fix: further paramterizing blueprint tests and adding package scope f…

…or getCarlaSimulator
BerkeleyLearnVerify · Jul 10, 2024 · 47c79f9 · 47c79f9
1 parent 291cf09
commit 47c79f9
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diff --git a/tests/simulators/carla/test_actions.py b/tests/simulators/carla/test_actions.py
@@ -21,7 +21,15 @@ def checkCarlaPath():
 
 def launchCarlaServer():
     CARLA_ROOT = checkCarlaPath()
-    subprocess.Popen(f"bash {CARLA_ROOT}/CarlaUE4.sh -RenderOffScreen", shell=True)
+    server_process = subprocess.Popen(
+        f"bash {CARLA_ROOT}/CarlaUE4.sh -RenderOffScreen", shell=True
+    )
+    return server_process
+
+
+def terminateCarlaServer(server_process):
+    server_process.terminate()
+    server_process.wait()
 
 
 def isCarlaServerRunning(host="localhost", port=2000):
@@ -34,21 +42,26 @@ def isCarlaServerRunning(host="localhost", port=2000):
             return False
 
 
-@pytest.fixture
+@pytest.fixture(scope="package")
 def getCarlaSimulator(getAssetPath):
     from scenic.simulators.carla import CarlaSimulator
 
     base = getAssetPath("maps/CARLA")
 
+    if not isCarlaServerRunning():
+        server_process = launchCarlaServer()
+    else:
+        server_process = None
+
     def _getCarlaSimulator(town):
-        if not isCarlaServerRunning():
-            launchCarlaServer()
         path = os.path.join(base, town + ".xodr")
         simulator = CarlaSimulator(map_path=path, carla_map=town)
-
         return (simulator, town, path)
 
-    return _getCarlaSimulator
+    yield _getCarlaSimulator
+
+    if server_process:
+        terminateCarlaServer(server_process)
 
 
 def test_throttle(getCarlaSimulator):

diff --git a/tests/simulators/carla/test_blueprints.py b/tests/simulators/carla/test_blueprints.py
@@ -57,170 +57,42 @@ def model_blueprint(simulator, mapPath, town, modelType, modelName):
     assert obj.blueprint == modelName
 
 
-@pytest.mark.parametrize("modelName", carModels)
-def test_car_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Car", modelName)
-
-
-@pytest.mark.parametrize("modelName", bicycleModels)
-def test_bicycle_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Bicycle", modelName)
-
-
-@pytest.mark.parametrize("modelName", motorcycleModels)
-def test_motorcycle_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Motorcycle", modelName)
-
-
-@pytest.mark.parametrize("modelName", truckModels)
-def test_truck_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Truck", modelName)
-
-
-@pytest.mark.parametrize("modelName", trashModels)
-def test_trash_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Trash", modelName)
-
-
-@pytest.mark.parametrize("modelName", coneModels)
-def test_cone_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Cone", modelName)
-
-
-@pytest.mark.parametrize("modelName", debrisModels)
-def test_debris_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Debris", modelName)
-
-
-@pytest.mark.parametrize("modelName", vendingMachineModels)
-def test_vending_machine_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "VendingMachine", modelName)
-
-
-@pytest.mark.parametrize("modelName", chairModels)
-def test_chair_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Chair", modelName)
-
-
-@pytest.mark.parametrize("modelName", busStopModels)
-def test_bus_stop_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "BusStop", modelName)
-
-
-@pytest.mark.parametrize("modelName", advertisementModels)
-def test_advertisement_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Advertisement", modelName)
-
-
-@pytest.mark.parametrize("modelName", garbageModels)
-def test_garbage_blueprints(getCarlaSimulator, modelName):
-    pytest.importorskip("carla")
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Garbage", modelName)
-
-
-@pytest.mark.parametrize("modelName", containerModels)
-def test_container_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Container", modelName)
-
-
-@pytest.mark.parametrize("modelName", tableModels)
-def test_table_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Table", modelName)
-
-
-@pytest.mark.parametrize("modelName", barrierModels)
-def test_barrier_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Barrier", modelName)
-
-
-@pytest.mark.parametrize("modelName", plantpotModels)
-def test_plant_pots_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "PlantPot", modelName)
-
-
-@pytest.mark.parametrize("modelName", mailboxModels)
-def test_mailbox_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Mailbox", modelName)
-
-
-@pytest.mark.parametrize("modelName", gnomeModels)
-def test_gnome_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Gnome", modelName)
-
-
-@pytest.mark.parametrize("modelName", creasedboxModels)
-def test_creased_box_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "CreasedBox", modelName)
-
-
-@pytest.mark.parametrize("modelName", caseModels)
-def test_case_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Case", modelName)
-
-
-@pytest.mark.parametrize("modelName", boxModels)
-def test_box_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Box", modelName)
-
-
-@pytest.mark.parametrize("modelName", benchModels)
-def test_bench_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Bench", modelName)
-
-
-@pytest.mark.parametrize("modelName", barrelModels)
-def test_barrel_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Barrel", modelName)
-
-
-@pytest.mark.parametrize("modelName", atmModels)
-def test_atm_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "ATM", modelName)
-
-
-@pytest.mark.parametrize("modelName", kioskModels)
-def test_kiosk_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Kiosk", modelName)
-
-
-@pytest.mark.parametrize("modelName", ironplateModels)
-def test_iron_plate_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "IronPlate", modelName)
-
-
-@pytest.mark.parametrize("modelName", trafficwarningModels)
-def test_traffic_warning_blueprints(getCarlaSimulator, modelName):
-    simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "TrafficWarning", modelName)
-
-
-@pytest.mark.parametrize("modelName", walkerModels)
-def test_pedestrian_blueprints(getCarlaSimulator, modelName):
+model_data = {
+    "Car": carModels,
+    "Bicycle": bicycleModels,
+    "Motorcycle": motorcycleModels,
+    "Truck": truckModels,
+    "Trash": trashModels,
+    "Cone": coneModels,
+    "Debris": debrisModels,
+    "VendingMachine": vendingMachineModels,
+    "Chair": chairModels,
+    "BusStop": busStopModels,
+    "Advertisement": advertisementModels,
+    "Garbage": garbageModels,
+    "Container": containerModels,
+    "Table": tableModels,
+    "Barrier": barrierModels,
+    "PlantPot": plantpotModels,
+    "Mailbox": mailboxModels,
+    "Gnome": gnomeModels,
+    "CreasedBox": creasedboxModels,
+    "Case": caseModels,
+    "Box": boxModels,
+    "Bench": benchModels,
+    "Barrel": barrelModels,
+    "ATM": atmModels,
+    "Kiosk": kioskModels,
+    "IronPlate": ironplateModels,
+    "TrafficWarning": trafficwarningModels,
+    "Pedestrian": walkerModels,
+}
+
+
+@pytest.mark.parametrize(
+    "modelType, modelName",
+    [(type, name) for type, names in model_data.items() for name in names],
+)
+def test_model_blueprints(getCarlaSimulator, modelType, modelName):
     simulator, town, mapPath = getCarlaSimulator("Town01")
-    model_blueprint(simulator, mapPath, town, "Pedestrian", modelName)
+    model_blueprint(simulator, mapPath, town, modelType, modelName)