diff --git a/demo/demo3.py b/demo/demo3.py
index 4500d5a003208005853b4d228217455a12374397..fcb73ea77b7f72fb6dad643de2fd3910c6847411 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)
@@ -63,10 +63,10 @@ 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)
diff --git a/demo/demo8.py b/demo/demo8.py
new file mode 100644
index 0000000000000000000000000000000000000000..ffd87b016c7929792c8bba3389910b04b6117918
--- /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 = 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
+
+
+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(70)
+ # traces = scenario.verify(70)
+
+ # 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_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_controller9.py b/demo/example_controller9.py
new file mode 100644
index 0000000000000000000000000000000000000000..cda3ac6bcf4ef9b639a315bd30d86cc4ae476acd
--- /dev/null
+++ b/demo/example_controller9.py
@@ -0,0 +1,49 @@
+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
+ clock = 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(ego.x - other.x < 5 and ego.x - other.x > -1 and other.type_mode==LaneObjectMode.Sign for other in others):
+ output.vehicle_mode = VehicleMode.Brake
+ output.clock = 0
+ 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/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']