#!/usr/bin/env python3 """Run sequential PDM-Lite acceptance over the frozen CoDrive routes.""" from __future__ import annotations import argparse import hashlib import json import os import shutil import subprocess import sys import time import xml.etree.ElementTree as ET from collections import Counter from pathlib import Path ROOT = Path(__file__).resolve().parents[2] RUN_ONE = ROOT / "closed_dataset/scripts/run_pdm_acceptance_route.sh" VALIDATE_ONE = ROOT / "closed_dataset/scripts/validate_pdm_acceptance.py" FAMILY_ORDER = ( "occluded_pedestrian", "lane_cut_in", "reveal_obstacle", "ghost_driver_left_turn", "ghost_driver_right_turn", "right_turn_on_red", ) DEFAULT_GRAPHICS_ADAPTER = {0: 1, 1: 2, 2: 0, 3: 3} def _route_family(route: Path) -> str: return route.parent.name def _route_id(route: Path) -> str: return ET.parse(route).getroot().find("route").attrib["id"] def _sha256(path: Path) -> str: digest = hashlib.sha256() with path.open("rb") as stream: for chunk in iter(lambda: stream.read(1024 * 1024), b""): digest.update(chunk) return digest.hexdigest() def _quarantine_incomplete(run_dir: Path) -> None: if not run_dir.exists() or not any(run_dir.iterdir()): return suffix = time.strftime("%Y%m%d_%H%M%S") destination = run_dir.with_name(f"{run_dir.name}_incomplete_{suffix}") counter = 1 while destination.exists(): destination = run_dir.with_name( f"{run_dir.name}_incomplete_{suffix}_{counter:02d}" ) counter += 1 shutil.move(str(run_dir), str(destination)) print(f"quarantined incomplete artifact: {destination}", flush=True) def _select_routes(route_root: Path, families: list[str], one_per_family: bool) -> list[Path]: routes = [] for family in FAMILY_ORDER: if families and family not in families: continue family_routes = sorted((route_root / family).glob("*.xml")) if one_per_family: family_routes = family_routes[:1] routes.extend(family_routes) return routes def main() -> int: parser = argparse.ArgumentParser(description=__doc__) parser.add_argument( "--route-root", type=Path, default=ROOT / "closed_dataset/routes", ) parser.add_argument( "--run-root", type=Path, default=ROOT / "closed_dataset/acceptance_runs", ) parser.add_argument("--family", action="append", choices=FAMILY_ORDER) parser.add_argument("--one-per-family", action="store_true") parser.add_argument("--max-routes", type=int, default=0) parser.add_argument("--gpu", type=int, default=2) parser.add_argument("--graphics-adapter", type=int) parser.add_argument("--port", type=int, default=4897) parser.add_argument("--tm-port", type=int, default=10897) parser.add_argument("--walltime", type=int, default=480) parser.add_argument("--rerun", action="store_true") parser.add_argument( "--revalidate-cache", action="store_true", help="Re-run the current validator before accepting a hash-matched cache.", ) parser.add_argument("--fail-fast", action="store_true") args = parser.parse_args() route_root = args.route_root.resolve() run_root = args.run_root.resolve() run_root.mkdir(parents=True, exist_ok=True) routes = _select_routes(route_root, args.family or [], args.one_per_family) if args.max_routes > 0: routes = routes[: args.max_routes] if not routes: raise SystemExit(f"No routes found under {route_root}") summaries = [] total = len(routes) for index, route in enumerate(routes, 1): route_id = _route_id(route) family = _route_family(route) run_dir = run_root / family / route_id report_path = run_dir / "acceptance_report.json" route_sha256 = _sha256(route) if report_path.is_file() and not args.rerun: report = json.loads(report_path.read_text(encoding="utf-8")) cache_matches = report.get("route_sha256") == route_sha256 if cache_matches and args.revalidate_cache: validate_status = subprocess.run( [ sys.executable, str(VALIDATE_ONE), str(run_dir), "--output", str(report_path), ], start_new_session=True, ).returncode report = json.loads(report_path.read_text(encoding="utf-8")) report["validator_status"] = validate_status report["route_id"] = route_id report["family"] = family report["route_sha256"] = route_sha256 if report.get("runner_status", 0) != 0: report["accepted"] = False report["errors"] = list(report.get("errors", [])) report["errors"].append( f"acceptance runner exited with status " f"{report['runner_status']}" ) report_path.write_text( json.dumps(report, indent=2, sort_keys=True) + "\n" ) cache_matches = report["accepted"] if cache_matches: print( f"[{index}/{total}] cached {route_id}: " f"accepted={report['accepted']} hash={route_sha256[:12]}", flush=True, ) summaries.append(report) if args.fail_fast and not report["accepted"]: break continue print( f"[{index}/{total}] stale cache for {route_id}; rerunning", flush=True, ) _quarantine_incomplete(run_dir) run_dir.mkdir(parents=True, exist_ok=True) env = os.environ.copy() env.update( { "ROUTE": str(route), "RUN_DIR": str(run_dir), "GPU_RANK": str(args.gpu), "CARLA_GRAPHICS_ADAPTER": str( args.graphics_adapter if args.graphics_adapter is not None else DEFAULT_GRAPHICS_ADAPTER.get(args.gpu, args.gpu) ), "PORT": str(args.port), "TM_PORT": str(args.tm_port), "EVAL_WALLTIME_SECONDS": str(args.walltime), } ) print(f"[{index}/{total}] running {route_id}", flush=True) run_status = subprocess.run( ["bash", str(RUN_ONE)], env=env, start_new_session=True, ).returncode validate_status = subprocess.run( [ sys.executable, str(VALIDATE_ONE), str(run_dir), "--output", str(report_path), ], start_new_session=True, ).returncode report = json.loads(report_path.read_text(encoding="utf-8")) report["runner_status"] = run_status report["validator_status"] = validate_status report["route_id"] = route_id report["family"] = family report["route_sha256"] = route_sha256 if run_status != 0: report["accepted"] = False report["errors"] = list(report.get("errors", [])) report["errors"].append( f"acceptance runner exited with status {run_status}" ) report_path.write_text(json.dumps(report, indent=2, sort_keys=True) + "\n") summaries.append(report) print( f"[{index}/{total}] {route_id}: accepted={report['accepted']} " f"errors={report['errors']}", flush=True, ) if args.fail_fast and not report["accepted"]: break counts = Counter("accepted" if item["accepted"] else "rejected" for item in summaries) suite_report = { "route_root": str(route_root), "run_root": str(run_root), "route_count": len(summaries), "accepted": counts["accepted"], "rejected": counts["rejected"], "routes": summaries, } (run_root / "acceptance_summary.json").write_text( json.dumps(suite_report, indent=2, sort_keys=True) + "\n" ) print(json.dumps({key: value for key, value in suite_report.items() if key != "routes"}, indent=2)) return 0 if counts["rejected"] == 0 else 1 if __name__ == "__main__": raise SystemExit(main())