Merge pull request #445 from bark-simulator/many_linux_tests

Many linux tests

Author: juloberno

.github/workflows/manylinux.yml

@@ -15,7 +15,7 @@ jobs:
       - name: Getting into venv
         run: . ./bark/python_wrapper/venv/bin/activate
       - name: Installing Requirements
-        run: ./bark/python_wrapper/venv/bin/pip3 install -r ./tools/installers/requirements.txt
+        run: ./bark/python_wrapper/venv/bin/pip3 install --upgrade pip && ./bark/python_wrapper/venv/bin/pip3 install -r ./tools/installers/requirements.txt
       - name: Building ManyLinux
         env:
           TWINE_USERNAME: ${{ secrets.PYPI_USERNAME }}

README.md

@@ -3,6 +3,7 @@
 </p>
 
 ![Ubtuntu-CI Build](https://github.com/bark-simulator/bark/workflows/CI/badge.svg)
+![Ubtuntu-ManyLinux Build](https://github.com/bark-simulator/bark/workflows/ManyLinux/badge.svg)
 ![NIGHTLY LTL Build](https://github.com/bark-simulator/bark/workflows/NIGHTLY_LTL/badge.svg)
 ![NIGHTLY RSS Build](https://github.com/bark-simulator/bark/workflows/NIGHTLY_RSS/badge.svg)
 ![NIGHTLY Rules MCTS Build](https://github.com/bark-simulator/bark/workflows/NIGHTLY_RULES_MCTS/badge.svg)
@@ -31,17 +32,17 @@ Use `git clone https://github.com/bark-simulator/bark.git` or download the repos
 Then follow the instructions at [How to Install BARK](https://github.com/bark-simulator/bark/blob/master/docs/source/installation.md).
 Once you activated the virtual environment (`source dev_into.sh`), you can explore some examples of BARK.
 
-Highway: `bazel run //examples:highway`:
+Highway: `bazel run //bark/examples:highway`:
 <p align="center">
 <img src="https://github.com/bark-simulator/bark/raw/master/docs/source/gifs/bark_highway.gif" alt="BARK" />
 </p>
 
-Merging: `bazel run //examples:merging`:
+Merging: `bazel run //bark/examples:merging`:
 <p align="center">
 <img src="https://github.com/bark-simulator/bark/raw/master/docs/source/gifs/bark_merging.gif" alt="BARK" />
 </p>
 
-Intersection: `bazel run //examples:intersection`:
+Intersection: `bazel run //bark/examples:intersection`:
 <p align="center">
 <img src="https://github.com/bark-simulator/bark/raw/master/docs/source/gifs/bark_intersection.gif" alt="BARK" />
 </p>

