diff --git a/.gitignore b/.gitignore
index 5bba7af96e75af65b1cc95fc52a50ab820d9986e..e0ecce94ebcc235743ed2bf3c674ad3210e66733 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,4 +4,5 @@ __pycache__/
.idea/
venv/
.DS_Store
-**.egg-info/
\ No newline at end of file
+**.egg-info/
+.VSCodeCounter/
\ No newline at end of file
diff --git a/demo.py b/demo/demo.py
similarity index 100%
rename from demo.py
rename to demo/demo.py
diff --git a/demo2.py b/demo/demo2.py
similarity index 73%
rename from demo2.py
rename to demo/demo2.py
index b7ab259fce1c735afb630119e2bd3b16844e3a35..7589ea8be07d4a457560045de87d78722c1eb534 100644
--- a/demo2.py
+++ b/demo/demo2.py
@@ -34,11 +34,11 @@ if __name__ == "__main__":
input_code_name = 'example_controller2.py'
scenario = Scenario()
- car = NPCAgent('car1', file_name=input_code_name)
+ car = NPCAgent('car1')
scenario.add_agent(car)
car = CarAgent('car2', file_name=input_code_name)
scenario.add_agent(car)
- tmp_map = SimpleMap3()
+ tmp_map = SimpleMap6()
scenario.set_map(tmp_map)
scenario.set_sensor(FakeSensor2())
scenario.set_init(
@@ -51,17 +51,17 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane1),
]
)
- # res_list = scenario.simulate_multi(10,10)
- traces = scenario.verify(10)
+ res_list = scenario.simulate_multi(10,10)
+ # traces = scenario.verify(10)
fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
- fig = plot_reachtube_tree(traces, 'car1', 0, [1], 'b', fig, (1000,-1000), (1000,-1000))
- fig = plot_reachtube_tree(traces, 'car2', 0, [1], 'r', fig)
- # for traces in res_list:
- # fig = plot_simulation_tree(traces, 'car1', 0, [1], 'b', fig, (1000,-1000), (1000,-1000))
- # fig = plot_simulation_tree(traces, 'car2', 0, [1], 'r', fig)
- # # generate_simulation_anime(traces, tmp_map)
+ # fig = plot_reachtube_tree(traces, 'car1', 0, [1], 'b', fig, (1000,-1000), (1000,-1000))
+ # fig = plot_reachtube_tree(traces, 'car2', 0, [1], 'r', fig)
+ for traces in res_list:
+ fig = plot_simulation_tree(traces, 'car1', 0, [1], 'b', fig, (1000,-1000), (1000,-1000))
+ fig = plot_simulation_tree(traces, 'car2', 0, [1], 'r', fig)
+ # generate_simulation_anime(traces, tmp_map)
diff --git a/example_controller1.py b/demo/example_controller1.py
similarity index 93%
rename from example_controller1.py
rename to demo/example_controller1.py
index 68795384d70835ccba364bc49326d181fa79a871..4f66b62b223b4ca36753c1ad5d3f1c137f8f564d 100644
--- a/example_controller1.py
+++ b/demo/example_controller1.py
@@ -1,6 +1,5 @@
from enum import Enum, auto
import copy
-from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
class LaneObjectMode(Enum):
Vehicle = auto()
@@ -29,9 +28,9 @@ class State:
lane_mode: LaneMode = LaneMode.Lane0
def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode):
- self.data = []
+ pass
-def controller(ego:State, other:State, lane_map:LaneMap):
+def controller(ego:State, other:State, lane_map):
output = copy.deepcopy(ego)
if ego.vehicle_mode == VehicleMode.Normal:
if 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 \
diff --git a/example_controller2.py b/demo/example_controller2.py
similarity index 91%
rename from example_controller2.py
rename to demo/example_controller2.py
index 315ce64f4938bfc30a950bfd6a9f19029b599ae5..bc3c11401fe4fbd7c648d09614ef97a091014f9a 100644
--- a/example_controller2.py
+++ b/demo/example_controller2.py
@@ -1,6 +1,5 @@
from enum import Enum, auto
import copy
-from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
class VehicleMode(Enum):
Normal = auto()
@@ -24,7 +23,7 @@ class State:
def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode):
self.data = []
-def controller(ego:State, other:State, lane_map:LaneMap):
+def controller(ego:State, other:State, lane_map):
output = copy.deepcopy(ego)
if ego.vehicle_mode == VehicleMode.Normal:
if lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 0 \
diff --git a/example_controller3.py b/demo/example_controller3.py
similarity index 96%
rename from example_controller3.py
rename to demo/example_controller3.py
index 0df5565b4b620baf8172e82cc1f6724eaa31141d..1f606e0c0463ed5e60950d9b481d5036f761f27f 100644
--- a/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
- obj_mode: LaneObjectMode
+ type: LaneObjectMode
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode):
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
self.data = []
def controller(ego:State, other:State, sign:State, lane_map:LaneMap):
diff --git a/example_two_car_sign_lane_switch.py b/demo/example_two_car_sign_lane_switch.py
similarity index 86%
rename from example_two_car_sign_lane_switch.py
rename to demo/example_two_car_sign_lane_switch.py
index 236fc2fd35d8aa5c7cfa55e5dc024f805a777d42..fcfaf9235f447795527bbcc46b3923130295e149 100644
--- a/example_two_car_sign_lane_switch.py
+++ b/demo/example_two_car_sign_lane_switch.py
@@ -27,7 +27,7 @@ class State:
v: float
vehicle_mode: VehicleMode
lane_mode: LaneMode
- obj_mode: LaneObjectMode
+ type: LaneObjectMode
def __init__(self, x: float = 0, y: float = 0, theta: float = 0, v: float = 0, vehicle_mode: VehicleMode = VehicleMode.Normal, lane_mode: LaneMode = LaneMode.Lane0, type: LaneObjectMode = LaneObjectMode.Vehicle):
pass
@@ -91,12 +91,12 @@ if __name__ == "__main__":
scenario.set_sensor(FakeSensor2())
scenario.set_init(
[
- [[10, 0, 0, 0.5],[10, 0, 0, 0.5]],
[[0, -0.2, 0, 1.0],[0.2, 0.2, 0, 1.0]],
+ [[10, 0, 0, 0.5],[10, 0, 0, 0.5]],
[[20, 0, 0, 0],[20, 0, 0, 0]],
],
[
- (VehicleMode.Normal, LaneMode.Lane2, LaneObjectMode.Vehicle),
+ (VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Vehicle),
(VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Vehicle),
(VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Obstacle),
]
@@ -111,23 +111,3 @@ if __name__ == "__main__":
plt.show()
- # plt.plot([0, 40], [3, 3], 'g')
- # plt.plot([0, 40], [0, 0], 'g')
- # plt.plot([0, 40], [-3, -3], 'g')
-
- # queue = [traces]
- # while queue != []:
- # node = queue.pop(0)
- # traces = node.trace
- # # for agent_id in traces:
- # agent_id = 'car2'
- # trace = np.array(traces[agent_id])
- # plt.plot(trace[:, 1], trace[:, 2], 'r')
-
- # agent_id = 'car1'
- # trace = np.array(traces[agent_id])
- # plt.plot(trace[:, 1], trace[:, 2], 'b')
-
- # # if node.child != []:
- # queue += node.child
- # plt.show()
diff --git a/dryvr_plus_plus/example/example_agent/car_agent.py b/dryvr_plus_plus/example/example_agent/car_agent.py
index 61f32fb092b5ca6aeba3208053abf3825f9742ea..9d1212f514f13bff40bc9f6a7263602ab4f249b3 100644
--- a/dryvr_plus_plus/example/example_agent/car_agent.py
+++ b/dryvr_plus_plus/example/example_agent/car_agent.py
@@ -8,7 +8,7 @@ from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
from dryvr_plus_plus.scene_verifier.code_parser.pythonparser import EmptyAst
class NPCAgent(BaseAgent):
- def __init__(self, id, code = None, file_name = None):
+ def __init__(self, id):
self.id = id
self.controller = EmptyAst()
diff --git a/setup.py b/setup.py
index 25e99f51d402f9a5352c5203612e0aba391f0a52..221cc485528f4077f02df2db7be6e725639d0bdb 100644
--- a/setup.py
+++ b/setup.py
@@ -5,12 +5,12 @@ setup(
name='dryvr_plus_plus',
version='0.1',
description='DryVR++',
- author='MaybeShewill-CV',
- maintainer='Chiao Hsieh',
- maintainer_email='chsieh16@illinois.edu',
+ author='Yangge Li, Katherine Braught, Haoqing Zhu',
+ maintainer='Yangge Li, Katherine Braught, Haoqing Zhu',
+ maintainer_email='{li213, braught2, haoqing3}@illinois.edu',
license='Apache-2.0',
- packages=["dryvr_plus_plus"],
- python_requires='>=3.6',
+ packages=setuptools.find_packages(exclude=["tests", "demo"]),
+ python_requires='>=3.8',
install_requires=[
"numpy~=1.22.1",
"scipy~=1.8.0",