From 39a0fbc7577121d6579e05277ed31bf7a3258400 Mon Sep 17 00:00:00 2001
From: Yangge Li <li213@illinois.edu>
Date: Tue, 10 May 2022 11:48:07 -0500
Subject: [PATCH] refactoring the code
---
.gitignore | 3 +-
README.md | 52 +-
billiard_input.json | 8 -
billiard_out.json | 135 -----
billiardsrc.c | 119 -----
cartoy-out.json | 89 ----
cartoy.c | 41 --
common_road_vis.py | 39 --
example_car_lane_switch.py | 58 ++-
example_two_car_lane_switch.py | 13 +-
full_run | 27 -
generateGraph-new.py | 483 ------------------
generateGraph.py | 401 ---------------
ourtool/automaton/__init__.py | 4 -
ourtool/map/__init__.py | 8 -
ourtool/map/single_straight_lane.py | 8 -
ourtool/scenario/__init__.py | 4 -
out.json | 21 -
requirements.txt | 10 +
singlevehiclesat-out.json | 89 ----
singlevehiclesat.c | 42 --
singlevehiclesat.json | 8 -
{ourtool => src}/__init__.py | 0
{ourtool/agents => src/example}/__init__.py | 0
.../example/example_agent}/__init__.py | 0
.../example/example_agent}/car_agent.py | 4 +-
.../example/example_map}/__init__.py | 0
.../example/example_map}/simple_map.py | 4 +-
.../example/example_sensor}/__init__.py | 0
src/example/example_sensor/fake_sensor.py | 98 ++++
{ourtool/dryvr => src}/plotter/__init__.py | 0
{plotter => src/plotter}/parser.py | 0
{plotter => src/plotter}/plotter2D.py | 0
{plotter => src/plotter}/plotter3D.py | 0
.../scene_verifier}/__init__.py | 0
src/scene_verifier/agents/__init__.py | 0
.../scene_verifier}/agents/base_agent.py | 2 +-
src/scene_verifier/analysis/__init__.py | 0
.../analysis/analysis_tree_node.py | 0
.../scene_verifier}/analysis/simulator.py | 4 +-
.../scene_verifier}/analysis/verifier.py | 8 +-
src/scene_verifier/automaton/__init__.py | 4 +
.../scene_verifier}/automaton/guard.py | 2 +-
.../automaton/hybrid_automaton.py | 0
.../automaton/hybrid_io_automaton.py | 2 +-
.../scene_verifier}/automaton/reset.py | 0
src/scene_verifier/code_parser/__init__.py | 0
.../code_parser/pythonparser.py | 6 +-
src/scene_verifier/dryvr/__init__.py | 0
.../scene_verifier}/dryvr/common/__init__.py | 0
.../scene_verifier}/dryvr/common/config.py | 0
.../scene_verifier}/dryvr/common/constant.py | 0
.../scene_verifier}/dryvr/common/io.py | 6 +-
.../scene_verifier}/dryvr/common/utils.py | 4 +-
src/scene_verifier/dryvr/core/__init__.py | 0
.../scene_verifier}/dryvr/core/distance.py | 0
.../scene_verifier}/dryvr/core/dryvrcore.py | 12 +-
.../scene_verifier}/dryvr/core/dryvrmain.py | 12 +-
.../scene_verifier}/dryvr/core/goalchecker.py | 0
.../scene_verifier}/dryvr/core/graph.py | 0
.../scene_verifier}/dryvr/core/guard.py | 0
.../scene_verifier}/dryvr/core/initialset.py | 0
.../dryvr/core/initialsetstack.py | 0
.../scene_verifier}/dryvr/core/reachtube.py | 2 +-
.../scene_verifier}/dryvr/core/reset.py | 0
.../dryvr/core/uniformchecker.py | 0
.../dryvr/discrepancy/Global_Disc.py | 0
.../dryvr/discrepancy/PW_Discrepancy.py | 0
.../dryvr/discrepancy/__init__.py | 0
.../plotterInterface-checkpoint.ipynb | 0
.../scene_verifier}/dryvr/plotter/README.md | 0
.../scene_verifier/dryvr/plotter}/__init__.py | 0
.../dryvr/plotter/linkednode.py | 0
.../scene_verifier}/dryvr/plotter/parser.py | 0
.../scene_verifier}/dryvr/plotter/plot.py | 0
.../dryvr/plotter/plot_util.py | 0
.../dryvr/plotter/plotter_interface.ipynb | 0
src/scene_verifier/map/__init__.py | 8 +
.../scene_verifier}/map/lane_map.py | 2 +-
.../scene_verifier}/map/lane_segment.py | 0
src/scene_verifier/scenario/__init__.py | 4 +
.../scene_verifier}/scenario/scenario.py | 106 +---
toythermo.py | 135 -----
toythermomini.py | 45 --
84 files changed, 247 insertions(+), 1885 deletions(-)
delete mode 100644 billiard_input.json
delete mode 100644 billiard_out.json
delete mode 100644 billiardsrc.c
delete mode 100644 cartoy-out.json
delete mode 100644 cartoy.c
delete mode 100644 common_road_vis.py
delete mode 100644 full_run
delete mode 100644 generateGraph-new.py
delete mode 100644 generateGraph.py
delete mode 100644 ourtool/automaton/__init__.py
delete mode 100644 ourtool/map/__init__.py
delete mode 100644 ourtool/map/single_straight_lane.py
delete mode 100644 ourtool/scenario/__init__.py
delete mode 100644 out.json
create mode 100644 requirements.txt
delete mode 100644 singlevehiclesat-out.json
delete mode 100644 singlevehiclesat.c
delete mode 100644 singlevehiclesat.json
rename {ourtool => src}/__init__.py (100%)
rename {ourtool/agents => src/example}/__init__.py (100%)
rename {ourtool/analysis => src/example/example_agent}/__init__.py (100%)
rename {ourtool/agents => src/example/example_agent}/car_agent.py (96%)
rename {ourtool/dryvr => src/example/example_map}/__init__.py (100%)
rename {user => src/example/example_map}/simple_map.py (94%)
rename {ourtool/dryvr/core => src/example/example_sensor}/__init__.py (100%)
create mode 100644 src/example/example_sensor/fake_sensor.py
rename {ourtool/dryvr => src}/plotter/__init__.py (100%)
rename {plotter => src/plotter}/parser.py (100%)
rename {plotter => src/plotter}/plotter2D.py (100%)
rename {plotter => src/plotter}/plotter3D.py (100%)
rename {ourtool/dryvr/discrepancy => src/scene_verifier}/__init__.py (100%)
create mode 100644 src/scene_verifier/agents/__init__.py
rename {ourtool => src/scene_verifier}/agents/base_agent.py (78%)
create mode 100644 src/scene_verifier/analysis/__init__.py
rename {ourtool => src/scene_verifier}/analysis/analysis_tree_node.py (100%)
rename {ourtool => src/scene_verifier}/analysis/simulator.py (97%)
rename {ourtool => src/scene_verifier}/analysis/verifier.py (94%)
create mode 100644 src/scene_verifier/automaton/__init__.py
rename {ourtool => src/scene_verifier}/automaton/guard.py (99%)
rename {ourtool => src/scene_verifier}/automaton/hybrid_automaton.py (100%)
rename {ourtool => src/scene_verifier}/automaton/hybrid_io_automaton.py (90%)
rename {ourtool => src/scene_verifier}/automaton/reset.py (100%)
create mode 100644 src/scene_verifier/code_parser/__init__.py
rename pythonparser.py => src/scene_verifier/code_parser/pythonparser.py (99%)
create mode 100644 src/scene_verifier/dryvr/__init__.py
rename {ourtool => src/scene_verifier}/dryvr/common/__init__.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/common/config.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/common/constant.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/common/io.py (95%)
rename {ourtool => src/scene_verifier}/dryvr/common/utils.py (98%)
create mode 100644 src/scene_verifier/dryvr/core/__init__.py
rename {ourtool => src/scene_verifier}/dryvr/core/distance.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/core/dryvrcore.py (95%)
rename {ourtool => src/scene_verifier}/dryvr/core/dryvrmain.py (98%)
rename {ourtool => src/scene_verifier}/dryvr/core/goalchecker.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/core/graph.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/core/guard.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/core/initialset.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/core/initialsetstack.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/core/reachtube.py (97%)
rename {ourtool => src/scene_verifier}/dryvr/core/reset.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/core/uniformchecker.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/discrepancy/Global_Disc.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/discrepancy/PW_Discrepancy.py (100%)
create mode 100644 src/scene_verifier/dryvr/discrepancy/__init__.py
rename {ourtool => src/scene_verifier}/dryvr/plotter/.ipynb_checkpoints/plotterInterface-checkpoint.ipynb (100%)
rename {ourtool => src/scene_verifier}/dryvr/plotter/README.md (100%)
rename {plotter => src/scene_verifier/dryvr/plotter}/__init__.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/plotter/linkednode.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/plotter/parser.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/plotter/plot.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/plotter/plot_util.py (100%)
rename {ourtool => src/scene_verifier}/dryvr/plotter/plotter_interface.ipynb (100%)
create mode 100644 src/scene_verifier/map/__init__.py
rename {ourtool => src/scene_verifier}/map/lane_map.py (97%)
rename {ourtool => src/scene_verifier}/map/lane_segment.py (100%)
create mode 100644 src/scene_verifier/scenario/__init__.py
rename {ourtool => src/scene_verifier}/scenario/scenario.py (72%)
delete mode 100644 toythermo.py
delete mode 100644 toythermomini.py
diff --git a/.gitignore b/.gitignore
index 252430f3..28affb74 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
__pycache__/
**/__pycache__/
-.vscode/
\ No newline at end of file
+.vscode/
+.idea/
\ No newline at end of file
diff --git a/README.md b/README.md
index e4a50bd2..90949c79 100644
--- a/README.md
+++ b/README.md
@@ -1,35 +1,43 @@
# GraphGeneration
-NOTE: I made a mistake and uploaded the wrong file before I left town today. generateGraph-new.py is outdated! I am so sorry, but it doesn't have the updates the build the graph, it only computes the paths.
+## Installation
+The package requires python 3.8+. All the required packages can be installed through
+```
+python3 -m pip install -r requirements.txt
+```
-working repo for graph generation
+## Examples
+The package comes with two controller examples
+- The first example consists a scenario with a single vehicle, which can perform lane switch based on its location. The
+first example can be run by using command
-generateGraph-new.py has the code that finds paths. It creates a mode for each path through the code and any "mode" in the code is just a variable, not a named mode.
+```
+python3 example_car_lane_switch.py
+```
+- The second example consists a scenario with two vehicles, which can perform lane switch based on their relative position.
+The second example can be run using command
-generateGraph.py has the old code which only allows 2 levels of if statements and isn't as stable. Reads mode variable and sets vertices based on modes. Requires that an if statement checks the mode and the new mode is set within the if statement.
+```
+python3 example_two_car_lane_switch.py
+```
+## Package Structure
+The source code of the package is contained in the src folder, which contains the following sub-directories.
-Run within DryVR directory
+- **scene_verifier**, which contains building blocks for creating and analyzing scenarios.
+
+ - **scene_verifier/scenario** contains code for the scenario base class. A scenario is constructed by several **agents** with continuous dynamics and controller, a **map** and a **sensor** defining how different agents interact with each other.
+ - **scene_verifier/agents** contains code for the agent base class in the scenario.
+ - **scene_verifier/map** contains code for the lane map base class and corresponding utilities in the scenario.
+ - **scene_verifier/code_parser** contains code for converting the controller code to ASTs.
