CI: Drive a loop in MetaDrive (#32308)

* finish failure on crossing any line

* update

* standardize queue messages

* update control_command_gen

* fix

* fix logic

* update closing type

* update test

* update logic

* update test

* add out of lane to local

* ci arrive_dest

* pytest integration

* update ci_config

* fix ruff

* move test termination to time

* better

* better order

* curve_len

* add buffer

* cleanup

* cleanup

* cleanup

* cleanup

* out_of_lane

* cleanup

* merge tests

* run 90s

* change test name

* local out of lane detect

* out_of_lane

* static anal

* cleanup

* test_duration

* change setup_class -> setup_create_bridge

* no print state during test

* new out_of_lane detect

* cleanup print in common.py

* fix

* fix

* check distance vs time

* cleanup

* cleanup increase check time

* minimum bridge test time

* wording

* cleanup

tools/sim/bridge/common.py

@@ -60,6 +60,8 @@ class SimulatorBridge(ABC):
     self.past_startup_engaged = False
     self.startup_button_prev = True
 
+    self.test_run = False
+
   def _on_shutdown(self, signal, frame):
     self.shutdown()
 
@@ -193,7 +195,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
         self.world.tick()
         self.world.read_cameras()
 
-      if self.rk.frame % 25 == 0:
+      # don't print during test, so no print/IO Block between OP and metadrive processes
+      if not self.test_run and self.rk.frame % 25 == 0:
         self.print_status()
 
       self.started.value = True

tools/sim/bridge/metadrive/metadrive_bridge.py

@@ -1,3 +1,4 @@
+import math
 from multiprocessing import Queue
 
 from metadrive.component.sensors.base_camera import _cuda_enable
@@ -27,20 +28,21 @@ def curve_block(length, angle=45, direction=0):
   }
 
 def create_map(track_size=60):
+  curve_len = track_size * 2
   return dict(
     type=MapGenerateMethod.PG_MAP_FILE,
     lane_num=2,
-    lane_width=3.5,
+    lane_width=4.5,
     config=[
       None,
       straight_block(track_size),
-      curve_block(track_size*2, 90),
+      curve_block(curve_len, 90),
       straight_block(track_size),
-      curve_block(track_size*2, 90),
+      curve_block(curve_len, 90),
       straight_block(track_size),
-      curve_block(track_size*2, 90),
+      curve_block(curve_len, 90),
       straight_block(track_size),
-      curve_block(track_size*2, 90),
+      curve_block(curve_len, 90),
     ]
   )
 
@@ -48,11 +50,13 @@ def create_map(track_size=60):
 class MetaDriveBridge(SimulatorBridge):
   TICKS_PER_FRAME = 5
 
-  def __init__(self, dual_camera, high_quality):
+  def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=False):
-    self.should_render = False
-
     super().__init__(dual_camera, high_quality)
 
+    self.should_render = False
+    self.test_run = test_run
+    self.test_duration = test_duration if self.test_run else math.inf
+
   def spawn_world(self, queue: Queue):
     sensors = {
       "rgb_road": (RGBCameraRoad, W, H, )
@@ -83,4 +87,4 @@ class MetaDriveBridge(SimulatorBridge):
       preload_models=False
     )
 
-    return MetaDriveWorld(queue, config, self.dual_camera)
+    return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera)

tools/sim/bridge/metadrive/metadrive_process.py

@@ -1,4 +1,5 @@
 import math
+import time
 import numpy as np
 
 from collections import namedtuple
@@ -49,7 +50,7 @@ def apply_metadrive_patches(arrive_dest_done=True):
 
 def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock,
                       controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection,
-                      exit_event):
+                      exit_event, start_time, test_duration, test_run):
   arrive_dest_done = config.pop("arrive_dest_done", True)
   apply_metadrive_patches(arrive_dest_done)
 
@@ -60,9 +61,15 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
 
   env = MetaDriveEnv(config)
 
+  def get_current_lane_info(vehicle):
+    _, lane_info, on_lane = vehicle.navigation._get_current_lane(vehicle)
+    lane_idx = lane_info[2] if lane_info is not None else None
+    return lane_idx, on_lane
+
   def reset():
     env.reset()
     env.vehicle.config["max_speed_km_h"] = 1000
+    lane_idx_prev, _ = get_current_lane_info(env.vehicle)
 
     simulation_state = metadrive_simulation_state(
       running=True,
@@ -71,7 +78,9 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
     )
     simulation_state_send.send(simulation_state)
 
