diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..c6e1df29ed7cfb360b882200c166bd6a3cdd3612
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "verse/analysis/NeuReach"]
+ path = verse/analysis/NeuReach
+ url = https://github.com/AutoVerse-ai/NeuReach.git
diff --git a/demo/tacas2023/exp5/demo_opendrive2.py b/demo/tacas2023/exp5/demo_opendrive2.py
new file mode 100644
index 0000000000000000000000000000000000000000..120b998924a70daee97a01ad8637156724f0943f
--- /dev/null
+++ b/demo/tacas2023/exp5/demo_opendrive2.py
@@ -0,0 +1,63 @@
+from verse.agents.example_agent import CarAgent, NPCAgent
+from verse.map import opendrive_map
+from verse import Scenario
+from enum import Enum, auto
+from verse.plotter.plotter2D import *
+
+import plotly.graph_objects as go
+
+
+class LaneObjectMode(Enum):
+ Vehicle = auto()
+ Ped = auto() # Pedestrians
+ Sign = auto() # Signs, stop signs, merge, yield etc.
+ Signal = auto() # Traffic lights
+ Obstacle = auto() # Static (to road/lane) obstacles
+
+
+class VehicleMode(Enum):
+ Normal = auto()
+ SwitchLeft = auto()
+ SwitchRight = auto()
+ Brake = auto()
+
+
+class TrackMode(Enum):
+ T0 = auto()
+ T1 = auto()
+ T2 = auto()
+ M01 = auto()
+ M12 = auto()
+ M21 = auto()
+ M10 = auto()
+
+if __name__ == "__main__":
+ input_code_name = './demo/tacas2023/exp5/example_controller5.py'
+ scenario = Scenario()
+ scenario.add_agent(CarAgent('car1', file_name=input_code_name))
+ scenario.add_agent(NPCAgent('car2'))
+ scenario.add_agent(NPCAgent('car3'))
+ tmp_map = opendrive_map('./demo/tacas2023/exp5/t1_triple.xodr')
+
+ scenario.set_map(tmp_map)
+ scenario.set_init(
+ [
+ [[134, 11.5, 0, 5.0], [136, 14.5, 0, 5.0]],
+ [[179.5, 59.5, np.pi/2, 2.5], [180.5, 62.5, np.pi/2, 2.5]],
+ [[124.5, 87.5, np.pi, 2.0], [125.5, 90.5, np.pi, 2.0]],
+
+ # [[-65, -57.5, 0, 5.0], [-65, -57.5, 0, 5.0]],
+ # [[15, -67.0, 0, 2.5], [15, -67.0, 0, 2.5]],
+ # [[106, 18.0, 0, 2.0], [106, 18.0, 0, 2.0]],
+ ],
+ [
+ (VehicleMode.Normal, TrackMode.T1, ),
+ (VehicleMode.Normal, TrackMode.T1, ),
+ (VehicleMode.Normal, TrackMode.T2, ),
+ ]
+ )
+ scenario.init_seg_length = 1
+ traces = scenario.verify(60, 0.1) # traces.dump('./output1.json')
+ fig = go.Figure()
+ fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
+ fig.show()
diff --git a/demo/tacas2023/exp5/example_controller5.py b/demo/tacas2023/exp5/example_controller5.py
new file mode 100644
index 0000000000000000000000000000000000000000..11b2e983e2abd5e5a908465cca67e46a764d39b7
--- /dev/null
+++ b/demo/tacas2023/exp5/example_controller5.py
@@ -0,0 +1,71 @@
+from enum import Enum, auto
+import copy
+from typing import List
+
+class LaneObjectMode(Enum):
+ Vehicle = auto()
+ Ped = auto() # Pedestrians
+ Sign = auto() # Signs, stop signs, merge, yield etc.
