From 60c46ac3a1854e25646da112bf087f6edf5d12ec Mon Sep 17 00:00:00 2001
From: sayanmitracode <sayan.mitra@gmail.com>
Date: Mon, 4 Jul 2022 13:17:20 -0500
Subject: [PATCH] Debugging F16 scene creation. Agent instantiation. See file
demo/F16/F16_waypoint_scene.py. Resume debugging at line 85
---
demo/F16/F16_waypoint_scene.py | 14 ++++++++------
demo/F16/README.md | 4 +++-
2 files changed, 11 insertions(+), 7 deletions(-)
diff --git a/demo/F16/F16_waypoint_scene.py b/demo/F16/F16_waypoint_scene.py
index 5441f45f..5b0d16d6 100644
--- a/demo/F16/F16_waypoint_scene.py
+++ b/demo/F16/F16_waypoint_scene.py
@@ -10,20 +10,17 @@ import numpy as np
from scipy.integrate import ode
from enum import Enum, auto
-from dryvr_plus_plus.scene_verifier.agents.base_agent import BaseAgent
+from demo.F16.aerobench.run_f16_sim import F16Agent
from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
from dryvr_plus_plus.scene_verifier.code_parser.pythonparser import EmptyAst
+from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
import math
-
from numpy import deg2rad
import matplotlib.pyplot as plt
-
from aerobench.run_f16_sim import run_f16_sim
-
from aerobench.visualize import plot
-
from waypoint_autopilot import WaypointAutopilot
@@ -76,13 +73,18 @@ def main():
''' The main function defines and simulates a scene.
Defining and using a scenario involves the following 5 easy steps:
1. creating a basic scenario object with Scenario()
- 2. defining the agents that will populate the object, here we have two ball agents
+ 2. defining the agents that will populate the object. Here a single F16 agent.
3. adding the agents to the scenario using .add_agent()
4. initializing the agents for this scenario.
Note that agents are only initialized *in* a scenario, not individually outside a scenario
5. genetating the simulation traces or computing the reachable states
'''
F16waypointScene = Scenario()
+ F16Controller = './F16_waypoint_scene.py'
+
+ # Resume here. This next line is the problem
+ # Fighter1 = F16Agent('Fighter1', file_name=F16Controller)
+
### Initial Conditions ###
power = 9 # engine power level (0-10)
diff --git a/demo/F16/README.md b/demo/F16/README.md
index d1cc352b..b668344e 100644
--- a/demo/F16/README.md
+++ b/demo/F16/README.md
@@ -1,4 +1,6 @@
# Adaptation of F16 model
This is an adaptation of the Python F16 model from [Stanley Bak](https://github.com/stanleybak/AeroBenchVVPython).
-All the files are copied to make this example a standalone executable.
+All the files are copied to make this example a standalone executable. Requires you to add ```/Users/mitras/Dpp/GraphGeneration/demo/F16``` to PYTHONPATH.
+
+Test by ```python3 F16_waypoint_scene.py```
--
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