diff --git a/demo/demo1.py b/demo/demo1.py
index 21487dba13aa5034b0967437568223bd1ec35b65..b4c57e0c6047e4ab6d0feaec9a072a2697989757 100644
--- a/demo/demo1.py
+++ b/demo/demo1.py
@@ -69,7 +69,7 @@ if __name__ == "__main__":
# plt.show()
- traces = scenario.simulate(10)
+ traces = scenario.simulate(10, 0.01)
fig = go.Figure()
# fig = plotly_map(tmp_map, 'g', fig)
# fig = plotly_simulation_tree(
diff --git a/demo/demo3.py b/demo/demo3.py
index 4500d5a003208005853b4d228217455a12374397..a459d2ecf1799151f86ef91b974ddcc3dbc5eb1a 100644
--- a/demo/demo3.py
+++ b/demo/demo3.py
@@ -35,14 +35,14 @@ class State:
v = 0.0
vehicle_mode: VehicleMode = VehicleMode.Normal
lane_mode: LaneMode = LaneMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
+ type_mode: LaneObjectMode = LaneObjectMode.Vehicle
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
pass
if __name__ == "__main__":
- input_code_name = './demo/example_controller4.py'
+ input_code_name = './example_controller4.py'
scenario = Scenario()
car = CarAgent('car1', file_name=input_code_name)
@@ -63,14 +63,14 @@ if __name__ == "__main__":
[[30, 0, 0, 0.5],[30, 0, 0, 0.5]],
],
[
- (VehicleMode.Normal, LaneMode.Lane1),
- (VehicleMode.Normal, LaneMode.Lane1),
- (VehicleMode.Normal, LaneMode.Lane0),
- (VehicleMode.Normal, LaneMode.Lane1),
+ (VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Vehicle),
+ (VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Vehicle),
+ (VehicleMode.Normal, LaneMode.Lane0, LaneObjectMode.Vehicle),
+ (VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Vehicle),
]
)
- traces = scenario.simulate(70)
- # traces = scenario.verify(70)
+ traces = scenario.simulate(70, 0.05)
+ # traces = scenario.verify(70, 0.05)
# fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/demo4.py b/demo/demo4.py
index db61a07ce61085bf52b8be47483e8b5be84b0d08..a0025e590cdc268c8ae6d27accc5bed50bd614d0 100644
--- a/demo/demo4.py
+++ b/demo/demo4.py
@@ -79,8 +79,8 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane3),
]
)
- traces = scenario.simulate(80)
- # traces = scenario.verify(80)
+ traces = scenario.simulate(80, 0.05)
+ # traces = scenario.verify(80, 0.05)
# fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/demo5.py b/demo/demo5.py
index b4412151744fe597af87660b19a93227c10b7c7c..8c9ffdd990c1db4a8bd528114f2ba5f66204eac0 100644
--- a/demo/demo5.py
+++ b/demo/demo5.py
@@ -29,19 +29,6 @@ class LaneMode(Enum):
Lane1 = auto()
Lane2 = auto()
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: LaneMode = LaneMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
- pass
-
-
if __name__ == "__main__":
input_code_name = './example_controller7.py'
scenario = Scenario()
@@ -72,8 +59,8 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane0),
]
)
- # traces = scenario.simulate(70)
- traces = scenario.verify(60)
+ # traces = scenario.simulate(70, 0.05)
+ traces = scenario.verify(60, 0.05)
fig = plt.figure(2)
fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/demo6.py b/demo/demo6.py
index 4030efdfb6a143907cda881758a824f4c210244a..b2e6563b9a16357921aeab17038cbce4dcdcbdb0 100644
--- a/demo/demo6.py
+++ b/demo/demo6.py
@@ -30,17 +30,17 @@ class LaneMode(Enum):
Lane2 = auto()
Lane3 = auto()
-class State:
- x = 0.0
- y = 0.0
- theta = 0.0
- v = 0.0
- vehicle_mode: VehicleMode = VehicleMode.Normal
- lane_mode: LaneMode = LaneMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
+# class State:
+# x = 0.0
+# y = 0.0
+# theta = 0.0
+# v = 0.0
+# vehicle_mode: VehicleMode = VehicleMode.Normal
+# lane_mode: LaneMode = LaneMode.Lane0
+# type: LaneObjectMode = LaneObjectMode.Vehicle
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
- pass