+ - **scene_verifier/automaton** contains code implementing components in hybrid-automaton
+ - **scene_verifier/analysis** contains the **Simulator** and **Verifier** and related utilities for doing analysis of the scenario
+ - **scene_verifier/dryvr** dryvr for computing reachable sets
-Usage:
-model generation only:
+- **example** contains example map, sensor and agents that we provided
-python generateGraph-new.py cfile.c jsonfilewithinitialinfo.json out.json
-
-
-DryVR pipeline (this may not be ready yet, still needs work with mode names):
-
-./fullrun cfile.c jsonfilewithinitialinfo.json out.json
-
-
-
-
-Example:
-
-python generateGraph-new.py cartoy.c singlevehiclesat.json out.json #this toy example was just for looking at nesting, doesn't have an initial json
-
-./full_run singlevehiclesat.c singlevehiclesat.json output.json
+- **plotter** contains code for visualizing the computed results
\ No newline at end of file
diff --git a/billiard_input.json b/billiard_input.json
deleted file mode 100644
index ce0b5c07..00000000
--- a/billiard_input.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
- "initialVertex":0,
- "initialSet":[[1.5, 0.0, 1.0, 1.0],[1.51, 0.0, 1.0, 1.0]],
- "unsafeSet":"@Allmode:posy>=12.0",
- "timeHorizon":16,
- "directory":"examples/billiard",
- "deterministic":true
-}
diff --git a/billiard_out.json b/billiard_out.json
deleted file mode 100644
index 7ec65a27..00000000
--- a/billiard_out.json
+++ /dev/null
@@ -1,135 +0,0 @@
-{
- "initialVertex": 0,
- "initialSet": [
- [
- 1.5,
- 0.0,
- 1.0,
- 1.0
- ],
- [
- 1.51,
- 0.0,
- 1.0,
- 1.0
- ]
- ],
- "unsafeSet": "@Allmode:posy>=12.0",
- "timeHorizon": 16,
- "directory": "examples/billiard",
- "deterministic": true,
- "variables": [
- "posx",
- "posy",
- "vx",
- "vy"
- ],
- "vertex": [
- "NormalA",
- "NormalB",
- "NormalC",
- "NormalD"
- ],
- "edge": [
- [
- 0,
- 0
- ],
- [
- 0,
- 1
- ],
- [
- 0,
- 2
- ],
- [
- 0,
- 3
- ],
- [
- 1,
- 1
- ],
- [
- 1,
- 0
- ],
- [
- 1,
- 2
- ],
- [
- 1,
- 3
- ],
- [
- 2,
- 2
- ],
- [
- 2,
- 0
- ],
- [
- 2,
- 1
- ],
- [
- 2,
- 3
- ],
- [
- 3,
- 3
- ],
- [
- 3,
- 0
- ],
- [
- 3,
- 1
- ],
- [
- 3,
- 2
- ]
- ],
- "guards": [
- "And(posy<0,posy>=-0.01)",
- "And(posx<0,posx>=-0.01)",
- "And(posx<=5.01,posx>5)",
- "And(posy>5,posy<=5.01)",
- "And(posy<0,posy>=-0.01)",
- "And(posx<0,posx>=-0.01)",
- "And(posx<=5.01,posx>5)",
- "And(posy>5,posy<=5.01)",
- "And(posy<0,posy>=-0.01)",
- "And(posx<0,posx>=-0.01)",
- "And(posx<=5.01,posx>5)",
- "And(posy>5,posy<=5.01)",
- "And(posy<0,posy>=-0.01)",
- "And(posx<0,posx>=-0.01)",
- "And(posx<=5.01,posx>5)",
- "And(posy>5,posy<=5.01)"
- ],
- "resets": [
- "vy=-vy;posy=0",
- "vx=-vx;posx=0",
- "vx=-vx;posx=5",
- "vy=-vy;posy=5",
- "vy=-vy;posy=0",
- "vx=-vx;posx=0",
- "vx=-vx;posx=5",
- "vy=-vy;posy=5",
- "vy=-vy;posy=0",
- "vx=-vx;posx=0",
- "vx=-vx;posx=5",
- "vy=-vy;posy=5",
- "vy=-vy;posy=0",
- "vx=-vx;posx=0",
- "vx=-vx;posx=5",
- "vy=-vy;posy=5"
- ]
-}
\ No newline at end of file
diff --git a/billiardsrc.c b/billiardsrc.c
deleted file mode 100644
index 5e56e481..00000000
--- a/billiardsrc.c
+++ /dev/null
@@ -1,119 +0,0 @@
-enum modes {NormalA, NormalB, NormalC, NormalD};
-
-struct State {
-int posx;
-int posy;
-int vx;
-int vy;
-enum modes mode;
-};
-
-
-
-struct State P(struct State s) {
- int posx = s.posx;
- int posy = s.posy;
- int vx = s.vx;
- int vy = s.vy;
- enum modes state = s.mode;
- if (state ==NormalA) {
- if (posy<0 && posy>=-0.01) {
- vy=-vy;
- posy=0;
- state=NormalA;
- }
- if (posx<0 && posx>=-0.01) {
- vx=-vx;
- posx=0;
- state=NormalB;
- }
- if (posx<=5.01 && posx>5) {
- vx=-vx;
- posx=5;
- state=NormalC;
- }
- if (posy>5 && posy<=5.01) {
- vy=-vy;
- posy=5;
- state = NormalD;
- }
-
- }
- if (state ==NormalB) {
- if (posy<0 && posy>=-0.01) {
- vy=-vy;
- posy=0;
- state=NormalB;
- }
- if (posx<0 && posx>=-0.01) {
- vx=-vx;
- posx=0;
- state=NormalA;
- }
- if (posx<=5.01 && posx>5) {
- vx=-vx;
- posx=5;
- state=NormalC;
- }
- if (posy>5 && posy<=5.01) {
- vy=-vy;
- posy=5;
- state = NormalD;
- }
-
- }
- if (state ==NormalC) {
- if (posy<0 && posy>=-0.01) {
- vy=-vy;
- posy=0;
- state=NormalC;
- }
- if (posx<0 && posx>=-0.01) {
- vx=-vx;
- posx=0;
- state=NormalA;
- }
- if (posx<=5.01 && posx>5) {
- vx=-vx;
- posx=5;
- state=NormalB;
- }
- if (posy>5 && posy<=5.01) {
- vy=-vy;
- posy=5;
- state = NormalD;
- }
-
- }
-
- if (state ==NormalD) {
- if (posy<0 && posy>=-0.01) {
- vy=-vy;
- posy=0;
- state=NormalD;
- }
- if (posx<0 && posx>=-0.01) {
- vx=-vx;
- posx=0;
- state=NormalA;
- }
- if (posx<=5.01 && posx>5) {
- vx=-vx;
- posx=5;
- state=NormalB;
- }
- if (posy>5 && posy<=5.01) {
- vy=-vy;
- posy=5;
- state = NormalC;
- }
-
- }
- s.posx = posx;
- s.posy= posy;
- s.vx = vx;
- s.vy = vy;
- s.mode = state;
- return s;
-
-}
diff --git a/cartoy-out.json b/cartoy-out.json
deleted file mode 100644
index d12a408b..00000000
--- a/cartoy-out.json
+++ /dev/null
@@ -1,89 +0,0 @@
-{
- "unsafeSet": "",
- "initialSet": [
- [
- 0,
- -0.2,
- 0
- ],
- [
- 0,
- 0.2,
- 0
- ]
- ],
- "timeHorizon": 10,
- "directory": "examples/curve_controller_hybrid",
- "initialVertex": 0,
- "deterministic": true,
- "variables": [
- "vx",
- "vy",
- "dist"
- ],
- "vertex": [
- "0",
- "1",
- "2"
- ],
- "edge": [
- [
- "0",
- "0"
- ],
- [
- "1",
- "0"
- ],
- [
- "2",
- "0"
- ],
- [
- "0",
- "1"
- ],
- [
- "1",
- "1"
- ],
- [
- "2",
- "1"
- ],
- [
- "0",
- "2"
- ],
- [
- "1",
- "2"
- ],
- [
- "2",
- "2"
- ]
- ],
- "guards": [
- "And(dist < 10,(And(dist < 2,(state != move_over))))",
- "And(dist < 10,(And(dist < 2,(state != move_over))))",
- "And(dist < 10,(And(dist < 2,(state != move_over))))",
- "And(dist < 10,(And(dist < 2,(dist > 2))))",
- "And(dist < 10,(And(dist < 2,(dist > 2))))",
- "And(dist < 10,(And(dist < 2,(dist > 2))))",
- "And(dist < 10,(state == move_over))",
- "And(dist < 10,(state == move_over))",
- "And(dist < 10,(state == move_over))"
- ],
- "resets": [
- "vy=vy -5;vx= vx + 5",
- "vy=vy -5;vx= vx + 5",
- "vy=vy -5;vx= vx + 5",
- "vx=vx - 5",
- "vx=vx - 5",
- "vx=vx - 5",
- "vx = vx + 5",
- "vx = vx + 5",
- "vx = vx + 5"
- ]
-}
\ No newline at end of file
diff --git a/cartoy.c b/cartoy.c
deleted file mode 100644
index 9c9bcee6..00000000
--- a/cartoy.c
+++ /dev/null
@@ -1,41 +0,0 @@
-enum modes {go_forward, move_over};
-
-struct State {
-int vx;
-int vy;
-int dist;
-//enum modes mode;
-};
-
-
-
-struct State P(struct State s) {
- int posx = s.posx;
- int posy = s.posy;
- int vx = s.vx;
- int vy = s.vy;
- int dist = s.dist
- enum modes state = s.mode;
- if (dist < 10) {
- if (dist < 2) {
- if (state != move_over) {
- //if super close, slow down and begin move over if we aren't already
- vy=vy -5;
- vx= vx + 5;
- }
- }
- else if (dist > 2) {
- vx=vx - 5;
- }
-
- }
- else if (state == move_over) {
- vx = vx + 5;
-
- }
- s.vx = vx;
- s.vy = vy;
- s.mode = state;
- return s;
-
-}
diff --git a/common_road_vis.py b/common_road_vis.py
deleted file mode 100644
index c0e3c067..00000000
--- a/common_road_vis.py
+++ /dev/null
@@ -1,39 +0,0 @@
-import matplotlib.pyplot as plt
-import xml.etree.ElementTree as ET
-
-if __name__ == "__main__":
- fn = 'ARG_Carcarana-11_1_T-1.xml'
- tree = ET.parse(fn)
- root = tree.getroot()
-
- lanelet_list = root.findall('lanelet')
- for j in range(len(lanelet_list)):
- example_lanelet = lanelet_list[j]
- left_bound = example_lanelet.find('leftBound')
- right_bound = example_lanelet.find('rightBound')
- leftpoint_list = left_bound.findall('point')
- rightpoint_list = right_bound.findall('point')
- assert(len(leftpoint_list)==len(rightpoint_list))
- left_x = []
- left_y = []
- right_x = []
- right_y = []
- middle_x = []
- middle_y = []
- for i in range(len(leftpoint_list)):
- leftpoint = leftpoint_list[i]
- left_x.append(float(leftpoint.find('x').text))
- left_y.append(float(leftpoint.find('y').text))
-
- rightpoint = rightpoint_list[i]
- right_x.append(float(rightpoint.find('x').text))
- right_y.append(float(rightpoint.find('y').text))
-
- middle_x.append((float(leftpoint.find('x').text)+float(rightpoint.find('x').text))/2)
- middle_y.append((float(leftpoint.find('y').text)+float(rightpoint.find('y').text))/2)
-
- # plt.plot(left_x, left_y,'-*')
- # plt.plot(right_x, right_y,'-*')
- plt.plot(middle_x, middle_y, '-*')
-
- plt.show()
\ No newline at end of file
diff --git a/example_car_lane_switch.py b/example_car_lane_switch.py
index 4d82cba6..5861a91a 100644
--- a/example_car_lane_switch.py
+++ b/example_car_lane_switch.py
@@ -9,44 +9,60 @@ class VehicleMode(Enum):
class LaneMode(Enum):
Lane0 = auto()
-def controller(x,y,theta,v,vehicle_mode, lane_mode):
- output_vehicle_mode = vehicle_mode
- output_lane_mode = lane_mode
- if vehicle_mode == VehicleMode.Normal:
- if lane_mode == LaneMode.Lane0:
- if x > 3 and x < 5:
+class State:
+ x = 0.0
+ y = 0.0
+ theta = 0.0
+ v = 0.0
+ vehicle_mode: VehicleMode = VehicleMode.Normal
+ lane_mode: LaneMode = LaneMode.Lane0
+
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode):
+ self.data = []
+
+def controller(ego:State):
+ output_vehicle_mode = ego.vehicle_mode
+ output_lane_mode = ego.lane_mode
+ if ego.vehicle_mode == VehicleMode.Normal:
+ if ego.lane_mode == LaneMode.Lane0:
+ if ego.x > 3 and ego.x < 5:
output_vehicle_mode = VehicleMode.SwitchLeft
- if x > 3 and x < 5:
+ if ego.x > 3 and ego.x < 5:
