diff --git a/README.md b/README.md
index 19f31305b170fb9e8ec903a93d306178925a031a..1692433b00f12f7a5e3a91091167447cb7dc5e98 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,7 @@
-# DryVR++
+# Verse Core Library
+
+Verse is a library for creating, simulating, and verifying uni*verses* or scenarios with intelligent and interacting autonomous agents.
+
## Installation
The package requires python 3.8+. The package can be installed using pip
@@ -15,29 +18,28 @@ or
pip install -r requirements.txt
```
-## Examples
-The package comes with several examples in the ```demo/``` folder
-- Run examples as:
+## Demos
+The package comes with several examples in the ```demo/``` folder. Run these as:
```
-python3 demo1.py
+python3 demo/vehicle/demo2.py
```
-Read the comments in ```ball_bounces.py``` to learn how to create new agents and scenarios. More detailed tutorials will be provided later.
+Read the comments in ```demo/ball/ball_bounces.py``` to learn how to create new agents and scenarios. More detailed tutorials will be provided later.
-## Package Structure
+## Library structure
-The source code of the package is contained in the src folder, which contains the following sub-directories.
+The source code of the package is contained in the verse folder, which contains the following sub-directories.
-- **scene_verifier**, which contains building blocks for creating and analyzing scenarios.
+- **verse**, 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
+ - **verse/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.
+ - **verse/agents** contains code for the agent base class in the scenario.
+ - **verse/map** contains code for the lane map base class and corresponding utilities in the scenario.
+ - **verse/code_parser** contains code for converting the controller code to ASTs.
+ - **verse/automaton** contains code implementing components in hybrid-automaton
+ - **verse/analysis** contains the **Simulator** and **Verifier** and related utilities for doing analysis of the scenario
+ - **verse/dryvr** dryvr for computing reachable sets
- **example** contains example map, sensor and agents that we provided
diff --git a/demo/ball_bounces_dev.py b/demo/ball_bounces_dev.py
index 69929b3af3f2fb32dffdd76e3b8cfde8c12702a8..992ba19b8ff0350698f57ea9d0109c64654c7d57 100644
--- a/demo/ball_bounces_dev.py
+++ b/demo/ball_bounces_dev.py
@@ -1,14 +1,5 @@
-from dryvr_plus_plus.example.example_agent.ball_agent import BallAgent
-from dryvr_plus_plus.scene_verifier.sensor.base_sensor import BaseSensor
-from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor4
-import plotly.graph_objects as go
-from dryvr_plus_plus.plotter.plotter2D import *
-from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap3
-from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
from enum import Enum, auto
import copy
-from typing import List
-
class BallTypeMode(Enum):
TYPE1 = auto()
@@ -30,8 +21,7 @@ class State:
def __init__(self, x, y, vx, vy, ball_mode: BallMode, type: BallTypeMode):
pass
-
-def controller(ego: State, others: List[State]):
+def controller(ego:State, other: State):
output = copy.deepcopy(ego)
if ego.x < 0:
output.vx = -ego.vx
@@ -46,18 +36,15 @@ def controller(ego: State, others: List[State]):
output.vy = -ego.vy
output.y = 20
- def abs_diff(a, b):
- if a < b:
- r = b - a
- else:
- r = a - b
- return r
-
- def dist(a, b):
- return abs_diff(a.x, b.x) + abs_diff(a.y, b.y)
- assert all(dist(ego, o) > 5 for o in others)
+ def close(a, b):
+ return a.x-b.x<5 and a.x-b.x>-5 and a.y-b.y<5 and a.y-b.y>-5
+ assert not (close(ego, other) and ego.x < other.x), "collision"
return output
+from verse.agents.example_agent.ball_agent import BallAgent
+from verse import Scenario
+from verse.plotter.plotter2D import *
+import plotly.graph_objects as go
if __name__ == "__main__":
ball_controller = './demo/ball_bounces_dev.py'
@@ -81,6 +68,8 @@ if __name__ == "__main__":
]
)
traces = bouncingBall.simulate(10, 0.01)
+ traces.dump('./output.json')
+ traces = AnalysisTree.load('./output.json')
fig = go.Figure()
fig = simulation_tree(traces, fig=fig)
fig.show()
diff --git a/demo/dryvr_demo/origin_agent.py b/demo/dryvr_demo/origin_agent.py
new file mode 100644
index 0000000000000000000000000000000000000000..e3a595844cadbfc1673c4ff1327d419a68873570
--- /dev/null
+++ b/demo/dryvr_demo/origin_agent.py
@@ -0,0 +1,159 @@
+# Example agent.
+from typing import Tuple, List
+
+import numpy as np
+from scipy.integrate import ode
+
+from verse.agents import BaseAgent
+from verse.map import LaneMap
+
+
+class vanderpol_agent(BaseAgent):
+ def __init__(self, id, code=None, file_name=None):
+ # Calling the constructor of tha base class
+ super().__init__(id, code, file_name)
+
+ @staticmethod
+ def dynamic(t, state):
+ x, y = state
+ x = float(x)
+ y = float(y)
+ x_dot = y
+ y_dot = (1-x**2)*y - x
+ return [x_dot, y_dot]
+
+ def TC_simulate(self, mode: List[str], initialCondition, time_bound, time_step, lane_map: LaneMap = None) -> np.ndarray:
+ time_bound = float(time_bound)
+ number_points = int(np.ceil(time_bound/time_step))
+ t = [round(i*time_step, 10) for i in range(0, number_points)]
+ # note: digit of time
+ init = initialCondition
+ trace = [[0]+init]
+ for i in range(len(t)):
+ r = ode(self.dynamic)
+ r.set_initial_value(init)
+ res: np.ndarray = r.integrate(r.t + time_step)
+ init = res.flatten().tolist()
+ trace.append([t[i] + time_step] + init)
+ return np.array(trace)
+
+
+class thermo_agent(BaseAgent):
+ def __init__(self, id, code=None, file_name=None):
+ # Calling the constructor of tha base class
+ super().__init__(id, code, file_name)
+
+ @staticmethod
+ def dynamic(t, state, rate):
+ temp, total_time, cycle_time = state
+ temp = float(temp)
+ total_time = float(total_time)
+ cycle_time = float(cycle_time)
+ temp_dot = temp*rate
+ total_time_dot = 1
+ cycle_time_dot = 1
+ return [temp_dot, total_time_dot, cycle_time_dot]
+
+ def action_handler(self, mode):
+ if mode == 'ON':
+ rate = 0.1
+ elif mode == 'OFF':
+ rate = -0.1
+ else:
+ print(mode)
+ raise ValueError(f'Invalid mode: {mode}')
+ return rate
+
+ def TC_simulate(self, mode: List[str], initialCondition, time_bound, time_step, lane_map: LaneMap = None) -> np.ndarray:
+ time_bound = float(time_bound)
+ number_points = int(np.ceil(time_bound/time_step))
+ t = [round(i*time_step, 10) for i in range(0, number_points)]
+
+ init = initialCondition
+ trace = [[0]+init]
+ for i in range(len(t)):
+ rate = self.action_handler(mode[0])
+ r = ode(self.dynamic)
+ r.set_initial_value(init).set_f_params(rate)
+ res: np.ndarray = r.integrate(r.t + time_step)
+ init = res.flatten().tolist()
+ trace.append([t[i] + time_step] + init)
+ return np.array(trace)
+
+
+class craft_agent(BaseAgent):
+ def __init__(self, id, code=None, file_name=None):
+ # Calling the constructor of tha base class
+ super().__init__(id, code, file_name)
+
+ @staticmethod
+ def ProxA_dynamics(t, state):
+ xp, yp, xd, yd, total_time, cycle_time = state
+ xp_dot = xd
+ yp_dot = yd
+ xd_dot = -2.89995083970656*xd - 0.0576765518445905*xp + 0.00877200894463775*yd + 0.000200959896519766 * \
+ yp - (1.43496e+18*xp + 6.050365344e+25)*pow(pow(yp, 2) +
+ pow(xp + 42164000, 2), -1.5) + 807.153595726846
+ yd_dot = -0.00875351105536225*xd - 0.000174031357370456*xp - 2.90300269286856*yd - \
+ 1.43496e+18*yp*pow(pow(yp, 2) + pow(xp + 42164000,
+ 2), -1.5) - 0.0664932019993982*yp
+ total_time_dot = 1
+ cycle_time_dot = 1
+ return [xp_dot, yp_dot, xd_dot, yd_dot, total_time_dot, cycle_time_dot]
+
+ @staticmethod
+ def ProxB_dynamics(t, state):
+ xp, yp, xd, yd, total_time, cycle_time = state
+ xp_dot = xd
+ yp_dot = yd
+ xd_dot = -19.2299795908647*xd - 0.576076729033652*xp + 0.00876275931760007*yd + 0.000262486079431672 * \
+ yp - (1.43496e+18*xp + 6.050365344e+25)*pow(pow(yp, 2) +
+ pow(xp + 42164000, 2), -1.5) + 807.153595726846
+ yd_dot = -0.00876276068239993*xd - 0.000262486080737868*xp - 19.2299765959399*yd - \
+ 1.43496e+18*yp*pow(pow(yp, 2) + pow(xp + 42164000,
+ 2), -1.5) - 0.575980743701182*yp
+ total_time_dot = 1
+ cycle_time_dot = 1
+ return [xp_dot, yp_dot, xd_dot, yd_dot, total_time_dot, cycle_time_dot]
+
+ @staticmethod
+ def Passive_dynamics(t, state):
+ xp, yp, xd, yd, total_time, cycle_time = state
+ xp_dot = xd
+ yp_dot = yd
+ xd_dot = 0.0000575894721132000*xp+0.00876276*yd
+ yd_dot = -0.00876276*xd
+ total_time_dot = 1
+ cycle_time_dot = 1
+ return [xp_dot, yp_dot, xd_dot, yd_dot, total_time_dot, cycle_time_dot]
+
+ def action_handler(self, mode):
+ if mode == 'ProxA':
+ return ode(self.ProxA_dynamics)
+ elif mode == 'ProxB':
+ return ode(self.ProxB_dynamics)
+ elif mode == 'Passive':
+ return ode(self.Passive_dynamics)
+ else:
+ raise ValueError
+
+ def TC_simulate(self, mode: List[str], initialCondition, time_bound, time_step, lane_map: LaneMap = None) -> np.ndarray:
+ time_bound = float(time_bound)
+ number_points = int(np.ceil(time_bound/time_step))
+ t = [round(i*time_step, 10) for i in range(0, number_points)]
+
+ init = initialCondition
+ trace = [[0]+init]
+ for i in range(len(t)):
+ r = self.action_handler(mode[0])
+ r.set_initial_value(init)
+ res: np.ndarray = r.integrate(r.t + time_step)
+ init = res.flatten().tolist()
+ trace.append([t[i] + time_step] + init)
+ return np.array(trace)
+
+
+if __name__ == '__main__':
+ aball = vanderpol_agent('agent1')
+ trace = aball.TC_Simulate(['none'], [1.25, 2.25], 7, 0.05)
+ print(trace)
diff --git a/demo/dryvr_demo/rendezvous_controller.py b/demo/dryvr_demo/rendezvous_controller.py
index 0d1e310f79229d69582257eb8918ce685d86272e..733bf846986189b04a1d18e8dc9f862959165173 100644
--- a/demo/dryvr_demo/rendezvous_controller.py
+++ b/demo/dryvr_demo/rendezvous_controller.py
@@ -34,4 +34,9 @@ def controller(ego: State):
if ego.cycle_time >= 120:
output.craft_mode = CraftMode.Passive
output.cycle_time = 0.0
+
+ assert (ego.craft_mode!=CraftMode.ProxB or\
+ (ego.xp>=-105 and ego.yp>=0.57735*ego.xp and -ego.yp>=0.57735*ego.xp)), "Line-of-sight"
+ assert (ego.craft_mode!=CraftMode.Passive or\
+ (ego.xp<=-0.2 or ego.xp>=0.2 or ego.yp<=-0.2 or ego.yp>=0.2)), "Collision avoidance"
return output
diff --git a/demo/dryvr_demo/rendezvous_demo.py b/demo/dryvr_demo/rendezvous_demo.py
index eeec204c004a9ad28de75b8c693a34e7ba56f65b..8aecb3a0173772d59a0b62f8644fc09d4579c22b 100644
--- a/demo/dryvr_demo/rendezvous_demo.py
+++ b/demo/dryvr_demo/rendezvous_demo.py
@@ -1,36 +1,32 @@
-from dryvr_plus_plus.example.example_agent.origin_agent import craft_agent
-from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
-from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMap3, SimpleMap5, SimpleMap6
-from dryvr_plus_plus.plotter.plotter2D import *
-from dryvr_plus_plus.example.example_sensor.craft_sensor import CraftSensor
+from origin_agent import craft_agent
+from verse import Scenario
+from verse.plotter.plotter2D import *
import plotly.graph_objects as go
from enum import Enum, auto
-
class CraftMode(Enum):
ProxA = auto()
ProxB = auto()
Passive = auto()
-
if __name__ == "__main__":
input_code_name = './demo/dryvr_demo/rendezvous_controller.py'
scenario = Scenario()
car = craft_agent('test', file_name=input_code_name)
scenario.add_agent(car)
- scenario.set_sensor(CraftSensor())
# modify mode list input
scenario.set_init(
[
- [[-925, -425, 0, 0, 0, 0], [-875, -375, 0, 0, 0, 0]],
+ [[-925, -425, 0, 0, 0, 0], [-875, -375, 5, 5, 0, 0]],
],
[
tuple([CraftMode.ProxA]),
]
)
traces = scenario.verify(200, 1)
+ print(traces)
fig = go.Figure()
fig = reachtube_tree(traces, None, fig, 1, 2,
'lines', 'trace', print_dim_list=[1, 2])
diff --git a/demo/dryvr_demo/thermo_demo.py b/demo/dryvr_demo/thermo_demo.py
index 0fff18a6997e979041df0ee8c066b0b1c4888bd2..e5ce9cbb7a795af4e6fb8d33377a968afb94c067 100644
--- a/demo/dryvr_demo/thermo_demo.py
+++ b/demo/dryvr_demo/thermo_demo.py
@@ -1,28 +1,20 @@
-from dryvr_plus_plus.example.example_agent.origin_agent import thermo_agent
-from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
-from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMap3, SimpleMap5, SimpleMap6
-from dryvr_plus_plus.plotter.plotter2D import *
-from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor2
-from dryvr_plus_plus.example.example_sensor.thermo_sensor import ThermoSensor
+from origin_agent import thermo_agent
+from verse import Scenario
+from verse.plotter.plotter2D import *
import plotly.graph_objects as go
from enum import Enum, auto
-
class ThermoMode(Enum):
ON = auto()
OFF = auto()
-
if __name__ == "__main__":
- input_code_name = './demo/dryvr_demo/thermo_controller.py'
+ input_code_name = './thermo_controller.py'
scenario = Scenario()
car = thermo_agent('test', file_name=input_code_name)
scenario.add_agent(car)
- tmp_map = SimpleMap3()
- scenario.set_map(tmp_map)
- scenario.set_sensor(ThermoSensor())
# modify mode list input
scenario.set_init(
[
@@ -34,6 +26,6 @@ if __name__ == "__main__":
)
traces = scenario.verify(3.5, 0.05)
fig = go.Figure()
- fig = reachtube_tree(traces, tmp_map, fig, 2, 1,
+ fig = reachtube_tree(traces, None, fig, 2, 1,
'lines', 'trace', print_dim_list=[2, 1])
fig.show()
diff --git a/demo/dryvr_demo/thermo_demo2.py b/demo/dryvr_demo/thermo_demo2.py
index c5f3cf5bbd144420e91bbdc2a3a8d21c94432cfa..08882868afd5efd7d9fad0eefa5bfa759bc8dea2 100644
--- a/demo/dryvr_demo/thermo_demo2.py
+++ b/demo/dryvr_demo/thermo_demo2.py
@@ -1,20 +1,16 @@
-from dryvr_plus_plus.example.example_agent.origin_agent import thermo_agent
-from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