+# def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
+# pass
if __name__ == "__main__":
@@ -83,8 +83,8 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane3),
]
)
- # traces = scenario.simulate(80)
- traces = scenario.verify(50)
+ # traces = scenario.simulate(80, 0.05)
+ traces = scenario.verify(50, 0.05)
fig = plt.figure(2)
fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/demo7.py b/demo/demo7.py
index b3b5c0c43f928138d6260386fbd83b2c96d64642..3d6b1de9b250575aeec0c2b059a4edf83b6246fb 100644
--- a/demo/demo7.py
+++ b/demo/demo7.py
@@ -89,8 +89,8 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane3),
]
)
- traces = scenario.simulate(80)
- # traces = scenario.verify(15)
+ traces = scenario.simulate(80, 0.05)
+ # traces = scenario.verify(15, 0.05)
# fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/demo8.py b/demo/demo8.py
new file mode 100644
index 0000000000000000000000000000000000000000..99b4db8f2ab3251a48ec93afc2a9a169f12cde16
--- /dev/null
+++ b/demo/demo8.py
@@ -0,0 +1,78 @@
+from dryvr_plus_plus.example.example_agent.car_agent import CarAgent, NPCAgent
+from dryvr_plus_plus.example.example_agent.sign_agent import SignAgent
+from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
+from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMap3, SimpleMap5, SimpleMap6
+from dryvr_plus_plus.plotter.plotter2D import *
+from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor3
+
+import matplotlib.pyplot as plt
+import plotly.graph_objects as go
+import numpy as np
+from enum import Enum, auto
+
+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 LaneMode(Enum):
+ Lane0 = auto()
+ Lane1 = auto()
+ Lane2 = auto()
+
+class State:
+ x:float
+ y:float
+ theta:float
+ v:float
+ vehicle_mode: VehicleMode
+ lane_mode: LaneMode
+ type_mode: LaneObjectMode
+
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
+ pass
+
+
+if __name__ == "__main__":
+ input_code_name = './example_controller9.py'
+ scenario = Scenario()
+
+ car = CarAgent('car1', file_name=input_code_name)
+ scenario.add_agent(car)
+ sign = SignAgent('stop_sign')
+ scenario.add_agent(sign)
+ tmp_map = SimpleMap3()
+ scenario.set_map(tmp_map)
+ scenario.set_init(
+ [
+ [[0, 0, 0, 1.0],[0, 0, 0, 1.0]],
+ [[15, 0, 0, 0.5],[15, 0, 0, 0.5]],
+ ],
+ [
+ (VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Vehicle),
+ (VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Sign),
+ ]
+ )
+ traces = scenario.simulate(13, 0.05)
+ # traces = scenario.verify(70, 0.05)
+
+ # fig = plt.figure(2)
+ # fig = plot_map(tmp_map, 'g', fig)
+ # fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
+ # fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car3', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car4', 1, [2], 'r', fig)
+ # plt.show()
+
+ fig = go.Figure()
+ fig = plotly_simulation_anime(traces, tmp_map, fig)
+ fig.show()
+
diff --git a/demo/example_controller3.py b/demo/example_controller3.py
index 1f606e0c0463ed5e60950d9b481d5036f761f27f..95209827ff4bd10619d39a3a734cc525d85c81a7 100644
--- a/demo/example_controller3.py
+++ b/demo/example_controller3.py
@@ -27,9 +27,9 @@ class State:
v = 0.0
vehicle_mode: VehicleMode = VehicleMode.Normal
lane_mode: LaneMode = LaneMode.Lane0
- type: LaneObjectMode
+ type_mode: LaneObjectMode
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
self.data = []
def controller(ego:State, other:State, sign:State, lane_map:LaneMap):
diff --git a/demo/example_controller4.py b/demo/example_controller4.py
index 5f7f8f5a1885648d2e7a100b19073961cb6c9450..8645d7d812ffefe3237801a8aeb563d5deb01deb 100644
--- a/demo/example_controller4.py
+++ b/demo/example_controller4.py
@@ -27,15 +27,15 @@ class State:
v = 0.0
vehicle_mode: VehicleMode = VehicleMode.Normal
