Long-duration determinism test

.dockerignore

@@ -48,6 +48,7 @@
 **/.spyproject
 **/supervisord.log
 **/supervisord.pid
+**/*.tar
 **/.tox/
 **/traffic_histories.pkl
 **/*.trips.xml
@@ -58,5 +59,7 @@
 
 # Keep manually generated sumo route files
 !zoo/evaluation/scenarios/**/traffic/*.rou.xml
+!smarts/sstudio/tests/*.rou.xml
+
 # Keep model assets
 !**/models/*.glb

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

@@ -47,5 +47,6 @@ jobs:
             -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_learning.py \
-            --ignore=./smarts/env/tests/test_benchmark.py
+            -k 'not test_long_determinism'

.github/workflows/ci-test-long-determinism.yml

@@ -0,0 +1,42 @@
+name: SMARTS CI Long Determinism
+
+on:
+  schedule:
+    - cron: '0 23 * * 6'
+      # Time is in UTC
+      # Runs at 11.00pm, UTC  , every Saturday
+      # Runs at  6.00pm, UTC-5, every Saturday
+  workflow_dispatch:
+
+env:
+  venv_dir: .venv
+
+jobs:
+  test_learning:
+    runs-on: ubuntu-18.04
+    container: huaweinoah/smarts:v0.4.3-pre
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+        with:
+          ref: develop
+      - 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 -r requirements.txt
+          pip install -e .[train,test]
+      - name: Verify long determinism
+        run: |
+          cd $GITHUB_WORKSPACE
+          . ${{env.venv_dir}}/bin/activate
+          make test-long-determinism

.github/workflows/ci-test-memory-growth.yml

@@ -2,10 +2,10 @@ name: SMARTS CI Memory
 
 on:
   schedule:
-    - cron: '0 23 * * 2'
+    - cron: '0 23 * * 4'
       # Time is in UTC
-      # Runs at 11.00pm, UTC  , every Tuesday
-      # Runs at  6.00pm, UTC-5, every Tuesday
+      # Runs at 11.00pm, UTC  , every Thursday
+      # Runs at  6.00pm, UTC-5, every Thursday
   workflow_dispatch:
 
 env:

.gitignore

@@ -108,6 +108,7 @@ traffic_histories.pkl
 
 # Manually generated sumo route files
 !zoo/evaluation/scenarios/**/traffic/*.rou.xml
+!smarts/sstudio/tests/*.rou.xml
 
 # but keep model assets
 !**/models/*.glb

Dockerfile

@@ -10,66 +10,56 @@ RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
 # > At the moment, setting "LANG=C" on a Linux system *fundamentally breaks Python 3*, and that's not OK.
 ENV LANG C.UTF-8
 
-RUN echo "Installing dependencies"
-RUN apt-get update --fix-missing && \
-    apt-get install -y \
-    wget
-
+# Install libraries
 RUN apt-get update --fix-missing && \
     apt-get install -y \
         software-properties-common && \
     add-apt-repository -y ppa:deadsnakes/ppa && \
     add-apt-repository -y ppa:sumo/stable && \
     apt-get update && \
     apt-get install -y \
-        wget \
+        libsm6 \
+        libspatialindex-dev \
+        libxext6 \
+        libxrender-dev \
         python3.7 \
         python3.7-dev \
         python3.7-venv \
         sumo \
-        sumo-tools \
         sumo-doc \
-        libspatialindex-dev \
-        libsm6 \
-        libxext6 \
-        libxrender-dev
+        sumo-tools \
+        wget \
+        x11-apps \
+        xserver-xorg-video-dummy && \
+    apt-get autoremove && \
+    rm -rf /var/lib/apt/lists/*
 
 # Update default python version
 RUN update-alternatives --install /usr/bin/python python /usr/bin/python3.7 1
 
-# Install pip dependencies
+# Install pip
 RUN wget https://bootstrap.pypa.io/get-pip.py -O get-pip.py && \
     python get-pip.py && \
     pip install --upgrade pip
 