-from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMap3, SimpleMap5, SimpleMap6
-from dryvr_plus_plus.plotter.plotter2D import *
-from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor2
+from origin_agent import thermo_agent
+from verse import Scenario
+from verse.plotter.plotter2D import *
import plotly.graph_objects as go
from enum import Enum, auto
-
class ThermoMode(Enum):
ON = auto()
OFF = auto()
-
if __name__ == "__main__":
- input_code_name = './demo/dryvr_demo/thermo_controller.py'
+ input_code_name = './thermo_controller.py'
scenario = Scenario()
car = thermo_agent('test', file_name=input_code_name)
diff --git a/demo/dryvr_demo/vanderpol_controller.py b/demo/dryvr_demo/vanderpol_controller.py
index f52bde1cc9573bd567b319d70c040a3e7573a5d9..5a6de9525f697868dfdb528ca662909e7cf45819 100644
--- a/demo/dryvr_demo/vanderpol_controller.py
+++ b/demo/dryvr_demo/vanderpol_controller.py
@@ -1,11 +1,9 @@
from enum import Enum, auto
import copy
-
class AgentMode(Enum):
Default = auto()
-
class State:
x = 0.0
y = 0.0
@@ -14,8 +12,7 @@ class State:
def __init__(self, x, y, agent_mode: AgentMode):
pass
-
-def controller(ego: State, lane_map):
+def controller(ego: State):
output = copy.deepcopy(ego)
return output
diff --git a/demo/dryvr_demo/vanderpol_demo.py b/demo/dryvr_demo/vanderpol_demo.py
index bf4c96d5503b9b1676af3f5195d40dbc05860fcc..947a138196ea82b69385aa69407a1b8fd49dd6f1 100644
--- a/demo/dryvr_demo/vanderpol_demo.py
+++ b/demo/dryvr_demo/vanderpol_demo.py
@@ -1,8 +1,6 @@
-from dryvr_plus_plus.example.example_agent.origin_agent import vanderpol_agent
-from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
-from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMap3, SimpleMap5, SimpleMap6
-from dryvr_plus_plus.plotter.plotter2D import *
-from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor2
+from origin_agent import vanderpol_agent
+from verse import Scenario
+from verse.plotter.plotter2D import *
import plotly.graph_objects as go
from enum import Enum, auto
@@ -13,7 +11,7 @@ class AgentMode(Enum):
if __name__ == "__main__":
- input_code_name = './demo/dryvr_demo/vanderpol_controller.py'
+ input_code_name = './vanderpol_controller.py'
scenario = Scenario()
car = vanderpol_agent('car1', file_name=input_code_name)
diff --git a/demo/dryvr_demo/vanderpol_demo2.py b/demo/dryvr_demo/vanderpol_demo2.py
index 1a53c83c9104bcc91fdd2ca51f1c1b68cd300c5b..b8e20da8cc7bf545d6127ec3aeb6ebb1885bea53 100644
--- a/demo/dryvr_demo/vanderpol_demo2.py
+++ b/demo/dryvr_demo/vanderpol_demo2.py
@@ -1,19 +1,15 @@
-from dryvr_plus_plus.example.example_agent.origin_agent import vanderpol_agent
-from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
-from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMap3, SimpleMap5, SimpleMap6
-from dryvr_plus_plus.plotter.plotter2D import *
-from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor2
+from origin_agent import vanderpol_agent
+from verse import Scenario
+from verse.plotter.plotter2D import *
import plotly.graph_objects as go
from enum import Enum, auto
-
class AgentMode(Enum):
Default = auto()
-
if __name__ == "__main__":
- input_code_name = './demo/dryvr_demo/vanderpol_controller.py'
+ input_code_name = './vanderpol_controller.py'
scenario = Scenario()
car = vanderpol_agent('car1', file_name=input_code_name)
diff --git a/demo/output.json b/demo/output.json
new file mode 100644
index 0000000000000000000000000000000000000000..48103d17cdd10329832af2ac8bb43bc078c17d46
--- /dev/null
+++ b/demo/output.json
@@ -0,0 +1,1237 @@
+{
+"0": {
+ "node_name": "0-0",
+ "id": 0,
+ "start_line": 2,
+ "parent": null,
+ "child": {
+ "1-0": {
+ "name": "1-0",
+ "index": 1,
+ "start_line": 253
+ },
+ "1-1": {
+ "name": "1-1",
+ "index": 3,
+ "start_line": 745
+ }
+ },
+ "agent": {
+ "car1": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>",
+ "car2": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>"
+ },
+ "init": {
+ "car1": "[[0, -0.2, 0, 1.0], [0.1, 0.2, 0, 1.0]]",
+ "car2": "[[10, 0, 0, 0.5], [10, 0, 0, 0.5]]"
+ },
+ "mode": {
+ "car1": "[\"Normal\", \"Lane1\"]",
+ "car2": "[\"Normal\", \"Lane1\"]"
+ },
+ "static": {
+ "car1": "[]",
+ "car2": "[]"
+ },
+ "start_time": 0,
+ "trace": {
+ "car1": [
+ "[0.0, 0.0, -0.2, -0.010259574072372706, 1.0]",
+ "[0.2, 0.2839735187071956, 0.2, 0.010259574072372706, 1.0]",
+ "[0.2, 0.21602648129280438, -0.18102260458410557, -0.018379536882066838, 1.0]",
+ "[0.4, 0.48455269515820604, 0.18102260458410557, 0.018379536882066838, 1.0]",
+ "[0.4, 0.4154473048417939, -0.16395414571913436, -0.024699297819101074, 1.0]",
+ "[0.6000000000000001, 0.6850216365043383, 0.16395414571913436, 0.024699297819101074, 1.0]",
+ "[0.6000000000000001, 0.6149783634956615, -0.14859251084056646, -0.029510363790061403, 1.0]",
+ "[0.8, 0.8854018778850428, 0.14859251084056646, 0.029510363790061403, 1.0]",
+ "[0.8, 0.8145981221149574, -0.13475743251635525, -0.033062429008290706, 1.0]",
+ "[1.0, 1.085710653625001, 0.13475743251635525, 0.033062429008290706, 1.0]",
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+ ]
+ },
+ "type": "reachtube",
+ "assert_hits": null
+},
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+ "start_line": 253,
+ "parent": {
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+ "car2": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>"
+ },
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+ },
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+ "car2": "[\"Normal\", \"Lane1\"]"
+ },
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+ "car2": "[]"
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+ "[30.0, 30.126903617864386, -2.999204849546421, -0.0009067544854657157, 1.0]"
+ ]
+ },
+ "type": "reachtube",
+ "assert_hits": null
+},
+"3": {
+ "node_name": "1-1",
+ "id": 3,
+ "start_line": 745,
+ "parent": {
+ "name": "0-0",
+ "index": 0,
+ "start_line": 2
+ },
+ "child": {
+ "2-1": {
+ "name": "2-1",
+ "index": 4,
+ "start_line": 890
+ }
+ },
+ "agent": {
+ "car1": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>",
+ "car2": "<class 'dryvr_plus_plus.example.example_agent.car_agent.CarAgent'>"
+ },
+ "init": {
+ "car1": "[[9.612897015045753, -0.002759923802261281, -0.0036364371585944077, 1.0], [10.487103292978597, 0.002759923802261281, 0.0036364371585944077, 1.0]]"
+ },
+ "mode": {
+ "car1": "[\"SwitchLeft\", \"Lane1\"]",
+ "car2": "[\"Normal\", \"Lane1\"]"
+ },
+ "static": {
+ "car1": "[]",
+ "car2": "[]"
+ },
+ "start_time": 9.6,
+ "trace": {
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+ "[16.8, 16.93932622833776, 2.850798306703081, 0.19641586235562516, 1.0]",
+ "[16.8, 16.282654127656375, 2.8242395759016423, 0.15914354276299986, 1.0]",
+ "[17.0, 17.138956285502516, 2.8630110815240273, 0.18382808822484298, 1.0]",
+ "[17.0, 16.48212017433662, 2.83881268466433, 0.1480100284680733, 1.0]",
+ "[17.2, 17.338645312595762, 2.8742033034539873, 0.17186153183283004, 1.0]",
+ "[17.2, 16.681672983450763, 2.852146639354745, 0.13757210027407438, 1.0]",
+ "[17.4, 17.53838379398948, 2.8844624123646576, 0.16051413061752048, 1.0]",
+ "[17.4, 16.88129825323835, 2.864349767933296, 0.12779832724409432, 1.0]",
+ "[17.6, 17.73816376909606, 2.8938681939154622, 0.14977824332505776, 1.0]",
+ "[17.6, 17.080984070247908, 2.8755207666261264, 0.11865679526191278, 1.0]",
+ "[17.8, 17.937978575582527, 2.9024934447455544, 0.13964174488416128, 1.0]",
+ "[17.8, 17.2807205074241, 2.885749528765914, 0.11011550542911772, 1.0]",
+ "[18.0, 18.137822635146254, 2.910404586239107, 0.13008897174386877, 1.0]",
+ "[18.0, 17.48049928954811, 2.895117916733759, 0.10214270111929333, 1.0]",
+ "[18.2, 18.337691274873745, 2.917662228625725, 0.12110153276633531, 1.0]",
+ "[18.2, 17.680313515060572, 2.9037004762576433, 0.09470713269927078, 1.0]",
+ "[18.4, 18.537580578301224, 2.924321687843951, 0.11265900015628011, 1.0]",
+ "[18.4, 17.880157424941572, 2.9115650940134485, 0.08777826821917177, 1.0]",
+ "[18.6, 18.73748726124037, 2.930433457988643, 0.1047394940894836, 1.0]",
+ "[18.6, 18.0800262107748, 2.9187736006093314, 0.08132645761982056, 1.0]",
+ "[18.8, 18.937408568236727, 2.9360436423585616, 0.09732017374995668, 1.0]",
+ "[18.8, 18.279915855384814, 2.925382321754916, 0.07532305724522348, 1.0]",
+ "[19.0, 19.137342186210464, 2.9411943461759535, 0.09037764645943412, 1.0]",
+ "[19.0, 18.479823000518483, 2.931442580834107, 0.06974052070565598, 1.0]",
+ "[19.2, 19.337285926266368, 2.9459284595939357, 0.08388830553076793, 1.0]",
+ "[19.2, 18.679744865275943, 2.9370006472079746, 0.06455223424353823, 1.0]",
+ "[19.4, 19.537238550425435, 2.950273824736654, 0.07782860643412223, 1.0]",
+ "[19.4, 18.879678930115155, 2.942102195367346, 0.05973318378593309, 1.0]",
+ "[19.6, 19.737198541222757, 2.954265310479381, 0.07217531599161289, 1.0]",
+ "[19.6, 19.079623370417632, 2.9467834189319073, 0.055259412971571595, 1.0]",
+ "[19.8, 19.937164744305495, 2.957932307742933, 0.06690550553538155, 1.0]",
+ "[19.8, 19.27957653534654, 2.9510798243416394, 0.051108184695665665, 1.0]",
+ "[20.0, 20.137136188172427, 2.9613016982245575, 0.06199700187185968, 1.0]",
+ "[20.0, 19.479537040486683, 2.955023816821861, 0.04725797181043115, 1.0]",
+ "[20.2, 20.33711205481485, 2.9643980761385174, 0.0574283360443551, 1.0]",
+ "[20.2, 19.67950372412609, 2.958644981907312, 0.04368843740108568, 1.0]",
+ "[20.4, 20.537091655144852, 2.967243949672806, 0.053178822178648014, 1.0]",
+ "[20.4, 19.87947561084024, 2.9619703405657827, 0.0403804068575788, 1.0]",
+ "[20.6, 20.737074408417158, 2.969859924046676, 0.04922861310542218, 1.0]",
+ "[20.6, 20.07945188113836, 2.965024580395319, 0.0373158336224683, 1.0]",
+ "[20.8, 20.93705982498535, 2.972264867887354, 0.04555873666107423, 1.0]",
+ "[20.8, 20.27943184614418, 2.9678302651609636, 0.03447776019876648, 1.0]",
+ "[21.0, 21.13704749184314, 2.9744760644887953, 0.04215111603062963, 1.0]",
+ "[21.0, 20.479414926461175, 2.9704080247377305, 0.031850275744042957, 1.0]",
+ "[21.2, 21.337037060493405, 2.976509349370976, 0.038988577020894345, 1.0]",
+ "[21.2, 20.679400634517624, 2.9727767273386196, 0.029418471354476554, 1.0]",
+ "[21.4, 21.537028236764495, 2.9783792354253937, 0.0360548447335804, 1.0]",
+ "[21.4, 20.879388559807918, 2.974953635731295, 0.027168393950976137, 1.0]",
+ "[21.6, 21.737020772255754, 2.9800990268106453, 0.03333453174179552, 1.0]",
+ "[21.6, 21.079378356546115, 2.97695454898519, 0.025086999515290236, 1.0]",
+ "[21.8, 21.937014457148017, 2.9816809226509178, 0.030813119553860173, 1.0]",
+ "[21.8, 21.27936973333002, 2.9787939311422575, 0.02316210628383695, 1.0]",
+ "[22.0, 22.137009114157493, 2.9831361114892667, 0.02847693487097248, 1.0]",
+ "[22.0, 21.479362444482426, 2.980485028068915, 0.021382348387761756, 1.0]",
+ "[22.2, 22.33700459344878, 2.984474857355969, 0.026313121905123027, 1.0]",
+ "[22.2, 21.679356282792373, 2.9820399736234036, 0.019737130326739443, 1.0]",
+ "[22.4, 22.537000768352303, 2.985706578229386, 0.024309611816546894, 1.0]",
+ "[22.4, 21.879351073426033, 2.9834698861610396, 0.01821658257883212, 1.0]",
+ "[22.6, 22.73699753175751, 2.986839917591865, 0.02245509015192333, 1.0]",
+ "[22.6, 22.07934666881541, 2.984784956298735, 0.016811518577143574, 1.0]",
+ "[22.799999999999997, 22.93699479307342, 2.9878828097156145, 0.020738963011900164, 1.0]",
+ "[22.799999999999997, 22.279342944365165, 2.9859945267690566, 0.0155133932241655, 1.0]",
+ "[23.0, 23.136992475666254, 2.988842539252504, 0.019151322546098873, 1.0]",
+ "[23.0, 22.479339794844428, 2.9871071651119, 0.014314263064928286, 1.0]",
+ "[23.2, 23.33699051469825, 2.9897257956467933, 0.017682912262656343, 1.0]",
+ "[23.2, 22.67933713135249, 2.9881307298779896, 0.013206748198892957, 1.0]",
+ "[23.4, 23.5369888553041, 2.9905387228402027, 0.016325092545023644, 1.0]",
+ "[23.4, 22.87933487876575, 2.9890724309519197, 0.012183995976687633, 1.0]",
+ "[23.6, 23.736987451051544, 2.991286964694205, 0.015069806688899711, 1.0]",
+ "[23.6, 23.079332973588347, 2.98993888454273, 0.011239646500198349, 1.0]",
+ "[23.799999999999997, 23.93698626264148, 2.991975706514072, 0.013909547704844715, 1.0]",
+ "[23.799999999999997, 23.27933136214175, 2.9907361633363507, 0.010367799922232792, 1.0]",
+ "[24.0, 24.136985256809854, 2.992609713023102, 0.01283732607554589, 1.0]",
+ "[24.0, 23.47932999903905, 2.991469842256014, 0.009562985524153418, 1.0]",
+ "[24.2, 24.336984405399622, 2.9931933631026784, 0.011846638609375881, 1.0]",
+ "[24.2, 23.67932884589864, 2.9921450402334617, 0.008820132535833382, 1.0]",
+ "[24.4, 24.5369836845763, 2.9937306815844043, 0.010931438492466267, 1.0]",
+ "[24.4, 23.879327870259225, 2.992766458354823, 0.008134542651411926, 1.0]",
+ "[24.6, 24.736983074164563, 2.994225368354013, 0.010086106608862073, 1.0]",
+ "[24.6, 24.079327044664197, 2.9933384147100943, 0.007501864186097102, 1.0]",
+ "[24.799999999999997, 24.936982557087212, 2.9946808250027273, 0.009305424171431969, 1.0]",
+ "[24.799999999999997, 24.279326345888684, 2.993864876243709, 0.006918067813246297, 1.0]",
+ "[25.0, 25.13698211889038, 2.9951001792401075, 0.008584546684220767, 1.0]",
+ "[25.0, 24.479325754286805, 2.9943494878754007, 0.0063794238167657995, 1.0]",
+ "[25.2, 25.336981747341763, 2.995486307262954, 0.0079189792390996, 1.0]",
+ "[25.2, 24.67932525324017, 2.994795599135124, 0.00588248079118645, 1.0]",
+ "[25.4, 25.53698143212123, 2.9958418542570433, 0.007304553135257474, 1.0]",
+ "[25.4, 24.879324828688276, 2.9952062885329065, 0.005424045720327638, 1.0]",
+ "[25.6, 25.736981164765222, 2.996169253192722, 0.0067374037987321285, 1.0]",