lane_mode: LaneMode = LaneMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
+ type_mode: LaneObjectMode = LaneObjectMode.Vehicle
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
pass
def controller(ego:State, others:List[State], lane_map):
output = copy.deepcopy(ego)
if ego.vehicle_mode == VehicleMode.Normal:
- if any((other.x-ego.x > 3 and other.x-ego.x < 5 and ego.lane_mode == other.lane_mode) for other in others):
+ if any((other.x-ego.x > 3 and other.x-ego.x < 5 and ego.lane_mode == other.lane_mode and other.type_mode==LaneObjectMode.Vehicle) for other in others):
if lane_map.has_left(ego.lane_mode):
output.vehicle_mode = VehicleMode.SwitchLeft
if any((other.x-ego.x > 3 and other.x-ego.x < 5 and ego.lane_mode == other.lane_mode) for other in others):
diff --git a/demo/example_controller5.py b/demo/example_controller5.py
index 4294de0e7c0ef59c338a58d637b67898d39055c5..1e8f409efacacc066da76784e93bebc498b7b6d2 100644
--- a/demo/example_controller5.py
+++ b/demo/example_controller5.py
@@ -27,9 +27,9 @@ class State:
v = 0.0
vehicle_mode: VehicleMode = VehicleMode.Normal
lane_mode: LaneMode = LaneMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
+ type_mode: LaneObjectMode = LaneObjectMode.Vehicle
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
pass
def controller(ego:State, others:List[State], lane_map):
diff --git a/demo/example_controller7.py b/demo/example_controller7.py
index 0c30737a351192832788586ef60b5c345df29494..655278de8f2a845d20f559881080547187120bb0 100644
--- a/demo/example_controller7.py
+++ b/demo/example_controller7.py
@@ -27,9 +27,9 @@ class State:
v = 0.0
vehicle_mode: VehicleMode = VehicleMode.Normal
lane_mode: LaneMode = LaneMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
+ type_mode: LaneObjectMode = LaneObjectMode.Vehicle
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
pass
def controller(ego:State, others:List[State], lane_map):
diff --git a/demo/example_controller9.py b/demo/example_controller9.py
new file mode 100644
index 0000000000000000000000000000000000000000..1f7b38c95885533fc2c96f8fc249a15b18713f76
--- /dev/null
+++ b/demo/example_controller9.py
@@ -0,0 +1,47 @@
+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()
+ Stop = auto()
+
+class LaneMode(Enum):
+ Lane0 = auto()
+ Lane1 = auto()
+ Lane2 = auto()
+
+class State:
+ x = 0.0
+ y = 0.0
+ theta = 0.0
+ v = 0.0
+ vehicle_mode: VehicleMode = VehicleMode.Normal
+ lane_mode: LaneMode = LaneMode.Lane0
+ type_mode: LaneObjectMode = LaneObjectMode.Vehicle
+
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
+ pass
+
+def controller(ego:State, others:List[State], lane_map):
+ output = copy.deepcopy(ego)
+ # Detect the stop sign
+ if ego.vehicle_mode == VehicleMode.Normal:
+ if any(other.x - ego.x < 5 and other.x - ego.x > -1 and other.type_mode==LaneObjectMode.Sign for other in others):
+ output.vehicle_mode = VehicleMode.Brake
+ if ego.vehicle_mode == VehicleMode.Brake:
+ if ego.v <= 0:
+ output.vehicle_mode = VehicleMode.Stop
+ output.v = 0
+ return output
+
diff --git a/dryvr_plus_plus/example/example_agent/ball_agent.py b/dryvr_plus_plus/example/example_agent/ball_agent.py
index 9fd550e84538fa409b3cbf8220ce194d9819a57e..e4658ba8452e10dd67f02acf79b2d5322bb4f54d 100644
--- a/dryvr_plus_plus/example/example_agent/ball_agent.py
+++ b/dryvr_plus_plus/example/example_agent/ball_agent.py
@@ -31,10 +31,9 @@ class BallAgent(BaseAgent):
vy_dot = 0
return [x_dot, y_dot, vx_dot, vy_dot]
- def TC_simulate(self, mode: List[str], initialCondition, time_bound, lane_map:LaneMap=None)->np.ndarray:
- # P1. Should TC_simulate really be part of the agent definition or should it be something more generic?
