[Fix] Add CI and Test

kew6688 · web-flow · commit 491d52641cfd · 2025-09-03T11:15:33.000+08:00
add CI
add pytest
add pre commit config
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -0,0 +1,63 @@
+name: PR CI
+
+on:
+  pull_request:
+    types: [opened, synchronize, reopened, ready_for_review]
+    branches: [ main, master, develop ]
+    paths-ignore:
+      - '**.md'
+      - 'docs/**'
+
+concurrency:
+  group: pr-${{ github.event.pull_request.number }}-${{ github.workflow }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+
+jobs:
+  test:
+    # 如果你只用 GitHub 托管 runner:
+    runs-on: ubuntu-latest
+    if: ${{ github.event.pull_request.draft == false }} # 草稿 PR 不跑
+
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ['3.9', '3.11']
+        os: [ubuntu-latest]
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Cache pip
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ matrix.python-version }}-${{ hashFiles('**/requirements*.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-${{ matrix.python-version }}-
+
+      - name: Install deps
+        run: |
+            python -m pip install --upgrade pip
+            if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+            if [ -f requirements-dev.txt ]; then pip install -r requirements-dev.txt; fi
+
+      - name: Lint (flake8 + isort + black --check)
+        run: |
+          pip install flake8 isort black
+          flake8 .
+          isort --check-only --diff .
+          black --check .
+
+      - name: Run tests
+        run: |
+          pip install pytest
+          pytest -q
diff --git a/.gitignore b/.gitignore
@@ -148,4 +148,5 @@ logs/
 *.png
 *.ckpt
 /results/
-checkpoints
+checkpoints
+internnav/model/basemodel/LongCLIP/
diff --git a/.gitmodules b/.gitmodules
@@ -5,3 +5,4 @@
 [submodule "internnav/model/basemodel/LongCLIP"]
 	path = internnav/model/basemodel/LongCLIP
 	url = https://github.com/beichenzbc/Long-CLIP
+	ignore = untracked
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -26,69 +26,19 @@ repos:
     rev: v2.2.1
     hooks:
       - id: codespell
-        exclude: |
-            (?x)(
-                ^toolkits/grscenes_scripts/README.md|
-                ^toolkits/indoor_scenes_generation/infinigen/infinigen_examples/constraints
-            )
-  # - repo: https://github.com/gitleaks/gitleaks
-  #   rev: v8.24.0
-  #   hooks:
-  #     - id: gitleaks
+  - repo: https://github.com/gitleaks/gitleaks
+    rev: v8.24.0
+    hooks:
+      - id: gitleaks
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v3.1.0
     hooks:
       - id: trailing-whitespace
       - id: check-yaml
       - id: end-of-file-fixer
-        exclude: '^(.*/lcmtypes/.*)'
       - id: requirements-txt-fixer
-      - id: double-quote-string-fixer
-        exclude: '^(.*/lcmtypes/.*)'
       - id: check-merge-conflict
       - id: fix-encoding-pragma
         args: ["--remove"]
       - id: mixed-line-ending
         args: ["--fix=lf"]
-
-  # - repo: https://github.com/PyCQA/isort
-  #   rev: 5.11.5
-  #   hooks:
-  #     - id: isort
-  # - repo: https://github.com/psf/black
-  #   rev: 22.10.0
-  #   hooks:
-  #     - id: black
-  #       args: [--line-length=79]
-  # - repo: https://github.com/PyCQA/flake8
-  #   rev: 4.0.1
-  #   hooks:
-  #     - id: flake8
-  # - repo: https://github.com/codespell-project/codespell
-  #   rev: v2.2.1
-  #   hooks:
-  #     - id: codespell
-  #       exclude: |
-  #           (?x)(
-  #               ^toolkits/grscenes_scripts/README.md|