+ "[25.6, 25.079324468769077, 2.995584385863892, 0.005001165365010094, 1.0]",
+ "[25.799999999999997, 25.936980938006236, 2.996470742059983, 0.006213949970327077, 1.0]",
+ "[25.799999999999997, 25.279324163615804, 2.99593249263023, 0.0046111088906816205, 1.0]",
+ "[26.0, 26.136980745672773, 2.9967483796775616, 0.005730874123498178, 1.0]",
+ "[26.0, 25.479323904880538, 2.9962530007443338, 0.004251351666758841, 1.0]",
+ "[26.2, 26.33698058253246, 2.997004060196719, 0.005285104068774723, 1.0]",
+ "[26.2, 25.679323685490598, 2.9965481096637774, 0.003919560171041361, 1.0]",
+ "[26.4, 26.53698044414866, 2.997239526410538, 0.004873795697728087, 1.0]",
+ "[26.4, 25.879323499453, 2.996819842093668, 0.003613577934443708, 1.0]",
+ "[26.6, 26.736980326759262, 2.9974563819697018, 0.0044943168170974886, 1.0]",
+ "[26.6, 26.079323341688987, 2.9970700583801797, 0.00333141246347586, 1.0]",
+ "[26.799999999999997, 26.93698022717389, 2.9976561025968373, 0.004144232022305695, 1.0]",
+ "[26.799999999999997, 26.279323207894123, 2.9973004697078367, 0.003071223080300614, 1.0]",
+ "[27.0, 27.136980142686895, 2.9978400463834984, 0.0038212885590079796, 1.0]",
+ "[27.0, 26.47932309441987, 2.997512650202981, 0.00283130962273465, 1.0]",
+ "[27.2, 27.33698007100359, 2.9980094632465417, 0.0035234031213737674, 1.0]",
+ "[27.2, 26.679322998173365, 2.9977080480367406, 0.002610101949188338, 1.0]",
+ "[27.4, 27.53698001017778, 2.998165503614038, 0.003248649536375485, 1.0]",
+ "[27.4, 26.879322916532622, 2.997887995612525, 0.002406150196209186, 1.0]",
+ "[27.6, 27.736979958558734, 2.9983092264047846, 0.0029952472843420837, 1.0]",
+ "[27.6, 27.07932284727469, 2.9980537189155525, 0.002218115738973403, 1.0]",
+ "[27.799999999999997, 27.93697991474643, 2.9984416063600134, 0.0027615508073341975, 1.0]",
+ "[27.799999999999997, 27.27932278851481, 2.998206346095122, 0.0020447628077250534, 1.0]",
+ "[28.0, 28.136979877553365, 2.998563540780899, 0.002546039558438331, 1.0]",
+ "[28.0, 27.47932273865493, 2.9983469153441185, 0.0018849507157737899, 1.0]",
+ "[28.2, 28.336979845973126, 2.9986758557208852, 0.0023473087467936926, 1.0]",
+ "[28.2, 27.67932269633993, 2.998476382134673, 0.0017376266572093116, 1.0]",
+ "[28.4, 28.536979819161285, 2.998779311677695, 0.002164060735005491, 1.0]",
+ "[28.4, 27.87932266042144, 2.998595625863752, 0.0016018190349635015, 1.0]",
+ "[28.6, 28.73697979639823, 2.998874608826124, 0.001995097047518243, 1.0]",
+ "[28.6, 28.079322629931447, 2.9987054559578294, 0.0014766312822341318, 1.0]",
+ "[28.799999999999997, 28.93697977707261, 2.998962391829221, 0.0018393109504866807, 1.0]",
+ "[28.799999999999997, 28.27932260404914, 2.9988066174815744, 0.0013612361425752366, 1.0]",
+ "[29.0, 29.13697976066549, 2.999043254262377, 0.0016956805656610538, 1.0]",
+ "[29.0, 28.479322582077984, 2.998899796291618, 0.0012548703761480985, 1.0]",
+ "[29.2, 29.33697974673632, 2.9991177426818343, 0.0015632624827742515, 1.0]",
+ "[29.2, 28.67932256342688, 2.998985623773004, 0.001156829861719471, 1.0]",
+ "[29.4, 29.53697973491108, 2.9991863603666484, 0.0014411858368623528, 1.0]",
+ "[29.4, 28.879322547594178, 2.999064681192692, 0.0010664650659762335, 1.0]",
+ "[29.6, 29.73697972487223, 2.9992495707605853, 0.0013286468188515967, 1.0]",
+ "[29.6, 29.07932253415409, 2.999137503701605, 0.000983176853611386, 1.0]",
+ "[29.799999999999997, 29.93697971635017, 2.999307800638341, 0.0012249035895945792, 1.0]",
+ "[29.799999999999997, 29.279322522745222, 2.9992045840140418, 0.0009064126134161133, 1.0]",
+ "[30.0, 30.13697970911004, 2.999361461955754, 0.0011292715693261251, 1.0]"
+ ]
+ },
+ "type": "reachtube",
+ "assert_hits": null
+}
+}
\ No newline at end of file
diff --git a/demo/quadrotor/output.json b/demo/quadrotor/output.json
index 6e6b55dd80d2d2367a65fca5818a8778a30bc110..c03cb1f1a86a9582ac4de66e28aa544398ac8826 100644
--- a/demo/quadrotor/output.json
+++ b/demo/quadrotor/output.json
@@ -8,14 +8,14 @@
"1-0": {
"name": "1-0",
"index": 1,
- "start_line": 346
+ "start_line": 345
}
},
"agent": {
"test": "<class 'dryvr_plus_plus.example.example_agent.quadrotor_agent.QuadrotorAgent'>"
},
"init": {
- "test": "[2.9067832836301606, -0.09921741595708788, -0.027174949595953485, 0.02279669595037498, 0.02341088215692947, 0.01180897064283517, 0, 0.0]"
+ "test": "[2.991558736111579, -0.07835016954347276, -0.09073820491240625, 0.03775253424498685, 0.0923077274644122, 0.03812121609123423, 0, 0.0]"
},
"mode": {
"test": "[\"Follow_Waypoint\"]"
@@ -26,318 +26,317 @@
"start_time": 0,
"trace": {
"test": [
- "[0.0, 2.9067832836301606, -0.09921741595708788, -0.027174949595953485, 0.02279669595037498, 0.02341088215692947, 0.01180897064283517, 0.0, 0.0]",
- "[0.05, 2.909153494324061, -0.09681649595286031, -0.024084456402001464, 0.07201085260828849, 0.072625038814843, 0.11180897064283524, 0.0, 0.0]",
- "[0.1, 2.913984410381809, -0.09195487058478463, -0.015993968224995242, 0.121225009266202, 0.12183919547275651, 0.21180897064283533, 0.0, 0.0]",
- "[0.15000000000000002, 2.9212760277678367, -0.08463254388842968, -0.002903493264951096, 0.1704391659241154, 0.1710533521306699, 0.3118089706428352, 0.0, 0.0]",
- "[0.2, 2.9310283423505807, -0.07484951999535866, 0.010186950451320878, 0.21965332258202894, 0.22026750878858345, 0.21180897064283505, 0.0, 0.0]",
- "[0.25, 2.9432413706921623, -0.06506650676840911, 0.018277382126459782, 0.2688674792399424, 0.17105335213066997, 0.11180897064283496, 0.0, 0.0]",
- "[0.3, 2.9579151133474277, -0.05774420785514404, 0.02636786068415023, 0.318081635897856, 0.12183919547275648, 0.211808970642835, 0.0, 0.0]",
- "[0.35, 2.975049570055167, -0.05288262299435229, 0.034458266552961525, 0.36729579255576944, 0.072625038814843, 0.1118089706428349, 0.0, 0.0]",
- "[0.39999999999999997, 2.9946447403787726, -0.048020990357792954, 0.04254876949905885, 0.41650994921368295, 0.12183919547275653, 0.21180897064283488, 0.0, 0.0]",
- "[0.44999999999999996, 3.016700623586445, -0.043159416331142786, 0.05063915335359158, 0.4657241058715964, 0.07262503881484303, 0.1118089706428348, 0.0, 0.0]",
- "[0.49999999999999994, 3.0387564391740542, -0.040758554096371205, 0.05372952916372574, 0.4165099492136829, 0.023410882156929526, 0.011808970642834732, 0.0, 0.0]",
- "[0.5499999999999999, 3.0583515459319597, -0.038357619285746235, 0.056820052443324595, 0.36729579255576933, 0.07262503881484303, 0.11180897064283474, 0.0, 0.0]",
- "[0.6, 3.07548594417184, -0.035956758732912035, 0.059910424835870224, 0.31808163589785593, 0.02341088215692951, 0.011808970642834666, 0.0, 0.0]",
- "[0.65, 3.0901596342420192, -0.03355582290035244, 0.06300095019197452, 0.2688674792399424, 0.072625038814843, 0.11180897064283467, 0.0, 0.0]",
- "[0.7000000000000001, 3.1023726165239154, -0.031154962639711646, 0.06609132199080192, 0.21965332258202896, 0.023410882156929477, 0.011808970642834603, 0.0, 0.0]",
- "[0.7500000000000001, 3.1121248914261765, -0.031214809758704918, 0.06918184633525955, 0.17043916592411545, -0.02580327450098403, 0.11180897064283463, 0.0, 0.0]",
- "[0.8000000000000002, 3.1218772417939906, -0.03127458141214588, 0.07227221733857012, 0.21965332258202894, 0.023410882156929474, 0.01180897064283458, 0.0, 0.0]",
- "[0.8500000000000002, 3.131629515058743, -0.03133443016864855, 0.07036258673108224, 0.17043916592411545, -0.025803274500984026, -0.08819102935716548, 0.0, 0.0]",
- "[0.9000000000000002, 3.1389210809089763, -0.03139420144772509, 0.06845311355273953, 0.12122500926620193, 0.023410882156929474, 0.011808970642834496, 0.0, 0.0]",
- "[0.9500000000000003, 3.1462127233757258, -0.031454049343317726, 0.0715436394751971, 0.1704391659241154, -0.025803274500984033, 0.11180897064283449, 0.0, 0.0]",
- "[1.0000000000000002, 3.153504288856331, -0.0315138202527668, 0.07463400896676405, 0.12122500926620192, 0.02341088215692947, 0.011808970642834413, 0.0, 0.0]",
- "[1.0500000000000003, 3.1607959328981683, -0.03157366972344718, 0.07272437690811302, 0.17043916592411543, -0.025803274500984026, -0.08819102935716563, 0.0, 0.0]",
- "[1.1000000000000003, 3.1680874980138705, -0.03163344026799272, 0.07081490522229004, 0.12122500926620192, 0.023410882156929484, 0.011808970642834371, 0.0, 0.0]",
- "[1.1500000000000004, 3.1753791412366676, -0.03169328891963262, 0.073905432680987, 0.1704391659241154, -0.025803274500984026, 0.11180897064283438, 0.0, 0.0]",
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]
},
"type": "simtrace",
@@ -346,7 +345,7 @@
"1": {
"node_name": "1-0",
"id": 1,
- "start_line": 346,
+ "start_line": 345,
"parent": {
"name": "0-0",
"index": 0,
@@ -356,19 +355,19 @@
"2-0": {
"name": "2-0",
"index": 2,
- "start_line": 741
+ "start_line": 740
},
"2-1": {
"name": "2-1",
"index": 4,
- "start_line": 1567
+ "start_line": 1566
}
},
"agent": {
"test": "<class 'dryvr_plus_plus.example.example_agent.quadrotor_agent.QuadrotorAgent'>"
},
"init": {
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+ "test": "[4.615141954678806, -0.025576634991529887, 0.06514080926253786, 0.13618084756081392, -0.006120585851414798, 0.03812121609122722, 1, 0]"
},
"mode": {
"test": "[\"Follow_Waypoint\"]"
@@ -376,363 +375,363 @@
"static": {
"test": "[]"
},
- "start_time": 15.55,
+ "start_time": 15.5,
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},
"type": "simtrace",
@@ -741,24 +740,24 @@
"2": {
"node_name": "2-0",
"id": 2,
- "start_line": 741,
+ "start_line": 740,
"parent": {
"name": "1-0",
"index": 1,
- "start_line": 346
+ "start_line": 345
},
"child": {
"3-0": {
"name": "3-0",
"index": 3,
- "start_line": 1136
+ "start_line": 1135
}
},
"agent": {
"test": "<class 'dryvr_plus_plus.example.example_agent.quadrotor_agent.QuadrotorAgent'>"
},
"init": {
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+ "test": "[5.06616176792077, 2.621157491399954, 0.06548003583816284, -0.011461622412926323, 0.14152188412232508, -0.061878783908780585, 2, 0]"
},
"mode": {
"test": "[\"Follow_Waypoint\"]"
@@ -766,368 +765,368 @@
"static": {
"test": "[]"
},
- "start_time": 33.2,
+ "start_time": 33.15,
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},
"type": "simtrace",
@@ -1136,18 +1135,18 @@
"3": {
"node_name": "3-0",
"id": 3,
- "start_line": 1136,
+ "start_line": 1135,
"parent": {
"name": "2-0",
"index": 2,
- "start_line": 741
+ "start_line": 740
},
"child": {},
"agent": {
"test": "<class 'dryvr_plus_plus.example.example_agent.quadrotor_agent.QuadrotorAgent'>"
},
"init": {
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},
"mode": {
"test": "[\"Follow_Waypoint\"]"
@@ -1155,410 +1154,410 @@
"static": {
"test": "[]"
},
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},
"type": "simtrace",
@@ -1567,24 +1566,24 @@
"4": {
"node_name": "2-1",
"id": 4,
- "start_line": 1567,
+ "start_line": 1566,
"parent": {
"name": "1-0",
"index": 1,
- "start_line": 346
+ "start_line": 345
},
"child": {
"3-1": {
"name": "3-1",
"index": 5,
- "start_line": 1945
+ "start_line": 1943
}
},
"agent": {
"test": "<class 'dryvr_plus_plus.example.example_agent.quadrotor_agent.QuadrotorAgent'>"
},
"init": {
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},
"mode": {
"test": "[\"Follow_Waypoint\"]"
@@ -1592,351 +1591,350 @@
"static": {
"test": "[]"
},
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+ "start_time": 33.15,
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},
"type": "simtrace",
@@ -1945,18 +1943,18 @@
"5": {
"node_name": "3-1",
"id": 5,
- "start_line": 1945,
+ "start_line": 1943,
"parent": {
"name": "2-1",
"index": 4,
- "start_line": 1567
+ "start_line": 1566
},
"child": {},
"agent": {
"test": "<class 'dryvr_plus_plus.example.example_agent.quadrotor_agent.QuadrotorAgent'>"
},
"init": {
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+ "test": "[7.617464254137369, 2.97725975259015, 0.06354052511479333, 0.18539500421872815, 0.04309357080649858, -0.06187878390878786, 5, 0]"
},
"mode": {
"test": "[\"Follow_Waypoint\"]"
@@ -1964,410 +1962,410 @@
"static": {
"test": "[]"
},
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+ "start_time": 50.15,
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+ "[67.50000000000011, 8.067001336722523, 0.3697577714079901, 0.06744342674365655, 0.03775253424498743, -0.2029772124830695, 0.03812121609120503, 5.0, 0.0]",
+ "[67.55000000000011, 8.06765855469618, 0.3608393195224294, 0.0668493761531456, -0.011461622412926063, -0.15376305582515593, -0.06187878390879501, 5.0, 0.0]",
+ "[67.60000000000011, 8.065855065326675, 0.3543815749800315, 0.06625554735767142, -0.06067577907083957, -0.10454889916724247, 0.03812121609120501, 5.0, 0.0]",
+ "[67.65000000000012, 8.064051684135274, 0.3479237222595269, 0.06566149875124445, -0.01146162241292608, -0.15376305582515595, -0.06187878390879504, 5.0, 0.0]",
+ "[67.70000000000012, 8.064709010289759, 0.34146597674340134, 0.06506766797721862, 0.03775253424498743, -0.10454889916724248, 0.038121216091204974, 5.0, 0.0]",
+ "[67.75000000000011, 8.065366230213833, 0.3350081249968643, 0.06447362134983112, -0.011461622412926076, -0.15376305582515598, -0.06187878390879507, 5.0, 0.0]",
+ "[67.80000000000011, 8.066023555394102, 0.32608956590469446, 0.06387978859625222, 0.03775253424498743, -0.2029772124830695, 0.038121216091204946, 5.0, 0.0]",
+ "[67.85000000000011, 8.066680776296241, 0.3171711110906554, 0.06828595484540442, -0.01146162241292608, -0.153763055825156, 0.13812121609120498, 5.0, 0.0]",
+ "[67.90000000000012, 8.067338104511984, 0.3107133676357885, 0.07269190304020609, 0.037752534244987423, -0.10454889916724251, 0.038121216091204925, 5.0, 0.0]",
