diff --git a/demo/example_controller4.py b/demo/example_controller4.py
index d57ab38473d3313fd0937a4b9355c2a1133e30b2..dccf72553e4cf2a4b0dee63e0915ba666a90dbb3 100644
--- a/demo/example_controller4.py
+++ b/demo/example_controller4.py
@@ -32,7 +32,7 @@ class State:
def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
pass
-def controller(ego:State, others:State, lane_map):
+def controller(ego:State, others:List[State], lane_map):
output = copy.deepcopy(ego)
test = lambda other: other.x-ego.x > 3 and other.x-ego.x < 5 and ego.lane_mode == other.lane_mode
if ego.vehicle_mode == VehicleMode.Normal:
diff --git a/demo/example_controller5.py b/demo/example_controller5.py
index 9d7bb281fe2fa3c169915c007d970090969328a9..1e8f409efacacc066da76784e93bebc498b7b6d2 100644
--- a/demo/example_controller5.py
+++ b/demo/example_controller5.py
@@ -32,7 +32,7 @@ class State:
def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
pass
-def controller(ego:State, others:State, lane_map):
+def controller(ego:State, others:List[State], lane_map):
output = copy.deepcopy(ego)
if ego.vehicle_mode == VehicleMode.Normal:
if any((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/demo/example_controller6.py b/demo/example_controller6.py
index abf5cacbc69fd9d7db6bf804208000942948b788..abb73f48d2cec3213d01ea389743989dcccac733 100644
--- a/demo/example_controller6.py
+++ b/demo/example_controller6.py
@@ -32,7 +32,7 @@ class State:
def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
pass
-def controller(ego:State, others:State, lane_map):
+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):
diff --git a/demo/example_controller7.py b/demo/example_controller7.py
index 59249f704516f1aef2270cd0be1dcbde32a06248..a7f2a75b0e3957b41bf3e097eb15f3422ed9cc33 100644
--- a/demo/example_controller7.py
+++ b/demo/example_controller7.py
@@ -47,7 +47,7 @@ def car_right(ego, others, lane_map):
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 and \
other.lane_mode==lane_map.right_lane(ego.lane_mode)) for other in others)
-def controller(ego:State, others:State, lane_map):
+def controller(ego:State, others:List[State], lane_map):
output = copy.deepcopy(ego)
if ego.vehicle_mode == VehicleMode.Normal:
if car_front(ego, others, lane_map):
diff --git a/demo/example_controller8.py b/demo/example_controller8.py
index 35085827d80263f9b6a73fe5c17a7487f385819e..ae6ba309419ecb7721ac1a63c70e8f80254a2a57 100644
--- a/demo/example_controller8.py
+++ b/demo/example_controller8.py
@@ -48,7 +48,7 @@ def car_right(ego, others, lane_map):
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 and \
other.lane_mode==lane_map.right_lane(ego.lane_mode)) for other in others)
-def controller(ego:State, others:State, lane_map):
+def controller(ego:State, others:List[State], lane_map):
output = copy.deepcopy(ego)
if ego.vehicle_mode == VehicleMode.Normal:
# Switch left if left lane is empty
diff --git a/demo/example_controller9.py b/demo/example_controller9.py
index b1ce3f15630522d92b8e8c52917f20ea8d02b777..1f7b38c95885533fc2c96f8fc249a15b18713f76 100644
--- a/demo/example_controller9.py
+++ b/demo/example_controller9.py
@@ -33,7 +33,7 @@ class State:
def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
pass
-def controller(ego:State, others:State, lane_map):
+def controller(ego:State, others:List[State], lane_map):
output = copy.deepcopy(ego)
# Detect the stop sign
if ego.vehicle_mode == VehicleMode.Normal:
diff --git a/dryvr_plus_plus/scene_verifier/code_parser/parser.py b/dryvr_plus_plus/scene_verifier/code_parser/parser.py
index 0813b10b0fffef709f4f7e76643000b7bb697922..db50129afaa6f6e8fb36dacd36b4f616ad713022 100644
--- a/dryvr_plus_plus/scene_verifier/code_parser/parser.py
+++ b/dryvr_plus_plus/scene_verifier/code_parser/parser.py
@@ -143,13 +143,15 @@ class Lambda:
and isinstance(a.annotation.value, ast.Name) \
and a.annotation.value.id == 'List':
typ = handle_simple_ann(a.annotation.slice)
+ is_list = True
else:
typ = handle_simple_ann(a.annotation)
- args.append((a.arg, typ))
+ is_list = False
+ args.append((a.arg, typ, is_list))