output_vehicle_mode = VehicleMode.SwitchRight
- if vehicle_mode == VehicleMode.SwitchLeft:
- if lane_mode == LaneMode.Lane0:
- if x > 10:
+ if ego.vehicle_mode == VehicleMode.SwitchLeft:
+ if ego.lane_mode == LaneMode.Lane0:
+ if ego.x > 10:
output_vehicle_mode = VehicleMode.Normal
- if vehicle_mode == VehicleMode.SwitchRight:
- if lane_mode == LaneMode.Lane0:
- if x > 10:
+ if ego.vehicle_mode == VehicleMode.SwitchRight:
+ if ego.lane_mode == LaneMode.Lane0:
+ if ego.x > 10:
output_vehicle_mode = VehicleMode.Normal
return output_vehicle_mode, output_lane_mode
-from ourtool.agents.car_agent import CarAgent
-from ourtool.scenario.scenario import Scenario
-import matplotlib.pyplot as plt
+from src.example.example_agent.car_agent import CarAgent
+from src.scene_verifier.scenario.scenario import Scenario
+from src.example.example_map.simple_map import SimpleMap2
+from src.example.example_sensor.fake_sensor import FakeSensor1
+import matplotlib.pyplot as plt
import numpy as np
if __name__ == "__main__":
- input_code_name = 'car_lane_switch.py'
+ input_code_name = 'example_car_lane_switch.py'
scenario = Scenario()
car = CarAgent('ego', file_name=input_code_name)
scenario.add_agent(car)
+ scenario.add_map(SimpleMap2())
+ scenario.set_sensor(FakeSensor1())
# simulator = Simulator()
+ scenario.set_init(
+ [[0,3,0,0.5]],
+ [(VehicleMode.Normal, LaneMode.Lane0)]
+ )
+
traces = scenario.simulate(
- [[0,0,0,0.5]],
- [(VehicleMode.Normal, LaneMode.Lane0)],
- [car],
- scenario,
40
)
diff --git a/example_two_car_lane_switch.py b/example_two_car_lane_switch.py
index fe7cce85..c270eb0c 100644
--- a/example_two_car_lane_switch.py
+++ b/example_two_car_lane_switch.py
@@ -1,7 +1,5 @@
from enum import Enum, auto
-from ourtool.map.lane_map import LaneMap
-
class VehicleMode(Enum):
Normal = auto()
@@ -53,13 +51,13 @@ def controller(ego: State, other: State, lane_map):
return output
-from ourtool.agents.car_agent import CarAgent
-from ourtool.scenario.scenario import Scenario
-from user.simple_map import SimpleMap, SimpleMap2
-from plotter.plotter2D import plot_tree
+from src.example.example_agent.car_agent import CarAgent
+from src.scene_verifier.scenario.scenario import Scenario
+from src.example.example_map.simple_map import SimpleMap2
+from src.plotter.plotter2D import plot_tree
+from src.example.example_sensor.fake_sensor import FakeSensor2
import matplotlib.pyplot as plt
-import numpy as np
if __name__ == "__main__":
input_code_name = 'example_two_car_lane_switch.py'
@@ -70,6 +68,7 @@ if __name__ == "__main__":
car = CarAgent('car2', file_name=input_code_name)
scenario.add_agent(car)
scenario.add_map(SimpleMap2())
+ scenario.set_sensor(FakeSensor2())
scenario.set_init(
[
[[10, 0, 0, 0.5],[10, 0, 0, 0.5]],
diff --git a/full_run b/full_run
deleted file mode 100644
index d95c8c76..00000000
--- a/full_run
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/bin/bash
-
-START="$(date +%s.%N)"
-
-
-input_code=$1
-input_info=$2
-#output should have path to correct place in dryvr directory
-output=$3
-
-GSTART="$(date +%s.%N)"
-
-python generateGraph-new.py $input_code $input_info $output
-
-GEND="$(date +%s.%N)"
-
-python main.py $output
-
-END="$(date +%s.%N)"
-#DURATION=$[ $'expr (date +%s.%N) - ${START}' ]
-DURATION=$( echo "$END - $START" | bc -l )
-GDURATION=$( echo "$GEND - $GSTART" | bc -l )
-
-echo "Running time of pipeline is"
-echo ${DURATION}
-echo "Running time of model generation is"
-echo ${GDURATION}
diff --git a/generateGraph-new.py b/generateGraph-new.py
deleted file mode 100644
index 849f1464..00000000
--- a/generateGraph-new.py
+++ /dev/null
@@ -1,483 +0,0 @@
-#NEW VERSION OF CODE WHICH ANALYZES PATHS AND COLLECTS VARAIBLES ALONG THE WAY
-
-import clang.cindex
-import typing
-import json
-import sys
-#from cfg import CFG
-#import clang.cfg
-
-
-#index = clang.cindex.Index.create()
-#translation_unit = index.parse('my_source.c', args=['-std=c99'])
-
-#print all the cursor types
-#for i in translation_unit.get_tokens(extent=translation_unit.cursor.extent):
-# print (i.kind)
-
-#get the structs
-def filter_node_list_by_node_kind(
- nodes: typing.Iterable[clang.cindex.Cursor],
- kinds: list
-) -> typing.Iterable[clang.cindex.Cursor]:
- result = []
- for i in nodes:
- if i.kind in kinds:
- result.append(i)
- return result
-
-#exclude includes
-def filter_node_list_by_file(
- nodes: typing.Iterable[clang.cindex.Cursor],
- file_name: str
-) -> typing.Iterable[clang.cindex.Cursor]:
- result = []
- for i in nodes:
- if i.location.file.name == file_name:
- result.append(i)
- return result
-
-
-#all_classes = filter_node_list_by_node_kind(translation_unit.cursor.get_children(), [clang.cindex.CursorKind.ENUM_DECL, clang.cindex.CursorKind.STRUCT_DECL])
-#for i in all_classes:
-# print (i.spelling)
-
-#captured fields in classes
-def is_exposed_field(node):return node.access_specifier == clang.cindex.AccessSpecifier.PUBLIC
-def find_all_exposed_fields(
- cursor: clang.cindex.Cursor
-):
- result = []
- field_declarations = filter_node_list_by_node_kind(cursor.get_children(), [clang.cindex.CursorKind.FIELD_DECL])
- for i in field_declarations:
- if not is_exposed_field(i):
- continue
- result.append(i.displayname)
- return result
-
-
-def populate_field_list_recursively(class_name: str,class_field_map,class_inheritance_map):
- field_list = class_field_map.get(class_name)
- if field_list is None:
- return []
- baseClasses = class_inheritance_map[class_name]
- for i in baseClasses:
- field_list = populate_field_list_recursively(i.spelling) + field_list
- return field_list
-#rtti_map = {}
-
-
-
-def get_state_variables(translation_unit):
- rtti_map = {}
- source_nodes = filter_node_list_by_file(translation_unit.cursor.get_children(), translation_unit.spelling)
- all_classes = filter_node_list_by_node_kind(source_nodes, [clang.cindex.CursorKind.ENUM_DECL, clang.cindex.CursorKind.STRUCT_DECL])
- class_inheritance_map = {}
- class_field_map = {}
- for i in all_classes:
- bases = []
- for node in i.get_children():
- if node.kind == clang.cindex.CursorKind.CXX_BASE_SPECIFIER:
- referenceNode = node.referenced
- bases.append(node.referenced)
- class_inheritance_map[i.spelling] = bases
- for i in all_classes:
- fields = find_all_exposed_fields(i)
- class_field_map[i.spelling] = fields
- #print("foo")
- for class_name, class_list in class_inheritance_map.items():
- rtti_map[class_name] = populate_field_list_recursively(class_name,class_field_map,class_inheritance_map)
- for class_name, field_list in rtti_map.items():
- rendered_fields = []
- for f in field_list:
- rendered_fields.append(f)
- return rendered_fields
-
-
-
-#def populate_field_list_recursively(class_name: str):
-# field_list = class_field_map.get(class_name)
-# if field_list is None:
-# return []
-# baseClasses = class_inheritance_map[class_name]
-# for i in baseClasses:
-# field_list = populate_field_list_recursively(i.spelling) + field_list
-# return field_list
-#rtti_map = {}
-
-#def get_state_variables():
-# print("foo")
-# for class_name, class_list in class_inheritance_map.items():
-# rtti_map[class_name] = populate_field_list_recursively(class_name)
-# for class_name, field_list in rtti_map.items():
-# rendered_fields = []
-# for f in field_list:
-# rendered_fields.append(f)
-# return rendered_fields
-
-
-
-#how can we get the structure with the if statements
-#need to get ahold of if statement, then using if statement methods, we can get the inner statement
-
-
-#all_ifs = filter_node_list_by_node_kind(translation_unit.cursor.get_children(), [clang.cindex.CursorKind.IF_STMT])
-#for i in all_ifs:
-# print (i.spelling)
-
-#print(translation_unit.spelling)
-
-def find_ifstmt(node):
- if node.kind.is_statement():
- #ref_node = clang.cindex.Cursor_ref(node)
- #print ("found %s"" % node.location.line)
- print(node.displayname)
- print(node.location.line)
- for c in node.get_children():
- find_ifstmt(c)
-
-#finds the if statement, but cant get anything out of it
-#find_ifstmt(translation_unit.cursor)
-
-
-def rectree(node, indent):
- print("%s item %s of kind %s" % (indent, node.spelling, node.kind))
- for c in node.get_children():
- rectree(c, indent + " ")
-#goes through every part of code but doesn't give info about non variable names
-#rectree(translation_unit.cursor, "")
-
-#CursorKind.IF_STMT
-
-#given the if statement as node, visit each of the else if statements
-def visit_elif(node):
- print("visiting inner elseif statement")
- for i in node.get_children():
- #print(i.kind)
- #print(i.spelling)
- if i.kind == clang.cindex.CursorKind.IF_STMT or i.kind == clang.cindex.CursorKind.COMPOUND_STMT:
- print("found el-if of compound")
- print(i.spelling)
- visit_elif(i)
- print("finished elseif statement")
-#if (node.hasElseStorage()):
- #print("foo")
-
-
-#TODO, but a method to get us the info from an if statemen
-def visitif(node):
- print(node.spelling)
-
-def visit_inner_if(node):
- for i in node.get_children():
- if i.kind == clang.cindex.CursorKind.IF_STMT:
- print("inner if %s" % i.kind)
- visit_elif(node)
- else:
- visit_inner_if(i)
-
-def get_cursor_id(cursor, cursor_list = []):
- if cursor is None:
- return None
-
- # FIXME: This is really slow. It would be nice if the index API exposed
- # something that let us hash cursors.