+ "[67.95000000000012, 8.067995318371278, 0.30425550982446903, 0.07209784408957082, -0.011461622412926066, -0.153763055825156, -0.06187878390879512, 5.0, 0.0]",
+ "[68.00000000000011, 8.066191824889216, 0.2977977693946278, 0.07150402365054734, -0.06067577907083957, -0.10454889916724253, 0.038121216091204876, 5.0, 0.0]",
+ "[68.05000000000013, 8.064388447805346, 0.29133991256659114, 0.07090996669787948, -0.01146162241292607, -0.15376305582515604, -0.06187878390879514, 5.0, 0.0]",
+ "[68.10000000000012, 8.065045778062018, 0.28242134839801325, 0.07031614425923507, 0.037752534244987423, -0.20297721248306955, 0.03812121609120486, 5.0, 0.0]",
+ "[68.15000000000012, 8.065702993896823, 0.2735028986513075, 0.06972208932270815, -0.011461622412926076, -0.153763055825156, -0.06187878390879518, 5.0, 0.0]",
+ "[68.20000000000012, 8.066360323152233, 0.26704515623610536, 0.06912826484955899, 0.03775253424498743, -0.1045488991672425, 0.038121216091204835, 5.0, 0.0]",
+ "[68.25000000000011, 8.067017539982785, 0.2605873013960485, 0.06853421193633825, -0.011461622412926083, -0.153763055825156, -0.06187878390879522, 5.0, 0.0]",
+ "[68.30000000000013, 8.067674868248647, 0.2516687392182815, 0.06794038545249449, 0.037752534244987423, -0.20297721248306952, 0.038121216091204786, 5.0, 0.0]",
+ "[68.35000000000012, 8.068332086079282, 0.2427502874757418, 0.06734633457137384, -0.011461622412926083, -0.153763055825156, -0.061878783908795275, 5.0, 0.0]",
+ "[68.40000000000012, 8.066528596584103, 0.23629254305901753, 0.06675250603126048, -0.06067577907083958, -0.10454889916724248, 0.038121216091204724, 5.0, 0.0]",
+ "[68.45000000000013, 8.06472521550672, 0.2298346902244975, 0.06615845719316145, -0.011461622412926076, -0.15376305582515598, -0.06187878390879533, 5.0, 0.0]",
+ "[68.50000000000013, 8.065382541762656, 0.22091613005665692, 0.06556462662527641, 0.037752534244987423, -0.20297721248306946, 0.03812121609120467, 5.0, 0.0]",
+ "[68.55000000000013, 8.066039761610975, 0.21199767629643157, 0.06497057984396322, -0.011461622412926063, -0.15376305582515593, -0.061878783908795344, 5.0, 0.0]",
+ "[68.60000000000012, 8.06669708683824, 0.20553992985308409, 0.06437674718588188, 0.03775253424498744, -0.10454889916724237, 0.038121216091204634, 5.0, 0.0]",
+ "[68.65000000000012, 8.067354307707461, 0.19908207905169423, 0.06378270247897254, -0.01146162241292608, -0.1537630558251559, -0.061878783908795414, 5.0, 0.0]",
+ "[68.70000000000013, 8.065550821250577, 0.19262433159667203, 0.06318886776523323, -0.060675779070839576, -0.10454889916724242, 0.038121216091204585, 5.0, 0.0]",
+ "[68.75000000000013, 8.06374743712469, 0.18616648181065676, 0.06759503201808714, -0.011461622412926087, -0.15376305582515593, 0.13812121609120456, 5.0, 0.0]",
+ "[68.80000000000013, 8.064404764226596, 0.17970873724195124, 0.07200098247613713, 0.037752534244987423, -0.10454889916724242, 0.038121216091204564, 5.0, 0.0]",
+ "[68.85000000000014, 8.06506197937043, 0.17325088071517428, 0.0714069261356097, -0.011461622412926083, -0.15376305582515593, -0.06187878390879548, 5.0, 0.0]",
+ "[68.90000000000013, 8.065719309280322, 0.16433231689338068, 0.0708131029923222, 0.03775253424498741, -0.20297721248306946, 0.0381212160912045, 5.0, 0.0]",
+ "[68.95000000000013, 8.066376525540866, 0.1554138667209336, 0.07021904892087429, -0.01146162241292609, -0.15376305582515598, -0.061878783908795566, 5.0, 0.0]",
+ "[69.00000000000013, 8.06703385427815, 0.14649530407174124, 0.06962522339493638, 0.03775253424498741, -0.2029772124830695, 0.03812121609120443, 5.0, 0.0]",
+ "[69.05000000000013, 8.067691071744186, 0.1375768526938023, 0.06903117177297056, -0.011461622412926087, -0.15376305582515598, -0.06187878390879562, 5.0, 0.0]",
+ "[69.10000000000014, 8.065887582011701, 0.13111910851438452, 0.06843734371504866, -0.0606757790708396, -0.10454889916724248, 0.03812121609120438, 5.0, 0.0]",
+ "[69.15000000000013, 8.064084201072074, 0.12466125554210725, 0.06784329459703588, -0.01146162241292609, -0.15376305582515595, -0.06187878390879568, 5.0, 0.0]",
+ "[69.20000000000013, 8.064741527351687, 0.11574269535058947, 0.0672494640772613, 0.03775253424498741, -0.20297721248306944, 0.03812121609120432, 5.0, 0.0]",
+ "[69.25000000000014, 8.06539874737817, 0.10682424141220577, 0.06665541765795444, -0.0114616224129261, -0.15376305582515593, -0.06187878390879572, 5.0, 0.0]",
+ "[69.30000000000014, 8.066056072176767, 0.10036649454019057, 0.06606158412884786, 0.037752534244987396, -0.1045488991672424, 0.038121216091204294, 5.0, 0.0]",
+ "[69.35000000000014, 8.066713293681577, 0.09390864437438594, 0.06546754071340682, -0.011461622412926118, -0.1537630558251559, -0.06187878390879575, 5.0, 0.0]",
+ "[69.40000000000013, 8.064909808106165, 0.08745089603789274, 0.06487370420857518, -0.06067577907083963, -0.10454889916724236, 0.03812121609120428, 5.0, 0.0]",
+ "[69.45000000000013, 8.063106422803664, 0.0809930474284911, 0.06927986607062585, -0.011461622412926125, -0.15376305582515584, 0.13812121609120429, 5.0, 0.0]",
+ "[69.50000000000014, 8.063763747711558, 0.0745353006657732, 0.07368582098676776, 0.03775253424498738, -0.10454889916724233, 0.03812121609120422, 5.0, 0.0]",
+ "[69.55000000000014, 8.064420966430928, 0.06807744771453317, 0.07309177191150125, -0.011461622412926115, -0.15376305582515581, -0.06187878390879583, 5.0, 0.0]",
+ "[69.60000000000014, 8.065078291969005, 0.05915888826455358, 0.07249793988496883, 0.037752534244987396, -0.20297721248306932, 0.03812121609120418, 5.0, 0.0]",
+ "[69.65000000000015, 8.065735514098474, 0.05024043222317912, 0.07190389773880389, -0.011461622412926115, -0.15376305582515581, -0.06187878390879586, 5.0, 0.0]",
+ "[69.70000000000014, 8.06639283487106, 0.04132187753868943, 0.0713100560291026, 0.037752534244987396, -0.20297721248306932, 0.03812121609120414, 5.0, 0.0]",
+ "[69.75000000000014, 8.067050063307706, 0.03240341519013865, 0.07071602669871413, -0.011461622412926094, -0.15376305582515581, -0.0618787839087959, 5.0, 0.0]",
+ "[69.80000000000014, 8.065246588942282, 0.025945655643658964, 0.07012216741591114, -0.060675779070839604, -0.10454889916724235, 0.03812121609120411, 5.0, 0.0]",
+ "[69.85000000000014, 8.063443188296677, 0.019487822377358275, 0.06952815833917486, -0.011461622412926106, -0.15376305582515584, -0.06187878390879594, 5.0, 0.0]",
+ "[69.90000000000015, 8.06410048917553, 0.010569287586600801, 0.06893427620668961, 0.037752534244987396, -0.20297721248306932, 0.03812121609120407, 5.0, 0.0]",
+ "[69.95000000000014, 8.064757745235994, 0.0016507976142342059, 0.06834030300611757, -0.011461622412926087, -0.15376305582515581, -0.061878783908795865, 5.0, 0.0]",
+ "[70.00000000000014, 8.065415020767693, -0.0048069985246767775, 0.06774636936984849, 0.03775253424498741, -0.10454889916724232, 0.03812121609120414, 5.0, 0.0]",
+ "[70.05000000000015, 8.066072285671964, -0.01126480529101799, 0.06715241413932492, -0.011461622412926059, -0.1537630558251558, -0.06187878390879592, 5.0, 0.0]",
+ "[70.10000000000015, 8.066729576150813, -0.02018332968177028, 0.0665585108746981, 0.03775253424498748, -0.20297721248306932, 0.038121216091204, 5.0, 0.0]",
+ "[70.15000000000015, 8.06738682045028, -0.02910180789313817, 0.06596451377653342, -0.011461622412926028, -0.15376305582515584, -0.061878783908796045, 5.0, 0.0]"
]
},
"type": "simtrace",
diff --git a/demo/quadrotor/quadrotor_controller.py b/demo/quadrotor/quadrotor_controller.py
index 44c73aa6f80d07d1b2f12aee4368bffd19f18971..1776b06a5a28f5aa0109cda6065a0b7971b84d6a 100644
--- a/demo/quadrotor/quadrotor_controller.py
+++ b/demo/quadrotor/quadrotor_controller.py
@@ -7,6 +7,12 @@ class CraftMode(Enum):
Follow_Lane = auto()
+class LaneMode(Enum):
+ Lane0 = auto()
+ Lane1 = auto()
+ Lane2 = auto()
+
+
class State:
x = 0.0
y = 0.0
@@ -15,10 +21,11 @@ class State:
vy = 0.0
vz = 0.0
craft_mode: CraftMode = CraftMode.Follow_Waypoint
+ lane_mode: LaneMode = LaneMode.Lane0
waypoint_index: int = 0
done_flag = 0.0 # indicate if the quad rotor reach the waypoint
- def __init__(self, x, y, z, vx, vy, vz, waypoint_index, done_flag, craft_mode):
+ def __init__(self, x, y, z, vx, vy, vz, waypoint_index, done_flag, craft_mode, lane_mode):
pass
@@ -37,4 +44,7 @@ def controller(ego: State):
if ego.waypoint_index == 4:
output.waypoint_index = 5
+ if ego.craft_mode == CraftMode.Follow_Lane and ego.done_flag > 0:
+ output.done_flag = 0
+ output.waypoint_index = output.waypoint_index + 1
return output
diff --git a/demo/quadrotor/quadrotor_demo.py b/demo/quadrotor/quadrotor_demo.py
index 5c9a0dc525f92e4d6555623b92336aced77bbb2b..8a495b7983deb8b2b93337d2e518d51cf4feca5c 100644
--- a/demo/quadrotor/quadrotor_demo.py
+++ b/demo/quadrotor/quadrotor_demo.py
@@ -16,6 +16,12 @@ class CraftMode(Enum):
Follow_Lane = auto()
+class LaneMode(Enum):
+ Lane0 = auto()
+ Lane1 = auto()
+ Lane2 = auto()
+
+
if __name__ == "__main__":
input_code_name = './demo/quadrotor/quadrotor_controller.py'
scenario = Scenario()
@@ -33,8 +39,8 @@ if __name__ == "__main__":
quadrotor = QuadrotorAgent(
'test', file_name=input_code_name)
scenario.add_agent(quadrotor)
- tmp_map = SimpleMap1(waypoints=waypoints,
- guard_boxes=guard_boxes, time_limits=time_limits)
+ tmp_map = SimpleMap1(waypoints={quadrotor.id: waypoints},
+ guard_boxes={quadrotor.id: guard_boxes}, time_limits={quadrotor.id: time_limits})
scenario.set_map(tmp_map)
scenario.set_sensor(QuadrotorSensor())
# modify mode list input
@@ -43,7 +49,7 @@ if __name__ == "__main__":
[[2.75, -0.25, -0.1, 0, 0, 0, 0, 0], [3, 0, 0, 0.1, 0.1, 0.1, 0, 0]],
],
[
- tuple([CraftMode.Follow_Waypoint]),
+ tuple([CraftMode.Follow_Waypoint, LaneMode.Lane0]),
]
)
traces = scenario.simulate(200, 0.05)
diff --git a/demo/uncertain_dynamics/controller1.py b/demo/uncertain_dynamics/controller1.py
new file mode 100644
index 0000000000000000000000000000000000000000..af4cb0867f207afdf9addc2488281ce4fb131df7
--- /dev/null
+++ b/demo/uncertain_dynamics/controller1.py
@@ -0,0 +1,18 @@
+from enum import Enum, auto
+import copy
+
+class AgentMode(Enum):
+ Default = auto()
+
+class State:
+ x1 = 0.0
+ x2 = 0.0
+ agent_mode: AgentMode = AgentMode.Default
+
+ def __init__(self, x, y, agent_mode: AgentMode):
+ pass
+
+def controller(ego: State):
+ output = copy.deepcopy(ego)
+
+ return output
diff --git a/demo/uncertain_dynamics/uncertain_agents.py b/demo/uncertain_dynamics/uncertain_agents.py
new file mode 100644
index 0000000000000000000000000000000000000000..d685afac3f7176adeda1d49192a8df9eb24ca736
--- /dev/null
+++ b/demo/uncertain_dynamics/uncertain_agents.py
@@ -0,0 +1,205 @@
+from typing import Tuple, List
+
+import numpy as np
+from scipy.integrate import ode
+
+from verse.agents import BaseAgent
+from verse.parser import ControllerIR
+
+from scipy.optimize import minimize
+from sympy import Symbol, diff
+from sympy.utilities.lambdify import lambdify
+from sympy.core import *
+
+def find_min(expr, var_range):
+ bounds = []
+ vars = list(expr.free_symbols)
+ x0 = []
+ jac = []
+ for var in vars:
+ bounds.append(var_range[var])
+ x0.append(var_range[var][0])
+ jac.append(diff(expr, var))
+ expr_func = lambdify([vars], expr)
+ jac_func = lambdify([vars], jac)
+ res = minimize(
+ expr_func,
+ x0,
+ bounds = bounds,
+ jac = jac_func,
+ method = 'L-BFGS-B'
+ )
+ return res.fun
+
+def find_max(expr, var_range):
+ tmp = -expr
+ res = find_min(tmp, var_range)
+ return -res
+
+def computeD(exprs, symbol_x, symbol_w, x, w, x_hat, w_hat):
+ d = []
+ for expr in exprs:
+ if all(a<=b for a,b in zip(x, x_hat)) and all(a<=b for a,b in zip(w,w_hat)):
+ var_range = {}
+ for i, var in enumerate(symbol_x):
+ var_range[var] = (x[i], x_hat[i])
+ for i, var in enumerate(symbol_w):
+ var_range[var] = (w[i], w_hat[i])
+ res = find_min(expr, var_range)
+ d.append(res)
+ elif all(b<=a for a,b in zip(x,x_hat)) and all(b<=a for a,b in zip(w,w_hat)):
+ var_range = {}
+ for i,var in enumerate(symbol_x):
+ var_range[var] = (x_hat[i], x[i])
+ for i, var in enumerate(symbol_w):
+ var_range[var] = (w_hat[i], w[i])
+ res = find_max(expr, var_range)
+ d.append(res)
+ else:
+ raise ValueError(f"Condition for x, w, x_hat, w_hat not satisfied: {[x, w, x_hat, w_hat]}")
+ return d
+
+class Agent1(BaseAgent):
+ def __init__(self, id):
+ self.id = id
+ self.controller = ControllerIR.empty()
+
+ def dynamics(self, x, args):
+ w1, w2, dt = args
+ x1, x2 = x
+
+ x1_plus = x1+dt*(x1*(1.1+w1-x2-0.1*x2))
+ x2_plus = x2+dt*(x2*(4+w2-3*x1-x2))
+ return [x1_plus, x2_plus]
+
+ def decomposition(self, x, w, xhat, what, params):
+ dt = params
+ x1 = Symbol('x1',real=True)
+ x2 = Symbol('x2',real=True)
+
+ w1 = Symbol('w1',real=True)
+ w2 = Symbol('w2',real=True)
+
+ exprs = [
+ x1+dt*x1*(1.1+w1-x1-0.1*x2),
+ x2+dt*x2*(4+w2-3*x1-x2),
+ ]
+ res = computeD(exprs, [x1, x2], [w1, w2], x, w, xhat, what)
+ return res
+
+class Agent2(BaseAgent):
+ def __init__(self, id):
+ self.id = id
+ self.controller = ControllerIR.empty()
+
+ def dynamics(self, x, args):
+ w1, w2, dt = args
+ x1, x2 = x
+
+ x1_plus = x1+dt*(x1*(1.1+w1-x1-0.1*x2))
+ x2_plus = x2+dt*(x2*(4+w2-3*x1-x2))
+ return [x1_plus, x2_plus]
+
+ def dynamics_jac(self, x, args):
+ w1, w2, dt = args
+ x1, x2 = x
+
+ j1x1 = dt*(w1 - x1 - x2/10 + 11/10) - dt*x1 + 1
+ j1x2 = -(dt*x1)/10
+ j1w1 = dt*x1
+ j1w2 = 0
+ j2x1 = -3*dt*x2
+ j2x2 = dt*(w2 - 3*x1 - x2 + 4) - dt*x2 + 1
+ j2w1 = 0
+ j2w2 = dt*x2
+
+ return np.array([[j1x1, j1x2, j1w1, j1w2], [j2x1, j2x2, j2w1, j2w2]])
+
+class Agent3(BaseAgent):
+ def __init__(self, id):
+ self.id = id
+ self.controller = ControllerIR.empty()
+
+ def dynamics(self, x, args):