bark/BUILD

@@ -33,11 +33,13 @@ py_test (
         "//bark/runtime/tests:py_importer_tests",
         "//bark/runtime/tests:py_evaluation_tests",
         "//bark/python_wrapper/tests:py_pickle_tests",
+        "//bark/python_wrapper/tests:py_glog_init",
         "//bark/models/tests:py_behavior_model_test",
         "//bark/geometry/tests:py_geometry_tests",
         "//bark/commons/tests:py_commons_tests",
         "//bark/benchmark/tests:py_benchmark_runner_tests",
-       # "//bark/benchmark/tests:py_benchmark_process_tests",
+        "//bark/benchmark/tests:py_benchmark_result_tests",
+        "//bark/benchmark/tests:py_benchmark_process_tests",
         "//bark/benchmark/tests:py_benchmark_analyzer_tests"
     ],
 )
@@ -55,10 +57,13 @@ py_test(
             "//bark/runtime/viewer:model_data",
             "//bark/runtime/tests:xodr_data",
             "//bark/runtime/tests:track_data",
+            "//bark/examples:scenarios",
+            "//bark/examples:params"
             ],
   deps = [":tests",
         "//bark/runtime/viewer:threaded_viewer",
         "//bark/runtime/viewer:panda3d_easy",
+        "//bark/runtime/tests:test_config_reader_module",
         "//bark/runtime/scenario/scenario_generation:scenario_generation",
         "//bark/runtime/scenario/scenario_generation/config_readers:config_readers",
         "//bark/runtime/scenario/interaction_dataset_processing:interaction_dataset_processing",
@@ -68,6 +73,8 @@ py_test(
         "//bark/models/behavior/plan:py_planners",
         "//bark/benchmark:benchmark_runner_mp",
         "//bark/benchmark:benchmark_runner",
+        "//bark/benchmark:benchmark_analyzer",
+        "//bark/benchmark:benchmark_result",
         "//bark/runtime:runtime",
         "//bark/runtime/viewer:video_renderer",
         "//bark/runtime/viewer:pygame_viewer",
@@ -76,8 +83,15 @@ py_test(
         "//bark/runtime/viewer:py_viewer",
         "//bark/runtime/scenario:scenario",
         "//bark/runtime/commons:commons",
-        "//bark/benchmark:benchmark_analyzer",
-       
+        "//bark/examples:paths",
+        "//bark/examples:highway",
+        "//bark/examples:highway_rss",
+        "//bark/examples:merging",
+        "//bark/examples:merging_rss",
+        "//bark/examples:intersection",
+        "//bark/examples:maude_interface",
+        "//bark/examples:maude",
+        "//bark/examples:interaction_dataset"
           ],
 
 )

examples/BUILD bark/examples/BUILDexamples/BUILD renamed to bark/examples/BUILD

@@ -27,7 +27,8 @@ py_test(
           "//bark/runtime/viewer:matplotlib_viewer",
           "//bark/runtime/viewer:panda3d_easy",
           "//bark/runtime/scenario/scenario_generation:scenario_generation",
-          "//bark/runtime:runtime"],
+          "//bark/runtime:runtime",
+          ":paths"],
 )
 
 py_test(
@@ -43,7 +44,8 @@ py_test(
           "//bark/runtime/viewer:matplotlib_viewer",
           "//bark/runtime/viewer:panda3d_easy",
           "//bark/runtime/scenario/scenario_generation:scenario_generation",
-          "//bark/runtime:runtime"],
+          "//bark/runtime:runtime",
+          ":paths"],
 )
 
 py_binary(
@@ -58,7 +60,8 @@ py_binary(
           "//bark/runtime/viewer:matplotlib_viewer",
           "//bark/runtime/viewer:panda3d_easy",
           "//bark/runtime/scenario/scenario_generation:scenario_generation",
-          "//bark/runtime:runtime"],
+          "//bark/runtime:runtime",
+          ":paths"],
 )
 
 filegroup(
@@ -89,8 +92,8 @@ py_binary(
         "//bark/runtime/scenario/interaction_dataset_processing:interaction_dataset_processing",
         "//bark/runtime/viewer:matplotlib_viewer",
         "//bark/runtime/viewer:video_renderer",
-        "//bark/runtime:runtime"
-    ],
+        "//bark/runtime:runtime",
+        ":paths"],
 )
 
 py_binary(
@@ -143,4 +146,9 @@ py_binary(
           '//bark/world/tests:params2'],
 
   deps = [':maude_interface'],
+)
+
+py_library(
+  name = "paths",
+  srcs = ["paths.py"],
 )

examples/benchmark_database.py bark/examples/benchmark_database.pyexamples/benchmark_database.py renamed to bark/examples/benchmark_database.py

@@ -19,7 +19,7 @@
   from bark.core.models.behavior import BehaviorUCTSingleAgent
   behavior_used = BehaviorUCTSingleAgent
 except:
-  print("BehaviorUCTSingleAgent not available, rerun example with `bazel run //examples:benchmark_database --define planner_uct=true")
+  print("BehaviorUCTSingleAgent not available, rerun example with `bazel run //bark/examples:benchmark_database --define planner_uct=true")
   exit()
 
 db = BenchmarkDatabase(database_root="external/benchmark_database_release")

examples/highway.py bark/examples/highway.pyexamples/highway.py renamed to bark/examples/highway.py

