Updated with world info generation directly from unreal engine (#305)

* Merge main * Delete src/scenic/simulators/airsim directory * Delete examples/airsim directory * fixed * fixed1 * added new files * added docs * Update docs/simulators.rst Co-authored-by: Daniel Fremont <[email protected]> * Update docs/simulators.rst Co-authored-by: Daniel Fremont <[email protected]> * Update docs/simulators.rst Co-authored-by: Daniel Fremont <[email protected]> * Update docs/simulators.rst Co-authored-by: Daniel Fremont <[email protected]> * resolved issues --------- Co-authored-by: Daniel Fremont <[email protected]> Co-authored-by: Daniel He <[email protected]>
BerkeleyLearnVerify · Oct 8, 2024 · 524b391 · 524b391
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diff --git a/.coveragerc b/.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
diff --git a/.git-blame-ignore-revs b/.git-blame-ignore-revs
@@ -1,3 +1,7 @@
 # .git-blame-ignore-revs
 # Ran isort and black on the whole codebase
 360c67fab09d172498b3014510ee3658643d12da
+# Ran black with 2024 stable style
+c6c83f95ff370b75c3ee7130dbd8071bfe8b285a
+# Cleaned up test quote spacing
+995cd182924dc9e3dbbc941c5b75454ea0cdaaca
diff --git a/.github/ISSUE_TEMPLATE/1-bug.yml b/.github/ISSUE_TEMPLATE/1-bug.yml
@@ -0,0 +1,76 @@
+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.
+
+        1. Clear and concise description of the bug
+        2. `scenic` command you ran locally (e.g. `scenic test.scenic --count 1 -b`, etc.). Please rerun your simulation error with the **`-b`** parameter for a full stack trace.
+        3. Error log. It helps improving readability if the error log is wrapped in ```triple quotes blocks```.
+
+      placeholder: |
+        1. Scenic has a bug
+        2. `scenic test.scenic -b`
+        3. Error Log
+        ```
+        # 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.
+
+        If possible/applicable, please specify a seed that will reproduce the issue by running scenic with the seed argument: `scenic -s SEED, --seed SEED  random seed`
+      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 and closed issues, forum, etc. and have not found any solution
+        - label: I have provided all necessary code, etc. to reproduce the issue
diff --git a/.github/ISSUE_TEMPLATE/2-docs.yml b/.github/ISSUE_TEMPLATE/2-docs.yml
@@ -0,0 +1,35 @@
+name: Documentation
+description: Report an issue or enhancement related to https://docs.scenic-lang.org/
+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 open and closed 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://docs.scenic-lang.org/ has an issue or needs enhancement.
+      placeholder: |
+        Link to location in the docs: https://docs.scenic-lang.org/
+    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 and closed issues, forum, etc. and have not found any solution
diff --git a/.github/ISSUE_TEMPLATE/3-feature.yml b/.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 open and closed 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 and closed issues, forum, etc. and have not found any solution
diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
@@ -0,0 +1,5 @@
+blank_issues_enabled: true
+contact_links:
+  - name: Questions
+    url: https://forum.scenic-lang.org/
+    about: Post your questions on our community forum
diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.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] -->
diff --git a/.github/check_latest_simulators.py b/.github/check_latest_simulators.py
@@ -0,0 +1,49 @@
+import os
+import re
+
+import requests
+
+SIMULATORS = ["carla", "webots"]
+SIMULATOR_URLS = {
+    "carla": "https://github.com/carla-simulator/carla/releases/latest",
+    "webots": "https://github.com/cyberbotics/webots/releases/latest",
+}
+SIMULATORS_REGEXES = {
+    "carla": 'carla-simulator/carla/releases/tag/([^"]+)',
+    "webots": 'cyberbotics/webots/releases/tag/([^"]+)',
+}
+
+
+def check_path_exists(version, simulator):
+    path = f"/software/{simulator}{version}"
+    if os.path.exists(path):
+        print(f"Latest {simulator} version {version} already present on the machine.\n")
+    else:
+        s = """
+                       _          
+ _    _____ ________  (_)__  ___ _
+| |/|/ / _ `/ __/ _ \/ / _ \/ _ `/
+|__,__/\_,_/_/ /_//_/_/_//_/\_, / 
+                           /___/  
+        """
+        print(s)
+        print(
+            f"A new {simulator} version ({version}) needs to be installed and tested in CI.\n"
+        )
+
+
+def version_check(regex_match, sim_name):
+    try:
+        version = regex_match.group(1)
+    except AttributeError:
+        print(f"Error: Unable to find the latest {sim_name} version using regex.")
+    else:
+        check_path_exists(version, sim_name)
+
+
+for sim in SIMULATORS:
+    print(f"Checking for {sim}...")