- for i,c in enumerate(cursor_list):
- if cursor == c:
- return i
- cursor_list.append(cursor)
- return len(cursor_list) - 1
-
-def get_info(node, depth=0):
- children = [get_info(c, depth+1)
- for c in node.get_children()]
- return { 'id' : get_cursor_id(node),
- 'kind' : node.kind,
- 'usr' : node.get_usr(),
- 'spelling' : node.spelling,
- 'location' : node.location,
- 'extent.start' : node.extent.start,
- 'extent.end' : node.extent.end,
- 'is_definition' : node.is_definition(),
- 'definition id' : get_cursor_id(node.get_definition())}
- #'children' : children }
-
-def code_from_cursor(cursor):
- code = []
- line = ""
- prev_token = None
- for tok in cursor.get_tokens():
- if prev_token is None:
- prev_token = tok
- prev_location = prev_token.location
- prev_token_end_col = prev_location.column + len(prev_token.spelling)
- cur_location = tok.location
- if cur_location.line > prev_location.line:
- code.append(line)
- line = " " * (cur_location.column - 1)
- else:
- if cur_location.column > (prev_token_end_col):
- line += " "
- line += tok.spelling
- prev_token = tok
- if len(line.strip()) > 0:
- code.append(line)
- return code
-
-
-def visit_outter_if(node):
- if_statements = []
- for i in node.get_children():
- if i.kind == clang.cindex.CursorKind.IF_STMT:
- #print("Outter if statement %s" % i.kind)
- #visit_inner_if(i)
- if_statements.append(code_from_cursor(i)[0])
- #print(if_statements)
- #print(i.spelling)
- #for child in i.get_children():
- # print(str(i.kind) + str(i.spelling))
- else:
- out_ifs = visit_outter_if(i)
- for statement in out_ifs:
- if_statements.append(statement)
- return if_statements
-
-#visit_outter_if(translation_unit.cursor)
-
-
-def get_outter_if_cursors(node):
- if_statements = []
- for i in node.get_children():
- if i.kind == clang.cindex.CursorKind.IF_STMT:
- #print("Outter if statement %s" % i.kind)
- #visit_inner_if(i)
- if_statements.append(i)
- #print(if_statements)
- #print(i.spelling)
- #for child in i.get_children():
- # print(str(i.kind) + str(i.spelling))
- else:
- out_ifs = get_outter_if_cursors(i)
- for statement in out_ifs:
- if_statements.append(statement)
- return if_statements
-
-
-def get_inner_if_cursors(node):
- if_statements = []
- for i in node.get_children():
- #print(i.kind)
- if i.kind == clang.cindex.CursorKind.IF_STMT:
- if_statements.append(i)
- #print(if_statements)
- #print(i.spelling)
- #for child in i.get_children():
- # print(str(i.kind) + str(i.spelling))
- else:
- out_ifs = get_inner_if_cursors(i)
- for statement in out_ifs:
- if_statements.append(statement)
- return if_statements
-
-
-
-#input: current node, the set of guards/conditionals up to this point, the set of resets
-#return: the sets of guards/resets for all the children
-def traverse_tree(node, guards, resets, indent,hasIfParent):
- #print(guards)
- childrens_guards=[]
- childrens_resets=[]
- results = []
- found = []
- #print(resets)
- #if (indent== '------'):
- # print(guards)
- # return [guards,resets]
- #if (node.kind == clang.cindex.CursorKind.RETURN_STMT):
- # return [guards, resets]
- #elseifstatement = False
- for i in node.get_children():
- if i.kind == clang.cindex.CursorKind.IF_STMT: #TODO: add else statements
- temp_results = traverse_tree(i, guards, resets, indent+ "-", True)
- for item in temp_results:
- found.append(item)
- #childrens_guards.append(result_guards)
- #childrens_resets.append(result_resets)
-
- else:
- reset_copy = resets
- guard_copy = guards
- if hasIfParent:
- if node.kind == clang.cindex.CursorKind.IF_STMT and i.kind != clang.cindex.CursorKind.COMPOUND_STMT:
- childrens_guards.append(code_from_cursor(i))
- #print(indent + "Guard statement")
- #print(code_from_cursor(i))
- #print(get_info(i))
- #found.append(code_from_cursor(i))
- #temp_results = traverse_tree(i, guard_copy, reset_copy, indent+ "-", hasIfParent)
- #for result in temp_results:
- # result.append(code_from_cursor(i))
- # results.append(result)
- #if len(temp_results)== 0:
- # result.append([code_from_cursor(i)])
- # print("foo")
- if node.kind == clang.cindex.CursorKind.COMPOUND_STMT and i.kind != clang.cindex.CursorKind.DECL_STMT:
- #print(indent + "Reset statement")
- #print(code_from_cursor(i))
- childrens_resets.append(code_from_cursor(i))
- #found.append(code_from_cursor(i))
- #temp_results = traverse_tree(i, guard_copy, reset_copy, indent+ "-", hasIfParent)
- #for result in temp_results:
- # result.append(code_from_cursor(i))
- # results.append(result)
- #if len(temp_results) == 0:
- # results.append([code_from_cursor(i)])
- # print("foo")
- #else:
- temp_results = traverse_tree(i, guard_copy, reset_copy, indent+ "-", hasIfParent)
- for item in temp_results:
- found.append(item)
- #childrens_guards.append(results[0])
- #childrens_resets.append(results[1])
- #if my parent is an if statement and i'm and else if statement, I want to add the negation of my parent, not myself
- if len(found) == 0 and len(childrens_resets) > 0:
- found.append([])
- for item in found:
- for reset in childrens_resets:
- #for item in found:
- item.append([reset, 'r'])
- results.append(item)
- for guard in childrens_guards:
- item.append([guard, 'g'])
-
- return results
-
-#assumption, word mode is not in states
-def pretty_vertices(vertices):
- output = []
- for vertex_code in vertices:
- parts = vertex_code.split("==")
- nonwhitespace = parts[-1].split()
- if "mode" not in nonwhitespace:
- output.append(nonwhitespace[0].strip(')'))
- return output
-
-def get_next_state(code):
- line = code[-2]
- parts = line.split("=")
- state = parts[-1].strip(';')
- return state.strip()
-
-
-#TODO: And( , )
-def pretty_guards(guards):
- output = ""
- first = True
- for condition in guards:
- #print(type(condition))
- if first:
- output+= condition[0]
- else:
- output = "And(" + condition[0] + ",(" + output + "))"
- first = False
- return output
-
-#assumption: reset;reset;reset
-def pretty_resets(resets):
- outstring = ""
- for reset in resets:
- outstring+=reset[0] + ';'
- return outstring.strip(';')
-
-
-##main code###
-#print(sys.argv)
-if len(sys.argv) < 4:
- print("incorrect usage. call createGraph.py program inputfile outputfilename")
- quit()
-
-input_code_name = sys.argv[1]
-input_file_name = sys.argv[2]
-output_file_name = sys.argv[3]
-
-
-
-with open(input_file_name) as in_json_file:
- input_json = json.load(in_json_file)
-
-output_dict = {
-}
-
-output_dict.update(input_json)
-
-#file parsing set up
-index = clang.cindex.Index.create()
-translation_unit = index.parse(input_code_name, args=['-std=c99'])
-print("testing cfg")
-
-#FunctionDecl* func = /* ... */ ;
-#ASTContext* context = /* ... */ ;
-#Stmt* funcBody = func->getBody();
-#CFG* sourceCFG = CFG::buildCFG(func, funcBody, context, clang::CFG::BuildOptions());
-
-#add each variable in state struct as variable
-variables = get_state_variables(translation_unit)
-output_dict['variables'] = variables
-
-#traverse the tree for all the paths
-paths = traverse_tree(translation_unit.cursor, [],[], "", False)
-
-vertices = []
-counter = 0
-for path in paths:
- vertices.append(str(counter))
- counter += 1
- print(path)
-output_dict['vertex'] = vertices
-
-
-
-
-#traverse outter if statements and find inner statements
-edges = []
-guards = []
-resets = []
-
-counter = 0
-for path in paths:
- guard = []
- reset = []
- for item in path:
- if item[1] == 'g':
- guard.append(item[0])
- elif item[1] == 'r':
- reset.append(item[0])
- #create an edge from all other nodes to me
- for vertex in vertices:
- edges.append([vertex, str(counter)])
- guards.append(pretty_guards(guard))
- resets.append(pretty_resets(reset))
- counter+= 1
-
-#add edge, transition(guards) and resets
-output_dict['edge'] = edges
-output_dict['guards'] = guards
-output_dict['resets'] = resets
-
-output_json = json.dumps(output_dict, indent=4)
-#print(output_json)
-outfile = open(output_file_name, "w")
-outfile.write(output_json)
-outfile.close()
-
-print("wrote json to " + output_file_name)
-
-
-
-
-
-
-
-
-
-
diff --git a/generateGraph.py b/generateGraph.py
deleted file mode 100644
index 5fb5919f..00000000
--- a/generateGraph.py
+++ /dev/null
@@ -1,401 +0,0 @@
-#OLD CODE WHICH ONLY ALLOWS TWO LEVELS OF IF STATEMENTS AND EXPLICT MODES
-#NOT THE UPDATED CODE
-
-import clang.cindex
-import typing
-import json
-import sys
-
-#index = clang.cindex.Index.create()
-#translation_unit = index.parse('my_source.c', args=['-std=c99'])
-
-#print all the cursor types
-#for i in translation_unit.get_tokens(extent=translation_unit.cursor.extent):
-# print (i.kind)
-
-#get the structs
-def filter_node_list_by_node_kind(
- nodes: typing.Iterable[clang.cindex.Cursor],
- kinds: list
-) -> typing.Iterable[clang.cindex.Cursor]:
- result = []
- for i in nodes:
- if i.kind in kinds:
- result.append(i)
- return result
-
-#exclude includes
-def filter_node_list_by_file(
- nodes: typing.Iterable[clang.cindex.Cursor],
- file_name: str
-) -> typing.Iterable[clang.cindex.Cursor]:
- result = []
- for i in nodes:
- if i.location.file.name == file_name:
- result.append(i)
- return result
-
-
-#all_classes = filter_node_list_by_node_kind(translation_unit.cursor.get_children(), [clang.cindex.CursorKind.ENUM_DECL, clang.cindex.CursorKind.STRUCT_DECL])
-#for i in all_classes:
-# print (i.spelling)
-
-#captured fields in classes
-def is_exposed_field(node):return node.access_specifier == clang.cindex.AccessSpecifier.PUBLIC
-def find_all_exposed_fields(
- cursor: clang.cindex.Cursor
-):
- result = []
- field_declarations = filter_node_list_by_node_kind(cursor.get_children(), [clang.cindex.CursorKind.FIELD_DECL])
- for i in field_declarations:
- if not is_exposed_field(i):
- continue
- result.append(i.displayname)
- return result
-
-
-def populate_field_list_recursively(class_name: str,class_field_map,class_inheritance_map):
- field_list = class_field_map.get(class_name)
- if field_list is None:
- return []
- baseClasses = class_inheritance_map[class_name]
- for i in baseClasses:
- field_list = populate_field_list_recursively(i.spelling) + field_list
- return field_list
-#rtti_map = {}
-
-
-
-def get_state_variables(translation_unit):
- rtti_map = {}
- source_nodes = filter_node_list_by_file(translation_unit.cursor.get_children(), translation_unit.spelling)
- all_classes = filter_node_list_by_node_kind(source_nodes, [clang.cindex.CursorKind.ENUM_DECL, clang.cindex.CursorKind.STRUCT_DECL])
- class_inheritance_map = {}
- class_field_map = {}
- for i in all_classes:
- bases = []
- for node in i.get_children():
- if node.kind == clang.cindex.CursorKind.CXX_BASE_SPECIFIER:
- referenceNode = node.referenced
- bases.append(node.referenced)
- class_inheritance_map[i.spelling] = bases
- for i in all_classes:
- fields = find_all_exposed_fields(i)
- class_field_map[i.spelling] = fields
- #print("foo")
- for class_name, class_list in class_inheritance_map.items():
- rtti_map[class_name] = populate_field_list_recursively(class_name,class_field_map,class_inheritance_map)
- for class_name, field_list in rtti_map.items():
- rendered_fields = []
- for f in field_list:
- rendered_fields.append(f)
- return rendered_fields
-
-
-
-#def populate_field_list_recursively(class_name: str):
-# field_list = class_field_map.get(class_name)
-# if field_list is None:
-# return []
-# baseClasses = class_inheritance_map[class_name]
-# for i in baseClasses:
-# field_list = populate_field_list_recursively(i.spelling) + field_list
-# return field_list
-#rtti_map = {}
-
-#def get_state_variables():
-# print("foo")
-# for class_name, class_list in class_inheritance_map.items():
-# rtti_map[class_name] = populate_field_list_recursively(class_name)
-# for class_name, field_list in rtti_map.items():
-# rendered_fields = []
-# for f in field_list:
-# rendered_fields.append(f)
-# return rendered_fields
-
-
-
-#how can we get the structure with the if statements
-#need to get ahold of if statement, then using if statement methods, we can get the inner statement
-
-
-#all_ifs = filter_node_list_by_node_kind(translation_unit.cursor.get_children(), [clang.cindex.CursorKind.IF_STMT])
-#for i in all_ifs:
-# print (i.spelling)
-
-#print(translation_unit.spelling)
-
-def find_ifstmt(node):
- if node.kind.is_statement():
- #ref_node = clang.cindex.Cursor_ref(node)
- #print ("found %s"" % node.location.line)
- print(node.displayname)
- print(node.location.line)
- for c in node.get_children():
- find_ifstmt(c)
-
-#finds the if statement, but cant get anything out of it
-#find_ifstmt(translation_unit.cursor)
-
-
-def rectree(node, indent):
- print("%s item %s of kind %s" % (indent, node.spelling, node.kind))
- for c in node.get_children():
- rectree(c, indent + " ")
-#goes through every part of code but doesn't give info about non variable names
-#rectree(translation_unit.cursor, "")
-
-#CursorKind.IF_STMT
-
-#given the if statement as node, visit each of the else if statements
-def visit_elif(node):
- print("visiting inner elseif statement")
- for i in node.get_children():
- #print(i.kind)
- #print(i.spelling)
- if i.kind == clang.cindex.CursorKind.IF_STMT or i.kind == clang.cindex.CursorKind.COMPOUND_STMT:
- print("found el-if of compound")
- print(i.spelling)
- visit_elif(i)
- print("finished elseif statement")
-#if (node.hasElseStorage()):
- #print("foo")
-
-
-#TODO, but a method to get us the info from an if statemen
-def visitif(node):
- print(node.spelling)
-
-def visit_inner_if(node):
- for i in node.get_children():
- if i.kind == clang.cindex.CursorKind.IF_STMT:
- print("inner if %s" % i.kind)
- visit_elif(node)
- else:
- visit_inner_if(i)
-
-def get_cursor_id(cursor, cursor_list = []):
- if cursor is None:
- return None
-
- # FIXME: This is really slow. It would be nice if the index API exposed
- # something that let us hash cursors.
