Updated previous ultra tests and integrated them into workflow

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

@@ -0,0 +1,58 @@
+name: ULTRA CI
+
+on:
+  push:
+    branches:
+      - disabled
+
+
+jobs:
+  test:
+    runs-on: ubuntu-18.04
+    container: huaweinoah/smarts:v0.4.3-pre
+    strategy:
+      matrix:
+        tests:
+          - ./ultra/tests/ --ignore=./ultra/tests/test_train.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: Cache pip
+      #   id: cache-pip
+      #   uses: actions/cache@v2
+      #   with:
+      #     path: |
+      #       .venv
+      #       /usr/local/bin/scl
+      #     key: pip-${{hashFiles('requirements.txt')}}-${{hashFiles('setup.py')}}
+      - name: Install dependencies
+        # if: steps.cache-pip.outputs.cache-hit != 'true'
+        run: |
+          python3.7 -m venv .venv
+          . .venv/bin/activate
+          pip install dill
+          pip install ijson
+          pip install --upgrade --upgrade-strategy eager pip
+          pip install --upgrade --upgrade-strategy eager wheel
+          pip install --upgrade --upgrade-strategy eager -r requirements.txt
+          pip install --upgrade --upgrade-strategy eager -e .[train,test]
+      - name: Run base ultra tests
+        run: |
+          . .venv/bin/activate
+          make build-all-scenarios
+          PYTHONHASHSEED=42 pytest -v \
+            --doctest-modules \
+            --forked \
+            --dist=no \
+            -n auto \
+            ${{matrix.tests}}
+

ultra/agent_pool.json

@@ -26,4 +26,4 @@
             "locator" : "bdqn-v0"
         }
     }
-} 
+}

ultra/setup.py

@@ -0,0 +1,45 @@
+# MIT License
+#
+# Copyright (C) 2021. 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.
+
+from setuptools import setup, find_packages
+from glob import glob
+from pathlib import Path
+from collections import defaultdict
+
+""" Modified setup.py to include options for changing SMARTS version or set default
+to the latest stable version of SMARTS """
+setup(
+    name="ultra",
+    description="Unprotected Left Turn using Reinforcement-learning Agents",
+    version="0.1",
+    packages=find_packages(),
+    include_package_data=True,
+    zip_safe=True,
+    python_requires=">=3.7",
+    install_requires=[
+        "smarts[train]==0.4.6",  # Stable version
+        "setuptools>=41.0.0,!=50.0",
+        "ijson",
+        "dill",
+        "black==19.10b0",
+    ],
+)

ultra/tests/__init__.py

@@ -0,0 +1,21 @@
+# MIT License
+#
+# Copyright (C) 2021. 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.

