update example

example_two_car_sign_lane_switch.py

@@ -77,14 +77,15 @@ from src.example.example_sensor.fake_sensor import FakeSensor2
 import matplotlib.pyplot as plt
 
 if __name__ == "__main__":
-    input_code_name = 'example_two_car_sign_lane_switch.py'
+    import sys
+    input_code_name = sys.argv[0]
     scenario = Scenario()
 
     car = CarAgent('car1', file_name=input_code_name)
     scenario.add_agent(car)
     car = CarAgent('car2', file_name=input_code_name)
     scenario.add_agent(car)
-    scenario.add_agent(SignAgent("sign", file_name=input_code_name))
+    scenario.add_agent(SignAgent("sign", file_name="null_controller.py"))
     scenario.set_map(SimpleMap3())
     scenario.set_sensor(FakeSensor2())
     scenario.set_init(
@@ -100,12 +101,12 @@ if __name__ == "__main__":
         ]
     )
     # simulator = Simulator()
-    traces = scenario.simulate(40)
-    # traces = scenario.verify(40)
+    # traces = scenario.simulate(40)
+    traces = scenario.verify(40)
 
     fig = plt.figure()
-    fig, xlim, ylim = plot_simulation_tree(traces, 'car1', 1, [2], 'b', fig)
-    fig, xlim, ylim = plot_simulation_tree(traces, 'car2', 1, [2], 'r', fig, xlim, ylim)
+    fig, xlim, ylim = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
+    fig, xlim, ylim = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig, xlim, ylim)
 
     plt.show()
 

src/example/example_sensor/fake_sensor.py

@@ -50,23 +50,21 @@ class FakeSensor2:
                 set_states_2d(cnts, disc, "other", state_dict["car2"])
                 if "sign" in state_dict:
                     set_states_2d(cnts, disc, "sign", state_dict["sign"])
-            print(cnts, disc)
             return cnts, disc
         else:
             if agent.id == 'car1':
                 set_states_3d(cnts, disc, "ego", state_dict["car1"])
                 set_states_3d(cnts, disc, "other", state_dict["car2"])
                 if "sign" in state_dict:
-                    set_states_2d(cnts, disc, "sign", state_dict["sign"])
+                    set_states_3d(cnts, disc, "sign", state_dict["sign"])
             elif agent.id == 'car2':
                 set_states_3d(cnts, disc, "other", state_dict["car1"])
                 set_states_3d(cnts, disc, "ego", state_dict["car2"])
                 if "sign" in state_dict:
-                    set_states_2d(cnts, disc, "sign", state_dict["sign"])
+                    set_states_3d(cnts, disc, "sign", state_dict["sign"])
             elif agent.id == 'sign':
                 set_states_3d(cnts, disc, "ego", state_dict["sign"])
                 set_states_3d(cnts, disc, "other", state_dict["car2"])
                 if "sign" in state_dict:
-                    set_states_2d(cnts, disc, "sign", state_dict["sign"])
-            print(cnts, disc)
+                    set_states_3d(cnts, disc, "sign", state_dict["sign"])
             return cnts, disc