-  reset()
+    return lane_idx_prev
+
+  lane_idx_prev = reset()
 
   def get_cam_as_rgb(cam):
     cam = env.engine.sensors[cam]
@@ -108,13 +117,23 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
       vc = [steer_metadrive, gas]
 
       if should_reset:
-        reset()
+        lane_idx_prev = reset()
 
     if rk.frame % 5 == 0:
-      obs, _, terminated, _, info = env.step(vc)
+      _, _, terminated, _, _ = env.step(vc)
+      timeout = True if time.monotonic() - start_time >= test_duration else False
+      lane_idx_curr, on_lane = get_current_lane_info(env.vehicle)
+      out_of_lane = lane_idx_curr != lane_idx_prev or not on_lane
+      lane_idx_prev = lane_idx_curr
+
+      if terminated or ((out_of_lane or timeout) and test_run):
+        if terminated:
+          done_result = env.done_function("default_agent")
+        elif out_of_lane:
+          done_result = (True, {"out_of_lane" : True})
+        elif timeout:
+          done_result = (True, {"timeout" : True})
 
-      if terminated:
-        done_result = env.done_function("default_agent")
         simulation_state = metadrive_simulation_state(
           running=False,
           done=done_result[0],

tools/sim/bridge/metadrive/metadrive_world.py

@@ -14,7 +14,7 @@ from openpilot.tools.sim.lib.camerad import W, H
 
 
 class MetaDriveWorld(World):
-  def __init__(self, status_q, config, dual_camera = False):
+  def __init__(self, status_q, config, test_duration, test_run, dual_camera=False):
     super().__init__(dual_camera)
     self.status_q = status_q
     self.camera_array = Array(ctypes.c_uint8, W*H*3)
@@ -30,11 +30,18 @@ class MetaDriveWorld(World):
 
     self.exit_event = multiprocessing.Event()
 
+    self.test_run = test_run
+
+    self.start_time = time.monotonic()
+    self.first_engage = None
+    self.last_check_timestamp = 0
+    self.distance_moved = 0
+
     self.metadrive_process = multiprocessing.Process(name="metadrive process", target=
                               functools.partial(metadrive_process, dual_camera, config,
                                                 self.camera_array, self.wide_camera_array, self.image_lock,
                                                 self.controls_recv, self.simulation_state_send,
-                                                self.vehicle_state_send, self.exit_event))
+                                                self.vehicle_state_send, self.exit_event, self.start_time, test_duration, self.test_run))
 
     self.metadrive_process.start()
     self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting"))
@@ -43,7 +50,7 @@ class MetaDriveWorld(World):
     print("---- Spawning Metadrive world, this might take awhile ----")
     print("----------------------------------------------------------")
 
-    self.vehicle_state_recv.recv() # wait for a state message to ensure metadrive is launched
+    self.vehicle_last_pos = self.vehicle_state_recv.recv().position # wait for a state message to ensure metadrive is launched
     self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "started"))
 
     self.steer_ratio = 15
@@ -76,12 +83,38 @@ class MetaDriveWorld(World):
   def read_sensors(self, state: SimulatorState):
     while self.vehicle_state_recv.poll(0):
       md_vehicle: metadrive_vehicle_state = self.vehicle_state_recv.recv()
+      curr_pos = md_vehicle.position
+
       state.velocity = md_vehicle.velocity
       state.bearing = md_vehicle.bearing
       state.steering_angle = md_vehicle.steering_angle
-      state.gps.from_xy(md_vehicle.position)
+      state.gps.from_xy(curr_pos)
       state.valid = True
 
+      is_engaged = state.is_engaged
+      if is_engaged and self.first_engage is None:
+        self.first_engage = time.monotonic()
+      # check moving 5 seconds after engaged, doesn't move right away
+      after_engaged_check = is_engaged and time.monotonic() - self.first_engage >= 5 and self.test_run
+
+      x_dist = abs(curr_pos[0] - self.vehicle_last_pos[0])
+      y_dist = abs(curr_pos[1] - self.vehicle_last_pos[1])
+      dist_threshold = 1
+      if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving
+        self.distance_moved += x_dist + y_dist
+
+      time_check_threshold = 30
+      current_time = time.monotonic()
+      since_last_check = current_time - self.last_check_timestamp
+      if since_last_check >= time_check_threshold:
+        if after_engaged_check and self.distance_moved == 0:
+          self.status_q.put(QueueMessage(QueueMessageType.TERMINATION_INFO, {"vehicle_not_moving" : True}))
+          self.exit_event.set()
+
+        self.last_check_timestamp = current_time
+        self.distance_moved = 0
+        self.vehicle_last_pos = curr_pos
+
   def read_cameras(self):
     pass
 

