Add pytests (#127)

* Add pytests

* test experts

* Changed the padding position (#126)

* Mark agents as static if they spawn near goal (#125)

* Init static agents

* Fix the compile error

* Formatting

* Add some rendering support

* Check the first valid state against goal

* Working test on experts

* Configure pytests

* Add pytest to github workflow

* remove sample test

* Updated poetry lock

* Remove unnecassry imports

* Build in release mode

* Remove poetry lock file

* Reduced consts to use less memory

* Update manual.yml

* upload dumps

* Dont init agents if not valid on first timestep

* Add param

* Change name and fix test

* Change comment

* Modified workflow

* cache workflow downloads

* Revert prev changes

Author: aaravpandya

Diff for: .github/workflows/manual.yml

@@ -12,23 +12,48 @@ jobs:
         shell: bash -l {0}
     steps:
     - name: Checkout code
-      uses: actions/checkout@v2
+      uses: actions/checkout@v4
 
     - name: Install system dependencies
       run: |
         sudo apt update
         sudo apt install -y libx11-dev libxrandr-dev libxinerama-dev libxcursor-dev libxi-dev mesa-common-dev libc++1
         
+    - name: Cache Conda packages
+      uses: actions/cache@v4
+      with:
+        path: ~/conda_pkgs_dir
+        key: ${{ runner.os }}-conda-${{ hashFiles('environment.yml') }}
+        restore-keys: |
+          ${{ runner.os }}-conda-
+
     - name: Setup Conda environment.
-      uses: conda-incubator/setup-miniconda@v2
+      uses: conda-incubator/setup-miniconda@v3
       with:
          activate-environment: gpudrive
          environment-file: environment.yml
+         cache-downloads: true
+
+    - name: Cache Poetry dependencies
+      uses: actions/cache@v4
+      with:
+        path: ~/.cache/pypoetry
+        key: ${{ runner.os }}-poetry-${{ hashFiles('poetry.lock') }}
+        restore-keys: |
+          ${{ runner.os }}-poetry-
 
     - name: Install dependencies and build the project with Poetry
       run: |
         poetry install
+        
     - name: Run tests
       run: |
-        cd build/
-        ctest --rerun-failed --output-on-failure
+        ulimit -c unlimited
+        pytest -v
+
+    - name: Upload core dumps
+      if: failure()
+      uses: actions/upload-artifact@v3
+      with:
+        name: core-dumps
+        path: /tmp/core*

Diff for: conftest.py

@@ -0,0 +1,21 @@
+import subprocess
+import pytest
+import os
+
+@pytest.fixture(scope="session", autouse=True)
+def run_ctest():
+    build_dir = "build"  # Replace this with the path to your build directory
+    print("Running ctest in", os.path.abspath(build_dir))
+
+    # Run ctest in the build directory
+    try:
+        result = subprocess.run(["ctest"], check=True, cwd=build_dir, capture_output=True, text=True)
+        print("ctest stdout:")
+        print(result.stdout)
+        print("ctest stderr:")
+        print(result.stderr)
+    except subprocess.CalledProcessError as e:
+        print(f"ctest failed with error code {e.returncode}")
+        print("Error output:")
+        print(e.output)
+        raise  # Re-raise the exception to make pytest fail

Diff for: poetry.lock

@@ -22,6 +22,7 @@ script = "build.py"
 python = "^3.11"
 torch = "^2.2.1"
 numpy = "^1.26.4"
+pytest = "^8.2.1"
 
 [tool.poetry]
 name = "gpudrive"

Diff for: pyproject.toml

@@ -0,0 +1,2 @@
+[pytest]
+addopts = --ignore=external/madrona/external/SPIRV-Reflect --ignore=external/madrona/external/nanobind --ignore=external/madrona/external/tinyusdz --ignore=external/madrona/external/googletest

Diff for: pytest.ini

@@ -8,9 +8,9 @@ namespace gpudrive {
 
 namespace consts {
 
-inline constexpr madrona::CountT kMaxAgentCount = 128;
-inline constexpr madrona::CountT kMaxRoadEntityCount = 6000;
-inline constexpr madrona::CountT kMaxAgentMapObservationsCount = 6000;
+inline constexpr madrona::CountT kMaxAgentCount = 40;
+inline constexpr madrona::CountT kMaxRoadEntityCount = 4500;
+inline constexpr madrona::CountT kMaxAgentMapObservationsCount = 4500;
 
 // Various world / entity size parameters
 inline constexpr float worldLength = 40.f;

Diff for: src/consts.hpp

@@ -47,7 +47,6 @@ static inline void resetAgent(Engine &ctx, Entity agent) {
 #endif
 }
 
-
 static inline Entity createAgent(Engine &ctx, const MapObject &agentInit) {
     auto agent = ctx.makeRenderableEntity<Agent>();