Merge branch 'main' into VisibleSpecifierChanges

.coveragerc

@@ -1,7 +1,12 @@
 # .coveragerc to control coverage.py
 [run]
+branch = True
 omit =
-    src/scenic/simulators/webots/WBT*.py
+    src/scenic/simulators/carla/*
+    src/scenic/simulators/gta/*
+    src/scenic/simulators/lgsvl/*
+    src/scenic/simulators/webots/*
+    src/scenic/simulators/xplane/*
 
 [report]
 # Regexes for lines to exclude from consideration
@@ -20,3 +25,5 @@ exclude_lines =
     @(abc\.)?abstractmethod
 
 ignore_errors = True
+show_missing = True
+precision = 2

.github/ISSUE_TEMPLATE/1-bug.yml

@@ -0,0 +1,69 @@
+name: Bug Report
+description: Create a report to help us reproduce and fix a bug
+labels:
+  - "type: bug"
+  - "status: triage"
+
+body:
+  - type: markdown
+    attributes:
+      value: >
+        #### Thank you for contributing! Before reporting a bug, please make sure it has no duplicate and has not already been addressed by searching through [the existing and past issues](https://github.com/BerkeleyLearnVerify/Scenic/issues)
+
+  - type: textarea
+    attributes:
+      label: System Details
+      description: |
+        Please provide the following system information to help us diagnose the bug.
+        1. Python Version (e.g. Python 3.11.7)
+        2. Scenic Version (e.g. Scenic 3.0.0b2)
+        3. Operating System / Platform (e.g. Apple M2 Pro macOS Sonoma 14.2.1)
+        4. Simulator Version (Optional, only applies if bug is simulator specific) (e.g. CARLA 0.9.14)
+
+      placeholder: |
+        1. Python Version: `python --version`
+        2. Scenic Version: `scenic --version`
+        3. Operating System / Platform: get from system preferences
+        4. Simulator Version: simulator version
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Detailed Description
+      description: |
+        Please provide a clear and concise description of what the bug is and paste the error log below. Please rerun your simulation error with the **`-b`** parameter for a full stack trace.
+        It helps improving readability if the error log is wrapped in ```triple quotes blocks```.
+      placeholder: |
+        A clear and concise description of what the bug is. You can rerun your Scenic simulation with `-b` to get a full stack trace.
+
+        ```
+        # error full stack trace
+        ```
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Steps To Reproduce
+      description: |
+        Please provide a minimal example to help us reproduce the bug. Code should be wrapped with ```triple quotes blocks``` to improve readability. 
+        If it is not possible to reproduce the bug with a short self-contained Scenic or Python file, for example if a specific mesh is required, you can attach any required files below or include a link to them.
+      placeholder: |
+        1. First step to reproduce bug
+        2. Second step, etc
+        ...
+        ```
+        # sample code to reproduce the bug
+        ```
+    validations:
+      required: true
+
+  - type: checkboxes
+    attributes:
+      label: Issue Submission Checklist
+      options:
+        - label: I am reporting an issue, not asking a question
+          required: true
+        - label: I checked the open issues, forum, etc. and have not found any solution
+        - label: I have provided all necessary code, etc. to reproduce the issue

.github/ISSUE_TEMPLATE/2-docs.yml

@@ -0,0 +1,35 @@
+name: Documentation
+description: Report an issue or enhancement related to https://scenic-lang.readthedocs.io/
+labels:
+  - "type: documentation"
+  - "status: triage"
+
+body:
+  - type: markdown
+    attributes:
+      value: >
+        #### Thank you for contributing! Before submitting a doc issue, please make sure it has no duplicate and has not already been addressed by searching through [the existing and past issues](https://github.com/BerkeleyLearnVerify/Scenic/issues)
+
+  - type: textarea
+    attributes:
+      label: Describe the doc issue or enhancement
+      description: >
+        Please provide a clear and concise description of what content in https://scenic-lang.readthedocs.io/ has an issue or needs enhancement.
+      placeholder: |
+        Link to location in the docs: https://scenic-lang.readthedocs.io/
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Fix suggestion
+      description: >
+        Tell us how we could improve the documentation in this regard.
+
+  - type: checkboxes
+    attributes:
+      label: Issue Submission Checklist
+      options:
+        - label: I am reporting an issue, not asking a question
+          required: true
+        - label: I checked the open issues, forum, etc. and have not found any solution

.github/ISSUE_TEMPLATE/3-feature.yml

@@ -0,0 +1,31 @@
+name: Feature Request
+description: Submit a request for new Scenic features
+labels:
+  - "type: feature"
+  - "status: triage"
+
+body:
+  - type: markdown
+    attributes:
+      value: >
+        #### Thank you for contributing! Before submitting a feature request, please make sure it has no duplicate and has not already been addressed by searching through [the existing and past issues](https://github.com/BerkeleyLearnVerify/Scenic/issues)
+
+  - type: textarea
+    attributes:
+      label: Describe the feature and motivation
+      description: |
+        Please provide a clear and concise proposal of the feature and outline the motivation.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: |
+        Add any other context, such as pseudo code, links, diagrams, screenshots, to help the community better understand the feature request.
+
+  - type: checkboxes
+    attributes:
+      label: Issue Submission Checklist
+      options:
+        - label: I checked the open issues, forum, etc. and have not found any solution

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,5 @@
+blank_issues_enabled: true
+contact_links:
+  - name: Questions
+    url: https://forms.gle/uUhQNuPzQrvvBFJX9
+    about: Send your questions via Google Form

