ci: faster metadrive test (#33755)

* fast

* fix

* same ratio

* output

* check old

* error

* fail

* better

* log

* test faster runner

* work?

* test

* ratio

* forward

* try without wait

* test old distance

* fxi

* test old runner

* test this

* assert distance

* cleanup

* better

* get distance

* cleanup

* choose runner

* very slow

* wait

* put this back

.github/workflows/tools_tests.yaml

@@ -27,7 +27,9 @@ env:
 jobs:
   simulator_driving:
     name: simulator driving
-    runs-on: ubuntu-latest
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+               ((github.event_name != 'pull_request') ||
+                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     timeout-minutes: 20
     steps:
     - uses: actions/checkout@v4

tools/sim/bridge/metadrive/metadrive_bridge.py

@@ -50,12 +50,13 @@ def create_map(track_size=60):
 class MetaDriveBridge(SimulatorBridge):
   TICKS_PER_FRAME = 5
 
-  def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=False):
+  def __init__(self, dual_camera, high_quality, test_duration=math.inf, minimal_distance=0, test_run=False):
     super().__init__(dual_camera, high_quality)
 
     self.should_render = False
     self.test_run = test_run
     self.test_duration = test_duration if self.test_run else math.inf
+    self.minimal_distance = minimal_distance if self.test_run else 0
 
   def spawn_world(self, queue: Queue):
     sensors = {
@@ -90,4 +91,4 @@ class MetaDriveBridge(SimulatorBridge):
       anisotropic_filtering=False
     )
 
-    return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera)
+    return MetaDriveWorld(queue, config, self.test_duration, self.minimal_distance, self.test_run, self.dual_camera)

tools/sim/bridge/metadrive/metadrive_process.py

@@ -19,6 +19,7 @@ from openpilot.tools.sim.lib.camerad import W, H
 C3_POSITION = Vec3(0.0, 0, 1.22)
 C3_HPR = Vec3(0, 0,0)
 
+VEHICLE_STARTING_POS = [110, 4.5]
 
 metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"])
 metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"])
@@ -50,7 +51,7 @@ def apply_metadrive_patches(arrive_dest_done=True):
 
 def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock,
                       controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection,
-                      exit_event, op_engaged, test_duration, test_run):
+                      exit_event, op_engaged, test_duration, minimal_distance, test_run):
   arrive_dest_done = config.pop("arrive_dest_done", True)
   apply_metadrive_patches(arrive_dest_done)
 
@@ -70,6 +71,7 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
     env.reset()
     env.vehicle.config["max_speed_km_h"] = 1000
     lane_idx_prev, _ = get_current_lane_info(env.vehicle)
+    env.vehicle.set_position(VEHICLE_STARTING_POS)
 
     simulation_state = metadrive_simulation_state(
       running=True,
@@ -98,6 +100,9 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
   steer_ratio = 8
   vc = [0,0]
 
+  total_distance = 0
+  prev_x_pos = VEHICLE_STARTING_POS[0]
+
   while not exit_event.is_set():
     vehicle_state = metadrive_vehicle_state(
       velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0),
@@ -107,6 +112,9 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
     )
     vehicle_state_send.send(vehicle_state)
 
+    total_distance += abs(env.vehicle.position[0] - prev_x_pos)
+    prev_x_pos = env.vehicle.position[0]
+
     if controls_recv.poll(0):
       while controls_recv.poll(0):
         steer_angle, gas, should_reset = controls_recv.recv()
@@ -137,7 +145,10 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
         elif out_of_lane:
           done_result = (True, {"out_of_lane" : True})
         elif timeout:
-          done_result = (True, {"timeout" : True})
+          if total_distance < minimal_distance:
+            done_result = (True, {"minimal_distance" : True})
+          else:
+            done_result = (True, {"timeout" : True})
 
         simulation_state = metadrive_simulation_state(
           running=False,

tools/sim/bridge/metadrive/metadrive_world.py

@@ -14,7 +14,7 @@ from openpilot.tools.sim.lib.camerad import W, H
 
 
 class MetaDriveWorld(World):
-  def __init__(self, status_q, config, test_duration, test_run, dual_camera=False):
+  def __init__(self, status_q, config, test_duration, minimal_distance, test_run, dual_camera=False):
     super().__init__(dual_camera)
     self.status_q = status_q
     self.camera_array = Array(ctypes.c_uint8, W*H*3)
@@ -41,7 +41,7 @@ class MetaDriveWorld(World):
                               functools.partial(metadrive_process, dual_camera, config,
                                                 self.camera_array, self.wide_camera_array, self.image_lock,
                                                 self.controls_recv, self.simulation_state_send,
-                                                self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, self.test_run))
+                                                self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, minimal_distance, self.test_run))
 
     self.metadrive_process.start()
     self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting"))
@@ -105,7 +105,7 @@ class MetaDriveWorld(World):
       if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving
         self.distance_moved += x_dist + y_dist
 
-      time_check_threshold = 30
+      time_check_threshold = 7.5
       current_time = time.monotonic()
       since_last_check = current_time - self.last_check_timestamp
       if since_last_check >= time_check_threshold:

tools/sim/tests/test_metadrive_bridge.py

@@ -11,11 +11,9 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 @pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log
 class TestMetaDriveBridge(TestSimBridgeBase):
   @pytest.fixture(autouse=True)
-  def setup_create_bridge(self, test_duration):
-    # run bridge test for at least 60s, since not-moving check runs every 30s
-    if test_duration < 60:
-      test_duration = 60
-    self.test_duration = test_duration
+  def setup_create_bridge(self):
+    self.test_duration = 15
+    self.minimal_distance = 10
 
   def create_bridge(self):
-    return MetaDriveBridge(False, False, self.test_duration, True)
+    return MetaDriveBridge(False, False, self.test_duration, self.minimal_distance, True)