From 79a94c69f2a5ffde151ba1fe0fc36fcd3ff3b61e Mon Sep 17 00:00:00 2001
From: keyis2 <keyis2@illinois.edu>
Date: Sat, 28 Jan 2023 22:00:32 +0800
Subject: [PATCH] cont
---
demo/AEB/exp2_straight.py | 14 +++++-----
demo/tacas2023/exp11/inc-expr.py | 9 ++++---
verse/analysis/analysis_tree.py | 40 ++++++++++++++++++++++++++++
verse/analysis/simulator.py | 12 ++++++---
verse/analysis/verifier.py | 9 +++----
verse/map/example_map/simple_map2.py | 1 +
verse/plotter/plotter2D.py | 17 ++++++------
7 files changed, 77 insertions(+), 25 deletions(-)
diff --git a/demo/AEB/exp2_straight.py b/demo/AEB/exp2_straight.py
index dbc93198..8167b546 100644
--- a/demo/AEB/exp2_straight.py
+++ b/demo/AEB/exp2_straight.py
@@ -5,6 +5,7 @@ from verse.scenario import ScenarioConfig
# from noisy_sensor import NoisyVehicleSensor
from verse.plotter.plotter2D import *
import os
+import ray
from enum import Enum, auto
import time
@@ -75,10 +76,10 @@ if __name__ == "__main__":
# (AgentMode.Normal, TrackMode.T0),
]
)
-
+ ray.init(include_dashboard=True)
start_time = time.time()
- # traces = scenario.verify(40, 0.1, params={"bloating_method": 'GLOBAL'})
- traces = scenario.simulate(100,0.1)
+ traces = scenario.verify(20, 0.1, params={"bloating_method": 'GLOBAL'})
+ # traces = scenario.simulate(100,0.1)
run_time = time.time()-start_time
traces.dump(parent_dir+'/sim_straight.json')
@@ -93,7 +94,8 @@ if __name__ == "__main__":
})
fig = go.Figure()
- fig = simulation_tree(traces, tmp_map, fig, 1, 2, None, 'lines', 'trace')
+ # fig = simulation_tree(traces, tmp_map, fig, 1, 2, None, 'lines', 'trace')
# fig = simulation_anime(traces, tmp_map, fig, 1, 2,None, 'lines', 'trace', time_step=0.1)
- # fig = reachtube_anime(traces, tmp_map, fig, 1, 2, None,'lines', 'trace', combine_rect=1)
- fig.show()
\ No newline at end of file
+ fig = reachtube_tree(traces, tmp_map, fig, 1, 2, None,'lines', 'trace', combine_rect=1)
+ fig.show()
+ ray.shutdown()
\ No newline at end of file
diff --git a/demo/tacas2023/exp11/inc-expr.py b/demo/tacas2023/exp11/inc-expr.py
index 43eb2d6b..cacbc6cc 100644
--- a/demo/tacas2023/exp11/inc-expr.py
+++ b/demo/tacas2023/exp11/inc-expr.py
@@ -12,6 +12,7 @@ from verse.scenario.scenario import ScenarioConfig
import functools, pprint
pp = functools.partial(pprint.pprint, compact=True, width=130)
from typing import List
+import ray
class AgentMode(Enum):
Normal = auto()
@@ -61,9 +62,10 @@ if 'p' in arg:
def run(sim, meas=False):
time = timeit.default_timer()
if sim:
- traces = scenario.simulate(60, 0.1)
+ traces = scenario.simulate(60, 0.1, seed=4)
else:
- traces = scenario.verify(60, 0.1)
+ traces = scenario.verify(1, 0.1)
+ dur = timeit.default_timer() - time
if 'd' in arg:
traces.dump_tree()
@@ -84,7 +86,7 @@ def run(sim, meas=False):
cache_size = asizeof.asizeof(scenario.verifier.cache) + asizeof.asizeof(scenario.verifier.trans_cache)
if meas:
pp({
- "dur": timeit.default_timer() - time,
+ "dur": dur,
"cache_size": cache_size,
"node_count": ((0 if sim else scenario.verifier.num_transitions), len(traces.nodes)),
"hits": scenario.simulator.cache_hits if sim else (scenario.verifier.tube_cache_hits, scenario.verifier.trans_cache_hits),
@@ -164,6 +166,7 @@ if __name__ == "__main__":
cont_inits = jerks(cont_inits, _jerks)
scenario.set_init(cont_inits, *mode_inits)
+ ray.init()
if 'b' in arg:
run(sim, True)
elif 'r' in arg:
diff --git a/verse/analysis/analysis_tree.py b/verse/analysis/analysis_tree.py
index 46a528a8..1da051c5 100644
--- a/verse/analysis/analysis_tree.py
+++ b/verse/analysis/analysis_tree.py
