Merge branch 'feature/automated-testing-dev' of github.com:ika-rwth-a…

…achen/carlos into feature/automated-testing-dev

.github/workflows/automated-testing.yml

@@ -29,7 +29,7 @@ jobs:
         with:
           scenario-folder-path: ${{ matrix.filedir }}
           scenario-file-name: ${{ matrix.filename }}
-          simulator-image: carla-health # TODO: Change to rwthika/carla:server
+          simulator-image: carla-health # TODO: Change to rwthika/carla-simulator:server
           simulator-offscreen: false
 
   generate-opt-scenario-job-matrix:
@@ -62,5 +62,5 @@ jobs:
         with:
           scenario-folder-path: ${{ matrix.filedir }}
           scenario-file-name: ${{ matrix.filename }}
-          simulator-image: carla-health # TODO: Change to rwthika/carla:server
+          simulator-image: carla-health # TODO: Change to rwthika/carla-simulator:server
           simulator-offscreen: false

automated-testing/docker-compose.yml

@@ -0,0 +1,28 @@
+services:
+
+  carla-simulator:
+    deploy:
+      resources:
+          reservations:
+            devices:
+              - driver: nvidia
+                count: 1
+                capabilities: [gpu]
+    environment:
+      DISPLAY: $DISPLAY
+      XAUTHORITY: /.Xauthority
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/.Xauthority:ro
+    privileged: True
+    image: carla-health # TODO: Change to rwthika/carla-simulator:server
+    command: bash -ic './CarlaUE4.sh -nosound $SIMULATOR_FLAGS 2>/dev/null'
+
+  carla-scenario-runner:
+    depends_on:
+      carla-simulator:
+        condition: service_healthy
+    volumes:
+      - ../utils/scenarios:/scenarios
+    image: rwthika/carla-scenario-runner:latest
+    command: bash -ic "python ./scenario_runner.py --host carla-simulator --openscenario /scenarios/town10.xosc.opt --output"

automated-testing/evaluate-scenarios.sh

@@ -0,0 +1,56 @@
+#!/bin/bash
+
+set -e
+
+usage() {
+  echo "Usage: $0 [-d maxdepth] [-e exclude-path] STARTING-POINT QUERY-STRING"
+  echo "STARTING-POINT : Location from where search should start"
+  echo "QUERY-STRING : UNIX pattern used for matching and selecting results. Needs to be \"quoted\""
+  echo "max-depth : Descend at most max-depth levels from STARTING-POINT"
+  echo "exclude-string : Exclude paths matching this UNIX pattern from final result. Needs to be \"quoted\""
+  echo "-----"
+  echo "Example: $0 -d 3 . \"*.xosc\""
+}
+
+trap cleanup EXIT
+trap cleanup 0
+
+cleanup() {
+  echo "Cleaning up..."
+  docker compose -f $COMPOSE_TEMPLATE_PATH kill
+  docker compose -f $COMPOSE_TEMPLATE_PATH down
+  xhost -local:
+  echo "Done cleaning up."
+}
+
+restart-simulator() {
+  echo "Restarting simulator..."
+  docker compose -f $COMPOSE_TEMPLATE_PATH kill
+  docker compose -f $COMPOSE_TEMPLATE_PATH down
+  docker compose -f $COMPOSE_TEMPLATE_PATH up -d carla-simulator
+}
+
+export SCENARIO_DIRECTORY="${1:-"../utils/scenarios"}"
+export COMPOSE_TEMPLATE_PATH="${2:-"./template.yml"}"
+echo $SCENARIO_DIRECTORY
+
+scenarios=($(find $SCENARIO_DIRECTORY -maxdepth 1 -type f -name "*.xosc*" -exec basename {} \;))
+
+if [ ${#scenarios[@]} -eq 0 ]; then
+  echo "No scenarios found. Exiting..."
+  exit 1
+fi
+xhost +local:
+echo "Starting simulator..."
+docker compose -f $COMPOSE_TEMPLATE_PATH up -d carla-simulator
+
+for scenario in "${scenarios[@]}"; do
+  echo "Evaluating $scenario ..."
+
+  export SCENARIO_NAME=$scenario 
+  docker compose -f $COMPOSE_TEMPLATE_PATH  run --rm carla-scenario-runner || true
+
+  if [ "$RESTART_SIMULATOR" = true ]; then
+    restart-simulator
+  fi
+done

automated-testing/template.yml

@@ -0,0 +1,28 @@
+services:
+
+  carla-simulator:
+    deploy:
+      resources:
+          reservations:
+            devices:
+              - driver: nvidia
+                count: 1
+                capabilities: [gpu]
+    environment:
+      DISPLAY: $DISPLAY
+      XAUTHORITY: /.Xauthority
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/.Xauthority:ro
+    privileged: True
+    image: carla-health # TODO: Change to rwthika/carla-simulator:server
+    command: bash -ic './CarlaUE4.sh -nosound $SIMULATOR_FLAGS 2>/dev/null'
+
+  carla-scenario-runner:
+    depends_on:
+      carla-simulator:
+        condition: service_healthy
+    volumes:
+      - $SCENARIO_DIRECTORY:/scenarios
+    image: rwthika/carla-scenario-runner:latest
+    command: bash -ic "python ./scenario_runner.py --host carla-simulator --openscenario /scenarios/$SCENARIO_NAME --output"