-RUN echo "Installing XDummy"
+# Setup DISPLAY
 ENV DISPLAY :1
-
-RUN apt-get install -y \
-    xserver-xorg-video-dummy \
-    x11-apps
-
 # VOLUME /tmp/.X11-unix
-RUN wget -O /etc/X11/xorg.conf http://xpra.org/xorg.conf
-RUN cp /etc/X11/xorg.conf /usr/share/X11/xorg.conf.d/xorg.conf
-
-RUN echo "Cleaning-up"
-RUN apt-get autoremove && \
-    rm -rf /var/lib/apt/lists/*
+RUN wget -O /etc/X11/xorg.conf http://xpra.org/xorg.conf && \
+    cp /etc/X11/xorg.conf /usr/share/X11/xorg.conf.d/xorg.conf
 
-RUN echo "Setup SMARTS Dependencies"
+# Setup SUMO
 ENV SUMO_HOME /usr/share/sumo
 
+# Install requirements.txt
 COPY requirements.txt /tmp/requirements.txt
 RUN pip install --no-cache-dir -r /tmp/requirements.txt
 
+# Copy source files and install SMARTS
 ENV PYTHONPATH=/src
 COPY . /src
-RUN cd /usr/local/lib/python3.7 && \
-    mkdir site-packages && \
-    cd site-packages && \
-    python /src/setup.py develop
 WORKDIR /src
+RUN pip install --no-cache-dir -e .[train,test,dev]
 
 # For Envision
 EXPOSE 8081

Makefile

@@ -8,14 +8,11 @@ test: build-all-scenarios
 		--forked \
 		--dist=loadscope \
 		-n `nproc --ignore 1` \
-		./tests ./smarts/core ./smarts/env ./smarts/contrib ./smarts/sstudio ./envision \
-		--ignore=./smarts/env/tests/test_learning.py \
+		./envision ./smarts/contrib ./smarts/core ./smarts/env ./smarts/sstudio ./tests \
 		--ignore=./smarts/core/tests/test_smarts_memory_growth.py \
-		--ignore=./smarts/env/tests/test_benchmark.py
-
-.PHONY: benchmark
-benchmark: build-all-scenarios
-	pytest -v ./smarts/env/tests/test_benchmark.py
+		--ignore=./smarts/env/tests/test_benchmark.py \
+		--ignore=./smarts/env/tests/test_learning.py \
+		-k 'not test_long_determinism'
 
 .PHONY: test-learning
 test-learning: build-all-scenarios
@@ -30,6 +27,17 @@ test-memory-growth: build-all-scenarios
 		-n `nproc --ignore 1` \
 		./smarts/core/tests/test_smarts_memory_growth.py
 
+.PHONY: test-long-determinism
+test-long-determinism: 
+	scl scenario build --clean scenarios/minicity
+	PYTHONHASHSEED=42 pytest -v \
+		--forked \
+		./smarts/env/tests/test_determinism.py::test_long_determinism
+
+.PHONY: benchmark
+benchmark: build-all-scenarios
+	pytest -v ./smarts/env/tests/test_benchmark.py
+
 .PHONY: test-zoo
 test-zoo: build-all-scenarios
 	cd smarts/zoo/policies && make test

cli/cli.py

@@ -22,6 +22,7 @@
 from .envision import envision_cli
 from .studio import scenario_cli
 from .zoo import zoo_cli
+from .ultra import ultra_cli
 