- for i,c in enumerate(cursor_list):
- if cursor == c:
- return i
- cursor_list.append(cursor)
- return len(cursor_list) - 1
-
-def get_info(node, depth=0):
- children = [get_info(c, depth+1)
- for c in node.get_children()]
- return { 'id' : get_cursor_id(node),
- 'kind' : node.kind,
- 'usr' : node.get_usr(),
- 'spelling' : node.spelling,
- 'location' : node.location,
- 'extent.start' : node.extent.start,
- 'extent.end' : node.extent.end,
- 'is_definition' : node.is_definition(),
- 'definition id' : get_cursor_id(node.get_definition())}
- #'children' : children }
-
-def code_from_cursor(cursor):
- code = []
- line = ""
- prev_token = None
- for tok in cursor.get_tokens():
- if prev_token is None:
- prev_token = tok
- prev_location = prev_token.location
- prev_token_end_col = prev_location.column + len(prev_token.spelling)
- cur_location = tok.location
- if cur_location.line > prev_location.line:
- code.append(line)
- line = " " * (cur_location.column - 1)
- else:
- if cur_location.column > (prev_token_end_col):
- line += " "
- line += tok.spelling
- prev_token = tok
- if len(line.strip()) > 0:
- code.append(line)
- return code
-
-
-def visit_outter_if(node):
- if_statements = []
- for i in node.get_children():
- if i.kind == clang.cindex.CursorKind.IF_STMT:
- #print("Outter if statement %s" % i.kind)
- #visit_inner_if(i)
- if_statements.append(code_from_cursor(i)[0])
- #print(if_statements)
- #print(i.spelling)
- #for child in i.get_children():
- # print(str(i.kind) + str(i.spelling))
- else:
- out_ifs = visit_outter_if(i)
- for statement in out_ifs:
- if_statements.append(statement)
- return if_statements
-
-#visit_outter_if(translation_unit.cursor)
-
-
-def get_outter_if_cursors(node):
- if_statements = []
- for i in node.get_children():
- if i.kind == clang.cindex.CursorKind.IF_STMT:
- #print("Outter if statement %s" % i.kind)
- #visit_inner_if(i)
- if_statements.append(i)
- #print(if_statements)
- #print(i.spelling)
- #for child in i.get_children():
- # print(str(i.kind) + str(i.spelling))
- else:
- out_ifs = get_outter_if_cursors(i)
- for statement in out_ifs:
- if_statements.append(statement)
- return if_statements
-
-
-def get_inner_if_cursors(node):
- if_statements = []
- for i in node.get_children():
- #print(i.kind)
- if i.kind == clang.cindex.CursorKind.IF_STMT:
- if_statements.append(i)
- #print(if_statements)
- #print(i.spelling)
- #for child in i.get_children():
- # print(str(i.kind) + str(i.spelling))
- else:
- out_ifs = get_inner_if_cursors(i)
- for statement in out_ifs:
- if_statements.append(statement)
- return if_statements
-
-#assumption, word mode is not in states
-def pretty_vertices(vertices):
- output = []
- for vertex_code in vertices:
- parts = vertex_code.split("==")
- nonwhitespace = parts[-1].split()
- if "mode" not in nonwhitespace:
- output.append(nonwhitespace[0].strip(')'))
- return output
-
-def get_next_state(code):
- line = code[-2]
- parts = line.split("=")
- state = parts[-1].strip(';')
- return state.strip()
-
-
-#TODO: consider or??
-def pretty_guards(code):
- line = code[0]
- conditional = line.strip('if').strip('{')
- conditions = conditional.split('&&')
- output = "And"
- for condition in conditions:
- output += condition.strip() + ","
- output = output.strip(",")
- return output
-
-#assumption: last two lines of code are reset and bracket... not idea
-def pretty_resets(code):
- outstring = ""
- for index in range(0,len(code)):
- if index != 0 and index != len(code)-1 and index != len(code)-2:
- outstring += code[index].strip().strip('\n')
- return outstring.strip(';')
-
-##main code###
-#print(sys.argv)
-if len(sys.argv) < 4:
- print("incorrect usage. call createGraph.py program inputfile outputfilename")
- quit()
-
-input_code_name = sys.argv[1]
-input_file_name = sys.argv[2]
-output_file_name = sys.argv[3]
-
-with open(input_file_name) as in_json_file:
- input_json = json.load(in_json_file)
-
-output_dict = {
-}
-
-output_dict.update(input_json)
-
-#file parsing set up
-index = clang.cindex.Index.create()
-translation_unit = index.parse(input_code_name, args=['-std=c99'])
-
-#add each variable in state struct as variable
-variables = get_state_variables(translation_unit)
-#assumption mode variable
-variables.remove('mode')
-output_dict['variables'] = variables
-
-#capture each outter if statement and create state
-vertices = pretty_vertices(visit_outter_if(translation_unit.cursor))
-#print(vertice
-output_dict['vertex'] = vertices
-
-
-#traverse outter if statements and find inner statements
-edges = []
-guards = []
-resets = []
-
-#print(type(translation_unit.cursor))
-
-index = 0
-outter_ifs = get_outter_if_cursors(translation_unit.cursor)
-#print(outter_ifs)
-for if_statement in outter_ifs:
- inner_statements = get_inner_if_cursors(if_statement)
- for in_statement in inner_statements:
- code = code_from_cursor(in_statement)
- guards.append(pretty_guards(code))
- #reset = ""
- #for line in range(1, len(code)):
- # reset += str(code[line])
- resets.append(pretty_resets(code))
- to_edge = 0
- #key assumption, second to last line gives next state, fix!
- for i in range(0,len(vertices)):
- #print(vertices[i])
- #print(get_next_state(code))
- if vertices[i] == get_next_state(code):
- to_edge = i
- edges.append([index,to_edge])
- index+=1
-
-#each inner if
-#add edge, transition(guards) and resets
-output_dict['edge'] = edges
-output_dict['guards'] = guards
-output_dict['resets'] = resets
-
-output_json = json.dumps(output_dict, indent=4)
-#print(output_json)
-outfile = open(output_file_name, "w")
-outfile.write(output_json)
-outfile.close()
-
-print("wrote json to " + output_file_name)
-
-
-
-
-
-
-
-
-
-
diff --git a/ourtool/automaton/__init__.py b/ourtool/automaton/__init__.py
deleted file mode 100644
index 171bea6f..00000000
--- a/ourtool/automaton/__init__.py
+++ /dev/null
@@ -1,4 +0,0 @@
-# try:
-# from hybrid_automaton import *
-# except:
-# from ourtool.automaton.hybrid_automaton import *
\ No newline at end of file
diff --git a/ourtool/map/__init__.py b/ourtool/map/__init__.py
deleted file mode 100644
index e7b9ea18..00000000
--- a/ourtool/map/__init__.py
+++ /dev/null
@@ -1,8 +0,0 @@
-# try:
-# from lane_map import LaneMap
-# from single_straight_lane import SingleStraightLaneMap
-# from lane_segment import LaneSegment
-# except:
-# from ourtool.map.lane_segment import LaneSegment
-# # from ourtool.map.lane_map import LaneMap
-# # from ourtool.map.single_straight_lane import SingleStraightLaneMap
\ No newline at end of file
diff --git a/ourtool/map/single_straight_lane.py b/ourtool/map/single_straight_lane.py
deleted file mode 100644
index e968f17f..00000000
--- a/ourtool/map/single_straight_lane.py
+++ /dev/null
@@ -1,8 +0,0 @@
-from ourtool.map.lane_map import LaneMap
-from ourtool.map.lane_segment import LaneSegment
-
-class SingleStraightLaneMap(LaneMap):
- def __init__(self):
- super().__init__()
- segment = LaneSegment(0, None, None, None, None)
- self.lane_segment_dict[segment.id] = segment
\ No newline at end of file
diff --git a/ourtool/scenario/__init__.py b/ourtool/scenario/__init__.py
deleted file mode 100644
index 76c3abd5..00000000
--- a/ourtool/scenario/__init__.py
+++ /dev/null
@@ -1,4 +0,0 @@
-# try:
-# from Scenario import *
-# except:
-# from ourtool.scenario.Scenario import *
\ No newline at end of file
diff --git a/out.json b/out.json
deleted file mode 100644
index 0984a681..00000000
--- a/out.json
+++ /dev/null
@@ -1,21 +0,0 @@
-{
- "initialVertex": 0,
- "initialSet": [
- [
- 1.5,
- 0.0,
- 1.0,
- 1.0
- ],
- [
- 1.51,
- 0.0,
- 1.0,
- 1.0
- ]
- ],
- "unsafeSet": "@Allmode:posy>=12.0",
- "timeHorizon": 16,
- "directory": "examples/billiard",
- "deterministic": true
-}
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 00000000..2af2f806
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,10 @@
+networkx~=2.2
+sympy~=1.6.2
+numpy~=1.22.1
+six~=1.14.0
+matplotlib~=3.4.2
+scipy~=1.8.0
+astunparse~=1.6.3
+treelib~=1.6.1
+polytope~=0.2.3
+pyvista~=0.32.1
\ No newline at end of file
diff --git a/singlevehiclesat-out.json b/singlevehiclesat-out.json
deleted file mode 100644
index 28aa3e57..00000000
--- a/singlevehiclesat-out.json
+++ /dev/null
@@ -1,89 +0,0 @@
-{
- "unsafeSet": "",
- "initialSet": [
- [
- 0,
- -0.2,
- 0
- ],
- [
- 0,
- 0.2,
- 0
- ]
- ],
- "timeHorizon": 10,
- "directory": "examples/curve_controller_hybrid",
- "initialVertex": 0,
- "deterministic": true,
- "variables": [
- "vx",
- "vy",
- "dist"
- ],
- "vertex": [
- "0",
- "1",
- "2"
- ],
- "edge": [
- [
- "0",
- "0"
- ],
- [
- "1",
- "0"
- ],
- [
- "2",
- "0"
- ],
- [
- "0",
- "1"
- ],
- [
- "1",
- "1"
- ],
- [
- "2",
- "1"
- ],
- [
- "0",
- "2"
- ],
- [
- "1",
- "2"
- ],
- [
- "2",
- "2"
- ]
- ],
- "guards": [
- "And(dist < 10,And((dist > 2),And(dist < 2,state != move_over)))",
- "And(dist < 10,And((dist > 2),And(dist < 2,state != move_over)))",
- "And(dist < 10,And((dist > 2),And(dist < 2,state != move_over)))",
- "dist < 10",
- "dist < 10",
- "dist < 10",
- "And(dist < 10,state == move_over)",
- "And(dist < 10,state == move_over)",
- "And(dist < 10,state == move_over)"
- ],
- "resets": [
- "vy=vy - 5;vx= vx + 5;{",
- "vy=vy - 5;vx= vx + 5;{",
- "vy=vy - 5;vx= vx + 5;{",
- "vx=vx - 5;{",
- "vx=vx - 5;{",
- "vx=vx - 5;{",
- "vx = vx + 5",
- "vx = vx + 5",
- "vx = vx + 5"
- ]
-}
\ No newline at end of file
diff --git a/singlevehiclesat.c b/singlevehiclesat.c
deleted file mode 100644
index a5d84ff8..00000000
--- a/singlevehiclesat.c
+++ /dev/null
@@ -1,42 +0,0 @@
-enum modes {Normal,Sat_low,Sat_high};
-
-struct State {
-double tau;
-double yf;
-double thetaf;
-enum modes mode;
-};
-
-
-
-struct State P(struct State s) {
- double tau = s.tau;
- double yf = s.yf;
- double thetaf = s.theta;
- enum modes state = s.mode;
- if (s.mode==Normal) {
- if (-0.155914*yf-thetaf <= -0.60871) {
- state=Sat_low;
- }
- if (-0.155914*yf-thetaf >= 0.60871) {
- state=Sat_high;
- }
-
- }
- if (s.mode ==Sat_low) {
- if (-0.155914*yf-thetaf >= -0.60871) {
- state=Normal;
- }
-
- }
- if (s.mode == Sat_high) {
- if (-0.155914*yf-thetaf <= 0.60871) {
- state=Normal;
- }
- }
-
- }
- s.mode = state;
- return s;
-
-}
diff --git a/singlevehiclesat.json b/singlevehiclesat.json
deleted file mode 100644
index de98f9d2..00000000
--- a/singlevehiclesat.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-"unsafeSet": "",
-"initialSet": [[0,-0.2,0, "Normal"],[0,0.2,0, "Normal"]],
-"timeHorizon": 10,
-"directory": "examples/curve_controller_hybrid",
-"initialVertex":0,
-"deterministic":true
-}
diff --git a/ourtool/__init__.py b/src/__init__.py