@@ -1,6 +1,7 @@
from typing import List, Dict, Any
import json
from treelib import Tree
+import numpy as np
class AnalysisTreeNode:
"""AnalysisTreeNode class
@@ -94,6 +95,35 @@ class AnalysisTreeNode:
type = data['type'],
)
+ def __eq__(self, __o: object) -> bool:
+ assert isinstance(__o, AnalysisTreeNode)
+ if not (self.init==__o.init and
+ self.mode==__o.mode and
+ self.agent==__o.agent and
+ self.start_time==__o.start_time and
+ self.assert_hits==__o.assert_hits and
+ self.type==__o.type and
+ self.static==__o.static and
+ self.uncertain_param==__o.uncertain_param and
+ self.id==__o.id):
+ return False
+ if self.type=='simtrace':
+ for agent, trace in self.trace.items():
+ trace_other = __o.trace[agent]
+ for (step, step_other) in zip(trace, trace_other):
+ if not np.allclose(step, step_other, equal_nan=True):
+ print("diff in trace:", step, step_other)
+ return False
+ elif self.type=='reachtube':
+ for agent, trace in self.trace.items():
+ trace_other = __o.trace[agent]
+ for (step, step_other) in zip(trace, trace_other):
+ if not np.allclose(step, step_other, equal_nan=True):
+ print("diff in trace:", step, step_other)
+ return False
+ else:
+ raise ValueError
+
class AnalysisTree:
def __init__(self, root):
self.root:AnalysisTreeNode = root
@@ -162,3 +192,13 @@ class AnalysisTree:
for child in node.child:
nid = AnalysisTree._dump_tree(child, tree, id, nid)
return nid + 1
+
+
+ def __eq__(self, __o: object) -> bool:
+ assert isinstance(__o, AnalysisTree)
+ if len(self.nodes) != len(__o.nodes):
+ return False
+ for (node, node_other) in zip(self.nodes, __o.nodes):
+ if not (node == node_other):
+ return False
+ return True
diff --git a/verse/analysis/simulator.py b/verse/analysis/simulator.py
index f3108400..9a838ec2 100644
--- a/verse/analysis/simulator.py
+++ b/verse/analysis/simulator.py
@@ -1,5 +1,5 @@
from typing import Dict, List, Optional, Tuple
-import copy, itertools, functools, pprint, ray
+import copy, itertools, functools, pprint, ray, time
from verse.agents.base_agent import BaseAgent
from verse.analysis.incremental import SimTraceCache, convert_sim_trans, to_simulate
@@ -164,7 +164,7 @@ class Simulator:
print(len(next_nodes))
return (node.id, next_nodes, node.trace)
- def simulate(self, init_list, init_mode_list, static_list, uncertain_param_list, agent_list,
+ def simulate_par(self, init_list, init_mode_list, static_list, uncertain_param_list, agent_list,
transition_graph, time_horizon, time_step, lane_map, run_num, past_runs):
# Setup the root of the simulation tree
root = AnalysisTreeNode(
@@ -177,6 +177,7 @@ class Simulator:
child=[],
start_time=0,
)
+ start=time.perf_counter()
for i, agent in enumerate(agent_list):
root.init[agent.id] = init_list[i]
init_mode = [elem.name for elem in init_mode_list[i]]
@@ -223,9 +224,11 @@ class Simulator:
result_refs = remaining
self.simulation_tree = AnalysisTree(root)
+ end=time.perf_counter()
+ print("simulate time in (s):", end-start)
return self.simulation_tree
- def simulate_simple(self, init_list, init_mode_list, static_list, uncertain_param_list, agent_list,
+ def simulate(self, init_list, init_mode_list, static_list, uncertain_param_list, agent_list,
transition_graph, time_horizon, time_step, lane_map, run_num, past_runs):
# Setup the root of the simulation tree
root = AnalysisTreeNode(
@@ -238,6 +241,7 @@ class Simulator:
child=[],
start_time=0,
)
+ # start=time.perf_counter()
for i, agent in enumerate(agent_list):
root.init[agent.id] = init_list[i]
init_mode = [elem.name for elem in init_mode_list[i]]
