Fix example (#657)

* fix test

* add test for examples

* CUDA

* fix one test

* fixed let's roll

* make them executable

* add usr/bin/env/python

* fix test

metadrive/component/sensors/base_camera.py

@@ -114,7 +114,9 @@ def track(self, new_parent_node: NodePath, position, hpr):
         self.cam.setPos(*position)
         self.cam.setHpr(*hpr)
 
-    def perceive(self, clip=True, new_parent_node: Union[NodePath, None] = None, position=None, hpr=None) -> np.ndarray:
+    def perceive(
+        self, to_float=True, new_parent_node: Union[NodePath, None] = None, position=None, hpr=None
+    ) -> np.ndarray:
         """
         When clip is set to False, the image will be represented by unit8 with component value ranging from [0-255].
         Otherwise, it will be float type with component value ranging from [0.-1.]. By default, the reset parameters are
@@ -163,7 +165,7 @@ def perceive(self, clip=True, new_parent_node: Union[NodePath, None] = None, pos
             self.cam.setHpr(original_hpr)
             self.cam.setPos(original_position)
 
-        if not clip:
+        if not to_float:
             return ret.astype(np.uint8, copy=False, order="C")
         else:
             return ret / 255

metadrive/engine/core/main_camera.py

@@ -447,7 +447,9 @@ def set_mouse_to_center(self):
     def mouse_into_window(self):
         return True if not self._last_frame_has_mouse and self.has_mouse else False
 
-    def perceive(self, clip=True, new_parent_node: Union[NodePath, None] = None, position=None, hpr=None) -> np.ndarray:
+    def perceive(
+        self, to_float=True, new_parent_node: Union[NodePath, None] = None, position=None, hpr=None
+    ) -> np.ndarray:
         """
         When clip is set to False, the image will be represented by unit8 with component value ranging from [0-255].
         Otherwise, it will be float type with component value ranging from [0.-1.]. By default, the reset parameters are
@@ -503,7 +505,7 @@ def perceive(self, clip=True, new_parent_node: Union[NodePath, None] = None, pos
             self.camera.setHpr(original_hpr)
             self.camera.setPos(original_position)
 
-        if not clip:
+        if not to_float:
             return img.astype(np.uint8, copy=False, order="C")
         else:
             return img / 255

metadrive/examples/custom_inramp_env.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 """
 This script defines a custom environment with single block: inramp.
 """

metadrive/examples/draw_maps.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 import random
 
 import matplotlib.pyplot as plt

metadrive/examples/drive_in_multi_agent_env.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 """
 This script demonstrates how to setup the Multi-agent RL environments.
 

metadrive/examples/drive_in_real_env.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 """
 This script demonstrates how to use the environment where traffic and road map are loaded from Waymo dataset.
 """

metadrive/examples/drive_in_safe_metadrive_env.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 """
 This script demonstrates how to setup the Safe RL environments.
 

metadrive/examples/drive_in_single_agent_env.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 """
 Please feel free to run this script to enjoy a journey by keyboard!
 Remember to press H to see help message!

metadrive/examples/generate_video_for_bev_and_interface.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 """
 This file will run environment for one episode and generate two videos:
 
@@ -30,6 +31,7 @@
 
     env = MetaDriveEnv(
         dict(
+            show_terrain="METADRIVE_TEST_EXAMPLE" not in os.environ,
             num_scenarios=num_scenarios,
             start_seed=start_seed,
             random_traffic=False,
@@ -52,18 +54,18 @@
     while True:
         o, r, tm, tc, info = env.step(env.action_space.sample())
 
-        img_interface = env.render(mode="rgb_array")
+        img_interface = env.main_camera.perceive(to_float=False)
+        # BGR to RGB
+        img_interface = img_interface[..., ::-1]
         img_bev = env.render(
             mode="topdown",
             target_vehicle_heading_up=False,
             draw_target_vehicle_trajectory=True,
             film_size=(3000, 3000),
-            screen_size=(3000, 3000),
-            crash_vehicle_done=False,
+            screen_size=(800, 800),
         )
 
         if generate_video:
-            img_bev = pygame.surfarray.array3d(img_bev)
             img_bev = img_bev.swapaxes(0, 1)
             video_bev.append(img_bev)
             video_interface.append(img_interface)

metadrive/examples/procedural_generation.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 from metadrive.tests.vis_block.vis_big import vis_big
 
 from metadrive.utils import setup_logger

metadrive/examples/profile_metadrive.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 import argparse
 import time
 

metadrive/examples/profile_metadrive_marl.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 import argparse
 import logging
 import time

metadrive/examples/top_down_metadrive.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 """
 This file illustrate how to use top-down renderer to provide observation in form of multiple channels of semantic maps.
 

metadrive/examples/verify_headless_installation.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 from panda3d.core import loadPrcFileData
 from metadrive.tests.test_installation import verify_installation
 import argparse

metadrive/examples/verify_image_observation.py

@@ -1,13 +1,20 @@
+#!/usr/bin/env python
 import argparse
 import time
 
+torch_available = True
 import cv2
-import torch
-from torch.utils.dlpack import from_dlpack
+try:
+    import torch
+    from torch.utils.dlpack import from_dlpack
+except ImportError:
+    torch_available = False
+    print("Can not find torch")
 from metadrive.component.sensors.depth_camera import DepthCamera
 from metadrive.component.sensors.semantic_camera import SemanticCamera
 from metadrive.component.sensors.rgb_camera import RGBCamera
 from metadrive import MetaDriveEnv
+import os
 from metadrive.policy.idm_policy import IDMPolicy
 
