sim bug port

verse/scenario/scenario.py

@@ -497,23 +497,25 @@ class Scenario:
         # For each agent
         agent_guard_dict = defaultdict(list)
         cached_guards = defaultdict(list)
+        min_trans_ind = None
+        cached_trans = defaultdict(list)
 
         if not cache:
             paths = [(agent, p) for agent in node.agent.values() for p in agent.controller.paths]
         else:
+
+            # _transitions = [trans.transition for seg in cache.values() for trans in seg.transitions]
+            _transitions = [trans.transition for seg in cache.values() for trans in seg.transitions if reach_trans_suit(trans.inits, node.init) or pp(("not suit", trans.inits, node.init))]
+            pp(("cached trans", len(_transitions)))
+            if len(_transitions) == 0:
+                return None, []
+            min_trans_ind = min(_transitions)
+            cached_trans = [(agent_id, tran) for agent_id, seg in cache.items() for tran in seg.transitions if tran.transition == min_trans_ind]
+            # TODO: check for asserts
+            cached_trans = [(aid, tran.mode, tran.dest, tran.reset, tran.reset_idx, tran.paths) for aid, tran in dedup(cached_trans, lambda p: (p[0], p[1].mode, p[1].dest))]
             if len(paths) == 0:
                 # print(red("full cache"))
-
-                # _transitions = [trans.transition for seg in cache.values() for trans in seg.transitions]
-                _transitions = [trans.transition for seg in cache.values() for trans in seg.transitions if reach_trans_suit(trans.inits, node.init)]# or pp(("not suit", trans.inits, node.init))]
-                # pp(("cached trans", len(_transitions)))
-                if len(_transitions) == 0:
-                    return None, []
-                transition = min(_transitions)
-                transitions = [(agent_id, tran) for agent_id, seg in cache.items() for tran in seg.transitions if tran.transition == transition]
-                # TODO: check for asserts
-                transitions = [(aid, tran.mode, tran.dest, tran.reset, tran.reset_idx, tran.paths) for aid, tran in dedup(transitions, lambda p: (p[0], p[1].mode, p[1].dest))]
-                return None, transitions
+                return None, cached_trans
 
             path_transitions = defaultdict(int)
             for seg in cache.values():
@@ -573,6 +575,8 @@ class Scenario:
         guard_hits = []
         guard_hit = False
         for idx in range(trace_length):
+            if min_trans_ind != None and idx >= min_trans_ind:
+                return None, cached_trans
             any_contained = False
             hits = []
             state_dict = {aid: (node.trace[aid][idx*2:idx*2+2], node.mode[aid], node.static[aid]) for aid in node.agent}