update 0.5.0

.dockerignore

@@ -64,4 +64,4 @@
 !smarts/sstudio/tests/*.rou.xml
 
 # Keep model assets
-!**/models/*.glb
+!**/models/*.glb

.github/workflows/ci-auto-commit-linux.yml

@@ -0,0 +1,61 @@
+name: SMARTS CI Auto Commit Linux
+
+on:
+  push:
+    branches:
+      - develop
+  pull_request:
+    branches:
+      - develop
+
+env:
+  venv_dir: .venv
+
+jobs:
+  auto-commit-linux:
+    runs-on: ubuntu-18.04
+    if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
+    container: huaweinoah/smarts:v0.4.18-minimal
+    steps:
+      - name: Install packages
+        run: |
+          add-apt-repository -y ppa:git-core/ppa
+          apt-get update
+          apt-get install -y git curl ca-certificates
+          curl -sL https://deb.nodesource.com/setup_14.x | bash -
+          apt-get install -y nodejs
+      - name: Checkout
+        uses: actions/checkout@v2
+        with:
+          ref: develop 
+      - name: Install SMARTS
+        run: |
+          python3.7 -m venv ${{env.venv_dir}}
+          . ${{env.venv_dir}}/bin/activate
+          pip install --upgrade pip wheel
+          pip install .[camera-obs,test,train]
+      - name: Update requirements
+        run: |
+          . ${{env.venv_dir}}/bin/activate
+          pip freeze | grep -v 'smarts' | grep -v 'pkg-resources==0.0.0' > requirements.txt
+      - name: Commit requirement changes
+        uses: EndBug/add-and-commit@v7
+        with:
+          add: 'requirements.txt'
+          branch: develop
+          default_author: user_info 
+          message: 'GitHub Actions: Update requirements.txt'
+      - name: isort, Black, and prettier
+        run: |
+          . ${{env.venv_dir}}/bin/activate
+          pip install .[dev]
+          isort -m VERTICAL_HANGING_INDENT --skip-gitignore --ac --tc --profile black ./baselines/marl_benchmark/ ./cli ./envision ./examples/ ./utils/ ./scenarios/ ./smarts ./ultra ./zoo
+          black .
+          npx prettier --write ./envision/web/src
+      - name: Commit format changes
+        uses: EndBug/add-and-commit@v7
+        with:
+          add: '["*.py", "*.html", "*.js"]'
+          branch: develop
+          default_author: user_info 
+          message: 'GitHub Actions: Format'

.github/workflows/ci-auto-commit-mac.yml

@@ -0,0 +1,40 @@
+name: SMARTS CI Auto Commit Mac
+
+on:
+  schedule:
+    - cron: '0 23 * * 1'
+      # Runs at 11.00pm, UTC, every Monday
+  workflow_dispatch:
+
+env:
+  venv_dir: .venv
+
+jobs:
+  auto-commit-mac:
+    runs-on: macos-11
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2   
+        with:
+          ref: develop 
+      - name: Setup Python
+        run: |
+          brew update
+          brew install [email protected]
+          brew unlink [email protected]
+          brew link --force --overwrite [email protected]
+      - name: Update requirements
+        run: |
+          cd $GITHUB_WORKSPACE
+          python3.7 -m venv ${{env.venv_dir}}
+          . ${{env.venv_dir}}/bin/activate
+          pip install --upgrade pip wheel
+          pip install .[train,test,camera-obs]
+          pip freeze | grep -v 'smarts' | grep -v 'pkg-resources==0.0.0' > utils/setup/mac_requirements.txt
+      - name: Commit changes
+        uses: EndBug/add-and-commit@v7
+        with:
+          add: 'utils/setup/mac_requirements.txt'
+          branch: develop
+          default_author: user_info 
+          message: 'GitHub Actions: Update mac_requirements.txt'

.github/workflows/ci-base-tests.yml → .github/workflows/ci-base-tests-linux.yml

@@ -1,4 +1,4 @@
-name: SMARTS CI Base Tests
+name: SMARTS CI Base Tests Linux
 
 on:
   push:
@@ -12,52 +12,47 @@ on:
       - ultra_**
       - ultra/**
 
+env:
+  venv_dir: .venv
+
 jobs:
-  test:
+  base-tests-linux:
     runs-on: ubuntu-18.04
     if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
-    container: huaweinoah/smarts:v0.4.13-minimal
+    container: huaweinoah/smarts:v0.4.18-minimal
     strategy:
       matrix:
         tests:
           - ./envision
           - ./smarts/contrib
-          - ./smarts/core
+          - ./smarts/core --nb-exec-timeout 65536
           - ./smarts/env --ignore=./smarts/env/tests/test_rllib_hiway_env.py
           - ./smarts/env/tests/test_rllib_hiway_env.py
           - ./smarts/sstudio
-          - ./tests
+          - ./examples/tests --ignore=./examples/tests/test_learning.py
     steps:
       - name: Checkout
         uses: actions/checkout@v2
-      - name: Setup X11
-        run: |
-          /usr/bin/Xorg \
-            -noreset \
-            +extension GLX \
-            +extension RANDR \
-            +extension RENDER \
-            -logfile ./xdummy.log \
-            -config /etc/X11/xorg.conf :1 &
       - name: Install dependencies
         run: |
-          python3.7 -m venv .venv
-          . .venv/bin/activate
+          python3.7 -m venv ${{env.venv_dir}}
+          . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install --upgrade wheel
-          pip install --upgrade -r requirements.txt
-          pip install --upgrade -e .[train,test,camera-obs]
+          pip install -e .[train,test,camera-obs]
       - name: Run smoke tests
         run: |
-          . .venv/bin/activate
+          . ${{env.venv_dir}}/bin/activate
           make build-all-scenarios
           PYTHONHASHSEED=42 pytest -v \
             --doctest-modules \
             --forked \
             --dist=no \
             -n auto \
+            --ignore-glob="**/ros.py" \
             ${{matrix.tests}} \
             --ignore=./smarts/core/tests/test_smarts_memory_growth.py \
+            --ignore=./smarts/core/tests/test_env_frame_rate.py \
             --ignore=./smarts/env/tests/test_benchmark.py \
-            --ignore=./smarts/env/tests/test_learning.py \
+            --ignore=./examples/tests/test_learning.py \
             -k 'not test_long_determinism'