-  #               ^toolkits/indoor_scenes_generation/infinigen/infinigen_examples/constraints
-  #           )
-  # - repo: https://github.com/gitleaks/gitleaks
-  #   rev: v8.24.0
-  #   hooks:
-  #     - id: gitleaks
-  # - repo: https://github.com/pre-commit/pre-commit-hooks
-  #   rev: v3.1.0
-  #   hooks:
-  #     - id: trailing-whitespace
-  #     - id: check-yaml
-  #     - id: end-of-file-fixer
-  #       exclude: '^(.*/lcmtypes/.*)'
-  #     - id: requirements-txt-fixer
-  #     - id: double-quote-string-fixer
-  #       exclude: '^(.*/lcmtypes/.*)'
-  #     - id: check-merge-conflict
-  #     - id: fix-encoding-pragma
-  #       args: ["--remove"]
-  #     - id: mixed-line-ending
-  #       args: ["--fix=lf"]
diff --git a/pyproject.toml b/pyproject.toml
@@ -8,3 +8,14 @@ lcmtypes
 [tool.isort]
 profile = "black"
 skip_glob = '**/lcmtypes/**'
+
+[tool.pytest.ini_options]
+# 指定测试搜索路径（避免扫到脚本目录等）
+testpaths = [
+  "tests"
+]
+addopts = "-ra --color=yes --maxfail=1"
+markers = [
+  "slow: marks tests as slow",
+  "gpu: requires GPU"
+]
diff --git a/requirements/test.txt b/requirements/test.txt
@@ -0,0 +1,2 @@
+pytest==7.3.1
+pytest-cov==4.0.0
diff --git a/tests/conftest.py b/tests/conftest.py
@@ -0,0 +1,20 @@
+import pytest
+
+
+@pytest.fixture
+def tmp_cfg(tmp_path):
+    p = tmp_path / "config.yaml"
+    p.write_text("hello: world\n")
+    return p
+
+
+# 按需全局 hook（例：缺 GPU 时自动跳过 gpu 标记）
+def pytest_runtest_setup(item):
+    if "gpu" in item.keywords:
+        try:
+            import torch
+
+            if not torch.cuda.is_available():
+                pytest.skip("No CUDA for gpu-marked test")
+        except Exception:
+            pytest.skip("Torch not available")
diff --git a/tests/function_test/e2e_test.py b/tests/function_test/e2e_test.py
@@ -0,0 +1,54 @@
+import json
+import os
+import subprocess
+import sys
+
+import pytest
+
+
+def common_body(cmd_line):
+    with subprocess.Popen(
+        cmd_line,
+        stdin=subprocess.PIPE,
+        stderr=sys.stderr,
+        close_fds=True,
+        stdout=sys.stdout,
+        universal_newlines=True,
+        shell=True,
+        bufsize=1,
+    ) as cmd:
+        cmd.communicate()
+        assert cmd.returncode == 0, f'real exit code is {cmd.returncode}'
+
+
+def update_jsonl_from_json(json_file_path, jsonl_file_path, update_item):
+    with open(json_file_path, 'r', encoding='utf-8') as json_file:
+        data = json.load(json_file)
+        data = {**update_item, **data}
+    if not isinstance(data, list):
+        data = [data]
+    with open(jsonl_file_path, 'a', encoding='utf-8') as jsonl_file:
+        for item in data:
+            json_line = json.dumps(item, ensure_ascii=False)
+            jsonl_file.write(json_line + '\n')
+
+
+def teardown_function(function):
+    if os.path.exists('./test_result.json'):
+        case_info = {}
+        test_name = function.__name__
+        case_info['case_info'] = test_name + '_' + os.environ.get('JOB_ID')
+        update_jsonl_from_json('./test_result.json', '../total_result.jsonl', case_info)
+    else:
+        print('Warning! There is no test_result.json')
+
+
+"""""" """""" """""" """""" """""" """""" """""" """
+Test
+""" """""" """""" """""" """""" """""" """""" """"""
+
+
+@pytest.mark.gpu
+def test_evaluator():
+    start_command = 'python ./tests/function_test/test_evaluator.py'
+    common_body(start_command)
diff --git a/tests/function_test/test_evaluator.py b/tests/function_test/test_evaluator.py
@@ -0,0 +1,112 @@
+'''
+Test the evaluator eval logic without model involve.