+    url = SIMULATOR_URLS[sim]
+    response = requests.get(url)
+    regex_match = re.search(SIMULATORS_REGEXES[sim], response.text)
+    version_check(regex_match, sim)
diff --git a/.github/slack_oncall_reminder.py b/.github/slack_oncall_reminder.py
@@ -0,0 +1,70 @@
+import argparse
+
+import requests
+from slack_sdk import WebClient
+from slack_sdk.errors import SlackApiError
+
+
+def save_users(users_array):
+    users = {}
+    for user in users_array:
+        # NOTE: some apps, slackbots do not have emails to map to
+        profile = user["profile"]
+        if "email" in profile.keys():
+            user_email = profile["email"]
+            username = user_email.split("@")[0]
+            users[username] = user
+    return users
+
+
+def grab_whos_on_call(OPS_GENIE_API_TOKEN, ROTATION_SCHEDULE_ID):
+    url = f"https://api.opsgenie.com/v2/schedules/{ROTATION_SCHEDULE_ID}/on-calls"
+    headers = {"Authorization": f"GenieKey {OPS_GENIE_API_TOKEN}"}
+    response = requests.get(url, headers=headers)
+    if response.status_code == 200:
+        data = response.json()
+    else:
+        print(f"Request failed with status code {response.status_code}")
+        print("Response content:")
+        print(response.content.decode("utf-8"))
+    return data["data"]["onCallParticipants"][0]["name"].split("@")[0]
+
+
+def postSlackMessage(client, CHANNEL_ID, OPS_GENIE_API_TOKEN, ROTATION_SCHEDULE_ID):
+    try:
+        result = client.users_list()
+        users = save_users(result["members"])
+        on_call = grab_whos_on_call(OPS_GENIE_API_TOKEN, ROTATION_SCHEDULE_ID)
+        slack_id = users[on_call]["id"]
+
+        result = client.chat_postMessage(
+            channel=CHANNEL_ID,
+            text=f"""🛠️Maintenance On-Call: <@{slack_id}>, you will be on-call for the next week. Resources:\n
+    📖 <https://https://scenic-lang.atlassian.net/l/cp/cnaQtVXY|On Call Best Practices>
+    🔍 <https://scenic-lang.atlassian.net/l/cp/jR0CifEf|Issue Triage Guide>
+    📊 <https://scenic-lang.atlassian.net/jira/software/projects/SCENIC/boards/1|Jira Board to monitor active workstreams>
+    📋 <https://scenic-lang.atlassian.net/jira/software/projects/SCENIC/boards/1/backlog?epics=visible|Jira Backlog to monitor issues that need triaging>
+    🔧 <https://github.com/BerkeleyLearnVerify/Scenic/issues|Scenic GitHub Issues>
+    """,
+        )
+    except SlackApiError as e:
+        print(f"SlackAPIError: {e}")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        description="Script that notifies on-call rotation daily"
+    )
+    parser.add_argument("--slack_api_token", required=True, type=str)
+    parser.add_argument("--ops_genie_api_token", required=True, type=str)
+    args = parser.parse_args()
+
+    SLACK_API_TOKEN = args.slack_api_token
+    OPS_GENIE_API_TOKEN = args.ops_genie_api_token
+    # NOTE: Feel free to grab the relevant channel ID to post the message to but ensure the App is installed within the channel
+    CHANNEL_ID = "C06N9KJHN2J"
+    # NOTE: Rotation schedule is grabbed directly from within the OpsGenie site
+    ROTATION_SCHEDULE_ID = "904cd122-f269-418d-8c29-3e6751716bae"
+
+    client = WebClient(token=SLACK_API_TOKEN)
+    postSlackMessage(client, CHANNEL_ID, OPS_GENIE_API_TOKEN, ROTATION_SCHEDULE_ID)
diff --git a/.github/workflows/on-call-reminder.yml b/.github/workflows/on-call-reminder.yml
@@ -0,0 +1,30 @@
+name: on_call_reminder
+
+on:
+  schedule:
+    - cron: '0 17 * * 3'  # Runs every Wednesday at 9am PST (17:00 UTC)
+  workflow_dispatch:  # Allows manual triggering of the workflow
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: '3.12'
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install requests slack_sdk argparse
+
+      - name: Run Python script
+        env:
+          SLACK_API_TOKEN: ${{ secrets.SLACK_API_TOKEN }}
+          OPS_GENIE_API_TOKEN: ${{ secrets.OPS_GENIE_API_TOKEN }}
+        run: python .github/slack_oncall_reminder.py --slack_api_token $SLACK_API_TOKEN --ops_genie_api_token $OPS_GENIE_API_TOKEN