.github/workflows/ci-base-tests-mac.yml

@@ -0,0 +1,68 @@
+name: SMARTS CI Base Tests Mac
+
+on:
+  workflow_run:
+    workflows: ["SMARTS CI Auto Commit Mac"]
+    types:
+      - completed
+  workflow_dispatch:
+
+env:
+  venv_dir: .venv
+
+jobs:
+  base-tests-mac:
+    runs-on: macos-11
+    strategy:
+      matrix:
+        tests:
+          - ./envision
+          - ./smarts/contrib
+          - ./examples/tests --ignore=./examples/tests/test_learning.py
+          - ./smarts/sstudio
+          - ./smarts/env/tests/test_rllib_hiway_env.py
+          - ./smarts/core --nb-exec-timeout 65536
+          - ./smarts/env --ignore=./smarts/env/tests/test_rllib_hiway_env.py
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+        with:
+          ref: develop
+      - name: Setup Python
+        run: |
+          brew update
+          brew install [email protected]
+          brew unlink [email protected]
+          brew link --force --overwrite [email protected]
+      - name: Setup SUMO
+        run: |
+          brew install xquartz
+          brew tap dlr-ts/sumo
+          brew install sumo spatialindex
+          brew install geos
+      - name: Install dependencies
+        run: |
+          python3.7 -m venv ${{env.venv_dir}}
+          . ${{env.venv_dir}}/bin/activate
+          pip install --upgrade pip
+          pip install --upgrade wheel
+          pip install -r utils/setup/mac_requirements.txt
+          pip install -e .[train,test,camera-obs]
+      - name: Run smoke tests
+        run: |
+          . ${{env.venv_dir}}/bin/activate
+          export SUMO_HOME="/usr/local/opt/sumo/share/sumo"
+          open -g -a XQuartz.app
+          make build-all-scenarios
+          PYTHONHASHSEED=42 pytest -v \
+            --doctest-modules \
+            -n auto \
+            ${{matrix.tests}} \
+            --ignore=./smarts/core/tests/test_smarts_memory_growth.py \
+            --ignore=./smarts/env/tests/test_benchmark.py \
+            --ignore=./smarts/env/tests/test_frame_stack.py \
+            --ignore=./smarts/env/tests/test_determinism.py \
+            --ignore=./smarts/core/tests/test_renderers.py \
+            --ignore=./smarts/core/tests/test_smarts.py \
+            --ignore=./smarts/core/tests/test_env_frame_rate.py \
+            --ignore=./smarts/core/tests/test_observations.py

.github/workflows/ci-format.yml

@@ -0,0 +1,39 @@
+name: SMARTS CI Format
+
+on: [push, pull_request]
+
+env:
+  venv_dir: .venv
+
+jobs:
+  test-header:
+    runs-on: ubuntu-18.04
+    if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
+    container: huaweinoah/smarts:v0.4.18-minimal
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Check header
+        run: |
+          cd $GITHUB_WORKSPACE
+          make header-test
+
+  test-docstring:
+    runs-on: ubuntu-18.04
+    if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
+    container: huaweinoah/smarts:v0.4.18-minimal
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Check docstring
+        run: |
+          cd $GITHUB_WORKSPACE
+          pip install --upgrade pip
+          pip install pylint
+          pylint -d all \
+            -e missing-function-docstring \
+            -e missing-class-docstring \
+            -s n \
+            --ignore marl_benchmark,examples,scenarios,docs,manager_pb2_grpc.py,worker_pb2_grpc.py \
+            --msg-template='{path}: line {line}: {msg_id}: {msg}' \
+            ./smarts ./envision

.github/workflows/ci-pull-request.yml

@@ -11,25 +11,17 @@ env:
 jobs:
   test-benchmark:
     runs-on: ubuntu-18.04
-    container: huaweinoah/smarts:v0.4.13-minimal
+    container: huaweinoah/smarts:v0.4.18-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v1.2.0
+        uses: actions/checkout@v2
       - name: Setup package
         run: |
-          /usr/bin/Xorg \
-            -noreset \
-            +extension GLX \
-            +extension RANDR \
-            +extension RENDER \
-            -logfile ./xdummy.log \
-            -config /etc/X11/xorg.conf :1 &
           cd $GITHUB_WORKSPACE
           python3.7 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
-          pip install wheel
-          pip install -r requirements.txt
+          pip install --upgrade wheel
           pip install -e .[train,test,camera-obs]
       - name: SMARTS benchmark
         run: |

.github/workflows/ci-smarts-run-ultra-tests.yml

@@ -43,6 +43,7 @@ jobs:
           . .venv/bin/activate
           scl scenario build-all ultra/scenarios/pool
           pytest -v ./tests/
+
   test-package-via-setup:
     runs-on: ubuntu-18.04
     container: huaweinoah/smarts:v0.4.13-minimal
@@ -72,6 +73,7 @@ jobs:
           . .venv/bin/activate
           scl scenario build-all ultra/scenarios/pool
           pytest -v ./tests/test_ultra_package.py
+
   test-package-via-wheel:
     runs-on: ubuntu-18.04
     container: huaweinoah/smarts:v0.4.13-minimal