diff --git a/example_two_car_sign_lane_switch.py b/example_two_car_sign_lane_switch.py
index c0f5a2dfafbfd625d286a87acc192c363b1f8a7e..9f62fc213dcd69798a947b44b305a304b838da15 100644
--- a/example_two_car_sign_lane_switch.py
+++ b/example_two_car_sign_lane_switch.py
@@ -29,20 +29,21 @@ class State:
lane_mode: LaneMode
obj_mode: LaneObjectMode
- def __init__(self, x: float = 0, y: float = 0, theta: float = 0, v: float = 0, vehicle_mode: VehicleMode = VehicleMode.Normal, lane_mode: LaneMode = LaneMode.Lane0, obj_mode: LaneObjectMode = LaneObjectMode.Vehicle):
- self.data = []
- self.x = x
- self.y = y
- self.theta = theta
- self.v = v
- self.vehicle_mode = vehicle_mode
- self.lane_mode = lane_mode
- self.obj_mode = obj_mode
+ def __init__(self, x: float = 0, y: float = 0, theta: float = 0, v: float = 0, vehicle_mode: VehicleMode = VehicleMode.Normal, lane_mode: LaneMode = LaneMode.Lane0, type: LaneObjectMode = LaneObjectMode.Vehicle):
+ pass
+ # self.data = []
+ # self.x = x
+ # self.y = y
+ # self.theta = theta
+ # self.v = v
+ # self.vehicle_mode = vehicle_mode
+ # self.lane_mode = lane_mode
+ # self.obj_mode = obj_mode
def controller(ego: State, other: State, sign: State, lane_map):
output = copy.deepcopy(ego)
if ego.vehicle_mode == VehicleMode.Normal:
- if sign.x - ego.x < 3 and sign.x - ego.x > 0 and ego.lane_mode == sign.lane_mode:
+ if sign.type == LaneObjectMode.Obstacle and sign.x - ego.x < 3 and sign.x - ego.x > 0 and ego.lane_mode == sign.lane_mode:
output.vehicle_mode = VehicleMode.SwitchLeft
return output
if lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 3 \
@@ -95,9 +96,9 @@ if __name__ == "__main__":
[[20, 3, 0, 0],[20, 3, 0, 0]],
],
[
- (VehicleMode.Normal, LaneMode.Lane2),
- (VehicleMode.Normal, LaneMode.Lane1),
- (VehicleMode.Normal, LaneMode.Lane1),
+ (VehicleMode.Normal, LaneMode.Lane2, LaneObjectMode.Vehicle),
+ (VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Vehicle),
+ (VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Obstacle),
]
)
# simulator = Simulator()
diff --git a/src/example/example_sensor/fake_sensor.py b/src/example/example_sensor/fake_sensor.py
index cbdd47da0734a4fe800ca27739efc0f82bc5e5e5..6f580dc9fe0e9a3fb612cd40d38a1cf0cf3466db 100644
--- a/src/example/example_sensor/fake_sensor.py
+++ b/src/example/example_sensor/fake_sensor.py
@@ -20,14 +20,14 @@ def sets(d, thing, attrs, vals):
def set_states_2d(cnts, disc, thing, val):
state, mode = val
sets(cnts, thing, ["x", "y", "theta", "v"], state[1:5])
- sets(disc, thing, ["vehicle_mode", "lane_mode"], mode.split(","))
+ sets(disc, thing, ["vehicle_mode", "lane_mode", "type"], mode.split(","))
def set_states_3d(cnts, disc, thing, val):
state, mode = val
transp = np.transpose(np.array(state)[:, 1:5])
assert len(transp) == 4
sets(cnts, thing, ["x", "y", "theta", "v"], transp)
- sets(disc, thing, ["vehicle_mode", "lane_mode"], mode.split(","))
+ sets(disc, thing, ["vehicle_mode", "lane_mode", "type"], mode.split(","))
class FakeSensor2:
def sense(self, scenario, agent, state_dict, lane_map):
diff --git a/src/scene_verifier/code_parser/pythonparser.py b/src/scene_verifier/code_parser/pythonparser.py
index d42a19f22abbb9e620de2f3934f484484779a638..0a7e2a9dedfda709333d4da3839528c2256e8e0a 100644
--- a/src/scene_verifier/code_parser/pythonparser.py
+++ b/src/scene_verifier/code_parser/pythonparser.py
@@ -250,7 +250,7 @@ class ControllerAst():
self.code = code
self.tree = ast.parse(code)
- self.statementtree, self.variables, self.modes, self.discrete_variables, self.state_object_dict, self.vars_dict = self.initalwalktree(code, self.tree)
+ self.statementtree, self.variables, self.modes, self.discrete_variables, self.state_object_dict, self.vars_dict, self.type_vars = self.initalwalktree(code, self.tree)
self.vertices = []
self.vertexStrings = []
for vertex in itertools.product(*self.modes.values()):
@@ -274,7 +274,7 @@ class ControllerAst():
A path is a list of statements, all guards and resets along the path. They are in the order they are encountered in the code.
TODO: should we not force all modes be listed? Or rerun for each unknown/don't care node? Or add them all to the list
'''
- def getNextModes(self, currentModes, getAllPaths= False):
+ def getNextModes(self, currentModes: List[str], getAllPaths= False) -> List[str]:
#walk the tree and capture all paths that have modes that are listed. Path is a list of statements
paths = []
rootid = self.statementtree.root
@@ -370,6 +370,7 @@ class ControllerAst():
def initalwalktree(self, code, tree):
vars = []
discrete_vars = []
+ type_vars = []
out = []
mode_dict = {}
state_object_dict = {}
@@ -385,13 +386,15 @@ class ControllerAst():
mode_dict[modeType] = modes
if isinstance(node, ast.ClassDef):
if "State" in node.name:
- state_object_dict[node.name] = {"cont":[],"disc":[]}
+ state_object_dict[node.name] = {"cont":[],"disc":[], "type": []}
for item in node.body:
if isinstance(item, ast.FunctionDef):
if "init" in item.name:
for arg in item.args.args:
if "self" not in arg.arg:
- if "mode" not in arg.arg:
+ if "type" == arg.arg:
+ state_object_dict[node.name]["type"].append(arg.arg)
+ elif "mode" not in arg.arg:
state_object_dict[node.name]['cont'].append(arg.arg)
# vars.append(arg.arg)
else:
@@ -410,20 +413,23 @@ class ControllerAst():
continue
arg_annotation = arg.annotation.id
arg_name = arg.arg
- vars_dict[arg_name] = {'cont':[], 'disc':[]}
+ vars_dict[arg_name] = {'cont':[], 'disc':[], "type": []}
for var in state_object_dict[arg_annotation]['cont']:
vars.append(arg_name+"."+var)
vars_dict[arg_name]['cont'].append(var)
for var in state_object_dict[arg_annotation]['disc']:
discrete_vars.append(arg_name+"."+var)
vars_dict[arg_name]['disc'].append(var)
+ for var in state_object_dict[arg_annotation]['type']:
+ type_vars.append(arg_name+"."+var)
+ vars_dict[arg_name]['type'].append(var)
# if "mode" not in arg.arg:
# vars.append(arg.arg)
# #todo: what to add for return values
# else:
# discrete_vars.append(arg.arg)
- return [statementtree, vars, mode_dict, discrete_vars, state_object_dict, vars_dict]
+ return [statementtree, vars, mode_dict, discrete_vars, state_object_dict, vars_dict, type_vars]
'''