+ Signal = auto() # Traffic lights
+ Obstacle = auto() # Static (to road/lane) obstacles
+
+class VehicleMode(Enum):
+ Normal = auto()
+ SwitchLeft = auto()
+ SwitchRight = auto()
+ Brake = auto()
+
+class TrackMode(Enum):
+ T0 = auto()
+ T1 = auto()
+ T2 = auto()
+ M01 = auto()
+ M12 = auto()
+ M21 = auto()
+ M10 = auto()
+
+class State:
+ x:float
+ y:float
+ theta:float
+ v:float
+ agent_mode:VehicleMode
+ lane_mode:TrackMode
+
+ def __init__(self, x, y, theta, v, agent_mode: VehicleMode, lane_mode: TrackMode):
+ pass
+
+def vehicle_front(ego, others, lane_map):
+ res = any((lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 3 \
+ and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 5 \
+ and ego.lane_mode == other.lane_mode) for other in others)
+ return res
+
+def vehicle_close(ego, others):
+ res = any(ego.x-other.x<1.0 and ego.x-other.x>-1.0 and ego.y-other.y<1.0 and ego.y-other.y>-1.0 for other in others)
+ return res
+
+def controller(ego:State, others:List[State], lane_map):
+ output = copy.deepcopy(ego)
+ if ego.agent_mode == VehicleMode.Normal:
+ if vehicle_front(ego, others, lane_map):
+ if lane_map.h_exist(ego.lane_mode, ego.agent_mode, VehicleMode.SwitchLeft):
+ output.agent_mode = VehicleMode.SwitchLeft
+ output.lane_mode = lane_map.h(ego.lane_mode, ego.agent_mode, VehicleMode.SwitchLeft)
+ if vehicle_front(ego, others, lane_map):
+ if lane_map.h_exist(ego.lane_mode, ego.agent_mode, VehicleMode.SwitchRight):
+ output.agent_mode = VehicleMode.SwitchRight
+ output.lane_mode = lane_map.h(ego.lane_mode, ego.agent_mode, VehicleMode.SwitchRight)
+ lat_dist = lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y])
+ if ego.agent_mode == VehicleMode.SwitchLeft:
+ if lat_dist >= 2.5:
+ output.agent_mode = VehicleMode.Normal
+ output.lane_mode = lane_map.h(ego.lane_mode, ego.agent_mode, VehicleMode.Normal)
+ if ego.agent_mode == VehicleMode.SwitchRight:
+ if lat_dist <= -2.5:
+ output.agent_mode = VehicleMode.Normal
+ output.lane_mode = lane_map.h(ego.lane_mode, ego.agent_mode, VehicleMode.Normal)
+
+ # assert not vehicle_close(ego, others)
+ return output
+
diff --git a/demo/tacas2023/exp5/t1_triple.xodr b/demo/tacas2023/exp5/t1_triple.xodr
new file mode 100644
index 0000000000000000000000000000000000000000..4ca40876bae12fe3f360e0e6d7024fa3c95e6d2b
--- /dev/null
+++ b/demo/tacas2023/exp5/t1_triple.xodr
@@ -0,0 +1,1945 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<OpenDRIVE>
+ <header revMajor="1" revMinor="4" name="" version="1" date="2021-02-28T15:54:19" north="1.3145183000890950e+2" south="-1.0177686623404890e+2" east="2.1839986231506288e+2" west="-1.1951063149032376e+2" vendor="MathWorks">
+ <userData>
+ <vectorScene program="RoadRunner" version="R2020b Update 3 (1.1.3.f626d0e)"/>
+ </userData>
+ </header>
+ <road name="Road 0" length="3.4249856788760491e+2" id="0" junction="-1">
+ <link>
+ <predecessor elementType="road" elementId="4" contactPoint="end"/>
+ <successor elementType="road" elementId="2" contactPoint="start"/>
+ </link>
+ <type s="0.0000000000000000e+0" type="town">
+ <speed max="40" unit="mph"/>
+ </type>
+ <planView>
+ <geometry s="0.0000000000000000e+0" x="1.9177658843994141e+2" y="5.3821434020996094e+1" hdg="1.8211200609024278e+0" length="3.2953165642949220e+0">
+ <line/>
+ </geometry>
+ <geometry s="3.2953165642949220e+0" x="1.9096028047573728e+2" y="5.7014043074183377e+1" hdg="1.8211200609024276e+0" length="2.4751554139807812e+1">
+ <arc curvature="9.7460630937485377e-3"/>
+ </geometry>
+ <geometry s="2.8046870704102734e+1" x="1.8200981412546355e+2" y="8.0026288677376016e+1" hdg="2.0623502692173266e+0" length="2.3710590660488251e+1">
+ <arc curvature="3.1427465780575065e-2"/>
+ </geometry>
+ <geometry s="5.1757461364590981e+1" x="1.6439141581635536e+2" y="9.5067794839827812e+1" hdg="2.8075140458370429e+0" length="6.3438611961428286e+0">
+ <line/>
+ </geometry>
+ <geometry s="5.8101322560733813e+1" x="1.5839828872680664e+2" y="9.7147939682006836e+1" hdg="2.8075140458370438e+0" length="3.7269561643468577e+1">
+ <arc curvature="8.1671484728072369e-3"/>
+ </geometry>
+ <geometry s="9.5370884204202397e+1" x="1.2188485228368478e+2" y="1.0386342603726271e+2" hdg="3.1119000892956938e+0" length="1.6609054003061664e+2">
+ <line/>