 
@@ -30,6 +37,7 @@ def _test_rgb_camera_as_obs(render=False, image_on_cuda=True, debug=False, camer
 
     env = MetaDriveEnv(
         dict(
+            show_terrain="METADRIVE_TEST_EXAMPLE" not in os.environ,
             num_scenarios=1,
             start_seed=1010,
             agent_policy=IDMPolicy,
@@ -67,7 +75,7 @@ def _test_rgb_camera_as_obs(render=False, image_on_cuda=True, debug=False, camer
             start = time.time()
         if image_on_cuda:
             torch_tensor = from_dlpack(o["image"].toDlpack())
-        else:
+        elif torch_available:
             torch_tensor = torch.Tensor(o["image"])
 
         if debug:
@@ -92,6 +100,8 @@ def _test_rgb_camera_as_obs(render=False, image_on_cuda=True, debug=False, camer
     parser.add_argument("--debug", action="store_true")
     parser.add_argument("--camera", default="main", choices=["main", "rgb", "depth", "semantic"])
     args = parser.parse_args()
+    if args.cuda:
+        assert torch_available, "You have to install torch to use CUDA"
     _test_rgb_camera_as_obs(args.render, image_on_cuda=args.cuda, debug=args.debug, camera=args.camera)
     print(
         "Test Successful !! The FPS should go beyond 400 FPS, if you are using CUDA in offscreen mode "

metadrive/tests/test_examples/test_examples.py

@@ -1,21 +1,34 @@
+#!/usr/bin/env python
+
 import os.path
 import subprocess
 from metadrive import MetaDrive_PACKAGE_DIR
 import time
 import pytest
+import os
+
+os.environ['CUDA_VISIBLE_DEVICES'] = ""
+os.environ["METADRIVE_TEST_EXAMPLE"] = "1"
 
 examples = [
-    "draw_maps.py", "drive_in_multi_agent_env.py --top_down", "drive_in_real_env.py --top_down",
-    "drive_in_real_env.py --top_down --waymo", "drive_in_real_env.py --reactive_traffic",
-    "drive_in_safe_metadrive_env.py", "drive_in_single_agent_env.py", "procedural_generation.py",
-    "profile_metadrive.py", "profile_metadrive_marl.py", "top_down_metadrive.py",
+    "draw_maps.py", ["drive_in_multi_agent_env.py", "--top_down"], ["drive_in_real_env.py", "--top_down"],
+    ["drive_in_real_env.py", "--top_down",
+     "--waymo"], ["drive_in_real_env.py",
+                  "--reactive_traffic"], "drive_in_safe_metadrive_env.py", "drive_in_single_agent_env.py",
+    "procedural_generation.py", "profile_metadrive.py", "profile_metadrive_marl.py", "top_down_metadrive.py",
     "generate_video_for_bev_and_interface.py", "verify_headless_installation.py", "verify_image_observation.py"
 ]
 examples_dir_path = os.path.join(MetaDrive_PACKAGE_DIR, "examples")
-scripts = [os.path.join(examples_dir_path, exp) for exp in examples]
+scripts = []
+for exp in examples:
+    if isinstance(exp, list):
+        exp[0] = os.path.join(examples_dir_path, exp[0])
+        scripts.append(exp)
+    elif isinstance(exp, str):
+        scripts.append(os.path.join(examples_dir_path, exp))
 
 
-@pytest.mark.parametrize("script", scripts, ids=examples)
+@pytest.mark.parametrize("script", scripts, ids=[i for i, _ in enumerate(examples)])
 def test_script(script, timeout=60):
     """
     Run script in a subprocess and check its running time.
@@ -26,17 +39,26 @@ def test_script(script, timeout=60):
     Returns: None
 
     """
-    start_time = time.time()
-
     # Run your script using subprocess
-    process = subprocess.Popen(['python', script])
+    process = subprocess.Popen(['python'] + script if isinstance(script, list) else [script])
 
     # Wait for the script to finish or timeout after 60 seconds
+    killed = False
     try:
         process.wait(timeout=timeout)
     except subprocess.TimeoutExpired:
         # If the script is still running after 60 seconds, terminate it and pass the test
         process.kill()
+        killed = True
     finally:
-        runtime = time.time() - start_time
-        assert runtime >= 0, "Script terminated unexpectedly"
+        if killed:
+            return
+            # Check if the process was terminated by a signal
+        if process.returncode < 0:
+            raise ValueError(f"Process terminated by signal {-process.returncode}.")
+        elif process.returncode > 0:
+            raise ValueError(f"Process exited with error code {process.returncode}.")
+
+
+if __name__ == '__main__':
+    test_script(scripts[0])

metadrive/tests/test_installation.py

@@ -11,18 +11,24 @@
 
 
 def capture_headless_image(cuda, image_source="main_camera"):
+    if image_source == "main_camera":
+        sensors = {"main_camera": ()}
+    elif image_source == "rgb_camera":
+        sensors = {"rgb_camera": (RGBCamera, 256, 256)}
+    elif image_source == "depth_camera":
+        sensors = {"depth_camera": (DepthCamera, 256, 256)}
+    else:
+        sensors = {}
     env = MetaDriveEnv(
         dict(
             use_render=False,
+            show_terrain="METADRIVE_TEST_EXAMPLE" not in os.environ,
             start_seed=666,
             image_on_cuda=cuda,
             traffic_density=0.1,
             image_observation=True,
             window_size=(600, 400),
-            sensors={
-                "rgb_camera": (RGBCamera, 256, 256),
-                "depth_camera": (DepthCamera, 256, 256)
-            },
+            sensors=sensors,
             interface_panel=[],
             vehicle_config={
                 "image_source": image_source,