@@ -17,6 +17,7 @@
 from bark.runtime.runtime import Runtime
 from bark.runtime.viewer.panda3d_easy import Panda3dViewer
 from bark.core.models.behavior import *
+from bark.examples.paths import Data
 
 
 # parameters
@@ -58,9 +59,7 @@ def behavior_model(self, world):
 scenarios = \
   ConfigWithEase(
     num_scenarios=5,
-    map_file_name=os.path.join(
-      os.path.dirname(__file__),
-      "../bark/runtime/tests/data/city_highway_straight.xodr"),
+    map_file_name=Data.xodr_data("city_highway_straight"),
     random_seed=0,
     params=param_server,
     lane_corridor_configs=[left_lane, right_lane])

examples/highway_rss.py bark/examples/highway_rss.pyexamples/highway_rss.py renamed to bark/examples/highway_rss.py

@@ -16,6 +16,7 @@
     LaneCorridorConfig, ConfigWithEase
 from bark.runtime.runtime import Runtime
 from bark.runtime.viewer.panda3d_easy import Panda3dViewer
+from bark.examples.paths import Data
 from bark.core.models.behavior import *
 
 try:
@@ -25,8 +26,7 @@
         "This example requires building RSS, please run with \"bazel run //examples:highway_rss --define rss=true\"")
 
 # parameters
-param_server = ParameterServer(
-    filename="examples/params/highway_merge_configurable.json")
+param_server = ParameterServer(filename=Data.params_data("highway_merge_configurable"))
 param_server["BehaviorLaneChangeRuleBased"]["MinVehicleRearDistance"] = 4.
 param_server["BehaviorLaneChangeRuleBased"]["MinVehicleFrontDistance"] = 2.
 param_server["BehaviorLaneChangeRuleBased"]["TimeKeepingGap"] = 0.
@@ -65,13 +65,12 @@ def behavior_model(self, world):
                                        lane_corridor_id=1,
                                        controlled_ids=True)
 
-map_path = "bark/runtime/tests/data/city_highway_straight.xodr"
 
 # create 5 scenarios
 scenarios = \
     ConfigWithEase(
         num_scenarios=5,
-        map_file_name=map_path,
+        map_file_name=Data.xodr_data("city_highway_straight"),
         random_seed=0,
         params=param_server,
         lane_corridor_configs=[left_lane, right_lane])

examples/interaction_dataset.py bark/examples/interaction_dataset.pyexamples/interaction_dataset.py renamed to bark/examples/interaction_dataset.py

@@ -11,12 +11,13 @@
 from bark.runtime.commons.parameters import ParameterServer
 from bark.runtime.viewer.matplotlib_viewer import MPViewer
 from bark.runtime.viewer.video_renderer import VideoRenderer
+from bark.examples.paths import Data
 import os
 import argparse
 
 
 # set you json config that contains a map and matching tracks.
-param_server = ParameterServer(filename=os.path.join(os.path.join(os.path.dirname(__file__),"params/interaction_example.json")))
+param_server = ParameterServer(filename=Data.params_data("interaction_example"))
 scenario_generation = InteractionDatasetScenarioGeneration(num_scenarios=1,
                                                            random_seed=0,
                                                            params=param_server)

examples/intersection.py bark/examples/intersection.pyexamples/intersection.py renamed to bark/examples/intersection.py

@@ -18,6 +18,7 @@
 from bark.core.geometry.standard_shapes import CarLimousine
 from bark.core.models.behavior import *
 from bark.runtime.runtime import Runtime
+from bark.examples.paths import Data
 
 
 # Parameters Definitions
@@ -68,8 +69,7 @@
 
 scenarios = \
   ConfigWithEase(num_scenarios=3,
-                 map_file_name= os.path.join(os.path.dirname(__file__),
-                 "../bark/runtime/tests/data/threeway_intersection.xodr"),
+                 map_file_name=Data.xodr_data("threeway_intersection"),
                  random_seed=0,
                  params=param_server,
                  lane_corridor_configs=lane_corridors)