tools/sim/scenarios/metadrive/stay_in_lane.py

@@ -1,92 +0,0 @@
-#!/usr/bin/env python
-
-from multiprocessing import Queue
-
-from metadrive.component.sensors.base_camera import _cuda_enable
-from metadrive.component.map.pg_map import MapGenerateMethod
-
-from openpilot.tools.sim.bridge.common import SimulatorBridge
-from openpilot.tools.sim.bridge.metadrive.metadrive_common import RGBCameraRoad, RGBCameraWide
-from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
-from openpilot.tools.sim.lib.camerad import W, H
-
-
-def create_map():
-  return dict(
-    type=MapGenerateMethod.PG_MAP_FILE,
-    lane_num=2,
-    lane_width=3.5,
-    config=[
-      {
-        "id": "S",
-        "pre_block_socket_index": 0,
-        "length": 60,
-      },
-      {
-        "id": "C",
-        "pre_block_socket_index": 0,
-        "length": 60,
-        "radius": 600,
-        "angle": 45,
-        "dir": 0,
-      },
-    ]
-  )
-
-
-class MetaDriveBridge(SimulatorBridge):
-  TICKS_PER_FRAME = 5
-
-  def __init__(self, world_status_q, dual_camera, high_quality):
-    self.world_status_q = world_status_q
-    self.should_render = False
-
-    super().__init__(dual_camera, high_quality)
-
-  def spawn_world(self):
-    sensors = {
-      "rgb_road": (RGBCameraRoad, W, H, )
-    }
-
-    if self.dual_camera:
-      sensors["rgb_wide"] = (RGBCameraWide, W, H)
-
-    config = dict(
-      use_render=self.should_render,
-      vehicle_config=dict(
-        enable_reverse=False,
-        image_source="rgb_road",
-      ),
-      sensors=sensors,
-      image_on_cuda=_cuda_enable,
-      image_observation=True,
-      interface_panel=[],
-      out_of_route_done=True,
-      on_continuous_line_done=True,
-      crash_vehicle_done=True,
-      crash_object_done=True,
-      arrive_dest_done=True,
-      traffic_density=0.0,
-      map_config=create_map(),
-      map_region_size=2048,
-      decision_repeat=1,
-      physics_world_step_size=self.TICKS_PER_FRAME/100,
-      preload_models=False
-    )
-
-    return MetaDriveWorld(world_status_q, config, self.dual_camera)
-
-
-if __name__ == "__main__":
-  command_queue: Queue = Queue()
-  world_status_q: Queue = Queue()
-  simulator_bridge = MetaDriveBridge(world_status_q, True, False)
-  simulator_process = simulator_bridge.run(command_queue)
-
-  while True:
-    world_status = world_status_q.get()
-    print(f"World Status: {str(world_status)}")
-    if world_status["status"] == "terminating":
-      break
-
-  simulator_process.join()

tools/sim/tests/conftest.py

@@ -0,0 +1,8 @@
+import pytest
+
+def pytest_addoption(parser):
+  parser.addoption("--test_duration", action="store", default=60, type=int, help="Seconds to run metadrive drive")
+
+@pytest.fixture
+def test_duration(request):
+  return request.config.getoption("--test_duration")

tools/sim/tests/test_metadrive_bridge.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import pytest
 import warnings
+
 # Since metadrive depends on pkg_resources, and pkg_resources is deprecated as an API
 warnings.filterwarnings("ignore", category=DeprecationWarning)
 
@@ -10,5 +11,12 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 @pytest.mark.slow
 @pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log
 class TestMetaDriveBridge(TestSimBridgeBase):
+  @pytest.fixture(autouse=True)
+  def setup_create_bridge(self, test_duration):
+    # run bridge test for at least 60s, since not-moving check runs every 30s
+    if test_duration < 60:
+      test_duration = 60
+    self.test_duration = test_duration
+
   def create_bridge(self):
-    return MetaDriveBridge(False, False)
+    return MetaDriveBridge(False, False, self.test_duration, True)

tools/sim/tests/test_sim_bridge.py

@@ -7,6 +7,7 @@ from multiprocessing import Queue
 
 from cereal import messaging
 from openpilot.common.basedir import BASEDIR
+from openpilot.tools.sim.bridge.common import QueueMessageType
 
 SIM_DIR = os.path.join(BASEDIR, "tools/sim")
 
@@ -19,7 +20,7 @@ class TestSimBridgeBase:
   def setup_method(self):
     self.processes = []
 
-  def test_engage(self):
+  def test_driving(self):
     # Startup manager and bridge.py. Check processes are running, then engage and verify.
     p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
     self.processes.append(p_manager)
@@ -70,6 +71,18 @@ class TestSimBridgeBase:
 
     assert min_counts_control_active == control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}"
 
+    failure_states = []
+    while bridge.started.value:
+      continue
+
+    while not q.empty():
+      state = q.get()
+      if state.type == QueueMessageType.TERMINATION_INFO:
+        done_info = state.info
+        failure_states = [done_state for done_state in done_info if done_state != "timeout" and done_info[done_state]]
+        break
+    assert len(failure_states) == 0, f"Simulator fails to finish a loop. Failure states: {failure_states}"
+
   def teardown_method(self):
     print("Test shutting down. CommIssues are acceptable")
     for p in reversed(self.processes):