diff --git a/verse/analysis/incremental.py b/verse/analysis/incremental.py
index 99f1d429511c9a38a793226afe049d79ea5189c0..b42ef510c75cf0599cfb5bee0f3513a943d85ac6 100644
--- a/verse/analysis/incremental.py
+++ b/verse/analysis/incremental.py
@@ -213,7 +213,7 @@ class ReachTubeCache:
def add_tube(self, agent_id: str, init: Dict[str, List[List[float]]], node: AnalysisTreeNode, transit_agents: List[str], transition, trans_ind: int, run_num: int):
key = (agent_id,) + tuple(node.mode[agent_id])
tree = self.cache[key]
- pp(('add seg', agent_id, node.mode[agent_id], init))
+ # pp(('add seg', agent_id, node.mode[agent_id], init))
assert_hits = node.assert_hits or {}
init = list(map(tuple, zip(*init[agent_id])))
for i, (low, high) in enumerate(init):
@@ -251,7 +251,7 @@ class ReachTubeCache:
def num_trans_suit(e: CachedRTTrans) -> int:
return sum(1 if reach_trans_suit(t.inits, inits) else 0 for t in e.transitions)
entries = list(sorted([(e, -num_trans_suit(e)) for e in entries], key=lambda p: p[1]))
- pp(("check hit entries", len(entries), entries[0][1]))
+ # pp(("check hit entries", len(entries), entries[0][1]))
return entries[0][0]
@staticmethod
diff --git a/verse/analysis/simulator.py b/verse/analysis/simulator.py
index 99781b2471ca718caa48c7c08d2377f4399a6feb..aa8bb74c418028e2a445f6e51cea8f6ad7a76896 100644
--- a/verse/analysis/simulator.py
+++ b/verse/analysis/simulator.py
@@ -7,6 +7,7 @@ import pprint
from verse.agents.base_agent import BaseAgent
from verse.analysis.incremental import SimTraceCache, convert_sim_trans, to_simulate
+from verse.analysis.utils import dedup
from verse.parser.parser import ModePath, find
pp = functools.partial(pprint.pprint, compact=True, width=130)
@@ -132,16 +133,7 @@ class Simulator:
if agent_id in cached_segments:
cached_segments[agent_id].transitions.extend(convert_sim_trans(agent_id, transit_agents, node.init, transition, transition_idx))
pre_len = len(cached_segments[agent_id].transitions)
- def dedup(l):
- o = []
- for i in l:
- for j in o:
- if i.disc == j.disc and i.cont == j.cont:
- break
- else:
- o.append(i)
- return o
- cached_segments[agent_id].transitions = dedup(cached_segments[agent_id].transitions)
+ cached_segments[agent_id].transitions = dedup(cached_segments[agent_id].transitions, lambda i: (i.disc, i.cont))
# pp(("dedup!", pre_len, len(cached_segments[agent_id].transitions)))
else:
self.cache.add_segment(agent_id, node, transit_agents, full_traces[agent_id], transition, transition_idx, run_num)
diff --git a/verse/analysis/verifier.py b/verse/analysis/verifier.py
index 30689e130f193912e6fef763ed6fa6b0576d68a8..99ff0d063a34a54708e88bd2bc15a14c3eb8c892 100644
--- a/verse/analysis/verifier.py
+++ b/verse/analysis/verifier.py
@@ -141,8 +141,8 @@ class Verifier:
while verification_queue != []:
node: AnalysisTreeNode = verification_queue.pop(0)
combined_inits = {a: combine_all(inits) for a, inits in node.init.items()}
- print()
- pp(("start sim", node.start_time, {a: (*node.mode[a], *combined_inits[a]) for a in node.mode}))
+ # print()
+ # pp(("start sim", node.start_time, {a: (*node.mode[a], *combined_inits[a]) for a in node.mode}))
remain_time = round(time_horizon - node.start_time, 10)
if remain_time <= 0:
continue
@@ -155,7 +155,7 @@ class Verifier:
combined = combine_all(inits)
if self.config.incremental:
cached = self.trans_cache.check_hit(agent_id, mode, combined, node.init)
- pp(("check hit", agent_id, mode, combined))
+ # pp(("check hit", agent_id, mode, combined))
if cached != None:
cached_tubes[agent_id] = cached
if agent_id not in node.trace:
@@ -165,7 +165,7 @@ class Verifier:
# trace[:,0] += node.start_time
# node.trace[agent_id] = trace.tolist()
if reachability_method == "DRYVR":
- pp(('tube', agent_id, mode, inits))
+ # pp(('tube', agent_id, mode, inits))
cur_bloated_tube = self.calculate_full_bloated_tube(agent_id,
mode,
inits,
@@ -203,7 +203,7 @@ class Verifier:
trace = np.array(cur_bloated_tube)
trace[:, 0] += node.start_time
node.trace[agent_id] = trace.tolist()
- pp(("cached tubes", cached_tubes.keys()))
+ # pp(("cached tubes", cached_tubes.keys()))
node_ids = list(set((s.run_num, s.node_id) for s in cached_tubes.values()))