similarity index 100%
rename from ourtool/__init__.py
rename to src/__init__.py
diff --git a/ourtool/agents/__init__.py b/src/example/__init__.py
similarity index 100%
rename from ourtool/agents/__init__.py
rename to src/example/__init__.py
diff --git a/ourtool/analysis/__init__.py b/src/example/example_agent/__init__.py
similarity index 100%
rename from ourtool/analysis/__init__.py
rename to src/example/example_agent/__init__.py
diff --git a/ourtool/agents/car_agent.py b/src/example/example_agent/car_agent.py
similarity index 96%
rename from ourtool/agents/car_agent.py
rename to src/example/example_agent/car_agent.py
index c967ca3e..f8adc887 100644
--- a/ourtool/agents/car_agent.py
+++ b/src/example/example_agent/car_agent.py
@@ -1,7 +1,7 @@
-from ourtool.agents.base_agent import BaseAgent
+from src.scene_verifier.agents.base_agent import BaseAgent
import numpy as np
from scipy.integrate import ode
-from ourtool.map.lane_map import LaneMap
+from src.scene_verifier.map.lane_map import LaneMap
class CarAgent(BaseAgent):
def __init__(self, id, code = None, file_name = None):
diff --git a/ourtool/dryvr/__init__.py b/src/example/example_map/__init__.py
similarity index 100%
rename from ourtool/dryvr/__init__.py
rename to src/example/example_map/__init__.py
diff --git a/user/simple_map.py b/src/example/example_map/simple_map.py
similarity index 94%
rename from user/simple_map.py
rename to src/example/example_map/simple_map.py
index 848171f5..2665aa9e 100644
--- a/user/simple_map.py
+++ b/src/example/example_map/simple_map.py
@@ -1,5 +1,5 @@
-from ourtool.map.lane_map import LaneMap
-from ourtool.map.lane_segment import LaneSegment
+from src.scene_verifier.map.lane_map import LaneMap
+from src.scene_verifier.map.lane_segment import LaneSegment
class SimpleMap(LaneMap):
def __init__(self):
diff --git a/ourtool/dryvr/core/__init__.py b/src/example/example_sensor/__init__.py
similarity index 100%
rename from ourtool/dryvr/core/__init__.py
rename to src/example/example_sensor/__init__.py
diff --git a/src/example/example_sensor/fake_sensor.py b/src/example/example_sensor/fake_sensor.py
new file mode 100644
index 00000000..d415d1d5
--- /dev/null
+++ b/src/example/example_sensor/fake_sensor.py
@@ -0,0 +1,98 @@
+import numpy as np
+
+class FakeSensor1:
+ def sense(self, scenario, agent, state_dict, lane_map):
+ cnts = {}
+ disc = {}
+ state = state_dict['ego'][0]
+ mode = state_dict['ego'][1].split(',')
+ cnts['ego.x'] = state[1]
+ cnts['ego.y'] = state[2]
+ cnts['ego.theta'] = state[3]
+ cnts['ego.v'] = state[4]
+ disc['ego.vehicle_mode'] = mode[0]
+ disc['ego.lane_mode'] = mode[1]
+ return cnts, disc
+
+
+class FakeSensor2:
+ def sense(self, scenario, agent, state_dict, lane_map):
+ cnts = {}
+ disc = {}
+ tmp = np.array(state_dict['car1'][0])
+ if tmp.ndim < 2:
+ if agent.id == 'car1':
+ state = state_dict['car1'][0]
+ mode = state_dict['car1'][1].split(',')
+ cnts['ego.x'] = state[1]
+ cnts['ego.y'] = state[2]
+ cnts['ego.theta'] = state[3]
+ cnts['ego.v'] = state[4]
+ disc['ego.vehicle_mode'] = mode[0]
+ disc['ego.lane_mode'] = mode[1]
+
+ state = state_dict['car2'][0]
+ mode = state_dict['car2'][1].split(',')
+ cnts['other.x'] = state[1]
+ cnts['other.y'] = state[2]
+ cnts['other.theta'] = state[3]
+ cnts['other.v'] = state[4]
+ disc['other.vehicle_mode'] = mode[0]
+ disc['other.lane_mode'] = mode[1]
+ elif agent.id == 'car2':
+ state = state_dict['car2'][0]
+ mode = state_dict['car2'][1].split(',')
+ cnts['ego.x'] = state[1]
+ cnts['ego.y'] = state[2]
+ cnts['ego.theta'] = state[3]
+ cnts['ego.v'] = state[4]
+ disc['ego.vehicle_mode'] = mode[0]
+ disc['ego.lane_mode'] = mode[1]
+
+ state = state_dict['car1'][0]
+ mode = state_dict['car1'][1].split(',')
+ cnts['other.x'] = state[1]
+ cnts['other.y'] = state[2]
+ cnts['other.theta'] = state[3]
+ cnts['other.v'] = state[4]
+ disc['other.vehicle_mode'] = mode[0]
+ disc['other.lane_mode'] = mode[1]
+ return cnts, disc
+ else:
+ if agent.id == 'car1':
+ state = state_dict['car1'][0]
+ mode = state_dict['car1'][1].split(',')
+ cnts['ego.x'] = [state[0][1], state[1][1]]
+ cnts['ego.y'] = [state[0][2], state[1][2]]
+ cnts['ego.theta'] = [state[0][3], state[1][3]]
+ cnts['ego.v'] = [state[0][4], state[1][4]]
+ disc['ego.vehicle_mode'] = mode[0]
+ disc['ego.lane_mode'] = mode[1]
+
+ state = state_dict['car2'][0]
+ mode = state_dict['car2'][1].split(',')
+ cnts['other.x'] = [state[0][1], state[1][1]]
+ cnts['other.y'] = [state[0][2], state[1][2]]
+ cnts['other.theta'] = [state[0][3], state[1][3]]
+ cnts['other.v'] = [state[0][4], state[1][4]]
+ disc['other.vehicle_mode'] = mode[0]
+ disc['other.lane_mode'] = mode[1]
+ elif agent.id == 'car2':
+ state = state_dict['car2'][0]
+ mode = state_dict['car2'][1].split(',')
+ cnts['ego.x'] = [state[0][1], state[1][1]]
+ cnts['ego.y'] = [state[0][2], state[1][2]]
+ cnts['ego.theta'] = [state[0][3], state[1][3]]
+ cnts['ego.v'] = [state[0][4], state[1][4]]
+ disc['ego.vehicle_mode'] = mode[0]
+ disc['ego.lane_mode'] = mode[1]
+
+ state = state_dict['car1'][0]
+ mode = state_dict['car1'][1].split(',')
+ cnts['other.x'] = [state[0][1], state[1][1]]
+ cnts['other.y'] = [state[0][2], state[1][2]]
+ cnts['other.theta'] = [state[0][3], state[1][3]]
+ cnts['other.v'] = [state[0][4], state[1][4]]
+ disc['other.vehicle_mode'] = mode[0]
+ disc['other.lane_mode'] = mode[1]
+ return cnts, disc
diff --git a/ourtool/dryvr/plotter/__init__.py b/src/plotter/__init__.py
similarity index 100%
rename from ourtool/dryvr/plotter/__init__.py
rename to src/plotter/__init__.py
diff --git a/plotter/parser.py b/src/plotter/parser.py
similarity index 100%
rename from plotter/parser.py
rename to src/plotter/parser.py
diff --git a/plotter/plotter2D.py b/src/plotter/plotter2D.py
similarity index 100%
rename from plotter/plotter2D.py
rename to src/plotter/plotter2D.py
diff --git a/plotter/plotter3D.py b/src/plotter/plotter3D.py
similarity index 100%
rename from plotter/plotter3D.py
rename to src/plotter/plotter3D.py
diff --git a/ourtool/dryvr/discrepancy/__init__.py b/src/scene_verifier/__init__.py
similarity index 100%
rename from ourtool/dryvr/discrepancy/__init__.py
rename to src/scene_verifier/__init__.py
diff --git a/src/scene_verifier/agents/__init__.py b/src/scene_verifier/agents/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/ourtool/agents/base_agent.py b/src/scene_verifier/agents/base_agent.py
similarity index 78%
rename from ourtool/agents/base_agent.py
rename to src/scene_verifier/agents/base_agent.py
index a533b357..e0044528 100644
--- a/ourtool/agents/base_agent.py
+++ b/src/scene_verifier/agents/base_agent.py
@@ -1,4 +1,4 @@
-from pythonparser import ControllerAst
+from src.scene_verifier.code_parser.pythonparser import ControllerAst
class BaseAgent:
def __init__(self, id, code = None, file_name = None):
diff --git a/src/scene_verifier/analysis/__init__.py b/src/scene_verifier/analysis/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/ourtool/analysis/analysis_tree_node.py b/src/scene_verifier/analysis/analysis_tree_node.py
similarity index 100%
rename from ourtool/analysis/analysis_tree_node.py
rename to src/scene_verifier/analysis/analysis_tree_node.py
diff --git a/ourtool/analysis/simulator.py b/src/scene_verifier/analysis/simulator.py
similarity index 97%
rename from ourtool/analysis/simulator.py
rename to src/scene_verifier/analysis/simulator.py
index 10a1b23f..30f47ce5 100644
--- a/ourtool/analysis/simulator.py
+++ b/src/scene_verifier/analysis/simulator.py
@@ -3,8 +3,8 @@ import copy
import numpy as np
-from ourtool.agents.base_agent import BaseAgent
-from ourtool.analysis.analysis_tree_node import AnalysisTreeNode
+from src.scene_verifier.agents.base_agent import BaseAgent
+from src.scene_verifier.analysis.analysis_tree_node import AnalysisTreeNode
class Simulator:
def __init__(self):
diff --git a/ourtool/analysis/verifier.py b/src/scene_verifier/analysis/verifier.py
similarity index 94%
rename from ourtool/analysis/verifier.py
rename to src/scene_verifier/analysis/verifier.py
index 918cc5e2..53a3b501 100644
--- a/ourtool/analysis/verifier.py
+++ b/src/scene_verifier/analysis/verifier.py
@@ -3,10 +3,10 @@ import copy
import numpy as np
-from ourtool.agents.base_agent import BaseAgent
-from ourtool.analysis.analysis_tree_node import AnalysisTreeNode
-from ourtool.dryvr.core.dryvrcore import calc_bloated_tube
-import ourtool.dryvr.common.config as userConfig
+from src.scene_verifier.agents.base_agent import BaseAgent
+from src.scene_verifier.analysis.analysis_tree_node import AnalysisTreeNode
+from src.scene_verifier.dryvr.core.dryvrcore import calc_bloated_tube
+import src.scene_verifier.dryvr.common.config as userConfig
class Verifier:
def __init__(self):
diff --git a/src/scene_verifier/automaton/__init__.py b/src/scene_verifier/automaton/__init__.py
new file mode 100644
index 00000000..a1ae96f5
--- /dev/null
+++ b/src/scene_verifier/automaton/__init__.py
@@ -0,0 +1,4 @@
+# try:
+# from hybrid_automaton import *
+# except:
+# from scene_verifier.automaton.hybrid_automaton import *
\ No newline at end of file
diff --git a/ourtool/automaton/guard.py b/src/scene_verifier/automaton/guard.py
similarity index 99%
rename from ourtool/automaton/guard.py
rename to src/scene_verifier/automaton/guard.py
index 0a80a3a2..3c650447 100644
--- a/ourtool/automaton/guard.py
+++ b/src/scene_verifier/automaton/guard.py
@@ -2,7 +2,7 @@ import enum
import re
from typing import List, Dict
import pickle
-# from ourtool.automaton.hybrid_io_automaton import HybridIoAutomaton
+# from scene_verifier.automaton.hybrid_io_automaton import HybridIoAutomaton
# from pythonparser import Guard
import ast
import copy
diff --git a/ourtool/automaton/hybrid_automaton.py b/src/scene_verifier/automaton/hybrid_automaton.py
similarity index 100%
rename from ourtool/automaton/hybrid_automaton.py
rename to src/scene_verifier/automaton/hybrid_automaton.py
diff --git a/ourtool/automaton/hybrid_io_automaton.py b/src/scene_verifier/automaton/hybrid_io_automaton.py
similarity index 90%
rename from ourtool/automaton/hybrid_io_automaton.py
rename to src/scene_verifier/automaton/hybrid_io_automaton.py
index e0b936c5..74f2c963 100644
--- a/ourtool/automaton/hybrid_io_automaton.py
+++ b/src/scene_verifier/automaton/hybrid_io_automaton.py
@@ -1,4 +1,4 @@
-from ourtool.automaton.hybrid_automaton import HybridAutomaton
+from src.scene_verifier.automaton.hybrid_automaton import HybridAutomaton
class HybridIoAutomaton(HybridAutomaton):
def __init__(
diff --git a/ourtool/automaton/reset.py b/src/scene_verifier/automaton/reset.py
