From 15d3ad1b171cee7d4c60fbcfa5ff001c5d0c0484 Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Thu, 13 Oct 2022 23:04:53 -0500
Subject: [PATCH] veri: port fix
---
verse/scenario/scenario.py | 67 +++++++++++++++++++-------------------
1 file changed, 33 insertions(+), 34 deletions(-)
diff --git a/verse/scenario/scenario.py b/verse/scenario/scenario.py
index 2f1848b4..1a445064 100644
--- a/verse/scenario/scenario.py
+++ b/verse/scenario/scenario.py
@@ -503,42 +503,41 @@ class Scenario:
# _transitions = [trans.transition for seg in cache.values() for trans in seg.transitions]
_transitions = [(aid, trans) for aid, seg in cache.items() for trans in seg.transitions if reach_trans_suit(trans.inits, node.init)]
# pp(("cached trans", len(_transitions)))
- if len(_transitions) == 0:
- return None, []
- min_trans_ind = min([t.transition for _, t in _transitions])
- # TODO: check for asserts
- cached_trans = [(aid, tran.mode, tran.dest, tran.reset, tran.reset_idx, tran.paths) for aid, tran in dedup(_transitions, lambda p: (p[0], p[1].mode, p[1].dest)) if tran.transition == min_trans_ind]
- if len(paths) == 0:
- # print(red("full cache"))
- return None, cached_trans
+ if len(_transitions) > 0:
+ min_trans_ind = min([t.transition for _, t in _transitions])
+ # TODO: check for asserts
+ cached_trans = [(aid, tran.mode, tran.dest, tran.reset, tran.reset_idx, tran.paths) for aid, tran in dedup(_transitions, lambda p: (p[0], p[1].mode, p[1].dest)) if tran.transition == min_trans_ind]
+ if len(paths) == 0:
+ # print(red("full cache"))
+ return None, cached_trans
- path_transitions = defaultdict(int)
- for seg in cache.values():
- for tran in seg.transitions:
- for p in tran.paths:
- path_transitions[p.cond] = max(path_transitions[p.cond], tran.transition)
- for agent_id, segment in cache.items():
- agent = node.agent[agent_id]
- if len(agent.controller.args) == 0:
- continue
- state_dict = {aid: (node.trace[aid][0], node.mode[aid], node.static[aid]) for aid in node.agent}
-
- agent_paths = dedup([p for tran in segment.transitions for p in tran.paths], lambda i: (i.var, i.cond, i.val))
- for path in agent_paths:
- cont_var_dict_template, discrete_variable_dict, length_dict = self.sensor.sense(
- self, agent, state_dict, self.map)
- reset = (path.var, path.val_veri)
- guard_expression = GuardExpressionAst([path.cond_veri])
-
- cont_var_updater = guard_expression.parse_any_all_new(
- cont_var_dict_template, discrete_variable_dict, length_dict)
- self.apply_cont_var_updater(
- cont_var_dict_template, cont_var_updater)
- guard_can_satisfied = guard_expression.evaluate_guard_disc(
- agent, discrete_variable_dict, cont_var_dict_template, self.map)
- if not guard_can_satisfied:
+ path_transitions = defaultdict(int)
+ for seg in cache.values():
+ for tran in seg.transitions:
+ for p in tran.paths:
+ path_transitions[p.cond] = max(path_transitions[p.cond], tran.transition)
+ for agent_id, segment in cache.items():
+ agent = node.agent[agent_id]
+ if len(agent.controller.args) == 0:
continue
- cached_guards[agent_id].append((path, guard_expression, cont_var_updater, copy.deepcopy(discrete_variable_dict), reset, path_transitions[path.cond]))
+ state_dict = {aid: (node.trace[aid][0], node.mode[aid], node.static[aid]) for aid in node.agent}
+
+ agent_paths = dedup([p for tran in segment.transitions for p in tran.paths], lambda i: (i.var, i.cond, i.val))
+ for path in agent_paths:
+ cont_var_dict_template, discrete_variable_dict, length_dict = self.sensor.sense(
+ self, agent, state_dict, self.map)
+ reset = (path.var, path.val_veri)
+ guard_expression = GuardExpressionAst([path.cond_veri])
+
+ cont_var_updater = guard_expression.parse_any_all_new(
+ cont_var_dict_template, discrete_variable_dict, length_dict)
+ self.apply_cont_var_updater(
+ cont_var_dict_template, cont_var_updater)
+ guard_can_satisfied = guard_expression.evaluate_guard_disc(
+ agent, discrete_variable_dict, cont_var_dict_template, self.map)
+ if not guard_can_satisfied:
+ continue
+ cached_guards[agent_id].append((path, guard_expression, cont_var_updater, copy.deepcopy(discrete_variable_dict), reset, path_transitions[path.cond]))
# for aid, trace in node.trace.items():
# if len(trace) < 2:
--
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