- time_step = 0.05
- # P2. Looks like this should be a global parameter; some config file should be setting this.
+ def TC_simulate(self, mode: List[str], initialCondition, time_bound, time_step, lane_map:LaneMap=None)->np.ndarray:
+ # TODO: P1. Should TC_simulate really be part of the agent definition or should it be something more generic?
+ # TODO: P2. Looks like this should be a global parameter; some config file should be setting this.
time_bound = float(time_bound)
number_points = int(np.ceil(time_bound/time_step))
t = [round(i*time_step,10) for i in range(0,number_points)]
diff --git a/dryvr_plus_plus/example/example_agent/car_agent.py b/dryvr_plus_plus/example/example_agent/car_agent.py
index 3bee15fcc786d414fb599877dd039df23ba48e34..dde521e454e420d0e9a541a579c0b4d40592f101 100644
--- a/dryvr_plus_plus/example/example_agent/car_agent.py
+++ b/dryvr_plus_plus/example/example_agent/car_agent.py
@@ -37,8 +37,7 @@ class NPCAgent(BaseAgent):
a = 0
return steering, a
- def TC_simulate(self, mode: List[str], initialCondition, time_bound, lane_map:LaneMap=None)->np.ndarray:
- time_step = 0.05
+ def TC_simulate(self, mode: List[str], initialCondition, time_bound, time_step, lane_map:LaneMap=None)->np.ndarray:
time_bound = float(time_bound)
number_points = int(np.ceil(time_bound/time_step))
t = [i*time_step for i in range(0,number_points)]
@@ -95,8 +94,7 @@ class CarAgent(BaseAgent):
steering = np.clip(steering, -0.61, 0.61)
return steering, a
- def TC_simulate(self, mode: List[str], initialCondition, time_bound, lane_map:LaneMap=None)->np.ndarray:
- time_step = 0.05
+ def TC_simulate(self, mode: List[str], initialCondition, time_bound, time_step, lane_map:LaneMap=None)->np.ndarray:
time_bound = float(time_bound)
number_points = int(np.ceil(time_bound/time_step))
t = [round(i*time_step,10) for i in range(0,number_points)]
diff --git a/dryvr_plus_plus/example/example_agent/sign_agent.py b/dryvr_plus_plus/example/example_agent/sign_agent.py
index b6eb7fe383eb62f64a053312b5ef063f9cf40dab..2b97fa273ab00d7df9576fdd17a9fd21cbf2f0aa 100644
--- a/dryvr_plus_plus/example/example_agent/sign_agent.py
+++ b/dryvr_plus_plus/example/example_agent/sign_agent.py
@@ -7,8 +7,7 @@ class SignAgent(BaseAgent):
self.id = id
self.controller = EmptyAst()
- def TC_simulate(self, mode, init, time_horizon, map=None):
- time_step = 0.01
+ def TC_simulate(self, mode, init, time_horizon, time_step, map=None):
number_points = int(np.ceil(float(time_horizon)/time_step))
t = [i*time_step for i in range(0,number_points)]
trace = [[0] + init] + [[i + time_step] + init for i in t]
diff --git a/dryvr_plus_plus/scene_verifier/agents/base_agent.py b/dryvr_plus_plus/scene_verifier/agents/base_agent.py
index 62d92d82e1a214554b24f6b1d45469d6e9d4cc68..96d912e91b5611cdda1785dd9c171b262c52b4df 100644
--- a/dryvr_plus_plus/scene_verifier/agents/base_agent.py
+++ b/dryvr_plus_plus/scene_verifier/agents/base_agent.py
@@ -5,5 +5,5 @@ class BaseAgent:
self.controller = ControllerAst(code, file_name)
self.id = id
- def TC_simulate(self, mode, initialSet, time_horizon, map=None):
+ def TC_simulate(self, mode, initialSet, time_horizon, time_step, map=None):
raise NotImplementedError
\ No newline at end of file