+The main progress:
+    Init => warm up => fake one action
+'''
+
+
+def main():
+    from enum import Enum
+
+    from internnav.configs.agent import AgentCfg
+    from internnav.configs.evaluator import (
+        EnvCfg,
+        EvalCfg,
+        EvalDatasetCfg,
+        SceneCfg,
+        TaskCfg,
+    )
+
+    class runner_status_code(Enum):
+        NORMAL = 0
+        WARM_UP = 1
+        NOT_RESET = 3
+        TERMINATED = 2
+        STOP = 4
+
+    eval_cfg = EvalCfg(
+        agent=AgentCfg(
+            server_port=8087,
+            model_name='rdp',
+            ckpt_path='checkpoints/r2r/fine_tuned/rdp',
+            model_settings={},
+        ),
+        env=EnvCfg(
+            env_type='vln_pe',
+            env_settings={
+                'use_fabric': False,
+                'headless': True,  # display option: set to False will open isaac-sim interactive window
+            },
+        ),
+        task=TaskCfg(
+            task_name='test_evaluator',
+            task_settings={
+                'env_num': 2,
+                'use_distributed': False,  # Ray distributed framework
+                'proc_num': 8,
+            },
+            scene=SceneCfg(
+                scene_type='mp3d',
+                scene_data_dir='data/scene_data/mp3d_pe',
+            ),
+            robot_name='h1',
+            robot_usd_path='data/Embodiments/vln-pe/h1/h1_vln_pointcloud.usd',
+            camera_resolution=[256, 256],  # (W,H)
+            camera_prim_path='torso_link/h1_pano_camera_0',
+        ),
+        dataset=EvalDatasetCfg(
+            dataset_type="mp3d",
+            dataset_settings={
+                'base_data_dir': 'data/vln_pe/raw_data/r2r',
+                'split_data_types': ['val_unseen', 'val_seen'],
+                'filter_stairs': False,
+            },
+        ),
+        eval_settings={'save_to_json': False, 'vis_output': False},  # save result to video under logs/
+    )
+    print(eval_cfg)
+
+    # cfg = get_config(eval_cfg)
+    # try:
+    #     evaluator = Evaluator.init(cfg)
+    # except Exception as e:
+    #     print(e)
+
+    # print('--- VlnPeEvaluator start ---')
+    # obs, reset_info = evaluator.env.reset()
+    # for info in reset_info:
+    #     if info is None:
+    #         continue
+    #     progress_log_multi_util.trace_start(
+    #         trajectory_id=evaluator.now_path_key(info),
+    #     )
+
+    # obs = evaluator.warm_up()
+    # evaluator.fake_obs = obs[0][evaluator.robot_name]
+    # action = [{evaluator.robot_name: {'stand_still': []}} for _ in range(evaluator.env_num * evaluator.proc_num)]
+    # obs = evaluator._obs_remove_robot_name(obs)
+    # evaluator.runner_status = np.full(
+    #     (evaluator.env_num * evaluator.proc_num),
+    #     runner_status_code.NORMAL,
+    #     runner_status_code,
+    # )
+    # evaluator.runner_status[[info is None for info in reset_info]] = runner_status_code.TERMINATED
+
+    # while evaluator.env.is_running():
+
+    #     obs, terminated = evaluator.env_step(action)
+    #     break
+
+    # evaluator.env.close()
+
+
+if __name__ == '__main__':
+    try:
+        main()
+    except Exception as e:
+        print(f'exception is {e}')
+        import sys
+        import traceback
+
+        traceback.print_exc()
+        sys.exit(1)
diff --git a/tests/unit_test/test_basic.py b/tests/unit_test/test_basic.py
@@ -0,0 +1,33 @@
+import math
+
+import pytest
+
+
+def add(a, b):
+    return a + b
+
+
+def test_add_works():
+    assert add(1, 2) == 3
+
+
+@pytest.mark.parametrize("x,expected", [(0, 0.0), (math.pi, 0.0)])
+def test_sin(x, expected):
+    assert math.isclose(math.sin(x), expected, abs_tol=1e-9)
+
+
+@pytest.mark.slow
+def test_slow_example():
+    # 假装这里很慢
+    assert sum(range(10000)) > 0
+
+
+@pytest.mark.gpu
+def test_gpu_feature():
+    pytest.importorskip("torch")
+    import torch
+
+    if not torch.cuda.is_available():
+        pytest.skip("No CUDA available")
+    x = torch.tensor([1.0], device="cuda")
+    assert float(x.item()) == 1.0
diff --git a/tests/unit_test/test_evaluator_unit.py b/tests/unit_test/test_evaluator_unit.py