ultra/tests/scenarios/maps/easy/map-flow-0/map.net.xml

@@ -0,0 +1,135 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed  2 Sep 12:16:00 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
+        <sumo-net-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/2lane_t/80kmh/map.net.xml"/>
+    </input>
+
+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/2lane_t/80kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
+<net version="1.3" junctionCornerDetail="5" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
+
+    <location netOffset="0.00,0.00" convBoundary="-108.86,-45.17,294.16,100.00" origBoundary="-10000000000.00,-10000000000.00,10000000000.00,10000000000.00" projParameter="!"/>
+
+    <edge id=":gneJ3_0" function="internal">
+        <lane id=":gneJ3_0_0" index="0" speed="13.89" length="2.56" shape="-97.44,-43.57 -98.13,-43.47 -98.63,-43.17 -98.93,-42.68 -99.04,-41.98"/>
+    </edge>
+    <edge id=":junction-intersection_0" function="internal">
+        <lane id=":junction-intersection_0_0" index="0" speed="19.44" length="14.40" shape="107.20,101.60 92.80,101.59"/>
+    </edge>
+    <edge id=":junction-intersection_1" function="internal">
+        <lane id=":junction-intersection_1_0" index="0" speed="16.66" length="5.93" shape="107.20,101.60 103.35,101.05 101.60,100.00"/>
+    </edge>
+    <edge id=":junction-intersection_6" function="internal">
+        <lane id=":junction-intersection_6_0" index="0" speed="16.66" length="8.26" shape="101.60,100.00 100.60,99.40 98.95,96.65 98.40,92.80"/>
+    </edge>
+    <edge id=":junction-intersection_2" function="internal">
+        <lane id=":junction-intersection_2_0" index="0" speed="16.66" length="9.03" shape="101.60,92.80 101.95,95.25 103.00,97.00 104.75,98.05 107.20,98.40"/>
+    </edge>
+    <edge id=":junction-intersection_3" function="internal">
+        <lane id=":junction-intersection_3_0" index="0" speed="16.66" length="14.20" shape="101.60,92.80 101.05,96.65 99.40,99.40 96.65,101.05 92.80,101.59"/>
+    </edge>
+    <edge id=":junction-intersection_4" function="internal">
+        <lane id=":junction-intersection_4_0" index="0" speed="16.66" length="9.03" shape="92.80,98.39 95.25,98.05 97.00,97.00 98.05,95.25 98.40,92.80"/>
+    </edge>
+    <edge id=":junction-intersection_5" function="internal">
+        <lane id=":junction-intersection_5_0" index="0" speed="19.44" length="14.40" shape="92.80,98.39 107.20,98.40"/>
+    </edge>
+    <edge id=":junction-south_0" function="internal">
+        <lane id=":junction-south_0_0" index="0" speed="13.89" length="9.03" shape="98.40,-37.85 98.05,-40.30 97.00,-42.05 95.25,-43.10 92.80,-43.45"/>
+    </edge>
+
+    <edge id="edge-dead-end" from="gneJ3" to="gneJ5" priority="-1">
+        <lane id="edge-dead-end_0" index="0" speed="13.89" length="20.04" shape="-99.04,-41.98 -99.23,-21.94"/>
+    </edge>
+    <edge id="edge-east-EW" from="junction-east" to="junction-intersection" priority="1">
+        <lane id="edge-east-EW_0" index="0" speed="19.44" length="186.96" shape="294.16,101.60 107.20,101.60"/>
+    </edge>
+    <edge id="edge-east-WE" from="junction-intersection" to="junction-east" priority="1" spreadType="center" shape="99.99,98.40 294.16,98.40">
+        <lane id="edge-east-WE_0" index="0" speed="19.44" length="186.96" shape="107.20,98.40 294.16,98.40"/>
+    </edge>
+    <edge id="edge-south-NS" from="junction-intersection" to="junction-south" priority="-1">
+        <lane id="edge-south-NS_0" index="0" speed="13.89" length="130.65" shape="98.40,92.80 98.40,-37.85"/>
+    </edge>
+    <edge id="edge-south-SN" from="junction-south" to="junction-intersection" priority="-1">
+        <lane id="edge-south-SN_0" index="0" speed="13.89" length="130.65" shape="101.60,-37.85 101.60,92.80"/>
+    </edge>
+    <edge id="edge-south-side" from="junction-south" to="gneJ3" priority="-1">
+        <lane id="edge-south-side_0" index="0" speed="13.89" length="190.24" shape="92.80,-43.45 -97.44,-43.57"/>
+    </edge>
+    <edge id="edge-west-EW" from="junction-intersection" to="junction-west" priority="1">
+        <lane id="edge-west-EW_0" index="0" speed="19.44" length="201.66" shape="92.80,101.59 -108.86,101.44"/>
+    </edge>
+    <edge id="edge-west-WE" from="junction-west" to="junction-intersection" priority="1">
+        <lane id="edge-west-WE_0" index="0" speed="19.44" length="201.66" shape="-108.86,98.24 92.80,98.39"/>
+    </edge>
+
+    <junction id="gneJ3" type="priority" x="-100.61" y="-45.17" incLanes="edge-south-side_0" intLanes=":gneJ3_0_0" shape="-97.44,-41.97 -97.44,-45.17 -99.20,-44.82 -99.82,-44.38 -100.27,-43.76 -100.54,-42.97 -100.64,-42.00">
+        <request index="0" response="0" foes="0" cont="0"/>
+    </junction>
+    <junction id="gneJ5" type="dead_end" x="-100.83" y="-21.96" incLanes="edge-dead-end_0" intLanes="" shape="-97.63,-21.93 -100.83,-21.96"/>