diff --git a/dryvr_plus_plus/scene_verifier/analysis/simulator.py b/dryvr_plus_plus/scene_verifier/analysis/simulator.py
index c1099ecb985d9ec7f8d3471bfbe6406236917ca1..853122e70a76c806346dda383fa2fa90e47a8d98 100644
--- a/dryvr_plus_plus/scene_verifier/analysis/simulator.py
+++ b/dryvr_plus_plus/scene_verifier/analysis/simulator.py
@@ -11,7 +11,7 @@ class Simulator:
def __init__(self):
self.simulation_tree_root = None
- def simulate(self, init_list, init_mode_list, agent_list:List[BaseAgent], transition_graph, time_horizon, lane_map):
+ def simulate(self, init_list, init_mode_list, agent_list:List[BaseAgent], transition_graph, time_horizon, time_step, lane_map):
# Setup the root of the simulation tree
root = AnalysisTreeNode(
trace={},
@@ -43,7 +43,7 @@ class Simulator:
# Simulate the trace starting from initial condition
mode = node.mode[agent_id]
init = node.init[agent_id]
- trace = node.agent[agent_id].TC_simulate(mode, init, remain_time,lane_map)
+ trace = node.agent[agent_id].TC_simulate(mode, init, remain_time, time_step, lane_map)
trace[:,0] += node.start_time
node.trace[agent_id] = trace.tolist()
diff --git a/dryvr_plus_plus/scene_verifier/analysis/verifier.py b/dryvr_plus_plus/scene_verifier/analysis/verifier.py
index 123729a66b30cd660001a831f1f095f456c74adf..56a131b72dd8dd2883c0bd3ea146012c610afd10 100644
--- a/dryvr_plus_plus/scene_verifier/analysis/verifier.py
+++ b/dryvr_plus_plus/scene_verifier/analysis/verifier.py
@@ -21,6 +21,7 @@ class Verifier:
agent_list:List[BaseAgent],
transition_graph,
time_horizon,
+ time_step,
lane_map
):
root = AnalysisTreeNode()
@@ -53,6 +54,7 @@ class Verifier:
cur_bloated_tube = calc_bloated_tube(mode,
init,
remain_time,
+ time_step,
node.agent[agent_id].TC_simulate,
'PW',
100,
diff --git a/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py b/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py
index 3e5370ffbdb5922c880c29c6b4c009c722856e17..780c4bd2a2a06f5a730d6774de9ac82b3080e91f 100644
--- a/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py
+++ b/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py
@@ -249,7 +249,7 @@ class ControllerAst():
self.code = code
self.tree = ast.parse(code)
- self.statementtree, self.variables, self.modes, self.discrete_variables, self.state_object_dict, self.vars_dict, self.type_vars = self.initalwalktree(code, self.tree)
+ self.statementtree, self.variables, self.modes, self.discrete_variables, self.state_object_dict, self.vars_dict = self.initalwalktree(code, self.tree)
self.vertices = []
self.vertexStrings = []
for vertex in itertools.product(*self.modes.values()):
@@ -367,7 +367,6 @@ class ControllerAst():
def initalwalktree(self, code, tree):
vars = []
discrete_vars = []
- type_vars = []
out = []
mode_dict = {}
state_object_dict = {}
@@ -390,9 +389,7 @@ class ControllerAst():
if "init" in item.name:
for arg in item.args.args:
if "self" not in arg.arg:
- if "type" == arg.arg:
- state_object_dict[node.name]["type"].append(arg.arg)
- elif "mode" not in arg.arg:
+ if "mode" not in arg.arg:
state_object_dict[node.name]['cont'].append(arg.arg)
# vars.append(arg.arg)
else:
@@ -431,11 +428,8 @@ class ControllerAst():
for var in state_object_dict[arg_annotation]['disc']:
discrete_vars.append(arg_name+"."+var)
