Use pytest_xdist for unit-test speed up in CI (AtsushiSakai#459)

* Remove unnecessary plot

* Remove unnecessary plot

* update appveyor.yml

.github/workflows/Linux_CI.yml

@@ -30,6 +30,8 @@ jobs:
       run: pip install mypy
     - name: install pycodestyle
       run: pip install pycodestyle
+    - name: install pytest-xdist
+      run: pip install pytest-xdist
     - name: mypy check
       run: |
         find AerialNavigation -name "*.py" | xargs mypy

.github/workflows/MacOS_CI.yml

@@ -28,13 +28,12 @@ jobs:
           pip install -r requirements.txt
       - name: install coverage
         run: pip install coverage
-
       - name: install mypy
         run: pip install mypy
-
       - name: install pycodestyle
         run: pip install pycodestyle
-
+      - name: install pytest-xdist
+        run: pip install pytest-xdist
       - name: mypy check
         run: |
           find AerialNavigation -name "*.py" | xargs mypy

PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py

@@ -7,10 +7,10 @@
 import math
 from enum import IntEnum
 
-import matplotlib.pyplot as plt
 import numpy as np
 from scipy.spatial.transform import Rotation as Rot
 from Mapping.grid_map_lib.grid_map_lib import GridMap
+import matplotlib.pyplot as plt
 
 do_animation = True
 
@@ -240,8 +240,6 @@ def sweep_path_search(sweep_searcher, grid_map, grid_search_animation=False):
             grid_map.plot_grid_map(ax=ax)
             plt.pause(1.0)
 
-    grid_map.plot_grid_map()
-
     return px, py
 
 
@@ -289,13 +287,13 @@ def planning_animation(ox, oy, resolution):  # pragma: no cover
             plt.grid(True)
             plt.pause(0.1)
 
-    plt.cla()
-    plt.plot(ox, oy, "-xb")
-    plt.plot(px, py, "-r")
-    plt.axis("equal")
-    plt.grid(True)
-    plt.pause(0.1)
-    plt.close()
+        plt.cla()
+        plt.plot(ox, oy, "-xb")
+        plt.plot(px, py, "-r")
+        plt.axis("equal")
+        plt.grid(True)
+        plt.pause(0.1)
+        plt.close()
 
 
 def main():  # pragma: no cover
@@ -316,7 +314,8 @@ def main():  # pragma: no cover
     resolution = 5.0
     planning_animation(ox, oy, resolution)
 
-    plt.show()
+    if do_animation:
+        plt.show()
     print("done!!")
 
 

PathPlanning/StateLatticePlanner/state_lattice_planner.py

@@ -25,7 +25,7 @@
 try:
     import model_predictive_trajectory_generator as planner
     import motion_model
-except:
+except ImportError:
     raise
 
 
@@ -323,6 +323,7 @@ def lane_state_sampling_test1():
 
 
 def main():
+    planner.show_animation = show_animation
     uniform_terminal_state_sampling_test1()
     uniform_terminal_state_sampling_test2()
     biased_terminal_state_sampling_test1()

appveyor.yml

@@ -34,6 +34,7 @@ install:
   - SET PATH=%PATH%;C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\bin
   - "python -m pip install --upgrade pip"
   - "python -m pip install -r requirements.txt"
+  - "python -m pip install pytest-xdist"
 
   # Check that we have the expected version and architecture for Python
   - "python --version"
@@ -42,4 +43,4 @@ install:
 build: off
 
 test_script:
-  - "pytest tests -Werror --durations=0"
+  - "pytest tests -n auto -Werror --durations=0"

runtests.sh

@@ -5,4 +5,4 @@ echo "Run test suites! "
 # -Werror: warning as error
 # --durations=0: show ranking of test durations
 # -l (--showlocals); show local variables when test failed
-pytest tests -l -Werror --durations=0
+pytest -n auto tests -l -Werror --durations=0

tests/test_state_lattice_planner.py

@@ -1,10 +1,7 @@
 import conftest  # Add root path to sys.path
 from PathPlanning.StateLatticePlanner import state_lattice_planner as m
-from PathPlanning.ModelPredictiveTrajectoryGenerator \
-    import model_predictive_trajectory_generator as m2
 
 
 def test1():
     m.show_animation = False
-    m2.show_animation = False
     m.main()