def checkBugs(bugs, tmpdir, checkTraceback=True):
path = os.path.join(tmpdir, 'test.sc')
for bug in bugs:
for program, line in programsWithBug(bug):
try:
# write program to file so we can check SyntaxError line correction
with open(path, 'w') as f:
f.write(program)
scenic.scenarioFromFile(path)
print(f'FAILING PROGRAM:\n{program}')
pytest.fail(
f'Program with buggy statement "{bug}" did not raise error'
)
except Exception as e:
if isinstance(e, (ParseError, SyntaxError)):
assert e.lineno == line, program
if isinstance(e, SyntaxError):
assert e.text.strip() == bug
assert e.offset <= len(e.text)
# in Python 3.7+, when we can modify tracebacks, check that the
# last frame of the traceback has the correct line number
if checkTraceback and sys.version_info >= (3, 7):
tb = sys.exc_info()[2]
while tb.tb_next is not None:
tb = tb.tb_next
assert tb.tb_lineno == line, f'\n{program}'
def checkBug(bug, template, tmpdir, checkTraceback=True, generate=False):
path = os.path.join(tmpdir, 'test.sc')
line, program = template
program = program.format(bug=bug)
print(f'TRYING PROGRAM:\n{program}')
try:
# write program to file so we can check SyntaxError line correction
with open(path, 'w') as f:
f.write(program)
scenario = scenic.scenarioFromFile(path)
if generate:
scenario.generate(maxIterations=1)
pytest.fail(
f'Program with buggy statement "{bug}" did not raise error')
except Exception as e:
if isinstance(e, (ParseError, SyntaxError)):
assert e.lineno == line, program
if isinstance(e, SyntaxError):
assert e.text.strip() == bug
assert e.offset <= len(e.text)
# in Python 3.7+, when we can modify tracebacks, check that the
# last frame of the traceback has the correct line number
if checkTraceback and sys.version_info >= (3, 7):
tb = sys.exc_info()[2]
while tb.tb_next is not None:
tb = tb.tb_next
assert tb.tb_lineno == line
def test_import_top_absolute(request):
base = os.path.dirname(request.fspath)
fullpathImports = os.path.join(base, 'imports.sc')
fullpathHelper = os.path.join(base, 'helper.sc')
scenario = scenarioFromFile(fullpathImports)
assert len(scenario.requirements) == 0
scene, iterations = scenario.generate(maxIterations=1)
# Top-level and inherited Objects
assert len(scene.objects) == 2
ego = scene.egoObject
assert ego.species == 'killer'
assert scene.objects[1].species == 'helpful'
# Parameter depending on imported Python module
assert scene.params['thingy'] == 42
# Parameters depending on import circumstances
assert scene.params['imports_name'] == '__main__'
assert scene.params['imports_file'] == fullpathImports
# Inherited parameters as above
assert scene.params['helper_name'] == 'helper'
assert scene.params['helper_file'] == fullpathHelper
def test_import_top_relative(request):
base = os.path.dirname(request.fspath)
fullpathHelper = os.path.join(base, 'helper.sc')
oldDirectory = os.getcwd()
os.chdir(base)
try:
scenario = scenarioFromFile('imports.sc')
assert len(scenario.requirements) == 0
scene, iterations = scenario.generate(maxIterations=1)
assert len(scene.objects) == 2
ego = scene.egoObject
assert ego.species == 'killer'
assert scene.objects[1].species == 'helpful'
assert scene.params['thingy'] == 42
assert scene.params['imports_name'] == '__main__'
assert scene.params['imports_file'] == 'imports.sc'
assert scene.params['helper_name'] == 'helper'
assert scene.params['helper_file'] == fullpathHelper
finally:
os.chdir(oldDirectory)
def test_bad_extension(tmpdir):
path = os.path.join(tmpdir, 'blah.py')
with pytest.raises(RuntimeError), open(path, 'w'):
scenic.scenarioFromFile(path)
def test_missing_file():
with pytest.raises(FileNotFoundError):
scenic.scenarioFromFile('____baloney-file-2342905_.sc')
def fromScenario(cls, path, maxIterations=None, ignoredProperties=None):
"""Create a sampler corresponding to a Scenic program."""
scenario = scenic.scenarioFromFile(path)
return cls(scenario,
maxIterations=maxIterations,
ignoredProperties=ignoredProperties)
def loader(relpath):
path = os.path.join(base, relpath)
return scenic.scenarioFromFile(path)
help='Place to store the dataset')
parser.add_argument('-i', '--index', default='5')
parser.add_argument('-m', '--l_r', default='0')
parser.add_argument('-n', '--f_b', default='10')
parser.add_argument('-end', '--end', default='100')
parser.add_argument('-start', '--start', default='0')
parser.add_argument('-sc', '--sc_file', default='examples/gazebo/test.sc')
parser.add_argument('-world',
'--outFile',
default='examples/gazebo/outputs/out.world')
parser.add_argument('-template', '--world_template', default='basic_world')
args = parser.parse_args()
# name = "examples/gazebo/simpleBox.sc"
scenic_source_file = args.sc_file
outFile = args.outFile
# construct scenario
scenario = scenic.scenarioFromFile(scenic_source_file)
scene, _ = scenario.generate()
my_cfg = interface.Gazebo.parse(scenario)
print(my_cfg)
interface.Gazebo.write(scenario)
output = interface.Gazebo.config(scene, "basic_world")
with open(outFile, 'w+') as fileObj:
fileObj.write(output)
def runFile(path):
scenario = scenic.scenarioFromFile(path)
scene, _ = scenario.generate(maxIterations=1)
sampleActionsFromScene(scene, maxSteps=2)