@@ -355,5 +359,7 @@ class Simulator:
# simulation_queue += node.child
self.simulation_tree = AnalysisTree(root)
+ # end=time.perf_counter()
+ # print("simulate time in (s):", end-start)
return self.simulation_tree
diff --git a/verse/analysis/verifier.py b/verse/analysis/verifier.py
index 42b83b66..aab8480d 100644
--- a/verse/analysis/verifier.py
+++ b/verse/analysis/verifier.py
@@ -201,6 +201,7 @@ class Verifier:
asserts, all_possible_transitions = transition_graph.get_transition_verify(new_cache, paths_to_sim, node)
# pp(("transitions:", [(t[0], t[2]) for t in all_possible_transitions]))
node.assert_hits = asserts
+ print(asserts)
if asserts != None:
asserts, idx = asserts
for agent in node.agent:
@@ -325,7 +326,7 @@ class Verifier:
child=[],
start_time = 0,
ndigits = 10,
- type = 'simtrace',
+ type = 'reachtube',
id = 0
)
for i, agent in enumerate(agent_list):
@@ -334,7 +335,6 @@ class Verifier:
root.static[agent.id] = [elem.name for elem in static_list[i]]
root.uncertain_param[agent.id] = uncertain_param_list[i]
root.agent[agent.id] = agent
- root.type = 'reachtube'
verification_queue = [root]
result_refs = []
nodes = [root]
@@ -377,7 +377,7 @@ class Verifier:
return self.reachtube_tree
- def compute_full_reachtube_simple(
+ def compute_full_reachtube_ser(
self,
init_list: List[float],
init_mode_list: List[str],
@@ -405,7 +405,7 @@ class Verifier:
child=[],
start_time = 0,
ndigits = 10,
- type = 'simtrace',
+ type = 'reachtube',
id = 0
)
# root = AnalysisTreeNode()
@@ -417,7 +417,6 @@ class Verifier:
root.static[agent.id] = init_static
root.uncertain_param[agent.id] = uncertain_param_list[i]
root.agent[agent.id] = agent
- root.type = 'reachtube'
verification_queue = []
verification_queue.append(root)
num_calls = 0
diff --git a/verse/map/example_map/simple_map2.py b/verse/map/example_map/simple_map2.py
index f7293dbb..f83df332 100644
--- a/verse/map/example_map/simple_map2.py
+++ b/verse/map/example_map/simple_map2.py
@@ -127,6 +127,7 @@ class SimpleMap4(LaneMap):
}
def left_lane(self, lane_mode):
+ print("left_lane", lane_mode)
return self.left_dict[lane_mode]
def right_lane(self,lane_mode):
diff --git a/verse/plotter/plotter2D.py b/verse/plotter/plotter2D.py
index ea77607d..19729b27 100644
--- a/verse/plotter/plotter2D.py
+++ b/verse/plotter/plotter2D.py
@@ -492,6 +492,7 @@ def reachtube_tree(root: Union[AnalysisTree, AnalysisTreeNode], map=None, fig=go
showlegend=False,
))
previous_mode[agent_id] = node.mode[agent_id]
+ print(node.assert_hits)
if node.assert_hits != None and agent_id in node.assert_hits[0]:
fig.add_trace(go.Scatter(x=[trace[-1, x_dim]], y=[trace[-1, y_dim]],
mode='markers+text',
@@ -636,14 +637,14 @@ def reachtube_anime(root: Union[AnalysisTree, AnalysisTreeNode], map=None, fig=g
showlegend=False,
))
previous_mode[agent_id] = node.mode[agent_id]
- if node.assert_hits != None and agent_id in node.assert_hits:
- fig.add_trace(go.Scatter(x=[trace[-1, x_dim]], y=[trace[-1, y_dim]],
- mode='markers+text',
- text=['HIT:\n' +
- a for a in node.assert_hits[agent_id]],
- textfont={'color': 'black'},
- marker={'size': 4, 'color': 'black'},
- showlegend=False))
+ if node.assert_hits != None and agent_id in node.assert_hits:
+ fig.add_trace(go.Scatter(x=[trace[-1, x_dim]], y=[trace[-1, y_dim]],
+ mode='markers+text',
+ text=['HIT:\n' +
+ a for a in node.assert_hits[agent_id]],
+ textfont={'color': 'black'},
+ marker={'size': 4, 'color': 'black'},
+ showlegend=False))
queue += node.child
if scale_type == 'trace':
fig.update_xaxes(
--
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