else:
- args.append((a.arg, None))
+ args.append((a.arg, None, False))
env.push()
- for a, typ in args:
+ for a, typ, is_list in args:
env.add_hole(a, typ)
ret = None
if isinstance(tree, ast.FunctionDef):
@@ -167,7 +169,7 @@ class Lambda:
def apply(self, args: List[ast.expr]) -> Tuple[List[Assert], ast.expr]:
ret = copy.deepcopy(self.body)
- subst = ArgSubstituter({k: v for (k, _), v in zip(self.args, args)})
+ subst = ArgSubstituter({k: v for (k, _, _), v in zip(self.args, args)})
ret = subst.visit(ret)
def visit_assert(a: Assert):
a = copy.deepcopy(a)
diff --git a/dryvr_plus_plus/scene_verifier/scenario/scenario.py b/dryvr_plus_plus/scene_verifier/scenario/scenario.py
index fc18057e91f63bf18dffc16193a73056f77d4a8e..3970e8034b7023ada715a0e18dde1da3d630b75d 100644
--- a/dryvr_plus_plus/scene_verifier/scenario/scenario.py
+++ b/dryvr_plus_plus/scene_verifier/scenario/scenario.py
@@ -256,7 +256,7 @@ class Scenario:
continuous_variable_dict, orig_disc_vars, _ = self.sensor.sense(self, agent, state_dict, self.map)
# Unsafety checking
ego_ty_name = find(agent.controller.controller.args, lambda a: a[0] == EGO)[1]
- def pack_env(agent, cont, disc, map):
+ def pack_env(agent: BaseAgent, cont, disc, map):
env = copy.deepcopy(cont)
env.update(disc)
@@ -265,8 +265,15 @@ class Scenario:
for k, v in env.items():
k = k.split(".")
packed[k[0]][k[1]] = v
- others_keys = list(packed[OTHERS].keys())
- packed[OTHERS] = [state_ty(**{k: packed[OTHERS][k][i] for k in others_keys}) for i in range(len(packed[OTHERS][others_keys[0]]))]
+ for arg, arg_type, is_list in agent.controller.controller.args:
+ if arg != EGO and 'map' not in arg:
+ other = arg
+ others_keys = list(packed[other].keys())
+ if is_list:
+ packed[other] = [state_ty(**{k: packed[other][k][i] for k in others_keys}) for i in range(len(packed[other][others_keys[0]]))]
+ else:
+ packed[other] = state_ty(**{k: packed[other][k] for k in others_keys})
+
packed[EGO] = state_ty(**packed[EGO])
map_var = find(agent.controller.controller.args, lambda a: "map" in a[0])
if map_var != None:
diff --git a/dryvr_plus_plus/scene_verifier/sensor/base_sensor.py b/dryvr_plus_plus/scene_verifier/sensor/base_sensor.py
index 2847b58fe6dadce346ed35aed9e98ee9844df456..52f054c8852cfec086c3fce7b811e79340cdf323 100644
--- a/dryvr_plus_plus/scene_verifier/sensor/base_sensor.py
+++ b/dryvr_plus_plus/scene_verifier/sensor/base_sensor.py
@@ -54,7 +54,7 @@ class BaseSensor():
controller_args = agent.controller.controller.args
arg_type = None
for arg in controller_args:
- if arg[0] == 'ego':
+ if arg[0] != 'ego':
arg_type = arg[1]
break
if arg_type is None:
@@ -66,8 +66,10 @@ class BaseSensor():
else:
controller_args = agent.controller.controller.args
arg_type = None
+ arg_name = None
for arg in controller_args:
- if arg[0] == 'others':
+ if arg[0] != 'ego' and 'map' not in arg[0]:
+ arg_name = arg[0]
arg_type = arg[1]
break
if arg_type is None:
@@ -75,7 +77,7 @@ class BaseSensor():
cont_var = agent.controller.state_defs[arg_type].cont
disc_var = agent.controller.state_defs[arg_type].disc
stat_var = agent.controller.state_defs[arg_type].static
- add_states_2d(cont, disc, 'others', state_dict[agent_id], cont_var, disc_var, stat_var)
+ add_states_2d(cont, disc, arg_name, state_dict[agent_id], cont_var, disc_var, stat_var)
else:
for agent_id in state_dict:
@@ -96,8 +98,10 @@ class BaseSensor():
else:
controller_args = agent.controller.controller.args
arg_type = None
+ arg_name = None
for arg in controller_args:
- if arg[0] == 'others':
+ if arg[0] != 'ego' and 'map' not in arg[0]:
+ arg_name = arg[0]
arg_type = arg[1]
break
if arg_type is None:
@@ -105,6 +109,6 @@ class BaseSensor():
cont_var = agent.controller.state_defs[arg_type].cont
disc_var = agent.controller.state_defs[arg_type].disc
stat_var = agent.controller.state_defs[arg_type].static
- add_states_3d(cont, disc, 'others', state_dict[agent_id], cont_var, disc_var, stat_var)
+ add_states_3d(cont, disc, arg_name, state_dict[agent_id], cont_var, disc_var, stat_var)
return cont, disc, len_dict
\ No newline at end of file