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Simulator: Fix CI and set low_quality default (#24354)

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* Change low_quality argument and fix closing carla bridge

* Some fixes

* Change carla process in test

* Change fov to 120, higher doesn't look good

* Update readme and remove redundant test

* update

* Add folder description
old-commit-hash: ee433dfa57a60364423a222a7f18dc137b77f532
This commit is contained in:
Gijs Koning
2022-04-29 07:15:05 -07:00
committed by GitHub
parent effe065577
commit d0fc9afa48
5 changed files with 100 additions and 84 deletions
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tools/sim/test/test_carla_integration.py
+11 -17
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@@ -15,27 +15,18 @@ class TestCarlaIntegration(unittest.TestCase):
Tests need Carla simulator to run
"""
processes = None
carla_process = None
def setUp(self):
self.processes = []
# We want to make sure that carla_sim docker is still running. Skip output shell
# We want to make sure that carla_sim docker isn't still running.
subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
self.processes.append(subprocess.Popen(".././start_carla.sh"))
self.carla_process = subprocess.Popen(".././start_carla.sh")
# Too many lagging messages in bridge.py can cause a crash. This prevents it.
unblock_stdout()
def test_run_bridge(self):
# Test bridge connect with carla and runs without any errors for 60 seconds
test_duration = 60
carla_bridge = CarlaBridge(bridge.parse_args(['--low_quality']))
p = carla_bridge.run(Queue(), retries=3)
self.processes = [p]
time.sleep(test_duration)
self.assertEqual(p.exitcode, None, f"Bridge process should be running, but exited with code {p.exitcode}")
# Wait 10 seconds to startup carla
time.sleep(10)
def test_engage(self):
# Startup manager and bridge.py. Check processes are running, then engage and verify.
@@ -44,7 +35,7 @@ class TestCarlaIntegration(unittest.TestCase):
sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState'])
q = Queue()
carla_bridge = CarlaBridge(bridge.parse_args(['--low_quality']))
carla_bridge = CarlaBridge(bridge.parse_args([]))
p_bridge = carla_bridge.run(q, retries=3)
self.processes.append(p_bridge)
@@ -70,7 +61,7 @@ class TestCarlaIntegration(unittest.TestCase):
no_car_events_issues_once = True
break
self.assertTrue(no_car_events_issues_once, f"Failed because sm offline, or CarEvents '{car_event_issues}' or processes not running '{not_running}'")
self.assertTrue(no_car_events_issues_once, f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'")
start_time = time.monotonic()
min_counts_control_active = 100
@@ -99,8 +90,11 @@ class TestCarlaIntegration(unittest.TestCase):
p.wait(15)
else:
p.join(15)
subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
# Stop carla simulator by removing docker container
subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
if self.carla_process is not None:
self.carla_process.wait()
if __name__ == "__main__":