)
         success, result = verify_loading_into_metadrive(
             dataset_path, result_save_dir="test_dataset", steps_to_run=1000, num_workers=4
         )

scenarionet/tests/test_filter.py

@@ -13,7 +13,7 @@ def test_filter_dataset():
     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")
+    output_path = os.path.join(SCENARIONET_PACKAGE_PATH, "tests", "tmp", "combine")
 
     # ========================= test 1 =========================
     # nuscenes data has no light

scenarionet/tests/test_generate_from_error_file.py

@@ -1,9 +1,11 @@
+import copy
 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
 from scenarionet.common_utils import read_dataset_summary, read_scenario
+from scenarionet.common_utils import recursive_equal
 from scenarionet.verifier.error import ErrorFile
 from scenarionet.verifier.utils import verify_loading_into_metadrive, set_random_drop
 
@@ -13,27 +15,44 @@ 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)]
-    dataset_path = os.path.join(SCENARIONET_PACKAGE_PATH, "tests", "combine")
+    dataset_path = os.path.join(SCENARIONET_PACKAGE_PATH, "tests", "tmp", "combine")
     combine_multiple_dataset(dataset_path, *dataset_paths, force_overwrite=True, try_generate_missing_file=True)
 
     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))
+        read_scenario(dataset_path, mapping, scenario_file)
     success, logs = verify_loading_into_metadrive(
-        dataset_path, result_save_dir="test_dataset", steps_to_run=1000, num_workers=4)
+        dataset_path, result_save_dir="test_dataset", steps_to_run=1000, num_workers=3)
     set_random_drop(False)
-    # regenerate
+    # get error file
     file_name = ErrorFile.get_error_file_name(dataset_path)
     error_file_path = os.path.join("test_dataset", file_name)
+    # regenerate
+    pass_dataset = os.path.join(SCENARIONET_PACKAGE_PATH, "tests", "tmp", "passed_senarios")
+    fail_dataset = os.path.join(SCENARIONET_PACKAGE_PATH, "tests", "tmp", "failed_scenarios")
+    pass_summary, pass_mapping = ErrorFile.generate_dataset(error_file_path, pass_dataset, force_overwrite=True,
+                                                            broken_scenario=False)
+    fail_summary, fail_mapping = ErrorFile.generate_dataset(error_file_path, fail_dataset, force_overwrite=True,
+                                                            broken_scenario=True)
 
-    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)
-
+    # assert
     read_pass_summary, _, read_pass_mapping = read_dataset_summary(pass_dataset)
+    assert recursive_equal(read_pass_summary, pass_summary)
+    assert recursive_equal(read_pass_mapping, pass_mapping)
     read_fail_summary, _, read_fail_mapping, = read_dataset_summary(fail_dataset)
+    assert recursive_equal(read_fail_mapping, fail_mapping)
+    assert recursive_equal(read_fail_summary, fail_summary)
 
+    # assert pass+fail = origin
+    all_summaries = copy.deep(read_pass_summary)
+    all_summaries.update(fail_summary)
+    assert recursive_equal(all_summaries, summary)
+
+    # test read
+    for scenario in read_pass_summary:
+        read_scenario(pass_dataset, read_pass_mapping, scenario)
+    for scenario in read_pass_summary:
+        read_scenario(fail_dataset, read_fail_mapping, scenario)
 
 
 if __name__ == '__main__':

scenarionet/verifier/utils.py

@@ -85,7 +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() < 0.8:
+            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])