similarity index 100%
rename from ourtool/automaton/reset.py
rename to src/scene_verifier/automaton/reset.py
diff --git a/src/scene_verifier/code_parser/__init__.py b/src/scene_verifier/code_parser/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/pythonparser.py b/src/scene_verifier/code_parser/pythonparser.py
similarity index 99%
rename from pythonparser.py
rename to src/scene_verifier/code_parser/pythonparser.py
index 0adc8327..885ab535 100644
--- a/pythonparser.py
+++ b/src/scene_verifier/code_parser/pythonparser.py
@@ -472,9 +472,9 @@ if __name__ == "__main__":
# print("incorrect usage. call createGraph.py program inputfile outputfilename")
# quit()
- input_code_name = 'toythermomini.py' #sys.argv[1]
- input_file_name = 'billiard_input.json' #sys.argv[2]
- output_file_name = 'out.json' #sys.argv[3]
+ input_code_name = sys.argv[1]
+ input_file_name = sys.argv[2]
+ output_file_name = sys.argv[3]
with open(input_file_name) as in_json_file:
input_json = json.load(in_json_file)
diff --git a/src/scene_verifier/dryvr/__init__.py b/src/scene_verifier/dryvr/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/ourtool/dryvr/common/__init__.py b/src/scene_verifier/dryvr/common/__init__.py
similarity index 100%
rename from ourtool/dryvr/common/__init__.py
rename to src/scene_verifier/dryvr/common/__init__.py
diff --git a/ourtool/dryvr/common/config.py b/src/scene_verifier/dryvr/common/config.py
similarity index 100%
rename from ourtool/dryvr/common/config.py
rename to src/scene_verifier/dryvr/common/config.py
diff --git a/ourtool/dryvr/common/constant.py b/src/scene_verifier/dryvr/common/constant.py
similarity index 100%
rename from ourtool/dryvr/common/constant.py
rename to src/scene_verifier/dryvr/common/constant.py
diff --git a/ourtool/dryvr/common/io.py b/src/scene_verifier/dryvr/common/io.py
similarity index 95%
rename from ourtool/dryvr/common/io.py
rename to src/scene_verifier/dryvr/common/io.py
index c5b55e20..bf864448 100644
--- a/ourtool/dryvr/common/io.py
+++ b/src/scene_verifier/dryvr/common/io.py
@@ -4,7 +4,7 @@ This file contains IO functions for DryVR
import six
-from ourtool.dryvr.common.utils import DryVRInput, RrtInput, checkVerificationInput, checkSynthesisInput
+from src.scene_verifier.dryvr.common.utils import DryVRInput, RrtInput, checkVerificationInput, checkSynthesisInput
def writeReachTubeFile(result, path):
@@ -90,7 +90,7 @@ def parseVerificationInputFile(data):
if data['bloatingMethod'] == "GLOBAL":
data['kvalue'] = [1.0 for i in range(len(data['variables']))]
- # Set a fake directory if the directory is not provided, this means the user provides
+ # Set a fake directory if the directory is not provided, this means the example provides
# simulation function to DryVR directly
if not 'directory' in data:
data['directory'] = ""
@@ -134,7 +134,7 @@ def parseRrtInputFile(data):
if data['bloatingMethod'] == "GLOBAL":
data['kvalue'] = [1.0 for i in range(len(data['variables']))]
- # Set a fake directory if the directory is not provided, this means the user provides
+ # Set a fake directory if the directory is not provided, this means the example provides
# simulation function to DryVR directly
if not 'directory' in data:
data['directory'] = ""
diff --git a/ourtool/dryvr/common/utils.py b/src/scene_verifier/dryvr/common/utils.py
similarity index 98%
rename from ourtool/dryvr/common/utils.py
rename to src/scene_verifier/dryvr/common/utils.py
index 21d64ff9..1923a84e 100644
--- a/ourtool/dryvr/common/utils.py
+++ b/src/scene_verifier/dryvr/common/utils.py
@@ -278,11 +278,11 @@ def isIpynb():
def overloadConfig(configObj, userConfig):
"""
- Overload user config to config module
+ Overload example config to config module
Args:
configObj (module): config module
- userConfig (dict): user specified config
+ userConfig (dict): example specified config
"""
if "SIMUTESTNUM" in userConfig:
diff --git a/src/scene_verifier/dryvr/core/__init__.py b/src/scene_verifier/dryvr/core/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/ourtool/dryvr/core/distance.py b/src/scene_verifier/dryvr/core/distance.py
similarity index 100%
rename from ourtool/dryvr/core/distance.py
rename to src/scene_verifier/dryvr/core/distance.py
diff --git a/ourtool/dryvr/core/dryvrcore.py b/src/scene_verifier/dryvr/core/dryvrcore.py
similarity index 95%
rename from ourtool/dryvr/core/dryvrcore.py
rename to src/scene_verifier/dryvr/core/dryvrcore.py
index 29ff8cd3..14df5292 100644
--- a/ourtool/dryvr/core/dryvrcore.py
+++ b/src/scene_verifier/dryvr/core/dryvrcore.py
@@ -9,12 +9,12 @@ import numpy as np
import igraph
-from ourtool.dryvr.common.constant import *
-from ourtool.dryvr.common.io import writeReachTubeFile
-from ourtool.dryvr.common.utils import randomPoint, calcDelta, calcCenterPoint, trimTraces
-from ourtool.dryvr.discrepancy.Global_Disc import get_reachtube_segment
-# from ourtool.dryvr.tube_computer.backend.reachabilityengine import ReachabilityEngine
-# from ourtool.dryvr.tube_computer.backend.initialset import InitialSet
+from src.scene_verifier.dryvr.common.constant import *
+from src.scene_verifier.dryvr.common.io import writeReachTubeFile
+from src.scene_verifier.dryvr.common.utils import randomPoint, calcDelta, calcCenterPoint, trimTraces
+from src.scene_verifier.dryvr.discrepancy.Global_Disc import get_reachtube_segment
+# from scene_verifier.dryvr.tube_computer.backend.reachabilityengine import ReachabilityEngine
+# from scene_verifier.dryvr.tube_computer.backend.initialset import InitialSet
def build_graph(vertex, edge, guards, resets):
"""
diff --git a/ourtool/dryvr/core/dryvrmain.py b/src/scene_verifier/dryvr/core/dryvrmain.py
similarity index 98%
rename from ourtool/dryvr/core/dryvrmain.py
rename to src/scene_verifier/dryvr/core/dryvrmain.py
index af6ddd87..7b085aab 100644
--- a/ourtool/dryvr/core/dryvrmain.py
+++ b/src/scene_verifier/dryvr/core/dryvrmain.py
@@ -28,7 +28,7 @@ def verify(data, sim_function, param_config=None):
Args:
data (dict): dictionary that contains params for the input file
sim_function (function): black-box simulation function
- param_config (dict or None): user-specified configuration
+ param_config (dict or None): example-specified configuration
Returns:
Safety (str): safety of the system
@@ -37,8 +37,8 @@ def verify(data, sim_function, param_config=None):
"""
if param_config is None:
param_config = {}
- # There are some fields can be config by user,
- # If user specified these fields in paramConfig,
+ # There are some fields can be config by example,
+ # If example specified these fields in paramConfig,
# overload these parameters to userConfig
overloadConfig(userConfig, param_config)
@@ -348,7 +348,7 @@ def graph_search(data, sim_function, param_config=None):
Args:
data (dict): dictionary that contains params for the input file
sim_function (function): black-box simulation function
- param_config (dict or None): user-specified configuration
+ param_config (dict or None): example-specified configuration
Returns:
None
@@ -356,8 +356,8 @@ def graph_search(data, sim_function, param_config=None):
"""
if param_config is None:
param_config = {}
- # There are some fields can be config by user,
- # If user specified these fields in paramConfig,
+ # There are some fields can be config by example,
+ # If example specified these fields in paramConfig,
# overload these parameters to userConfig
overloadConfig(userConfig, param_config)
# Parse the input json file and read out the parameters
diff --git a/ourtool/dryvr/core/goalchecker.py b/src/scene_verifier/dryvr/core/goalchecker.py
similarity index 100%
rename from ourtool/dryvr/core/goalchecker.py
rename to src/scene_verifier/dryvr/core/goalchecker.py
diff --git a/ourtool/dryvr/core/graph.py b/src/scene_verifier/dryvr/core/graph.py
similarity index 100%
rename from ourtool/dryvr/core/graph.py
rename to src/scene_verifier/dryvr/core/graph.py
diff --git a/ourtool/dryvr/core/guard.py b/src/scene_verifier/dryvr/core/guard.py
similarity index 100%
rename from ourtool/dryvr/core/guard.py
rename to src/scene_verifier/dryvr/core/guard.py
diff --git a/ourtool/dryvr/core/initialset.py b/src/scene_verifier/dryvr/core/initialset.py
similarity index 100%
rename from ourtool/dryvr/core/initialset.py
rename to src/scene_verifier/dryvr/core/initialset.py
diff --git a/ourtool/dryvr/core/initialsetstack.py b/src/scene_verifier/dryvr/core/initialsetstack.py
similarity index 100%
rename from ourtool/dryvr/core/initialsetstack.py
rename to src/scene_verifier/dryvr/core/initialsetstack.py
diff --git a/ourtool/dryvr/core/reachtube.py b/src/scene_verifier/dryvr/core/reachtube.py
similarity index 97%
rename from ourtool/dryvr/core/reachtube.py
rename to src/scene_verifier/dryvr/core/reachtube.py
index f985f437..850b8a5a 100644
--- a/ourtool/dryvr/core/reachtube.py
+++ b/src/scene_verifier/dryvr/core/reachtube.py
@@ -25,7 +25,7 @@ class ReachTube:
self._variables = variables
self._modes = modes
- # Build the raw string representation so user can print it
+ # Build the raw string representation so example can print it
self.raw = ""
for line in tube:
diff --git a/ourtool/dryvr/core/reset.py b/src/scene_verifier/dryvr/core/reset.py
similarity index 100%
rename from ourtool/dryvr/core/reset.py
rename to src/scene_verifier/dryvr/core/reset.py
diff --git a/ourtool/dryvr/core/uniformchecker.py b/src/scene_verifier/dryvr/core/uniformchecker.py
similarity index 100%
rename from ourtool/dryvr/core/uniformchecker.py
rename to src/scene_verifier/dryvr/core/uniformchecker.py
diff --git a/ourtool/dryvr/discrepancy/Global_Disc.py b/src/scene_verifier/dryvr/discrepancy/Global_Disc.py
similarity index 100%
rename from ourtool/dryvr/discrepancy/Global_Disc.py
rename to src/scene_verifier/dryvr/discrepancy/Global_Disc.py
diff --git a/ourtool/dryvr/discrepancy/PW_Discrepancy.py b/src/scene_verifier/dryvr/discrepancy/PW_Discrepancy.py
similarity index 100%
rename from ourtool/dryvr/discrepancy/PW_Discrepancy.py
rename to src/scene_verifier/dryvr/discrepancy/PW_Discrepancy.py
diff --git a/src/scene_verifier/dryvr/discrepancy/__init__.py b/src/scene_verifier/dryvr/discrepancy/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/ourtool/dryvr/plotter/.ipynb_checkpoints/plotterInterface-checkpoint.ipynb b/src/scene_verifier/dryvr/plotter/.ipynb_checkpoints/plotterInterface-checkpoint.ipynb
similarity index 100%
rename from ourtool/dryvr/plotter/.ipynb_checkpoints/plotterInterface-checkpoint.ipynb
rename to src/scene_verifier/dryvr/plotter/.ipynb_checkpoints/plotterInterface-checkpoint.ipynb