+ w1, w2, dt = args
+ x1, x2 = x
+ '''Begin Dynamic'''
+ x1_plus = x1+dt*(x1*(1.1+w1-x1-0.1*x2))
+ x2_plus = x2+dt*(x2*(4+w2-3*x1-x2))
+ '''End Dynamic'''
+ return [x1_plus, x2_plus]
+
+class Agent4(BaseAgent):
+ def __init__(self, id):
+ self.id = id
+ self.controller = ControllerIR.empty()
+
+ def dynamics(self, x, args):
+ w1, dt = args
+ x1, x2, x3, x4 = x
+
+ x1_plus = x1 + dt*(-2*x1+x2*(1+x1)+x3+w1)
+ x2_plus = x2 + dt*(-x2+x1*(1-x2)+0.1)
+ x3_plus = x3 + dt*(-x4)
+ x4_plus = x4 + dt*(x3)
+ return [x1_plus, x2_plus, x3_plus, x4_plus]
+
+ def dynamics_jac(self, x, args):
+ w1, dt = args
+ x1, x2, x3, x4 = x
+
+ j1x1,j1x2,j1x3,j1x4,j1w1 = [dt*(x2 - 2) + 1, dt*(x1 + 1), dt, 0, dt]
+ j2x1,j2x2,j2x3,j2x4,j2w1 = [ -dt*(x2 - 1), 1 - dt*(x1 + 1), 0, 0, 0]
+ j3x1,j3x2,j3x3,j3x4,j3w1 = [ 0, 0, 1, -dt, 0]
+ j4x1,j4x2,j4x3,j4x4,j4w1 = [ 0, 0, dt, 1, 0]
+
+ return np.array([
+ [j1x1,j1x2,j1x3,j1x4,j1w1],
+ [j2x1,j2x2,j2x3,j2x4,j2w1],
+ [j3x1,j3x2,j3x3,j3x4,j3w1],
+ [j4x1,j4x2,j4x3,j4x4,j4w1],
+ ])
+
+class Agent5(BaseAgent):
+ def __init__(self, id):
+ self.id = id
+ self.controller = ControllerIR.empty()
+
+ def dynamics(self, x, args):
+ w1 = args
+ x1, x2, x3, x4 = x
+
+ dx1 = -2*x1+x2*(1+x1)+x3+w1
+ dx2 = -x2+x1*(1-x2)+0.1
+ dx3 = -x4
+ dx4 = x3
+ return [dx1, dx2, dx3, dx4]
+
+ def decomposition(self, x, w, xhat, what):
+ x1, x2, x3, x4 = x
+ w1 = w
+ x1hat, x2hat, x3hat, x4hat = xhat
+ w1hat = what
+
+ d1 = -2*x1+self._a(x,xhat)+x3+w1
+ d2 = -x2+self._b(x,xhat)+0.1
+ d3 = -x4hat
+ d4 = x3
+
+ return [d1, d2, d3, d4]
+
+ def _a(self, x, xhat):
+ x1, x2, x3, x4 = x
+ x1hat, x2hat, x3hat, x4hat = xhat
+ if all(a<=b for a,b in zip(x,xhat)):
+ return min(x2*(1+x1), x2hat*(1+x1))
+ elif all(a<=b for a,b in zip(xhat, x)):
+ return max(x2*(1+x1), x2hat*(1+x1))
+
+ def _b(self, x, xhat):
+ x1, x2, x3, x4 = x
+ x1hat, x2hat, x3hat, x4hat = xhat
+ if all(a<=b for a,b in zip(x,xhat)):
+ return min(x1*(1-x2), x1hat*(1-x2))
+ elif all(a<=b for a,b in zip(xhat, x)):
+ return max(x1*(1-x2), x1hat*(1-x2))
\ No newline at end of file
diff --git a/demo/uncertain_dynamics/uncertain_demo1.py b/demo/uncertain_dynamics/uncertain_demo1.py
new file mode 100644
index 0000000000000000000000000000000000000000..2dbde631e903fece4268414563e35fe760315f76
--- /dev/null
+++ b/demo/uncertain_dynamics/uncertain_demo1.py
@@ -0,0 +1,42 @@
+
+from uncertain_agents import Agent1
+from verse import Scenario
+from verse.plotter.plotter2D import *
+from verse.plotter.plotter2D_old import plot_reachtube_tree
+
+import matplotlib.pyplot as plt
+import plotly.graph_objects as go
+from enum import Enum, auto
+
+
+class AgentMode(Enum):
+ Default = auto()
+
+
+if __name__ == "__main__":
+ scenario = Scenario()
+
+ car = Agent1('car1')
+ scenario.add_agent(car)
+ # car = vanderpol_agent('car2', file_name=input_code_name)
+ # scenario.add_agent(car)
+ # scenario.set_sensor(FakeSensor2())
+ # modify mode list input
+ scenario.set_init(
+ [
+ [[1, 1], [1, 1]],
+ ],
+ [
+ tuple([AgentMode.Default]),
+ ],
+ uncertain_param_list=[
+ [[-0.1, -0.1], [0.1, 0.1]]
+ ]
+ )
+ traces = scenario.verify(10, 0.01, reachability_method='MIXMONO_DISC')
+ fig = plot_reachtube_tree(traces.root, 'car1', 0, [1])
+ plt.show()
+ # fig = go.Figure()
+ # fig = simulation_tree(traces, None, fig, 1, 2,
+ # 'lines', 'trace', print_dim_list=[1, 2])
+ # fig.show()
diff --git a/demo/uncertain_dynamics/uncertain_demo2.py b/demo/uncertain_dynamics/uncertain_demo2.py
new file mode 100644
index 0000000000000000000000000000000000000000..9cf278ecdf5103aa316d92d5554f7962d1f4ab4c
--- /dev/null
+++ b/demo/uncertain_dynamics/uncertain_demo2.py
@@ -0,0 +1,42 @@
+
+from uncertain_agents import Agent2
+from verse import Scenario
+from verse.plotter.plotter2D import *
+from verse.plotter.plotter2D_old import plot_reachtube_tree
+
+import matplotlib.pyplot as plt
+import plotly.graph_objects as go
+from enum import Enum, auto
+
+
+class AgentMode(Enum):
+ Default = auto()
+
+
+if __name__ == "__main__":
+ scenario = Scenario()
+
+ car = Agent2('car1')
+ scenario.add_agent(car)
+ # car = vanderpol_agent('car2', file_name=input_code_name)
+ # scenario.add_agent(car)
+ # scenario.set_sensor(FakeSensor2())
+ # modify mode list input
+ scenario.set_init(
+ [
+ [[1, 1], [1, 1]],
+ ],
+ [
+ tuple([AgentMode.Default]),
+ ],
+ uncertain_param_list=[
+ [[-0.1, -0.1], [0.1, 0.1]]
+ ]
+ )
+ traces = scenario.verify(10, 0.01, reachability_method='MIXMONO_DISC')
+ fig = plot_reachtube_tree(traces.root, 'car1', 0, [1])
+ plt.show()
+ # fig = go.Figure()
+ # fig = simulation_tree(traces, None, fig, 1, 2,
+ # 'lines', 'trace', print_dim_list=[1, 2])
+ # fig.show()
diff --git a/demo/uncertain_dynamics/uncertain_demo3.py b/demo/uncertain_dynamics/uncertain_demo3.py
new file mode 100644
index 0000000000000000000000000000000000000000..a514cb49177bda3434cc8b48b634b0fa212107f6
--- /dev/null
+++ b/demo/uncertain_dynamics/uncertain_demo3.py
@@ -0,0 +1,42 @@
+
+from uncertain_agents import Agent3
+from verse import Scenario
+from verse.plotter.plotter2D import *
+from verse.plotter.plotter2D_old import plot_reachtube_tree
+
+import matplotlib.pyplot as plt
+import plotly.graph_objects as go
+from enum import Enum, auto
+
+
+class AgentMode(Enum):
+ Default = auto()
+
+
+if __name__ == "__main__":
+ scenario = Scenario()
+
+ car = Agent3('car1')
+ scenario.add_agent(car)
+ # car = vanderpol_agent('car2', file_name=input_code_name)
+ # scenario.add_agent(car)
+ # scenario.set_sensor(FakeSensor2())
+ # modify mode list input
+ scenario.set_init(
+ [
+ [[1, 1], [1, 1]],
+ ],
+ [
+ tuple([AgentMode.Default]),
+ ],
+ uncertain_param_list=[
+ [[-0.1, -0.1], [0.1, 0.1]]
+ ]
+ )
+ traces = scenario.verify(10, 0.01, reachability_method='MIXMONO_DISC')
+ fig = plot_reachtube_tree(traces.root, 'car1', 0, [1])
+ plt.show()
+ # fig = go.Figure()
+ # fig = simulation_tree(traces, None, fig, 1, 2,
+ # 'lines', 'trace', print_dim_list=[1, 2])
+ # fig.show()
diff --git a/demo/uncertain_dynamics/uncertain_demo4.py b/demo/uncertain_dynamics/uncertain_demo4.py
new file mode 100644
index 0000000000000000000000000000000000000000..04799073fe937ed50fd85b5a976934de9ab670eb
--- /dev/null
+++ b/demo/uncertain_dynamics/uncertain_demo4.py
@@ -0,0 +1,49 @@
+
+from uncertain_agents import Agent4
+from verse import Scenario
+from verse.plotter.plotter2D import *
+from verse.plotter.plotter2D_old import plot_reachtube_tree
+
+import matplotlib.pyplot as plt
+import plotly.graph_objects as go
+from enum import Enum, auto
+
+
+class AgentMode(Enum):
+ Default = auto()
+
+
+if __name__ == "__main__":
+ scenario = Scenario()
+
+ car = Agent4('car1')
+ scenario.add_agent(car)
+ # car = vanderpol_agent('car2', file_name=input_code_name)
+ # scenario.add_agent(car)
+ # scenario.set_sensor(FakeSensor2())
+ # modify mode list input
+ scenario.set_init(
+ [
+ [[1,1,1,0], [1.5,1.5,1,0]],
+ ],
+ [
+ tuple([AgentMode.Default]),
+ ],
+ uncertain_param_list=[
+ [[-0.5],[0.5]],
+ ]
+ )
+ traces = scenario.verify(10, 0.01, reachability_method='MIXMONO_DISC')
+ fig = plt.figure(0)
+ fig = plot_reachtube_tree(traces.root, 'car1', 0, [1],fig=fig)
+ fig = plt.figure(1)
+ fig = plot_reachtube_tree(traces.root, 'car1', 0, [2],fig=fig)
+ fig = plt.figure(2)
+ fig = plot_reachtube_tree(traces.root, 'car1', 0, [3],fig=fig)
+ fig = plt.figure(3)
+ fig = plot_reachtube_tree(traces.root, 'car1', 0, [4],fig=fig)
+ plt.show()
+ # fig = go.Figure()
+ # fig = simulation_tree(traces, None, fig, 1, 2,
+ # 'lines', 'trace', print_dim_list=[1, 2])
+ # fig.show()
diff --git a/demo/uncertain_dynamics/uncertain_demo5.py b/demo/uncertain_dynamics/uncertain_demo5.py
new file mode 100644
index 0000000000000000000000000000000000000000..56ebeaf354ceafa9c4195690303e4caf67b83382
--- /dev/null
+++ b/demo/uncertain_dynamics/uncertain_demo5.py
@@ -0,0 +1,49 @@
+
+from uncertain_agents import Agent5
+from verse import Scenario
+from verse.plotter.plotter2D import *
+from verse.plotter.plotter2D_old import plot_reachtube_tree
+
+import matplotlib.pyplot as plt
+import plotly.graph_objects as go
+from enum import Enum, auto
+
+
+class AgentMode(Enum):
+ Default = auto()
+
+
+if __name__ == "__main__":
+ scenario = Scenario()
+
+ car = Agent5('car1')
+ scenario.add_agent(car)
+ # car = vanderpol_agent('car2', file_name=input_code_name)
+ # scenario.add_agent(car)
+ # scenario.set_sensor(FakeSensor2())
+ # modify mode list input
+ scenario.set_init(
+ [
+ [[1,1,1,0], [1.5,1.5,1,0]],
+ ],
+ [
+ tuple([AgentMode.Default]),
+ ],
+ uncertain_param_list=[
+ [[-0.5],[0.5]],
+ ]
+ )
+ traces = scenario.verify(10, 0.01, reachability_method='MIXMONO_CONT')
+ fig = plt.figure(0)
+ fig = plot_reachtube_tree(traces.root, 'car1', 0, [1],fig=fig)
+ fig = plt.figure(1)
+ fig = plot_reachtube_tree(traces.root, 'car1', 0, [2],fig=fig)
+ fig = plt.figure(2)
+ fig = plot_reachtube_tree(traces.root, 'car1', 0, [3],fig=fig)
+ fig = plt.figure(3)
+ fig = plot_reachtube_tree(traces.root, 'car1', 0, [4],fig=fig)
+ plt.show()
+ # fig = go.Figure()
+ # fig = simulation_tree(traces, None, fig, 1, 2,
+ # 'lines', 'trace', print_dim_list=[1, 2])
+ # fig.show()
diff --git a/demo/example_controller1.py b/demo/vehicle/controller/example_controller1.py
similarity index 100%
rename from demo/example_controller1.py
rename to demo/vehicle/controller/example_controller1.py
diff --git a/demo/example_controller4.py b/demo/vehicle/controller/example_controller10.py
similarity index 78%
rename from demo/example_controller4.py
rename to demo/vehicle/controller/example_controller10.py
index dccf72553e4cf2a4b0dee63e0915ba666a90dbb3..d041bf879c85c9bda5a88f5eaa49c741bea0c0d3 100644
--- a/demo/example_controller4.py
+++ b/demo/vehicle/controller/example_controller10.py
@@ -52,12 +52,21 @@ def controller(ego:State, others:List[State], lane_map):
if lat_dist <= -2.5:
output.vehicle_mode = VehicleMode.Normal
output.lane_mode = lane_map.right_lane(ego.lane_mode)
- def abs_diff(a, b):
- if a < b:
- r = b - a
- else:
- r = a - b
- return r
- assert all(abs_diff(ego.x, o.x) > 5 for o in others)
+ # def abs_diff(a, b):
+ # # if a < b:
+ # # r = b - a
+ # # else:
+ # # r = a - b
+ # return a - b
+ # def test(o):
+ # # if ego.lane_mode == o.lane_mode:
+ # # r = abs_diff(ego.x, o.x) > 6
+ # # else:
+ # # r = True
+ # return abs_diff(o.x, ego.x) > 5.1
+ # assert all(test(o) for o in others)
+ # assert ego.lane_mode != LaneMode.Lane0, "lane 0"
+ # assert ego.x < 40, "x"
+ # assert not (ego.lane_mode == LaneMode.Lane2 and ego.x > 30), "lane 2"
return output
diff --git a/demo/example_controller11.py b/demo/vehicle/controller/example_controller11.py
similarity index 100%
rename from demo/example_controller11.py
rename to demo/vehicle/controller/example_controller11.py
diff --git a/demo/vehicle/controller/example_controller12.py b/demo/vehicle/controller/example_controller12.py
new file mode 100644
index 0000000000000000000000000000000000000000..3649289868d674fd5b059c1ab60777940e9c2a78
--- /dev/null
+++ b/demo/vehicle/controller/example_controller12.py
@@ -0,0 +1,47 @@
+from enum import Enum, auto
+import copy
+from typing import List
+
+class LaneObjectMode(Enum):
+ Vehicle = auto()
+ Ped = auto() # Pedestrians
+ Sign = auto() # Signs, stop signs, merge, yield etc.
+ Signal = auto() # Traffic lights
+ Obstacle = auto() # Static (to road/lane) obstacles
+
+class VehicleMode(Enum):
+ Normal = auto()
+ SwitchLeft = auto()
+ SwitchRight = auto()
+ Brake = auto()
+ Stop = auto()
+
+class LaneMode(Enum):
+ Lane0 = auto()
+ Lane1 = auto()
+ Lane2 = auto()
+
+class State:
+ x = 0.0
+ y = 0.0
+ theta = 0.0
+ v = 0.0
+ vehicle_mode: VehicleMode = VehicleMode.Normal
+ lane_mode: LaneMode = LaneMode.Lane0
+ type_mode: LaneObjectMode = LaneObjectMode.Vehicle
+
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
+ pass
+
+def controller(ego:State, others:List[State], lane_map):
+ output = copy.deepcopy(ego)
+ # Detect the stop sign
+ if ego.vehicle_mode == VehicleMode.Normal:
+ if any(other.x - ego.x < 5 and other.x - ego.x > -1 for other in others):
+ output.vehicle_mode = VehicleMode.Brake
+ if ego.vehicle_mode == VehicleMode.Brake:
+ if ego.v <= 0:
+ output.vehicle_mode = VehicleMode.Stop
+ output.v = 0
+ return output
+
diff --git a/demo/example_controller2.py b/demo/vehicle/controller/example_controller2.py
similarity index 100%
rename from demo/example_controller2.py
rename to demo/vehicle/controller/example_controller2.py
diff --git a/demo/example_controller3.py b/demo/vehicle/controller/example_controller3.py
similarity index 96%
rename from demo/example_controller3.py
rename to demo/vehicle/controller/example_controller3.py
index 95209827ff4bd10619d39a3a734cc525d85c81a7..c07a80ba19becf7f3115b67c161549c4f8ced0ba 100644
--- a/demo/example_controller3.py
+++ b/demo/vehicle/controller/example_controller3.py
@@ -1,6 +1,6 @@
from enum import Enum, auto
import copy
-from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
+from verse.map import LaneMap
class VehicleMode(Enum):
Normal = auto()
diff --git a/demo/vehicle/controller/example_controller4.py b/demo/vehicle/controller/example_controller4.py
new file mode 100644
index 0000000000000000000000000000000000000000..7dfefc9f7011095e176219d6b4d6243e49e7567b
--- /dev/null
+++ b/demo/vehicle/controller/example_controller4.py
@@ -0,0 +1,73 @@
+from enum import Enum, auto
+import copy
+from typing import List
+
+class LaneObjectMode(Enum):
+ Vehicle = auto()
+ Ped = auto() # Pedestrians
+ Sign = auto() # Signs, stop signs, merge, yield etc.