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,15 @@
+### Description
+<!-- Provide a brief description of the changes introduced by this pull request -->
+
+### Issue Link
+<!-- Provide a link to the related issue on GitHub or another issue tracking system -->
+
+### Checklist
+- [ ] I have tested the changes locally via `pytest` and/or other means
+- [ ] I have added or updated relevant documentation
+- [ ] I have autoformatted the code with black and isort
+- [ ] I have added test cases (if applicable)
+
+### Additional Notes
+<!-- Add any additional information or context about the pull request -->
+<!-- Optionally reference a Jira ticket using the following format: [SCENIC-123] -->

.github/workflows/run-coverage.yml

@@ -0,0 +1,65 @@
+name: run_coverage
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+  workflow_dispatch:
+    inputs:
+      ref:
+        description: Git ref on which to run the tests.
+        type: string
+        required: true
+  workflow_call:
+    inputs:
+      ref:
+        description: Git ref on which to run the tests.
+        type: string
+
+jobs:
+  coverage:
+    strategy:
+      fail-fast: true
+      matrix:
+        python-version: ["3.11"]
+        os: [ubuntu-latest]
+        extras: ["test-full"]
+    runs-on: ${{ matrix.os }}
+
+    steps:
+    - name: Checkout given ref
+      uses: actions/checkout@v3
+      if: inputs.ref != ''
+      with:
+        ref: ${{ inputs.ref }}
+
+    - name: Checkout current branch
+      uses: actions/checkout@v3
+      if: inputs.ref == ''
+      with:
+        ref: ${{ github.ref }}
+
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v4
+      with:
+        python-version: ${{ matrix.python-version }}
+        cache: 'pip'
+
+    - name: Update pip
+      run: |
+        python -m pip install --upgrade pip
+
+    - name: Install Scenic and dependencies
+      run: |
+        python -m pip install -e ".[${{ matrix.extras }}]"
+
+    - name: Run and report code coverage
+      run: |
+        pytest --cov --cov-report json
+    
+    - name: Upload coverage reports to Codecov
+      uses: codecov/[email protected]
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        slug: BerkeleyLearnVerify/Scenic

.gitignore

@@ -17,6 +17,9 @@ poetry.lock
 *.sublime-project
 *.sublime-workspace
 
+# VSCode files
+*.vscode
+
 # Byte-compiled / optimized / DLL files
 __pycache__/
 *.py[cod]
@@ -66,6 +69,7 @@ coverage.xml
 *.cover
 .hypothesis/
 .pytest_cache/
+coverage.json
 
 # Translations
 *.mo

codecov.yml

@@ -0,0 +1,21 @@
+codecov:
+  coverage:
+    precision: 2
+    round: down
+    range: "70...100"
+    status:
+      project:
+        default:
+          target: 80%
+          threshold: 1%
+        changes:
+          target: 80%
+          threshold: 1%
+  comment:
+    layout: "reach, diff, flags, files"
+    behavior: default
+  require_ci_to_pass: true
+cli:
+  plugins:
+    pycoverage:
+      report_type: "json"

docs/developing.rst

@@ -58,6 +58,21 @@ If you're running the test suite on a headless server or just want to stop windo
 popping up during testing, use the :command:`--no-graphics` option to skip graphical
 tests.
 
+Prior to finalizing a PR or other substantial changes, it's a good idea to run the test suite under all major versions of Python that Scenic supports, in fresh virtual environments.
+You can do this automatically with the command :command:`tox`, which by default will test all supported major versions both with and without optional dependencies (this will take a long time).
+Some variations:
+
+* :command:`tox -p` will run the various combinations in parallel.
+
+* :command:`tox -m basic` skips testing installations with the optional dependencies.
+
+* :command:`tox -- --fast` only runs the "fast" tests. In general, any arguments after the :command:`--` will get passed to ``pytest``. For example,
+
+* :command:`tox -- tests/syntax/test_specifiers.py` only runs the tests in the given file.
+
+See the `Tox <https://tox.wiki/>`_ website for more information about the available options and how to configure Tox.
+
+
 .. _debugging:
 
 Debugging

pyproject.toml

@@ -57,6 +57,7 @@ guideways = [
 ]
 test = [	# minimum dependencies for running tests (used for tox virtualenvs)
 	"pytest >= 7.0.0, <8",
+	"pytest-cov >= 3.0.0",
 	"pytest-randomly ~= 3.2",
 ]
 test-full = [  # like 'test' but adds dependencies for optional features
@@ -79,7 +80,7 @@ dev = [
 	"isort ~= 5.11",
 	"pre-commit ~= 3.0",
 	"pytest-cov >= 3.0.0",
-	"tox ~= 3.14",
+	"tox ~= 4.0",
 ]
 
 [project.urls]
@@ -121,3 +122,6 @@ extend_skip_glob = [
 
 [tool.pytest.ini_options]
 norecursedirs = ["examples"]
+
+[tool.coverage.run]
+source = ["src"]

src/scenic/core/dynamics/behaviors.py

@@ -95,7 +95,8 @@ def _step(self):
         assert self._runningIterator
 
         def alarmHandler(signum, frame):
-            if sys.gettrace():
+            # NOTE: if using pytest-cov, sys.gettrace() set to CTracer(), but we still want timeout warnings enabled
+            if sys.gettrace() and "coverage" not in str(type(sys.gettrace())):
                 return  # skip the warning if we're in the debugger
             warnings.warn(
                 f"the behavior {self} is taking a long time to take an action; "

tox.ini

@@ -1,6 +1,7 @@
 [tox]
-isolated_build = true
 envlist = py{38,39,310,311,312}{,-extras}
+labels =
+	basic = py{38,39,310,311,312}
 
 [testenv]
 extras =