# assert len(node_ids) <= 1, f"{node_ids}"
new_cache, paths_to_sim = {}, []
@@ -213,11 +213,11 @@ class Verifier:
old_node = find(past_runs[old_run_num].nodes, lambda n: n.id == old_node_id)
assert old_node != None
new_cache, paths_to_sim = to_simulate(old_node.agent, node.agent, cached_tubes)
- pp(("to sim", new_cache.keys(), len(paths_to_sim)))
+ # pp(("to sim", new_cache.keys(), len(paths_to_sim)))
# Get all possible transitions to next mode
asserts, all_possible_transitions = transition_graph.get_transition_verify_new(new_cache, paths_to_sim, node)
- pp(("transitions:", [(t[0], t[2]) for t in all_possible_transitions]))
+ # pp(("transitions:", [(t[0], t[2]) for t in all_possible_transitions]))
node.assert_hits = asserts
if asserts != None:
asserts, idx = asserts
@@ -227,7 +227,7 @@ class Verifier:
transit_map = {k: list(l) for k, l in itertools.groupby(all_possible_transitions, key=lambda p:p[0])}
transit_agents = transit_map.keys()
- pp(("transit agents", transit_agents))
+ # pp(("transit agents", transit_agents))
if self.config.incremental and len(all_possible_transitions) > 0:
transit_ind = max(l[-2][-1] for l in all_possible_transitions)
for agent_id in node.agent:
@@ -236,15 +236,15 @@ class Verifier:
cached_tubes[agent_id].transitions.extend(convert_reach_trans(agent_id, transit_agents, node.init, transition, transit_ind))
pre_len = len(cached_tubes[agent_id].transitions)
cached_tubes[agent_id].transitions = dedup(cached_tubes[agent_id].transitions, lambda i: (i.mode, i.dest, i.inits))
- pp(("dedup!", pre_len, len(cached_tubes[agent_id].transitions)))
+ # pp(("dedup!", pre_len, len(cached_tubes[agent_id].transitions)))
else:
self.trans_cache.add_tube(agent_id, combined_inits, node, transit_agents, transition, transit_ind, run_num)
max_end_idx = 0
for transition in all_possible_transitions:
# Each transition will contain a list of rectangles and their corresponding indexes in the original list
- if len(transition) != 6:
- pp(("weird trans", transition))
+ # if len(transition) != 6:
+ # pp(("weird trans", transition))
transit_agent_idx, src_mode, dest_mode, next_init, idx, path = transition
start_idx, end_idx = idx[0], idx[-1]
@@ -270,7 +270,7 @@ class Verifier:
next_node_init[agent_idx] = next_init
else:
next_node_init[agent_idx] = [[truncated_trace[agent_idx][0][1:], truncated_trace[agent_idx][1][1:]]]
- pp(("infer init", agent_idx, next_node_init[agent_idx]))
+ # pp(("infer init", agent_idx, next_node_init[agent_idx]))
next_node_trace[agent_idx] = truncated_trace[agent_idx]
tmp = AnalysisTreeNode(
diff --git a/verse/scenario/scenario.py b/verse/scenario/scenario.py
index 48d30ffe590e2d7ba5ab8aba9555283719b4f292..7134f835f7ce882b6d6e112ae15f5b1618ed45c8 100644
--- a/verse/scenario/scenario.py
+++ b/verse/scenario/scenario.py
@@ -502,8 +502,8 @@ class Scenario:
# print(red("full cache"))
# _transitions = [trans.transition for seg in cache.values() for trans in seg.transitions]
- _transitions = [trans.transition for seg in cache.values() for trans in seg.transitions if reach_trans_suit(trans.inits, node.init) or pp(("not suit", trans.inits, node.init))]
- pp(("cached trans", len(_transitions)))
+ _transitions = [trans.transition for seg in cache.values() for trans in seg.transitions if reach_trans_suit(trans.inits, node.init)]# or pp(("not suit", trans.inits, node.init))]
+ # pp(("cached trans", len(_transitions)))
if len(_transitions) == 0:
return None, []
transition = min(_transitions)
@@ -540,9 +540,9 @@ class Scenario:
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:
- pp(("weird state", aid, trace))
+ # for aid, trace in node.trace.items():
+ # if len(trace) < 2:
+ # pp(("weird state", aid, trace))
for agent, idx, path in paths:
if len(agent.controller.args) == 0:
continue
@@ -580,8 +580,8 @@ class Scenario:
if len(agent.controller.args) == 0:
continue
agent_state, agent_mode, agent_static = state_dict[agent_id]
- if np.array(agent_state).ndim != 2:
- pp(("weird state", agent_id, agent_state))
+ # if np.array(agent_state).ndim != 2:
+ # pp(("weird state", agent_id, agent_state))
agent_state = agent_state[1:]
cont_vars, disc_vars, len_dict = self.sensor.sense(self, agent, state_dict, self.map)
resets = defaultdict(list)