diff --git a/ourtool/dryvr/plotter/README.md b/src/scene_verifier/dryvr/plotter/README.md
similarity index 100%
rename from ourtool/dryvr/plotter/README.md
rename to src/scene_verifier/dryvr/plotter/README.md
diff --git a/plotter/__init__.py b/src/scene_verifier/dryvr/plotter/__init__.py
similarity index 100%
rename from plotter/__init__.py
rename to src/scene_verifier/dryvr/plotter/__init__.py
diff --git a/ourtool/dryvr/plotter/linkednode.py b/src/scene_verifier/dryvr/plotter/linkednode.py
similarity index 100%
rename from ourtool/dryvr/plotter/linkednode.py
rename to src/scene_verifier/dryvr/plotter/linkednode.py
diff --git a/ourtool/dryvr/plotter/parser.py b/src/scene_verifier/dryvr/plotter/parser.py
similarity index 100%
rename from ourtool/dryvr/plotter/parser.py
rename to src/scene_verifier/dryvr/plotter/parser.py
diff --git a/ourtool/dryvr/plotter/plot.py b/src/scene_verifier/dryvr/plotter/plot.py
similarity index 100%
rename from ourtool/dryvr/plotter/plot.py
rename to src/scene_verifier/dryvr/plotter/plot.py
diff --git a/ourtool/dryvr/plotter/plot_util.py b/src/scene_verifier/dryvr/plotter/plot_util.py
similarity index 100%
rename from ourtool/dryvr/plotter/plot_util.py
rename to src/scene_verifier/dryvr/plotter/plot_util.py
diff --git a/ourtool/dryvr/plotter/plotter_interface.ipynb b/src/scene_verifier/dryvr/plotter/plotter_interface.ipynb
similarity index 100%
rename from ourtool/dryvr/plotter/plotter_interface.ipynb
rename to src/scene_verifier/dryvr/plotter/plotter_interface.ipynb
diff --git a/src/scene_verifier/map/__init__.py b/src/scene_verifier/map/__init__.py
new file mode 100644
index 00000000..c4fd24f6
--- /dev/null
+++ b/src/scene_verifier/map/__init__.py
@@ -0,0 +1,8 @@
+# try:
+# from lane_map import LaneMap
+# from single_straight_lane import SingleStraightLaneMap
+# from lane_segment import LaneSegment
+# except:
+# from scene_verifier.map.lane_segment import LaneSegment
+# # from scene_verifier.map.lane_map import LaneMap
+# # from scene_verifier.map.single_straight_lane import SingleStraightLaneMap
\ No newline at end of file
diff --git a/ourtool/map/lane_map.py b/src/scene_verifier/map/lane_map.py
similarity index 97%
rename from ourtool/map/lane_map.py
rename to src/scene_verifier/map/lane_map.py
index 31cd4b7a..9e543232 100644
--- a/ourtool/map/lane_map.py
+++ b/src/scene_verifier/map/lane_map.py
@@ -2,7 +2,7 @@ from typing import Dict, List
import copy
from enum import Enum,auto
-from ourtool.map.lane_segment import LaneSegment
+from src.scene_verifier.map.lane_segment import LaneSegment
class LaneMap:
def __init__(self, lane_seg_list:List[LaneSegment] = []):
diff --git a/ourtool/map/lane_segment.py b/src/scene_verifier/map/lane_segment.py
similarity index 100%
rename from ourtool/map/lane_segment.py
rename to src/scene_verifier/map/lane_segment.py
diff --git a/src/scene_verifier/scenario/__init__.py b/src/scene_verifier/scenario/__init__.py
new file mode 100644
index 00000000..55906914
--- /dev/null
+++ b/src/scene_verifier/scenario/__init__.py
@@ -0,0 +1,4 @@
+# try:
+# from Scenario import *
+# except:
+# from scene_verifier.scenario.Scenario import *
\ No newline at end of file
diff --git a/ourtool/scenario/scenario.py b/src/scene_verifier/scenario/scenario.py
similarity index 72%
rename from ourtool/scenario/scenario.py
rename to src/scene_verifier/scenario/scenario.py
index 5f41f5de..7ad1a5db 100644
--- a/ourtool/scenario/scenario.py
+++ b/src/scene_verifier/scenario/scenario.py
@@ -1,101 +1,18 @@
-from typing import Dict, List, Tuple
+from typing import Tuple
import copy
import itertools
-import ast
import numpy as np
-from ourtool.agents.base_agent import BaseAgent
-from ourtool.automaton.guard import GuardExpressionAst
-from ourtool.automaton.reset import ResetExpression
-from pythonparser import Guard
-from pythonparser import Reset
-from ourtool.analysis.simulator import Simulator
-from ourtool.analysis.verifier import Verifier
-from ourtool.map.lane_map import LaneMap
+from src.scene_verifier.agents.base_agent import BaseAgent
+from src.scene_verifier.automaton.guard import GuardExpressionAst
+from src.scene_verifier.automaton.reset import ResetExpression
+from src.scene_verifier.code_parser.pythonparser import Guard
+from src.scene_verifier.code_parser.pythonparser import Reset
+from src.scene_verifier.analysis.simulator import Simulator
+from src.scene_verifier.analysis.verifier import Verifier
+from src.scene_verifier.map.lane_map import LaneMap
-class FakeSensor:
- def sense(self, scenario, agent, state_dict, lane_map):
- cnts = {}
- disc = {}
- tmp = np.array(state_dict['car1'][0])
- if tmp.ndim < 2:
- if agent.id == 'car1':
- state = state_dict['car1'][0]
- mode = state_dict['car1'][1].split(',')
- cnts['ego.x'] = state[1]
- cnts['ego.y'] = state[2]
- cnts['ego.theta'] = state[3]
- cnts['ego.v'] = state[4]
- disc['ego.vehicle_mode'] = mode[0]
- disc['ego.lane_mode'] = mode[1]
-
- state = state_dict['car2'][0]
- mode = state_dict['car2'][1].split(',')
- cnts['other.x'] = state[1]
- cnts['other.y'] = state[2]
- cnts['other.theta'] = state[3]
- cnts['other.v'] = state[4]
- disc['other.vehicle_mode'] = mode[0]
- disc['other.lane_mode'] = mode[1]
- elif agent.id == 'car2':
- state = state_dict['car2'][0]
- mode = state_dict['car2'][1].split(',')
- cnts['ego.x'] = state[1]
- cnts['ego.y'] = state[2]
- cnts['ego.theta'] = state[3]
- cnts['ego.v'] = state[4]
- disc['ego.vehicle_mode'] = mode[0]
- disc['ego.lane_mode'] = mode[1]
-
- state = state_dict['car1'][0]
- mode = state_dict['car1'][1].split(',')
- cnts['other.x'] = state[1]
- cnts['other.y'] = state[2]
- cnts['other.theta'] = state[3]
- cnts['other.v'] = state[4]
- disc['other.vehicle_mode'] = mode[0]
- disc['other.lane_mode'] = mode[1]
- return cnts, disc
- else:
- if agent.id == 'car1':
- state = state_dict['car1'][0]
- mode = state_dict['car1'][1].split(',')
- cnts['ego.x'] = [state[0][1],state[1][1]]
- cnts['ego.y'] = [state[0][2],state[1][2]]
- cnts['ego.theta'] = [state[0][3],state[1][3]]
- cnts['ego.v'] = [state[0][4],state[1][4]]
- disc['ego.vehicle_mode'] = mode[0]
- disc['ego.lane_mode'] = mode[1]
-
- state = state_dict['car2'][0]
- mode = state_dict['car2'][1].split(',')
- cnts['other.x'] = [state[0][1],state[1][1]]
- cnts['other.y'] = [state[0][2],state[1][2]]
- cnts['other.theta'] = [state[0][3],state[1][3]]
- cnts['other.v'] = [state[0][4],state[1][4]]
- disc['other.vehicle_mode'] = mode[0]
- disc['other.lane_mode'] = mode[1]
- elif agent.id == 'car2':
- state = state_dict['car2'][0]
- mode = state_dict['car2'][1].split(',')
- cnts['ego.x'] = [state[0][1],state[1][1]]
- cnts['ego.y'] = [state[0][2],state[1][2]]
- cnts['ego.theta'] = [state[0][3],state[1][3]]
- cnts['ego.v'] = [state[0][4],state[1][4]]
- disc['ego.vehicle_mode'] = mode[0]
- disc['ego.lane_mode'] = mode[1]
-
- state = state_dict['car1'][0]
- mode = state_dict['car1'][1].split(',')
- cnts['other.x'] = [state[0][1],state[1][1]]
- cnts['other.y'] = [state[0][2],state[1][2]]
- cnts['other.theta'] = [state[0][3],state[1][3]]
- cnts['other.v'] = [state[0][4],state[1][4]]
- disc['other.vehicle_mode'] = mode[0]
- disc['other.lane_mode'] = mode[1]
- return cnts, disc
-
class Scenario:
def __init__(self):
self.agent_dict = {}
@@ -104,7 +21,10 @@ class Scenario:
self.init_dict = {}
self.init_mode_dict = {}
self.map = None
- self.sensor = FakeSensor()
+ self.sensor = None
+
+ def set_sensor(self, sensor):
+ self.sensor = sensor
def add_map(self, lane_map:LaneMap):
self.map = lane_map
diff --git a/toythermo.py b/toythermo.py
deleted file mode 100644
index 34a85817..00000000
--- a/toythermo.py
+++ /dev/null
@@ -1,135 +0,0 @@
-#python logic toy code:
-
-from enum import Enum, auto
-from ssl import VERIFY_X509_PARTIAL_CHAIN
-from statistics import mode
-from termios import VSTART
-
-
-class Modes(Enum):
- NormalA = auto()
- NormalB = auto()
- NormalC = auto()
- NormalD = auto()
-
-class State:
- posx = 0.0
- posy = 0.0
- vx = 1.0
- vy = 1.0
- mode = Modes.NormalA
-
- def __init__(self):
- self.data = []
-
-
-if __name__ == "__main__":
-#todo: how would this actually be given
- s = State()
-
- posx = s.posx
- posy = s.posy
- vx = s.vx
- vy = s.vy
- state = s.mode
- if (state ==Modes.NormalA):
- if posy<0 and posy>=-0.01:
- vy=-vy
- posy=0
- state=Modes.NormalA
-
- if (posx<0 and posx>=-0.01) :
- vx=-vx
- posx=0
- state=Modes.NormalB
-
- if (posx<=5.01 and posx>5) :
- vx=-vx
- posx=5
- state=Modes.NormalC
-
- if (posy>5 and posy<=5.01) :
- vy=-vy
- posy=5
- state = Modes.NormalD
-
-
-
- if (state ==Modes.NormalB) :
- if (posy<0 and posy>=-0.01) :
- vy=-vy
- posy=0
- state=Modes.NormalB
-
- if (posx<0 and posx>=-0.01) :
- vx=-vx
- posx=0
- state=Modes.NormalA
-
- if (posx<=5.01 and posx>5) :
- vx=-vx
- posx=5
- state=Modes.NormalC
-
- if (posy>5 and posy<=5.01) :
- vy=-vy
- posy=5
- state = Modes.NormalD
-
-
-
- if (state ==Modes.NormalC) :
- if (posy<0 and posy>=-0.01) :
- vy=-vy
- posy=0
- state=Modes.NormalC
-
- if (posx<0 and posx>=-0.01) :
- vx=-vx
- posx=0
- state=Modes.NormalA
-
- if (posx<=5.01 and posx>5) :
- vx=-vx
- posx=5
- state=Modes.NormalB
-
- if (posy>5 and posy<=5.01) :
- vy=-vy
- posy=5
- state = Modes.NormalD
-
-
-
-
- if (state ==State.Modes.NormalD) :
- if (posy<0 and posy>=-0.01) :
- vy=-vy
- posy=0
- state=Modes.NormalD
-
- if (posx<0 and posx>=-0.01) :
- vx=-vx
- posx=0
- state=Modes.NormalA
-
- if (posx<=5.01 and posx>5) :
- vx=-vx
- posx=5
- state=Modes.NormalB
-
- if (posy>5 and posy<=5.01) :
- vy=-vy
- posy=5
- state = Modes.NormalC
-
-
-
- s.posx = posx
- s.posy= posy
- s.vx = vx
- s.vy = vy
- s.mode = state
-
- #TODO: what is output?
-
diff --git a/toythermomini.py b/toythermomini.py
deleted file mode 100644
index 0423c8c8..00000000
--- a/toythermomini.py
+++ /dev/null
@@ -1,45 +0,0 @@
-#python logic toy code:
-
-from enum import Enum, auto
-
-class Modes(Enum):
- NormalA = auto()
- NormalB = auto()
- NormalC = auto()
- NormalD = auto()
-
-class State:
- posx = 0.0
- posy = 0.0
- mode = Modes.NormalA
-
- def __init__(self):
- self.data = []
-
-
-def controller(posx, posy, mode):
- outmode = mode
-#todo: how would this actually be given
- if (mode ==Modes.NormalA):
- if posy<0 and posy>=-0.0:
- posy=0
- outmode=Modes.NormalA
- if posy>10 and posy==-10:
- posy=10
- outmode=Modes.NormalB
-
- if (mode ==Modes.NormalB):
- if posy<0 and posy>=-0.0:
- posy=0
- outmode=Modes.NormalA
- if posy>10 and posy==-10:
- posy=10
- outmode=Modes.NormalB
-
-
-
-
- return outmode
-
- #TODO: what is output?
-
--
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