+ Signal = auto() # Traffic lights
+ Obstacle = auto() # Static (to road/lane) obstacles
+
+class VehicleMode(Enum):
+ Normal = auto()
+ SwitchLeft = auto()
+ SwitchRight = auto()
+ Brake = auto()
+
+class LaneMode(Enum):
+ Lane0 = auto()
+ Lane1 = auto()
+ Lane2 = auto()
+
+class State:
+ x = 0.0
+ y = 0.0
+ theta = 0.0
+ v = 0.0
+ vehicle_mode: VehicleMode = VehicleMode.Normal
+ lane_mode: LaneMode = LaneMode.Lane0
+ type_mode: LaneObjectMode = LaneObjectMode.Vehicle
+
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
+ pass
+
+def controller(ego:State, others:List[State], lane_map):
+ output = copy.deepcopy(ego)
+ test = lambda other: other.x-ego.x > 3 and other.x-ego.x < 5 and ego.lane_mode == other.lane_mode
+ if ego.vehicle_mode == VehicleMode.Normal:
+ if any((test(other) and other.type_mode==LaneObjectMode.Vehicle) for other in others):
+ if lane_map.has_left(ego.lane_mode):
+ output.vehicle_mode = VehicleMode.SwitchLeft
+ if any(test(other) for other in others):
+ if lane_map.has_right(ego.lane_mode):
+ output.vehicle_mode = VehicleMode.SwitchRight
+ lat_dist = lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y])
+ if ego.vehicle_mode == VehicleMode.SwitchLeft:
+ if lat_dist >= (lane_map.get_lane_width(ego.lane_mode)-0.2):
+ output.vehicle_mode = VehicleMode.Normal
+ output.lane_mode = lane_map.left_lane(ego.lane_mode)
+ output.x = ego.x
+ if ego.vehicle_mode == VehicleMode.SwitchRight:
+ if lat_dist <= -(lane_map.get_lane_width(ego.lane_mode)-0.2):
+ output.vehicle_mode = VehicleMode.Normal
+ output.lane_mode = lane_map.right_lane(ego.lane_mode)
+ def abs_diff(a, b):
+ # if a < b:
+ # r = b - a
+ # else:
+ # r = a - b
+ return a - b
+ def test(o):
+ # if ego.lane_mode == o.lane_mode:
+ # r = abs_diff(ego.x, o.x) > 6
+ # else:
+ # r = True
+ return abs_diff(o.x, ego.x) > 5.1
+ # assert all(test(o) for o in others)
+ # assert ego.lane_mode != LaneMode.Lane0, "lane 0"
+ # assert ego.x < 40, "x"
+ # assert not (ego.lane_mode == LaneMode.Lane2 and ego.x > 30 and ego.x<50), "lane 2"
+ assert not (ego.x>30 and ego.x<50 and ego.y>-4 and ego.y<-2), "Danger Zone"
+ return output
+
diff --git a/demo/example_controller5.py b/demo/vehicle/controller/example_controller5.py
similarity index 77%
rename from demo/example_controller5.py
rename to demo/vehicle/controller/example_controller5.py
index 1e8f409efacacc066da76784e93bebc498b7b6d2..5459ad4e8e2d5066aa504a5abc04e99dd72d91c4 100644
--- a/demo/example_controller5.py
+++ b/demo/vehicle/controller/example_controller5.py
@@ -32,17 +32,23 @@ class State:
def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
pass
+def vehicle_front(ego, others, lane_map):
+ res = any((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 \
+ and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 5 \
+ and ego.lane_mode == other.lane_mode) for other in others)
+ return res
+
+def vehicle_close(ego, others):
+ res = any(ego.x-other.x<1.0 and ego.x-other.x>-1.0 and ego.y-other.y<1.0 and ego.y-other.y>-1.0 for other in others)
+ return res
+
def controller(ego:State, others:List[State], lane_map):
output = copy.deepcopy(ego)
if ego.vehicle_mode == VehicleMode.Normal:
- if any((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 \
- and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 5 \
- and ego.lane_mode == other.lane_mode) for other in others):
+ if vehicle_front(ego, others, lane_map):
if lane_map.has_left(ego.lane_mode):
output.vehicle_mode = VehicleMode.SwitchLeft
- if any((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 \
- and lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < 5 \
- and ego.lane_mode == other.lane_mode) for other in others):
+ if vehicle_front(ego, others, lane_map):
if lane_map.has_right(ego.lane_mode):
output.vehicle_mode = VehicleMode.SwitchRight
if ego.vehicle_mode == VehicleMode.SwitchLeft:
@@ -54,5 +60,7 @@ def controller(ego:State, others:List[State], lane_map):
output.vehicle_mode = VehicleMode.Normal
output.lane_mode = lane_map.right_lane(ego.lane_mode)
+ assert not vehicle_close(ego, others)
+
return output
diff --git a/demo/example_controller6.py b/demo/vehicle/controller/example_controller6.py
similarity index 100%
rename from demo/example_controller6.py
rename to demo/vehicle/controller/example_controller6.py
diff --git a/demo/example_controller7.py b/demo/vehicle/controller/example_controller7.py
similarity index 100%
rename from demo/example_controller7.py
rename to demo/vehicle/controller/example_controller7.py
diff --git a/demo/example_controller8.py b/demo/vehicle/controller/example_controller8.py
similarity index 80%
rename from demo/example_controller8.py
rename to demo/vehicle/controller/example_controller8.py
index ae6ba309419ecb7721ac1a63c70e8f80254a2a57..5df27187761c7ea6b156daa676edacf6f93612e4 100644
--- a/demo/example_controller8.py
+++ b/demo/vehicle/controller/example_controller8.py
@@ -63,32 +63,32 @@ def controller(ego:State, others:List[State], lane_map):
not car_right(ego, others, lane_map):
output.vehicle_mode = VehicleMode.SwitchRight
- # If really close just brake
- if car_front(ego, others, lane_map, 3, -0.5):
- output.vehicle_mode = VehicleMode.Stop
- output.v = 0.1
+ # # If really close just brake
+ # if car_front(ego, others, lane_map, 2, -0.5):
+ # output.vehicle_mode = VehicleMode.Stop
+ # output.v = 0.1
# If switched left enough, return to normal mode
if ego.vehicle_mode == VehicleMode.SwitchLeft:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) >= 2.5:
+ if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) >= (lane_map.get_lane_width(ego.lane_mode)-0.2):
output.vehicle_mode = VehicleMode.Normal
output.lane_mode = lane_map.left_lane(ego.lane_mode)
# If switched right enough,return to normal mode
if ego.vehicle_mode == VehicleMode.SwitchRight:
- if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) <= -2.5:
+ if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) <= -(lane_map.get_lane_width(ego.lane_mode)-0.2):
output.vehicle_mode = VehicleMode.Normal
output.lane_mode = lane_map.right_lane(ego.lane_mode)
- if ego.vehicle_mode == VehicleMode.Brake:
- if all((\
- (lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) -\
- lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 5 or \
- lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) -\
- lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < -0.5) and\
- other.lane_mode==ego.lane_mode) for other in others):
- output.vehicle_mode = VehicleMode.Normal
- output.v = 1.0
+ # if ego.vehicle_mode == VehicleMode.Brake:
+ # if all((\
+ # (lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) -\
+ # lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) > 5 or \
+ # lane_map.get_longitudinal_position(other.lane_mode, [other.x,other.y]) -\
+ # lane_map.get_longitudinal_position(ego.lane_mode, [ego.x,ego.y]) < -0.5) and\
+ # other.lane_mode==ego.lane_mode) for other in others):
+ # output.vehicle_mode = VehicleMode.Normal
+ # output.v = 1.0
return output
diff --git a/demo/example_controller9.py b/demo/vehicle/controller/example_controller9.py
similarity index 100%
rename from demo/example_controller9.py
rename to demo/vehicle/controller/example_controller9.py
diff --git a/demo/example_two_car_sign_lane_switch.py b/demo/vehicle/controller/example_two_car_sign_lane_switch.py
similarity index 82%
rename from demo/example_two_car_sign_lane_switch.py
rename to demo/vehicle/controller/example_two_car_sign_lane_switch.py
index 0f3c22edf31f406d799e43ca73ff05c356e2ecf7..6e6c6eae724195444dd04b147aaa39f3a9abe893 100644
--- a/demo/example_two_car_sign_lane_switch.py
+++ b/demo/vehicle/controller/example_two_car_sign_lane_switch.py
@@ -1,9 +1,4 @@
-from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor2
-from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap3
-from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
-from dryvr_plus_plus.example.example_agent.sign_agent import SignAgent
-from dryvr_plus_plus.example.example_agent.car_agent import CarAgent
-from dryvr_plus_plus.plotter.plotter2D import *
+from verse.plotter2D import *
from enum import Enum, auto
import copy
@@ -76,14 +71,11 @@ def controller(ego: State, other: State, sign: State, lane_map):
return output
-from dryvr_plus_plus.example.example_agent.car_agent import CarAgent
-from dryvr_plus_plus.example.example_agent.sign_agent import SignAgent
-from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
-from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap3
-from dryvr_plus_plus.plotter.plotter2D import plot_reachtube_tree, plot_simulation_tree
-from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor2
-
-import matplotlib.pyplot as plt
+from verse.example.example_agent.car_agent import CarAgent
+from verse.example.example_agent.sign_agent import SignAgent
+from verse.scene_verifier.scenario.scenario import Scenario
+from verse.map.example_map.simple_map2 import SimpleMap3
+from verse.sensor.example_sensor.fake_sensor import FakeSensor2
if __name__ == "__main__":
import sys
diff --git a/demo/demo1.py b/demo/vehicle/demo1.py
similarity index 100%
rename from demo/demo1.py
rename to demo/vehicle/demo1.py
diff --git a/demo/demo10.py b/demo/vehicle/demo10.py
similarity index 100%
rename from demo/demo10.py
rename to demo/vehicle/demo10.py
diff --git a/demo/demo11.py b/demo/vehicle/demo11.py
similarity index 100%
rename from demo/demo11.py
rename to demo/vehicle/demo11.py
diff --git a/demo/demo2.py b/demo/vehicle/demo2.py
similarity index 91%
rename from demo/demo2.py
rename to demo/vehicle/demo2.py
index 94cdddb28a545e8be6522a25439c8bb2e5ab9708..7924d83fac4023101dddede30de2ef2de8368525 100644
--- a/demo/demo2.py
+++ b/demo/vehicle/demo2.py
@@ -79,7 +79,11 @@ if __name__ == "__main__":
# # # 2, 'lines', 'trace', print_dim_list=[1, 2])
# fig.show()
fig = go.Figure()
- traces = scenario.verify(30, 1)
+ # traces = scenario.verify(30, 0.2)
+ path = os.path.abspath(__file__)
+ path = path.replace('demo2.py', 'output.json')
+ # write_json(traces, path)
+ traces = read_json(path)
fig = reachtube_anime(traces, tmp_map, fig, 1,
- 2, 'lines', 'trace', print_dim_list=[1, 2])
+ 2, 'lines', 'trace', print_dim_list=[1, 2], sample_rate=1, speed_rate=5)
fig.show()
diff --git a/demo/demo3.py b/demo/vehicle/demo3.py
similarity index 100%
rename from demo/demo3.py
rename to demo/vehicle/demo3.py
diff --git a/demo/demo4.py b/demo/vehicle/demo4.py
similarity index 100%
rename from demo/demo4.py
rename to demo/vehicle/demo4.py
diff --git a/demo/demo5.py b/demo/vehicle/demo5.py
similarity index 100%
rename from demo/demo5.py
rename to demo/vehicle/demo5.py
diff --git a/demo/demo6.py b/demo/vehicle/demo6.py
similarity index 94%
rename from demo/demo6.py
rename to demo/vehicle/demo6.py
index 9a6f8f60a2e38cf1601dd214e73cd46dd0a2c915..3a29001f7f4d5770849415bfb61ea9ef9298832b 100644
--- a/demo/demo6.py
+++ b/demo/vehicle/demo6.py
@@ -92,8 +92,8 @@ if __name__ == "__main__":
(LaneObjectMode.Vehicle,),
]
)
- traces = scenario.simulate(80, 0.05)
- # traces = scenario.verify(80, 0.05)
+ # traces = scenario.simulate(80, 0.05)
+ traces = scenario.verify(80, 0.05)
# fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
@@ -106,6 +106,6 @@ if __name__ == "__main__":
# plt.show()
fig = go.Figure()
- fig = simulation_anime(traces, tmp_map, fig, 1,
- 2, 'lines', 'trace', print_dim_list=[1, 2])
+ fig = reachtube_anime(traces, tmp_map, fig, 1,
+ 2, 'lines', 'trace', print_dim_list=[1, 2], sample_rate=1)
fig.show()
diff --git a/demo/demo7.py b/demo/vehicle/demo7.py
similarity index 100%
rename from demo/demo7.py
rename to demo/vehicle/demo7.py
diff --git a/demo/demo8.py b/demo/vehicle/demo8.py
similarity index 100%
rename from demo/demo8.py
rename to demo/vehicle/demo8.py
diff --git a/demo/vehicle/demo_opendrive.py b/demo/vehicle/demo_opendrive.py
new file mode 100644
index 0000000000000000000000000000000000000000..fe7d59d11453c54f5eb80ea8c0d8d0dfb7850179
--- /dev/null
+++ b/demo/vehicle/demo_opendrive.py
@@ -0,0 +1,63 @@
+from verse.agents.example_agent import CarAgent, NPCAgent
+from verse.map import opendrive_map
+from verse import Scenario
+from enum import Enum, auto
+from verse.plotter.plotter2D import *
+
+import plotly.graph_objects as go
+
+class LaneObjectMode(Enum):
+ Vehicle = auto()
+ Ped = auto() # Pedestrians
+ Sign = auto() # Signs, stop signs, merge, yield etc.
+ Signal = auto() # Traffic lights
+ Obstacle = auto() # Static (to road/lane) obstacles
+
+class VehicleMode(Enum):
+ Normal = auto()
+ SwitchLeft = auto()
+ SwitchRight = auto()
+ Brake = auto()
+
+class LaneMode(Enum):
+ Lane0 = auto()
+ Lane1 = auto()
+ Lane2 = auto()
+
+class State:
+ x = 0.0
+ y = 0.0
+ theta = 0.0
+ v = 0.0
+ vehicle_mode: VehicleMode = VehicleMode.Normal
+ lane_mode: LaneMode = LaneMode.Lane0
+ type_mode: LaneObjectMode = LaneObjectMode.Vehicle
+
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
+ pass
+
+
+if __name__ == "__main__":
+ input_code_name = './demo/vehicle/controller/example_controller10.py'
+ scenario = Scenario()
+ scenario.add_agent(CarAgent('car1', file_name=input_code_name))
+ scenario.add_agent(NPCAgent('car2'))
+ tmp_map = opendrive_map('./demo/vehicle/t1_triple.xodr')
+
+ scenario.set_map(tmp_map)
+ scenario.set_init(
+ [
+ [[-65, -57.5, 0, 1.0],[-65, -57.5, 0, 1.0]],
+ [[-65, -62.5, 0, 1.0],[-65, -62.5, 0, 1.0]],
+ ],
+ [
+ (VehicleMode.Normal, LaneMode.Lane2, LaneObjectMode.Vehicle),
+ (VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Vehicle),
+ ]
+ )
+ traces = scenario.simulate(400, 0.1)# traces.dump('./output1.json')
+ fig = go.Figure()
+ fig = simulation_tree(traces, tmp_map, fig, 1,
+ 2, 'lines', 'trace', print_dim_list=[1, 2])
+ fig.show()
+
diff --git a/demo/vehicle/demo_opendrive2.py b/demo/vehicle/demo_opendrive2.py
new file mode 100644
index 0000000000000000000000000000000000000000..6234195c88b3c8fb7691e6860ff6cddedecd938a
--- /dev/null
+++ b/demo/vehicle/demo_opendrive2.py
@@ -0,0 +1,70 @@
+from verse.agents.example_agent import CarAgent, NPCAgent
+from verse.map import opendrive_map
+from verse import Scenario
+from enum import Enum, auto
+from verse.plotter.plotter2D import *
+
+import plotly.graph_objects as go
+
+class LaneObjectMode(Enum):
+ Vehicle = auto()
+ Ped = auto() # Pedestrians
+ Sign = auto() # Signs, stop signs, merge, yield etc.