+    <junction id="junction-east" type="dead_end" x="294.16" y="100.00" incLanes="edge-east-WE_0" intLanes="" shape="294.16,100.00 294.16,96.80 294.16,100.00"/>
+    <junction id="junction-intersection" type="priority" x="100.00" y="100.00" incLanes="edge-east-EW_0 edge-south-SN_0 edge-west-WE_0" intLanes=":junction-intersection_0_0 :junction-intersection_6_0 :junction-intersection_2_0 :junction-intersection_3_0 :junction-intersection_4_0 :junction-intersection_5_0" shape="107.20,103.20 107.20,96.80 104.98,96.36 104.20,95.80 103.64,95.02 103.31,94.02 103.20,92.80 96.80,92.80 96.36,95.02 95.80,95.80 95.02,96.35 94.02,96.68 92.80,96.79 92.80,103.19" rightOfWay="edgePriority">
+        <request index="0" response="000000" foes="001000" cont="0"/>
+        <request index="1" response="110000" foes="111000" cont="1"/>
+        <request index="2" response="100000" foes="100000" cont="0"/>
+        <request index="3" response="100011" foes="100011" cont="0"/>
+        <request index="4" response="000000" foes="000010" cont="0"/>
+        <request index="5" response="000000" foes="001110" cont="0"/>
+    </junction>
+    <junction id="junction-south" type="priority" x="100.00" y="-45.05" incLanes="edge-south-NS_0" intLanes=":junction-south_0_0" shape="96.80,-37.85 103.20,-37.85 102.91,-40.05 102.04,-41.85 100.60,-43.25 98.58,-44.25 95.98,-44.85 92.80,-45.05 92.80,-41.85 95.02,-41.41 95.80,-40.85 96.36,-40.08 96.69,-39.08">
+        <request index="0" response="0" foes="0" cont="0"/>
+    </junction>
+    <junction id="junction-west" type="dead_end" x="-108.86" y="99.84" incLanes="edge-west-EW_0" intLanes="" shape="-108.86,99.84 -108.86,103.04 -108.86,99.84"/>
+
+    <junction id=":junction-intersection_6_0" type="internal" x="101.60" y="100.00" incLanes=":junction-intersection_1_0 edge-west-WE_0" intLanes=":junction-intersection_3_0 :junction-intersection_4_0 :junction-intersection_5_0"/>
+
+    <connection from="edge-east-EW" to="edge-west-EW" fromLane="0" toLane="0" via=":junction-intersection_0_0" dir="s" state="M"/>
+    <connection from="edge-east-EW" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_1_0" dir="l" state="m"/>
+    <connection from="edge-south-NS" to="edge-south-side" fromLane="0" toLane="0" via=":junction-south_0_0" dir="r" state="M"/>
+    <connection from="edge-south-SN" to="edge-east-WE" fromLane="0" toLane="0" via=":junction-intersection_2_0" dir="r" state="m"/>
+    <connection from="edge-south-SN" to="edge-west-EW" fromLane="0" toLane="0" via=":junction-intersection_3_0" dir="l" state="m"/>
+    <connection from="edge-south-side" to="edge-dead-end" fromLane="0" toLane="0" via=":gneJ3_0_0" dir="r" state="M"/>
+    <connection from="edge-west-WE" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_4_0" dir="r" state="M"/>
+    <connection from="edge-west-WE" to="edge-east-WE" fromLane="0" toLane="0" via=":junction-intersection_5_0" dir="s" state="M"/>
+
+    <connection from=":gneJ3_0" to="edge-dead-end" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_1" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_6_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_6" to="edge-south-NS" fromLane="0" toLane="0" dir="l" state="M"/>
+    <connection from=":junction-intersection_2" to="edge-east-WE" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_3" to="edge-west-EW" fromLane="0" toLane="0" dir="l" state="M"/>
+    <connection from=":junction-intersection_4" to="edge-south-NS" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_5" to="edge-east-WE" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-south_0" to="edge-south-side" fromLane="0" toLane="0" dir="r" state="M"/>
+
+</net>

ultra/tests/scenarios/maps/easy/map-flow-0/metadata.json

@@ -0,0 +1 @@
+{"routes": {"south-west": {"num_vehicles": 100, "route_distribution": {"default": 0.4, "aggressive": 0.4, "cautious": 0.1}, "start_end_on_different_lanes_probability": 1, "default": {"count": 46, "start_end_different_lanes": 0}, "aggressive": {"count": 40, "start_end_different_lanes": 0}, "cautious": {"count": 14, "start_end_different_lanes": 0}}, "south-east": {"num_vehicles": 100, "route_distribution": {"default": 0.4, "aggressive": 0.4, "cautious": 0.1}, "start_end_on_different_lanes_probability": 1, "aggressive": {"count": 45, "start_end_different_lanes": 0}, "cautious": {"count": 14, "start_end_different_lanes": 0}, "default": {"count": 41, "start_end_different_lanes": 0}}, "east-west": {"num_vehicles": 100, "route_distribution": {"default": 1}, "start_end_on_different_lanes_probability": 1, "default": {"count": 100, "start_end_different_lanes": 0}}}, "total_vehicles": 300, "stopwatcher": null, "intersection": {"type": "t", "name": "2lane_t"}, "seed": 0, "flow_id": "flow_0"}