Revert "ci: faster metadrive test (#33755)"

This reverts commit d7c0906.

.github/workflows/tools_tests.yaml

@@ -27,9 +27,7 @@ env:
 jobs:
  simulator_driving:
  name: simulator driving
- runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
- ((github.event_name != 'pull_request') ||
- (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+ runs-on: ubuntu-latest
  timeout-minutes: 20
  steps:
  - uses: actions/checkout@v4

tools/sim/bridge/metadrive/metadrive_bridge.py

@@ -50,13 +50,12 @@ def create_map(track_size=60):
 class MetaDriveBridge(SimulatorBridge):
  TICKS_PER_FRAME = 5
 
- def __init__(self, dual_camera, high_quality, test_duration=math.inf, minimal_distance=0, test_run=False):
+ def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=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
- self.minimal_distance = minimal_distance if self.test_run else 0
 
  def spawn_world(self, queue: Queue):
  sensors = {
@@ -91,4 +90,4 @@ def spawn_world(self, queue: Queue):
  anisotropic_filtering=False
  )
 
- return MetaDriveWorld(queue, config, self.test_duration, self.minimal_distance, 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

@@ -19,7 +19,6 @@
 C3_POSITION = Vec3(0.0, 0, 1.22)
 C3_HPR = Vec3(0, 0,0)
 
-VEHICLE_STARTING_POS = [110, 4.5]
 
 metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"])
 metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"])
@@ -51,7 +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, op_engaged, test_duration, minimal_distance, test_run):
+ exit_event, op_engaged, test_duration, test_run):
  arrive_dest_done = config.pop("arrive_dest_done", True)
  apply_metadrive_patches(arrive_dest_done)
 
@@ -71,7 +70,6 @@ def reset():
  env.reset()
  env.vehicle.config["max_speed_km_h"] = 1000
  lane_idx_prev, _ = get_current_lane_info(env.vehicle)
- env.vehicle.set_position(VEHICLE_STARTING_POS)
 
  simulation_state = metadrive_simulation_state(
  running=True,
@@ -100,9 +98,6 @@ def get_cam_as_rgb(cam):
  steer_ratio = 8
  vc = [0,0]
 
- total_distance = 0
- prev_x_pos = VEHICLE_STARTING_POS[0]
-
  while not exit_event.is_set():
  vehicle_state = metadrive_vehicle_state(
  velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0),
@@ -112,9 +107,6 @@ def get_cam_as_rgb(cam):
  )
  vehicle_state_send.send(vehicle_state)
 
- total_distance += abs(env.vehicle.position[0] - prev_x_pos)
- prev_x_pos = env.vehicle.position[0]
-
  if controls_recv.poll(0):
  while controls_recv.poll(0):
  steer_angle, gas, should_reset = controls_recv.recv()
@@ -145,10 +137,7 @@ def get_cam_as_rgb(cam):
  elif out_of_lane:
  done_result = (True, {"out_of_lane" : True})
  elif timeout:
- if total_distance < minimal_distance:
- done_result = (True, {"minimal_distance" : True})
- else:
- done_result = (True, {"timeout" : True})
+ 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, test_duration, minimal_distance, 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)
@@ -41,7 +41,7 @@ def __init__(self, status_q, config, test_duration, minimal_distance, test_run,
  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.op_engaged, test_duration, minimal_distance, self.test_run))
+ self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, self.test_run))
 
  self.metadrive_process.start()
  self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting"))
@@ -105,7 +105,7 @@ def read_sensors(self, state: SimulatorState):
  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 = 7.5
+ time_check_threshold = 30
  current_time = time.monotonic()
  since_last_check = current_time - self.last_check_timestamp
  if since_last_check >= time_check_threshold:

tools/sim/tests/test_metadrive_bridge.py

@@ -11,9 +11,11 @@
 @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):
- self.test_duration = 15
- self.minimal_distance = 10
+ 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, self.test_duration, self.minimal_distance, True)
+ return MetaDriveBridge(False, False, self.test_duration, True)