vars_dict[arg_name]['disc'].append(var)
- for var in state_object_dict[arg_annotation]['type']:
- type_vars.append(arg_name+"."+var)
- vars_dict[arg_name]['type'].append(var)
-
- return [statementtree, vars, mode_dict, discrete_vars, state_object_dict, vars_dict, type_vars]
+
+ return [statementtree, vars, mode_dict, discrete_vars, state_object_dict, vars_dict]
'''
@@ -495,7 +489,6 @@ class EmptyAst(ControllerAst):
'type':[]
}
}
- self.type_vars = []
self.variables = []
self.vars_dict = []
self.vertexStrings = ['Null,Normal']
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py b/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py
index a52a0f324c7a2c0c9678ddba3f682f850e9d4205..bbb1ccfe00b07b393d6ae00e26a31d6fe7bd7530 100644
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py
+++ b/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py
@@ -245,6 +245,7 @@ def calc_bloated_tube(
mode_label,
initial_set,
time_horizon,
+ time_step,
sim_func,
bloating_method,
kvalue,
@@ -275,11 +276,11 @@ def calc_bloated_tube(
random.seed(4)
cur_center = calcCenterPoint(initial_set[0], initial_set[1])
cur_delta = calcDelta(initial_set[0], initial_set[1])
- traces = [sim_func(mode_label, cur_center, time_horizon, lane_map)]
+ traces = [sim_func(mode_label, cur_center, time_horizon, time_step, lane_map)]
# Simulate SIMTRACENUM times to learn the sensitivity
for _ in range(sim_trace_num):
new_init_point = randomPoint(initial_set[0], initial_set[1])
- traces.append(sim_func(mode_label, new_init_point, time_horizon, lane_map))
+ traces.append(sim_func(mode_label, new_init_point, time_horizon, time_step, lane_map))
# Trim the trace to the same length
traces = trimTraces(traces)
diff --git a/dryvr_plus_plus/scene_verifier/scenario/scenario.py b/dryvr_plus_plus/scene_verifier/scenario/scenario.py
index 1698eecc2fc2ee82341d935e38c98e101c8293f8..3b003429d3c5323a2b31dc0cd97b8898cd26f1df 100644
--- a/dryvr_plus_plus/scene_verifier/scenario/scenario.py
+++ b/dryvr_plus_plus/scene_verifier/scenario/scenario.py
@@ -65,8 +65,8 @@ class Scenario:
trace = self.simulate(time_horizon)
res_list.append(trace)
return res_list
-
- def simulate(self, time_horizon):
+
+ def simulate(self, time_horizon, time_step):
init_list = []
init_mode_list = []
agent_list = []
@@ -75,9 +75,9 @@ class Scenario:
init_mode_list.append(self.init_mode_dict[agent_id])
agent_list.append(self.agent_dict[agent_id])
print(init_list)
- return self.simulator.simulate(init_list, init_mode_list, agent_list, self, time_horizon, self.map)
+ return self.simulator.simulate(init_list, init_mode_list, agent_list, self, time_horizon, time_step, self.map)
- def verify(self, time_horizon):
+ def verify(self, time_horizon, time_step):
init_list = []
init_mode_list = []
agent_list = []
@@ -89,7 +89,7 @@ class Scenario:
init_list.append(init)
init_mode_list.append(self.init_mode_dict[agent_id])
agent_list.append(self.agent_dict[agent_id])
- return self.verifier.compute_full_reachtube(init_list, init_mode_list, agent_list, self, time_horizon, self.map)
+ return self.verifier.compute_full_reachtube(init_list, init_mode_list, agent_list, self, time_horizon, time_step, self.map)
def check_guard_hit(self, state_dict):
lane_map = self.map