+ </geometry>
+ <geometry s="2.6146142423481905e+2" x="-4.4132476398750597e+1" y="1.0879435544358009e+2" hdg="3.1119000892956938e+0" length="8.1037143652785858e+1">
+ <arc curvature="1.9600156360714781e-2"/>
+ </geometry>
+ </planView>
+ <elevationProfile>
+ <elevation s="0.0000000000000000e+0" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <elevation s="3.1115455196232404e+2" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <elevation s="3.1978544803767602e+2" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <elevation s="3.1978780844263861e+2" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <elevation s="3.3213219155736147e+2" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ </elevationProfile>
+ <lateralProfile>
+ <superelevation s="0.0000000000000000e+0" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ </lateralProfile>
+ <lanes>
+ <laneOffset s="0.0000000000000000e+0" a="-2.6349999999999998e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <laneSection s="0.0000000000000000e+0" singleSide="false">
+ <left>
+ <lane id="7" type="sidewalk" level="false">
+ <link>
+ <predecessor id="7"/>
+ <successor id="7"/>
+ </link>
+ <width sOffset="0.0000000000000000e+0" a="1.9999999999999982e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <roadMark sOffset="0.0000000000000000e+0" type="none" material="standard" color="white" laneChange="none"/>
+ <speed sOffset="0.0000000000000000e+0" max="4.0000000000000000e+1" unit="mph"/>
+ <userData>
+ <vectorLane sOffset="0.0000000000000000e+0" laneId="{32ef08fe-8240-4183-ab53-b470cd256661}" travelDir="undirected">
+ <predecessor id="7" virtual="false"/>
+ <successor id="7" virtual="false"/>
+ </vectorLane>
+ </userData>
+ </lane>
+ <lane id="6" type="shoulder" level="false">
+ <link>
+ <predecessor id="6"/>
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+ <width sOffset="0.0000000000000000e+0" a="6.3499999999999979e-1" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <roadMark sOffset="0.0000000000000000e+0" type="curb" material="standard" width="1.5239999999999998e-1" laneChange="none"/>
+ <speed sOffset="0.0000000000000000e+0" max="4.0000000000000000e+1" unit="mph"/>
+ <userData>
+ <vectorLane sOffset="0.0000000000000000e+0" laneId="{d83f469c-3b72-4514-a455-45d7666247f3}" travelDir="undirected">
+ <predecessor id="6" virtual="false"/>
+ <successor id="6" virtual="false"/>
+ </vectorLane>
+ </userData>
+ </lane>
+ <lane id="5" type="driving" level="false">
+ <link>
+ <predecessor id="5"/>
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+ <width sOffset="0.0000000000000000e+0" a="5.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <roadMark sOffset="0.0000000000000000e+0" type="solid" material="standard" color="white" width="1.2500000000000000e-1" laneChange="none">
+ <type name="solid">
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+ </type>
+ </roadMark>
+ <speed sOffset="0.0000000000000000e+0" max="4.0000000000000000e+1" unit="mph"/>
+ <userData>
+ <vectorLane sOffset="0.0000000000000000e+0" laneId="{c4de8f51-605f-4cd8-993b-bc2d9f5f71ec}" travelDir="backward">
+ <predecessor id="5" virtual="false"/>
+ <successor id="5" virtual="false"/>
+ </vectorLane>
+ </userData>
+ </lane>
+ <lane id="4" type="driving" level="false">
+ <link>
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+ <roadMark sOffset="0.0000000000000000e+0" type="none" material="standard" color="white" laneChange="both"/>
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--- /dev/null
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diff --git a/verse/analysis/NeuReach b/verse/analysis/NeuReach
new file mode 160000
index 0000000000000000000000000000000000000000..a96c7e09dc436fa2766f8c2e38a31abdcd1877cc
--- /dev/null
+++ b/verse/analysis/NeuReach
@@ -0,0 +1 @@
+Subproject commit a96c7e09dc436fa2766f8c2e38a31abdcd1877cc
diff --git a/verse/map/opendrive_parser.py b/verse/map/opendrive_parser.py
index 02a86e6bdc5ce0bc543ab6e0759c71df592f986a..9aaddf36b87ee6d55c83a926094a6af854cb718f 100644
--- a/verse/map/opendrive_parser.py
+++ b/verse/map/opendrive_parser.py
@@ -41,7 +41,7 @@ def condense_matrix(drive_way_matrix,width_2d):
drive_way_matrix = np.array(drive_way_matrix) #driveway 2d matrix to traverse