+ Signal = auto() # Traffic lights
+ Obstacle = auto() # Static (to road/lane) obstacles
+
+class VehicleMode(Enum):
+ Normal = auto()
+ SwitchLeft = auto()
+ SwitchRight = auto()
+ Brake = auto()
+
+class LaneMode(Enum):
+ Lane0 = auto()
+ Lane1 = auto()
+ Lane2 = auto()
+
+class State:
+ x = 0.0
+ y = 0.0
+ theta = 0.0
+ v = 0.0
+ vehicle_mode: VehicleMode = VehicleMode.Normal
+ lane_mode: LaneMode = LaneMode.Lane0
+ type_mode: LaneObjectMode = LaneObjectMode.Vehicle
+
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
+ pass
+
+
+if __name__ == "__main__":
+ input_code_name = './demo/vehicle/controller/example_controller8.py'
+ scenario = Scenario()
+ scenario.add_agent(CarAgent('car1', file_name=input_code_name))
+ scenario.add_agent(NPCAgent('car2'))
+ tmp_map = opendrive_map('./demo/vehicle/t1_triple.xodr')
+
+ scenario.set_map(tmp_map)
+ scenario.set_init(
+ [
+ [[-65, -57.5, 0, 1.0],[-65, -57.5, 0, 1.0]],
+ # [[-37, -63.0, 0, 0.5],[-37, -63.0, 0, 0.5]],
+ # [[18, -67.0, 0, 1.0],[18, -67.0, 0, 1.0]],
+ # [[32, -68.0, 0, 1.0],[32, -68.0, 0, 1.0]],
+ [[46, -69.0, 0, 0.5],[46, -69.0, 0, 0.5]],
+ ],
+ [
+ (VehicleMode.Normal, LaneMode.Lane2, ),
+ (VehicleMode.Normal, LaneMode.Lane2, ),
+ ],
+ [
+ (LaneObjectMode.Vehicle, ),
+ (LaneObjectMode.Vehicle, ),
+ ]
+ )
+ traces = scenario.simulate(400, 0.1)# traces.dump('./output1.json')
+ fig = go.Figure()
+ fig = simulation_tree(traces, tmp_map, fig, 1,
+ 2, 'lines', 'trace', print_dim_list=[1, 2])
+ fig.show()
+
diff --git a/demo/vehicle/noisy_sensor.py b/demo/vehicle/noisy_sensor.py
new file mode 100644
index 0000000000000000000000000000000000000000..288e9c32d785ff0bfb8f1b6f92f9524337e92a99
--- /dev/null
+++ b/demo/vehicle/noisy_sensor.py
@@ -0,0 +1,27 @@
+from verse.sensor import BaseSensor
+from typing import Tuple
+import numpy as np
+
+class NoisyVehicleSensor(BaseSensor):
+ def __init__(self, noise_x = Tuple[float, float], noise_y = Tuple[float, float]):
+ self.noise_x = noise_x
+ self.noise_y = noise_y
+
+ def sense(self, scenario, agent, state_dict, lane_map):
+ cont, disc, len_dict = super().sense(scenario, agent, state_dict, lane_map)
+ tmp = np.array(list(state_dict.values())[0][0])
+ if tmp.ndim<2:
+ return cont, disc, len_dict
+ else:
+ # Apply noise to observed x
+ if 'others.x' in cont:
+ for x_range in cont['others.x']:
+ x_range[0] -= self.noise_x[0]
+ x_range[1] += self.noise_x[1]
+
+ # Apply noise to observed y
+ if 'others.y' in cont:
+ for y_range in cont['others.y']:
+ y_range[0] -= self.noise_y[0]
+ y_range[1] += self.noise_y[1]
+ return cont, disc, len_dict
diff --git a/demo/vehicle/t1_triple.xodr b/demo/vehicle/t1_triple.xodr
new file mode 100644
index 0000000000000000000000000000000000000000..4ca40876bae12fe3f360e0e6d7024fa3c95e6d2b
--- /dev/null
+++ b/demo/vehicle/t1_triple.xodr
@@ -0,0 +1,1945 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<OpenDRIVE>
+ <header revMajor="1" revMinor="4" name="" version="1" date="2021-02-28T15:54:19" north="1.3145183000890950e+2" south="-1.0177686623404890e+2" east="2.1839986231506288e+2" west="-1.1951063149032376e+2" vendor="MathWorks">
+ <userData>
+ <vectorScene program="RoadRunner" version="R2020b Update 3 (1.1.3.f626d0e)"/>
+ </userData>
+ </header>
+ <road name="Road 0" length="3.4249856788760491e+2" id="0" junction="-1">
+ <link>
+ <predecessor elementType="road" elementId="4" contactPoint="end"/>
+ <successor elementType="road" elementId="2" contactPoint="start"/>
+ </link>
+ <type s="0.0000000000000000e+0" type="town">
+ <speed max="40" unit="mph"/>
+ </type>
+ <planView>
+ <geometry s="0.0000000000000000e+0" x="1.9177658843994141e+2" y="5.3821434020996094e+1" hdg="1.8211200609024278e+0" length="3.2953165642949220e+0">
+ <line/>
+ </geometry>
+ <geometry s="3.2953165642949220e+0" x="1.9096028047573728e+2" y="5.7014043074183377e+1" hdg="1.8211200609024276e+0" length="2.4751554139807812e+1">
+ <arc curvature="9.7460630937485377e-3"/>
+ </geometry>
+ <geometry s="2.8046870704102734e+1" x="1.8200981412546355e+2" y="8.0026288677376016e+1" hdg="2.0623502692173266e+0" length="2.3710590660488251e+1">
+ <arc curvature="3.1427465780575065e-2"/>
+ </geometry>
+ <geometry s="5.1757461364590981e+1" x="1.6439141581635536e+2" y="9.5067794839827812e+1" hdg="2.8075140458370429e+0" length="6.3438611961428286e+0">
+ <line/>
+ </geometry>
+ <geometry s="5.8101322560733813e+1" x="1.5839828872680664e+2" y="9.7147939682006836e+1" hdg="2.8075140458370438e+0" length="3.7269561643468577e+1">
+ <arc curvature="8.1671484728072369e-3"/>
+ </geometry>
+ <geometry s="9.5370884204202397e+1" x="1.2188485228368478e+2" y="1.0386342603726271e+2" hdg="3.1119000892956938e+0" length="1.6609054003061664e+2">
+ <line/>
+ </geometry>
+ <geometry s="2.6146142423481905e+2" x="-4.4132476398750597e+1" y="1.0879435544358009e+2" hdg="3.1119000892956938e+0" length="8.1037143652785858e+1">
+ <arc curvature="1.9600156360714781e-2"/>
+ </geometry>
+ </planView>
+ <elevationProfile>
+ <elevation s="0.0000000000000000e+0" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <elevation s="3.1115455196232404e+2" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <elevation s="3.1978544803767602e+2" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <elevation s="3.1978780844263861e+2" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <elevation s="3.3213219155736147e+2" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ </elevationProfile>
+ <lateralProfile>
+ <superelevation s="0.0000000000000000e+0" a="0.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ </lateralProfile>
+ <lanes>
+ <laneOffset s="0.0000000000000000e+0" a="-2.6349999999999998e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <laneSection s="0.0000000000000000e+0" singleSide="false">
+ <left>
+ <lane id="7" type="sidewalk" level="false">
+ <link>
+ <predecessor id="7"/>
+ <successor id="7"/>
+ </link>
+ <width sOffset="0.0000000000000000e+0" a="1.9999999999999982e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <roadMark sOffset="0.0000000000000000e+0" type="none" material="standard" color="white" laneChange="none"/>
+ <speed sOffset="0.0000000000000000e+0" max="4.0000000000000000e+1" unit="mph"/>
+ <userData>
+ <vectorLane sOffset="0.0000000000000000e+0" laneId="{32ef08fe-8240-4183-ab53-b470cd256661}" travelDir="undirected">
+ <predecessor id="7" virtual="false"/>
+ <successor id="7" virtual="false"/>
+ </vectorLane>
+ </userData>
+ </lane>
+ <lane id="6" type="shoulder" level="false">
+ <link>
+ <predecessor id="6"/>
+ <successor id="6"/>
+ </link>
+ <width sOffset="0.0000000000000000e+0" a="6.3499999999999979e-1" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <roadMark sOffset="0.0000000000000000e+0" type="curb" material="standard" width="1.5239999999999998e-1" laneChange="none"/>
+ <speed sOffset="0.0000000000000000e+0" max="4.0000000000000000e+1" unit="mph"/>
+ <userData>
+ <vectorLane sOffset="0.0000000000000000e+0" laneId="{d83f469c-3b72-4514-a455-45d7666247f3}" travelDir="undirected">
+ <predecessor id="6" virtual="false"/>
+ <successor id="6" virtual="false"/>
+ </vectorLane>
+ </userData>
+ </lane>
+ <lane id="5" type="driving" level="false">
+ <link>
+ <predecessor id="5"/>
+ <successor id="5"/>
+ </link>
+ <width sOffset="0.0000000000000000e+0" a="5.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <roadMark sOffset="0.0000000000000000e+0" type="solid" material="standard" color="white" width="1.2500000000000000e-1" laneChange="none">
+ <type name="solid">
+ <line length="3.4249856788760491e+2" space="0.0000000000000000e+0" width="1.2500000000000000e-1" sOffset="0.0000000000000000e+0" tOffset="0.0000000000000000e+0"/>
+ </type>
+ </roadMark>
+ <speed sOffset="0.0000000000000000e+0" max="4.0000000000000000e+1" unit="mph"/>
+ <userData>
+ <vectorLane sOffset="0.0000000000000000e+0" laneId="{c4de8f51-605f-4cd8-993b-bc2d9f5f71ec}" travelDir="backward">
+ <predecessor id="5" virtual="false"/>
+ <successor id="5" virtual="false"/>
+ </vectorLane>
+ </userData>
+ </lane>
+ <lane id="4" type="driving" level="false">
+ <link>
+ <predecessor id="4"/>
+ <successor id="4"/>
+ </link>
+ <width sOffset="0.0000000000000000e+0" a="5.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <roadMark sOffset="0.0000000000000000e+0" type="none" material="standard" color="white" laneChange="both"/>
+ <speed sOffset="0.0000000000000000e+0" max="4.0000000000000000e+1" unit="mph"/>
+ <userData>
+ <vectorLane sOffset="0.0000000000000000e+0" laneId="{6078d205-0496-4b73-80a8-05c5fda75721}" travelDir="backward">
+ <predecessor id="4" virtual="false"/>
+ <successor id="4" virtual="false"/>
+ </vectorLane>
+ </userData>
+ </lane>
+ <lane id="3" type="driving" level="false">
+ <link>
+ <predecessor id="3"/>
+ <successor id="3"/>
+ </link>
+ <width sOffset="0.0000000000000000e+0" a="5.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <roadMark sOffset="0.0000000000000000e+0" type="none" material="standard" color="white" laneChange="both"/>
+ <speed sOffset="0.0000000000000000e+0" max="4.0000000000000000e+1" unit="mph"/>
+ <userData>
+ <vectorLane sOffset="0.0000000000000000e+0" laneId="{ef279028-f586-424b-840e-de3724ac2f88}" travelDir="backward">
+ <predecessor id="3" virtual="false"/>
+ <successor id="3" virtual="false"/>
+ </vectorLane>
+ </userData>
+ </lane>
+ <lane id="2" type="shoulder" level="false">
+ <link>
+ <predecessor id="2"/>
+ <successor id="2"/>
+ </link>
+ <width sOffset="0.0000000000000000e+0" a="6.3499999999999979e-1" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <roadMark sOffset="0.0000000000000000e+0" type="solid" material="standard" color="white" width="1.2500000000000000e-1" laneChange="none">
+ <type name="solid">
+ <line length="3.4249856788760491e+2" space="0.0000000000000000e+0" width="1.2500000000000000e-1" sOffset="0.0000000000000000e+0" tOffset="0.0000000000000000e+0"/>
+ </type>
+ </roadMark>
+ <speed sOffset="0.0000000000000000e+0" max="4.0000000000000000e+1" unit="mph"/>
+ <userData>
+ <vectorLane sOffset="0.0000000000000000e+0" laneId="{1d1d869f-26cd-43dd-aa6a-c8c8cb9b64bb}" travelDir="undirected">
+ <predecessor id="2" virtual="false"/>
+ <successor id="2" virtual="false"/>
+ </vectorLane>
+ </userData>
+ </lane>
+ <lane id="1" type="sidewalk" level="false">
+ <link>
+ <predecessor id="1"/>
+ <successor id="1"/>
+ </link>
+ <width sOffset="0.0000000000000000e+0" a="2.0000000000000000e+0" b="0.0000000000000000e+0" c="0.0000000000000000e+0" d="0.0000000000000000e+0"/>
+ <roadMark sOffset="0.0000000000000000e+0" type="curb" material="standard" width="1.5239999999999998e-1" laneChange="none"/>
+ <speed sOffset="0.0000000000000000e+0" max="4.0000000000000000e+1" unit="mph"/>
+ <userData>
+ <vectorLane sOffset="0.0000000000000000e+0" laneId="{59a8be13-4f72-4a2a-be20-9f40cfaad93a}" travelDir="undirected">
+ <predecessor id="1" virtual="false"/>
+ <successor id="1" virtual="false"/>
+ </vectorLane>
+ </userData>
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diff --git a/docs/Makefile b/docs/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..d0c3cbf1020d5c292abdedf27627c6abe25e2293
--- /dev/null
+++ b/docs/Makefile
@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS ?=
+SPHINXBUILD ?= sphinx-build
+SOURCEDIR = source
+BUILDDIR = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+ @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+ @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/docs/README.md b/docs/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6ea589631513c4417117c3af7b04bbc9c43def4a
--- /dev/null
+++ b/docs/README.md
@@ -0,0 +1,38 @@
+# Verse Library Documentation
+This forder contains the documentation template for the Verse library. The documentation is automatically generated using [sphinx](https://www.sphinx-doc.org/en/master/).
+
+## Prerequsites
+The following libraries are required for compile verse's document
+- sphinx
+- myst-parser
+- numpydoc
+- sphinx_rtd_theme
+
+The required packages can be installed using command
+```
+python3 -m pip install -r requirements-doc.txt
+```
+
+## Compiling documents
+### For Linux
+For linux user, the document can be compiled using command
+```
+make html
+```
+in the ```docs/``` folder
+
+### For Windows
+For Windows user, the document can be compiled using command
+```
+./make.bat html
+```
+in the ```docs/``` folder
+
+## Viewing documents
+The compiled result can be found in ```docs/build/html``` folder. The root of the compiled document is stored in ```docs/build/html/index.html```
+
+## Example architectural document
+An example highlevel architectural document can be found in file ```docs/source/parser.md```
+
+## Example docstring for class/function
+An example docstring for class function can be found in file ```verse/agents/base_agent.py``` for class ```BaseAgent``` and function ```BaseAgent.__init__``` and ```BaseAgent.TC_simulate```
diff --git a/docs/make.bat b/docs/make.bat
new file mode 100644
index 0000000000000000000000000000000000000000..747ffb7b3033659bdd2d1e6eae41ecb00358a45e
--- /dev/null
+++ b/docs/make.bat
@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+ set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+ echo.
+ echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+ echo.installed, then set the SPHINXBUILD environment variable to point
+ echo.to the full path of the 'sphinx-build' executable. Alternatively you
+ echo.may add the Sphinx directory to PATH.
+ echo.
+ echo.If you don't have Sphinx installed, grab it from
+ echo.https://www.sphinx-doc.org/
+ exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd
diff --git a/docs/requirements-doc.txt b/docs/requirements-doc.txt
new file mode 100644
index 0000000000000000000000000000000000000000..51e879c7ad281922a5c05de74ce5ce5ed200914a
--- /dev/null
+++ b/docs/requirements-doc.txt
@@ -0,0 +1,4 @@
+sphinx
+myst-parser
+sphinx_rtd_theme
+numpydoc
\ No newline at end of file
diff --git a/docs/source/_templates/custom-class-template.rst b/docs/source/_templates/custom-class-template.rst
new file mode 100644
index 0000000000000000000000000000000000000000..6386a5c7bec1ac21993346655ceddea1d57f4187
--- /dev/null
+++ b/docs/source/_templates/custom-class-template.rst
@@ -0,0 +1,9 @@
+{{ fullname | escape | underline}}
+
+.. currentmodule:: {{ module }}
+
+.. autoclass:: {{ objname }}
+ :members:
+ :show-inheritance:
+ :inherited-members:
+
diff --git a/docs/source/_templates/custom-module-template.rst b/docs/source/_templates/custom-module-template.rst
new file mode 100644
index 0000000000000000000000000000000000000000..8a260087cdfa355c745a6d9fcc8a26fc144b3d07
--- /dev/null
+++ b/docs/source/_templates/custom-module-template.rst
@@ -0,0 +1,66 @@
+{{ fullname | escape | underline}}
+
+.. automodule:: {{ fullname }}
+
+ {% block attributes %}
+ {% if attributes %}
+ .. rubric:: {{ _('Module Attributes') }}
+
+ .. autosummary::
+ :toctree:
+ {% for item in attributes %}
+ {{ item }}
+ {%- endfor %}
+ {% endif %}
+ {% endblock %}
+
+ {% block functions %}
+ {% if functions %}
+ .. rubric:: {{ _('Functions') }}
+
+ .. autosummary::
+ :toctree:
+ {% for item in functions %}
+ {{ item }}
+ {%- endfor %}
+ {% endif %}
+ {% endblock %}
+
+ {% block classes %}
+ {% if classes %}
+ .. rubric:: {{ _('Classes') }}
+
+ .. autosummary::
+ :toctree:
+ :template: custom-class-template.rst
+ {% for item in classes %}
+ {{ item }}
+ {%- endfor %}
+ {% endif %}
+ {% endblock %}
+
+ {% block exceptions %}
+ {% if exceptions %}
+ .. rubric:: {{ _('Exceptions') }}
+
+ .. autosummary::
+ :toctree:
+ {% for item in exceptions %}
+ {{ item }}
+ {%- endfor %}
+ {% endif %}
+ {% endblock %}
+
+{% block modules %}
+{% if modules %}
+.. rubric:: Modules
+
+.. autosummary::
+ :toctree:
+ :template: custom-module-template.rst
+ :recursive:
+{% for item in modules %}
+ {{ item }}
+{%- endfor %}
+{% endif %}
+{% endblock %}
diff --git a/docs/source/agent.rst b/docs/source/agent.rst
new file mode 100644
index 0000000000000000000000000000000000000000..0cc6dddfb3aed809d359ba3576654359b2340752
--- /dev/null
+++ b/docs/source/agent.rst
@@ -0,0 +1,2 @@
+Agent
+=====
\ No newline at end of file
diff --git a/docs/source/conf.py b/docs/source/conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..57ef28ba86b8064697ff633b5b592cb71ed8d2b8
--- /dev/null
+++ b/docs/source/conf.py
@@ -0,0 +1,45 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+project = 'verse'
+copyright = '2022, Yangge Li, Haoqing Zhu'
+author = 'Yangge Li, Haoqing Zhu'
+release = '0.2'
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [
+ 'myst_parser',
+ 'sphinx.ext.duration',
+ 'sphinx.ext.doctest',
+ 'sphinx.ext.autodoc',
+ 'sphinx.ext.autosummary',
+ 'sphinx_rtd_theme',
+ 'numpydoc',
+]
+
+autosummary_generate = True
+source_suffix = ['.rst', '.md']
+
+templates_path = ['_templates']
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_theme = 'alabaster'
+html_static_path = ['_static']
+
+def skip(app, what, name, obj, would_skip, options):
+ if name == "__init__":
+ return False
+ return would_skip
+
+def setup(app):
+ app.connect("autodoc-skip-member", skip)
\ No newline at end of file
diff --git a/docs/source/contributors.rst b/docs/source/contributors.rst
new file mode 100644
index 0000000000000000000000000000000000000000..39d3352fcef97b63f1b1e9a3d96a9837d87e7bcb
--- /dev/null
+++ b/docs/source/contributors.rst
@@ -0,0 +1,8 @@
+Contributors
+============
+
+================================== ==================================
+Katherine Braught Sayan Mitra
+Louis Sungwoo Cho Keyi Shen
+Yangge Li Haoqing Zhu
+================================== ==================================
diff --git a/docs/source/getting_started.rst b/docs/source/getting_started.rst
new file mode 100644
index 0000000000000000000000000000000000000000..da548f6b4e8c62bc68d9880c1ea6dcedf4c10693
--- /dev/null
+++ b/docs/source/getting_started.rst
@@ -0,0 +1,8 @@
+Getting Started
+===============
+
+*Verse* is a Python library for modeling, simulation, and verification of multi-agent
+autonomous systems like cars, drones, and spacecraft, in structured environments like road networks, racetracks, and orbits.
