test_duration

.github/workflows/tools_tests.yaml

@@ -76,7 +76,7 @@ jobs:
         ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
                         source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py --time_done=90 -W ignore::pyopencl.CompilerWarning"
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py --test_duration=90 -W ignore::pyopencl.CompilerWarning"
 
   devcontainer:
     name: devcontainer

tools/sim/bridge/metadrive/metadrive_bridge.py

@@ -50,10 +50,10 @@ def create_map(track_size=60):
 class MetaDriveBridge(SimulatorBridge):
   TICKS_PER_FRAME = 5
 
-  def __init__(self, dual_camera, high_quality, time_done=math.inf, test_run=False):
+  def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=False):
     self.should_render = False
     self.test_run = test_run
-    self.time_done = time_done if self.test_run else math.inf
+    self.test_duration = test_duration if self.test_run else math.inf
 
     super().__init__(dual_camera, high_quality)
 
@@ -87,4 +87,4 @@ def spawn_world(self, queue: Queue):
       preload_models=False
     )
 
-    return MetaDriveWorld(queue, config, self.time_done, self.test_run, self.dual_camera)
+    return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera)

tools/sim/bridge/metadrive/metadrive_process.py

@@ -50,7 +50,7 @@ def arrive_destination_patch(self, *args, **kwargs):
 
 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, start_time, time_done, test_run):
+                      exit_event, start_time, test_duration, test_run):
   arrive_dest_done = config.pop("arrive_dest_done", True)
   apply_metadrive_patches(arrive_dest_done)
 
@@ -113,16 +113,16 @@ def get_cam_as_rgb(cam):
 
     if rk.frame % 5 == 0:
       _, _, terminated, _, _ = env.step(vc)
-      time_out = True if time.monotonic() - start_time >= time_done else False
+      timeout = True if time.monotonic() - start_time >= test_duration else False
       out_of_lane = env.vehicle.on_broken_line or env.vehicle.on_yellow_continuous_line or env.vehicle.on_white_continuous_line or env.vehicle.crash_sidewalk
 
-      if terminated or ((out_of_lane or time_out) and test_run):
+      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 time_out:
-          done_result = (True, {"time_done" : True})
+        elif timeout:
+          done_result = (True, {"timeout" : True})
 
         simulation_state = metadrive_simulation_state(
           running=False,

tools/sim/bridge/metadrive/metadrive_world.py

@@ -14,7 +14,7 @@
 
 
 class MetaDriveWorld(World):
-  def __init__(self, status_q, config, time_done, test_run, 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)
@@ -35,7 +35,7 @@ def __init__(self, status_q, config, time_done, test_run, dual_camera=False):
                               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, start_time, time_done, test_run))
+                                                self.vehicle_state_send, self.exit_event, start_time, test_duration, test_run))
 
     self.metadrive_process.start()
     self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting"))

tools/sim/tests/conftest.py

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

tools/sim/tests/test_metadrive_bridge.py

@@ -11,8 +11,8 @@
 @pytest.mark.slow
 class TestMetaDriveBridge(TestSimBridgeBase):
   @pytest.fixture(autouse=True)
-  def setup_class(self, time_done):
-    self.time_done = time_done
+  def setup_class(self, test_duration):
+    self.test_duration = test_duration
 
   def create_bridge(self):
-    return MetaDriveBridge(False, False, self.time_done, True)
+    return MetaDriveBridge(False, False, self.test_duration, True)

tools/sim/tests/test_sim_bridge.py

@@ -79,7 +79,7 @@ def test_driving(self):
       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 != "time_done" and done_info[done_state]]
+        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}"