width_2d = np.array(width_2d) #width 2d matrix to traverse
for i in range(cols):
- lane_to_append = Lane("Lane"+str(i+1),drive_way_matrix[:,i].tolist()) #combine all the rows into one list for each column
+ lane_to_append = Lane("T"+str(i),drive_way_matrix[:,i].tolist()) #combine all the rows into one list for each column
lanes_to_return.append(lane_to_append) #add each Lane object to the list we want to return
mean = np.mean(width_2d[:,i]) #calculate the mean of all the space between the lanes
width_to_return.append(mean) #add it to the width we want to return
@@ -310,7 +310,7 @@ def road_traverser(road):
# return lanes_to_return
#Function to generate lane data visualization while parsing the ASAM Open DRIVE file
-def opendrive_map(file_name):
+def opendrive_map(file_name, ):
soup = file_parser(file_name) #call the file parsing function
road = soup.find_all('road')[:-1] #first find all the road segments and ignore the last one
@@ -323,24 +323,30 @@ def opendrive_map(file_name):
completed_lanes = LaneMap(total) #create a lane map
for i in range(len(total)-1,0,-1):
+ completed_lanes.h_dict[(total[i].id, 'Normal','SwitchLeft')] = f'M{total[i].id[-1]}{total[i-1].id[-1]}'
+ completed_lanes.h_dict[(f'M{total[i].id[-1]}{total[i-1].id[-1]}','SwitchLeft', 'Normal')] = total[i-1].id
completed_lanes.left_lane_dict[total[i].id] = [total[i-1].id] #connect each left side for each lane
for i in range(len(total)-1):
+ completed_lanes.h_dict[(total[i].id, 'Normal','SwitchRight')] = f'M{total[i].id[-1]}{total[i+1].id[-1]}'
+ completed_lanes.h_dict[(f'M{total[i].id[-1]}{total[i+1].id[-1]}','SwitchRight', 'Normal')] = total[i+1].id
+
completed_lanes.right_lane_dict[total[i].id] = [total[i+1].id] #connect each right side for each lane
return completed_lanes #return the connected lane object
if __name__ == '__main__':
- file_name1 = 'map_package/Maps/t1_triple/OpenDrive/t1_triple.xodr' #parse in first file
- file_name2 = 'map_package/Maps/t2_triple/OpenDrive/t2_triple.xodr' #parse in second file
- file_name3 = 'map_package/Maps/t3/OpenDrive/t3.xodr' #parse in third file
- file_name4 = 'map_package/Maps/t4/OpenDrive/t4.xodr' #parse in fourth file
- file_name5 = 'map_package/Maps/track5/OpenDrive/track5.xodr' #parse in fifth file
- file_list = [file_name1,file_name2, file_name3, file_name4, file_name5] #store the file names in an array
- lane_list = []
+ # file_name1 = 'map_package/Maps/t1_triple/OpenDrive/t1_triple.xodr' #parse in first file
+ # file_name2 = 'map_package/Maps/t2_triple/OpenDrive/t2_triple.xodr' #parse in second file
+ # file_name3 = 'map_package/Maps/t3/OpenDrive/t3.xodr' #parse in third file
+ # file_name4 = 'map_package/Maps/t4/OpenDrive/t4.xodr' #parse in fourth file
+ # file_name5 = 'map_package/Maps/track5/OpenDrive/track5.xodr' #parse in fifth file
+ # file_list = [file_name1,file_name2, file_name3, file_name4, file_name5] #store the file names in an array
+ # lane_list = []
+ opendrive_map('./t1_triple.xodr')
- for idx,value in enumerate(file_list):
- lane_list = opendrive_map(value)
+ # for idx,value in enumerate(file_list):
+ # lane_list = opendrive_map(value)
# plt.figure()
# lane_visualizer(value,idx)
# plt.savefig('full_road_geometry/figure'+str(idx)+'.png')
diff --git a/verse/scenario/scenario.py b/verse/scenario/scenario.py
index 177357db3735a5bf6f60e7f7fdb9ce5533d7950d..37762216cfd6ef86fdb3fd3549e192434f58a578 100644
--- a/verse/scenario/scenario.py
+++ b/verse/scenario/scenario.py
@@ -427,9 +427,17 @@ class Scenario:
if len(asserts) > 0:
return asserts, transitions, idx
if len(satisfied_guard) > 0:
- for agent_idx, src_mode, dest_mode, next_init in satisfied_guard:
- transitions[agent_idx].append(
- (agent_idx, src_mode, dest_mode, next_init, idx))
+ for agent_idx, src, dest, next_init in satisfied_guard:
+ src_mode = node.get_mode(agent_idx, src)
+ src_track = node.get_track(agent_idx, node.mode[agent_idx])
+ dest_mode = node.get_mode(agent_idx, dest)
+ dest_track = node.get_track(agent_idx, dest)
+ if dest_track == lane_map.h(src_track, src_mode, dest_mode):
+ transition = (
+ agent_idx, src, dest,next_init, idx)
+ transitions[agent_idx].append(transition)
+ # transitions[agent_idx].append(
+ # (agent_idx, src_mode, dest_mode, next_init, idx))
break
return None, transitions, idx