Merge branch 'fix-openai'

README.md

@@ -418,4 +418,3 @@ interface with internet access from the commands:
 Restart docker:
 
     $ sudo service docker restart
-

ci/dockerfiles/ubuntu-16.04

@@ -24,23 +24,16 @@ RUN apt-get update && \
     apt-get install -y scrimmage-dependencies && \
     /opt/scrimmage/*/setup.sh
 
-# this is for openai gym not installed as part of 3rd-party building so as not
-# to confuse python environments see here for installation commands:
-# https://github.com/openai/gym#installing-everything
-RUN apt-get update && apt-get install -y python-pip python-numpy python-dev cmake zlib1g-dev libjpeg-dev xvfb libav-tools xorg-dev python-opengl libboost-all-dev libsdl2-dev swig
-RUN apt-get update && apt-get install -y git ninja-build
-RUN git clone https://github.com/openai/gym
-WORKDIR /root/gym
-RUN git checkout v0.10.5
-# TODO DISABLE OPENAI # RUN pip install -e '.[all]'
-WORKDIR /root
-
 # these are only used for static analysis of the code
 RUN apt-get update && apt-get install -y cppcheck python-pytest python-pip
 RUN pip install cpplint
 
 RUN pip install protobuf==3.3.0 grpcio==1.2.1
 
+# for testing openai gym plugin
+RUN apt-get update && apt-get install -y git ninja-build
+RUN pip install gym
+
 #install clang
 RUN apt-get install -y clang
 
@@ -88,7 +81,8 @@ WORKDIR /root/scrimmage/scrimmage/build
 RUN source ~/.scrimmage/setup.bash && \
     export SCRIMMAGE_MISSION_PATH=$SCRIMMAGE_MISSION_PATH:$PWD && \
     export PYTHONPATH=$PYTHONPATH:$PWD/../test && \
-    # TODO DISABLE OPENAI # py.test ../test/test_openai.py && \
+    py.test ../test/test_openai.py && \
+    export CTEST_OUTPUT_ON_FAILURE=1 && \
     ninja test && \
     scrimmage ../missions/straight-no-gui.xml && \
     scrimmage ../missions/straight_jsbsim.xml
@@ -102,6 +96,8 @@ RUN rm * -rf && \
 
 RUN ninja && ninja docs
 RUN source ~/.scrimmage/setup.bash && \
+    export PYTHONPATH=$PYTHONPATH:$PWD/../test && \
+    export CTEST_OUTPUT_ON_FAILURE=1 && \
     ninja test
 
 # Test scrimmage_ros package integration

ci/dockerfiles/ubuntu-18.04

@@ -48,7 +48,7 @@ WORKDIR build
 RUN cmake .. -DBUILD_TESTS=ON -DPYTHON_MIN_VERSION=3 -DCMAKE_PREFIX_PATH=~/.local
 
 RUN /bin/bash -c "source ~/.scrimmage/setup.bash && make -j $(($(nproc --all) - 1))"
-RUN /bin/bash -c "source ~/.scrimmage/setup.bash && make test"
+RUN /bin/bash -c "source ~/.scrimmage/setup.bash && export CTEST_OUTPUT_ON_FAILURE=1 && make test"
 
 WORKDIR /root/scrimmage/scrimmage/python
 RUN pip3 install -e .

src/common/FileSearch.cpp

@@ -56,6 +56,9 @@ void FileSearch::clear() {cache_.clear();}
 
 boost::optional<std::string> FileSearch::find_mission(std::string mission,
         bool verbose) {
+    if (!boost::algorithm::ends_with(mission, "xml")) {
+        mission = mission + ".xml";
+    }
     mission = expand_user(mission);
     if (fs::exists(mission)) return mission;
 

src/plugins/autonomy/ScrimmageOpenAIAutonomy/OpenAIUtils.cpp

@@ -97,7 +97,7 @@ pybind11::object create_space(
 }
 
 pybind11::object get_gym_space(const std::string &type) {
-    return pybind11::module::import("gym").attr("spaces").attr(type.c_str());
+    return pybind11::module::import("gym.spaces").attr(type.c_str());
 }
 } // namespace autonomy
 } // namespace scrimmage

test/CMakeLists.txt

@@ -12,10 +12,20 @@ set(test_files
     test_rtree.cpp
     test_simple.cpp
     test_state.cpp
-    test_utilities.cpp)
+    test_utilities.cpp
+    test_openai.cpp)
 
 if (NOT ENABLE_PYTHON_BINDINGS)
-    LIST(REMOVE_ITEM test_files "test_openai.py")
+    LIST(REMOVE_ITEM test_files "test_openai.cpp")
+else()
+    execute_process(
+        COMMAND ${PYTHON_EXECUTABLE} -c "import gym"
+        RESULT_VARIABLE GYM_INSTALLED
+    )
+    if (NOT GYM_INSTALLED EQUAL 0)
+        message("openai gym not found. Not building test_openai.cpp")
+        LIST(REMOVE_ITEM test_files "test_openai.cpp")
+    endif()
 endif()
 
 foreach(test_file ${test_files})