 
 @click.group()
@@ -32,6 +33,7 @@ def scl():
 scl.add_command(envision_cli)
 scl.add_command(scenario_cli)
 scl.add_command(zoo_cli)
+scl.add_command(ultra_cli)
 
 
 if __name__ == "__main__":

cli/ultra.py

@@ -0,0 +1,79 @@
+# Copyright (C) 2020. Huawei Technologies Co., Ltd. All rights reserved.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+import os
+import sys
+import glob
+import shutil
+import subprocess
+from pathlib import Path
+
+import click
+from rich import print
+
+
+@click.group(name="ultra")
+def ultra_cli():
+    pass
+
+
+@ultra_cli.command(name="build", help="Build a policy")
+@click.argument("policy", type=click.Path(exists=True), metavar="<policy>")
+def build_policy(policy):
+    def clean():
+        subprocess.check_call([sys.executable, "setup.py", "clean", "--all"])
+
+    def build():
+        cwd = Path(os.getcwd())
+        subprocess.check_call([sys.executable, "setup.py", "bdist_wheel"])
+        results = sorted(glob.glob("./dist/*.whl"), key=os.path.getmtime, reverse=True)
+        assert len(results) > 0, f"No policy package was built at path={cwd}"
+
+        wheel = Path(results[0])
+        dst_path = cwd / wheel.name
+        shutil.move(wheel.resolve(), cwd / wheel.name)
+        return dst_path
+
+    os.chdir(policy)
+    clean()
+    wheel_path = build()
+    clean()
+    print(
+        f"""
+Policy built successfully and is available at,
+
+\t[bold]{wheel_path}[/bold]
+
+You can now add it to the policy ultra if you want to make it available to scenarios.
+"""
+    )
+
+
+@ultra_cli.command(name="worker", help="Start the agent worker")
+@click.argument("auth_key", type=str, default=None)
+@click.argument("port", default=7432, type=int)
+def worker(auth_key, port):
+    from smarts.zoo.worker import listen
+
+    auth_key = auth_key if auth_key else ""
+    listen(port, auth_key)
+
+
+ultra_cli.add_command(build_policy)
+ultra_cli.add_command(worker)

gen_header.sh

@@ -4,15 +4,15 @@ files=""
 
 if [[ $# -eq 0 ]]; then
     # No specific file specified, collate all files excluding auto generated files of *_pb2.py and *_pb2_grpc.py
-    python_files="$(find ./cli ./smarts ./benchmark ./envision -name '*.py' ! -name '*_pb2.py' ! -name '*_pb2_grpc.py')"
+    python_files="$(find ./cli ./smarts ./benchmark ./envision ./ultra -name '*.py' ! -name '*_pb2.py' ! -name '*_pb2_grpc.py')"
     js_files="$(find ./envision/web/src -name '*.js')"
-    files="$python_files $js_files"  
+    files="$python_files $js_files"
 else
     # use files specified in the args
     for file in "$@"; do
         files="$files $file"
-    done 
-fi 
+    done
+fi
 
 # Check and add license notice
 for file in $files; do

requirements.txt

@@ -45,6 +45,7 @@ hyperlink==20.0.1
 idna==2.10
 imageio==2.9.0
 importlib-metadata==2.0.0
+importlib-resources==5.1.0
 incremental==17.5.0
 iniconfig==1.1.1
 Jinja2==2.11.2

smarts/core/smarts.py

@@ -461,6 +461,7 @@ def destroy(self):
             self._visdom.teardown()
 
         self._agent_manager.destroy()
+        self._traffic_sim.destroy()
         self._bullet_client.disconnect()
 
         super().destroy()

smarts/core/sumo_traffic_simulation.py

@@ -90,8 +90,6 @@ def __init__(
         self._reserved_areas = dict()
         self._allow_reload = allow_reload
 
-        atexit.register(self._destroy)
-
     def __repr__(self):
         return f"""SumoTrafficSim(
   _scenario={repr(self._scenario)},
@@ -109,11 +107,10 @@ def __repr__(self):
     def __str__(self):
         return repr(self)
 
-    def _destroy(self):
-        if atexit:
-            atexit.unregister(self._destroy)
-
+    def destroy(self):
         self._close_traci_and_pipes()
+        if not self._is_setup:
+            return
         self._sumo_proc.terminate()
         self._sumo_proc.wait()