+
+Installing
+__________
\ No newline at end of file
diff --git a/docs/source/index.rst b/docs/source/index.rst
new file mode 100644
index 0000000000000000000000000000000000000000..7c834a9c126dd692076036eee11bcf4466d80c4a
--- /dev/null
+++ b/docs/source/index.rst
@@ -0,0 +1,35 @@
+.. verse documentation master file, created by
+ sphinx-quickstart on Fri Jul 29 22:19:35 2022.
+ You can adapt this file completely to your liking, but it should at least
+ contain the root `toctree` directive.
+
+Welcome to verse's documentation!
+=================================
+
+.. toctree::
+ :maxdepth: 1
+ :caption: Contents:
+
+ getting_started.rst
+ agent.rst
+ map.rst
+ sensor.rst
+ scenario.rst
+ parser.md
+ contributors.rst
+
+API Documentation
+~~~~~~~~~~~~~~~~~
+.. autosummary::
+ :toctree: _autosummary
+ :template: custom-module-template.rst
+ :recursive:
+
+ verse
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
diff --git a/docs/source/map.rst b/docs/source/map.rst
new file mode 100644
index 0000000000000000000000000000000000000000..6f233739f7f68739f2f4fe129fa23a71cac0af64
--- /dev/null
+++ b/docs/source/map.rst
@@ -0,0 +1,2 @@
+Map
+===
\ No newline at end of file
diff --git a/docs/source/parser.md b/docs/source/parser.md
new file mode 100644
index 0000000000000000000000000000000000000000..0bb4af1939e82ff000ebbc1df41a09088c20a53c
--- /dev/null
+++ b/docs/source/parser.md
@@ -0,0 +1,46 @@
+# Parser
+
+## Goals
+
+The primary goal of the parser is to obtain single expressions for different parts of the system, so that it's easier for the backend system to do analysis. Since we use a SAT solver (z3) in the backend for checking if a guard in the controller is activated, a single expression would allow us to convert the expression directly into a z3 expression and the satisfiability is checked once.
+
+## Working Principle
+
+The parser achieves this by using a simple AST walking interpreter on the input file, with a list of scoped environments to keep track of the values of the variables. The only difference to normal interpreters being that the values of the variables are the ASTs themselves, i.e. no evaluation is done on the ASTs. When the variables are used, the ASTs they contain are substituted into the larger AST they are in. Functions and lambdas work essentially the same way, with the body of the function/lambda substituted with the arguments' ASTs (functions and lambdas actually use the same value augmented to the Python AST i.e. `Lambda`)
+
+Since the values can only be some form of Python AST (or custom values, as explained below), no builtin functions/variables are supported other than the ones mentioned in [Reductions](#Reductions). Imported modules are also not processed. They are treated as `Hole`s in the environments, i.e. valid defined symbols but the parser knows nothing more about them. Functions that are called as a member of a module or of a variable are preserved and not expanded, as they may be supported by the backend. The use of any other functions will cause an error.
+
+In order to simplify backend processing, there are 2 new values introduced into the AST (in addition to lambdas), `CondVal`s and `Reduction`s.
+
+### Conditional Values
+
+`CondVal`, or conditional values, are used as the primary analysis component for the backend. They store a list of all the possible values a variable can take, as well as the conditions that needs to be met for the values to be taken (i.e. a list of `CondValCase`s). In each case, the list of conditions are implicitly `and`ed together.
+
+`CondVal`s are constructed when a variable is assigned in a if statement somewhere in the code. When a variable is assigned multiple times in different if statements (or different branches of them), the value will be "merged" together using the test condition. Simply, when a merge happens, the test condition is appended to the list of conditions for each value in the `CondVal`, and if the value is assigned in an else branch, the test is inverted.
+
+Due to how the execution uncertainty is checked in the backend, the parser also doesn't follow the usual semantics of how `if` statements work. Consider this snippet:
+
+```python
+a = 42
+if test:
+ a = 3
+```
+
+The parser will actually report that `a` could be `42` whenever (no condition needed to trigger) and `3` when `test` is satisfied. In a normal python execution, `a` will only be `42` if `test` is not satisfied (unless the evaluation of `test` causes an exception).
+
+### <a name="Reductions"></a>Reductions
+
+Due to the need to support multiple agents, it's necessary to have support for some form of reductions, since the control output will only be one "thing". Arbitrary loops are hard to support, since they can have arbitrary control flow that are hard to analyze. Instead, we support builtin reduction functions (currently only `all` and `any`) called on generator comprehension expressions. These are much better formed and easier to process. When the parser encounters a call like `all(test(o) for o in other_states)` it'll convert that into a `Reduction` value, which will then be unrolled in reachtube computation with the sensor values, or converted back to a normal Python function call to be evaluated in simulation.
+
+## Limitations
+
+- Very limited function definition support
+- Basically no support for imported modules
+- No loops allowed in the code, instead only specific reduction calls are supported
+- Unusual if statement semantics
+- Only one return statement is supported per function, and it has to be at the end
+- State definitions are inferred from the variable type definitions in the class that end in `State`, and the type (discrete/continuous) of the member variable is determined from the name; no method definition is used
+- Similar to how states are processed, discrete modes are also class definitions with names ending in `Mode`, and the declaration is assumed to be how `enum.Enum` is usually used; see demos for examples. No method definition is used
+- Custom class definitions (other than the states and modes definitions) are not processed
+
+Some of these may be resolved later, others stem from the limitations of some of the analysis methods and backends (e.g. z3)
diff --git a/docs/source/scenario.rst b/docs/source/scenario.rst
new file mode 100644
index 0000000000000000000000000000000000000000..59f6d672715450d4a77e4e718bb844208c5d254c
--- /dev/null
+++ b/docs/source/scenario.rst
@@ -0,0 +1,2 @@
+Scenario
+========
\ No newline at end of file
diff --git a/docs/source/sensor.rst b/docs/source/sensor.rst
new file mode 100644
index 0000000000000000000000000000000000000000..7d7cede56c622ec4b46fe1f70fa70a3f98190d8e
--- /dev/null
+++ b/docs/source/sensor.rst
@@ -0,0 +1,2 @@
+Sensor
+======
\ No newline at end of file
diff --git a/dryvr_plus_plus/example/example_map/__init__.py b/dryvr_plus_plus/example/example_map/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/dryvr_plus_plus/example/example_sensor/__init__.py b/dryvr_plus_plus/example/example_sensor/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/dryvr_plus_plus/scene_verifier/__init__.py b/dryvr_plus_plus/scene_verifier/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/dryvr_plus_plus/scene_verifier/agents/__init__.py b/dryvr_plus_plus/scene_verifier/agents/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/dryvr_plus_plus/scene_verifier/agents/base_agent.py b/dryvr_plus_plus/scene_verifier/agents/base_agent.py
deleted file mode 100644
index 8acd8218e395c8d6c52a451da53e4aac8f7a83c8..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/agents/base_agent.py
+++ /dev/null
@@ -1,10 +0,0 @@
-from dryvr_plus_plus.scene_verifier.code_parser.parser import ControllerIR, Env
-
-
-class BaseAgent:
- def __init__(self, id, code = None, file_name = None):
- self.controller: ControllerIR = ControllerIR.parse(code, file_name)
- self.id = id
-
- def TC_simulate(self, mode, initialSet, time_horizon, time_step, map=None):
- raise NotImplementedError
diff --git a/dryvr_plus_plus/scene_verifier/analysis/__init__.py b/dryvr_plus_plus/scene_verifier/analysis/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/dryvr_plus_plus/scene_verifier/analysis/analysis_tree_node.py b/dryvr_plus_plus/scene_verifier/analysis/analysis_tree_node.py
deleted file mode 100644
index 15780164fb1c8ecf7c5c3a3ab2d5852dd51c2f17..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/analysis/analysis_tree_node.py
+++ /dev/null
@@ -1,30 +0,0 @@
-from typing import List, Dict, Any
-
-class AnalysisTreeNode:
- """AnalysisTreeNode class
- A AnalysisTreeNode stores the continous execution of the system without transition happening"""
- trace: Dict
- """The trace for each agent.
- The key of the dict is the agent id and the value of the dict is simulated traces for each agent"""
- init: Dict
-
- def __init__(
- self,
- trace={},
- init={},
- mode={},
- static = {},
- agent={},
- child=[],
- start_time = 0,
- ndigits = 10,
- type = 'simtrace'
- ):
- self.trace:Dict = trace
- self.init: Dict[str, List[float]] = init
- self.mode: Dict[str, List[str]] = mode
- self.agent: Dict = agent
- self.child: List[AnalysisTreeNode] = child
- self.start_time: float = round(start_time, ndigits)
- self.type: str = type
- self.static: Dict[str, List[str]] = static
diff --git a/dryvr_plus_plus/scene_verifier/analysis/verifier.py b/dryvr_plus_plus/scene_verifier/analysis/verifier.py
deleted file mode 100644
index 0c65ac0bef0875ce9830394846dffdd0b290625d..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/analysis/verifier.py
+++ /dev/null
@@ -1,123 +0,0 @@
-from typing import List, Dict
-import copy
-
-import numpy as np
-
-from dryvr_plus_plus.scene_verifier.agents.base_agent import BaseAgent
-from dryvr_plus_plus.scene_verifier.analysis.analysis_tree_node import AnalysisTreeNode
-from dryvr_plus_plus.scene_verifier.dryvr.core.dryvrcore import calc_bloated_tube
-import dryvr_plus_plus.scene_verifier.dryvr.common.config as userConfig
-
-
-class Verifier:
- def __init__(self):
- self.reachtube_tree_root = None
- self.unsafe_set = None
- self.verification_result = None
-
- def compute_full_reachtube(
- self,
- init_list: List[float],
- init_mode_list: List[str],
- static_list: List[str],
- agent_list: List[BaseAgent],
- transition_graph,
- time_horizon,
- time_step,
- lane_map
- ):
- root = AnalysisTreeNode()
- 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]]
- root.mode[agent.id] = init_mode
- init_static = [elem.name for elem in static_list[i]]
- root.static[agent.id] = init_static
- root.agent[agent.id] = agent
- root.type = 'reachtube'
- self.reachtube_tree_root = root
- verification_queue = []
- verification_queue.append(root)
- while verification_queue != []:
- node: AnalysisTreeNode = verification_queue.pop(0)
- # print(node.start_time, node.mode)
- remain_time = round(time_horizon - node.start_time, 10)
- if remain_time <= 0:
- continue
- # For reachtubes not already computed
- # TODO: can add parallalization for this loop
- for agent_id in node.agent:
- if agent_id not in node.trace:
- # Compute the trace starting from initial condition
- mode = node.mode[agent_id]
- init = node.init[agent_id]
- # trace = node.agent[agent_id].TC_simulate(mode, init, remain_time,lane_map)
- # trace[:,0] += node.start_time
- # node.trace[agent_id] = trace.tolist()
-
- cur_bloated_tube = calc_bloated_tube(mode,
- init,
- remain_time,
- time_step,
- node.agent[agent_id].TC_simulate,
- 'PW',
- 100,
- userConfig.SIMTRACENUM,
- lane_map=lane_map
- )
- trace = np.array(cur_bloated_tube)
- trace[:, 0] += node.start_time
- node.trace[agent_id] = trace.tolist()
- # print("here")
-
- # TODO: Check safety conditions here
-
- # Get all possible transitions to next mode
- all_possible_transitions = transition_graph.get_transition_verify_new(
- node)
- print('all_possible_transitions', all_possible_transitions)
- max_end_idx = 0
- for transition in all_possible_transitions:
- transit_agent_idx, src_mode, dest_mode, next_init, idx = transition
- start_idx, end_idx = idx
-
- truncated_trace = {}
- for agent_idx in node.agent:
- truncated_trace[agent_idx] = node.trace[agent_idx][start_idx*2:]
- if end_idx > max_end_idx:
- max_end_idx = end_idx
-
- if dest_mode is None:
- continue
-
- next_node_mode = copy.deepcopy(node.mode)
- next_node_mode[transit_agent_idx] = dest_mode
- next_node_agent = node.agent
- next_node_start_time = list(truncated_trace.values())[0][0][0]
- next_node_init = {}
- next_node_trace = {}
- for agent_idx in next_node_agent:
- if agent_idx == transit_agent_idx:
- next_node_init[agent_idx] = next_init
- else:
- next_node_trace[agent_idx] = truncated_trace[agent_idx]
-
- tmp = AnalysisTreeNode(
- trace=next_node_trace,
- init=next_node_init,
- mode=next_node_mode,
- agent=next_node_agent,
- child=[],
- start_time=round(next_node_start_time, 10),
- type='reachtube'
- )
- node.child.append(tmp)
- verification_queue.append(tmp)
-
- """Truncate trace of current node based on max_end_idx"""
- """Only truncate when there's transitions"""
- if all_possible_transitions:
- for agent_idx in node.agent:
- node.trace[agent_idx] = node.trace[agent_idx][:(
- max_end_idx+1)*2]
- return root
diff --git a/dryvr_plus_plus/scene_verifier/automaton/__init__.py b/dryvr_plus_plus/scene_verifier/automaton/__init__.py
deleted file mode 100644
index a1ae96f571beeb44895a0b155022d6c852604e6e..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/automaton/__init__.py
+++ /dev/null
@@ -1,4 +0,0 @@
-# try:
-# from hybrid_automaton import *
-# except:
-# from scene_verifier.automaton.hybrid_automaton import *
\ No newline at end of file
diff --git a/dryvr_plus_plus/scene_verifier/automaton/guard_backup.py b/dryvr_plus_plus/scene_verifier/automaton/guard_backup.py
deleted file mode 100644
index af2665d53db6ebe85b8082c738de0b0623faeca2..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/automaton/guard_backup.py
+++ /dev/null
@@ -1,1082 +0,0 @@
-import enum
-import re
-from typing import List, Dict, Any
-import pickle
-import ast
-import copy
-
-from z3 import *
-import astunparse
-import numpy as np
-
-from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
-from dryvr_plus_plus.scene_verifier.map.lane_segment import AbstractLane
-from dryvr_plus_plus.scene_verifier.utils.utils import *
-from dryvr_plus_plus.scene_verifier.code_parser.parser import Reduction, ReductionType
-
-class LogicTreeNode:
- def __init__(self, data, child = [], val = None, mode_guard = None):
- self.data = data
- self.child = child
- self.val = val
- self.mode_guard = mode_guard
-
-class NodeSubstituter(ast.NodeTransformer):
- def __init__(self, old_node, new_node):
- super().__init__()
- self.old_node = old_node
- self.new_node = new_node
-
- def visit_Reduction(self, node: Reduction) -> Any:
- if node == self.old_node:
- self.generic_visit(node)
- return self.new_node
- else:
- self.generic_visit(node)
- return node
-
- # def visit_Call(self, node: ast.Call) -> Any:
- # if node == self.old_node:
- # self.generic_visit(node)
- # return self.new_node
- # else:
- # self.generic_visit(node)
- # return node
-
-class ValueSubstituter(ast.NodeTransformer):
- def __init__(self, val:str, node):
- super().__init__()
- self.val = val
- self.node = node
-
- def visit_Attribute(self, node: ast.Attribute) -> Any:
- # Substitute attribute node in the ast
- if isinstance(self.node, Reduction):
- return node
- if node == self.node:
- return ast.Name(
- id = self.val,
- ctx = ast.Load()
- )
- return node
-
- def visit_Name(self, node: ast.Attribute) -> Any:
- # Substitute name node in the ast
- if isinstance(self.node, Reduction):
- return node
- if node == self.node:
- return ast.Name(
- id = self.val,
- ctx = ast.Load
- )
- return node
-
- def visit_Reduction(self, node: Reduction) -> Any:
- if node == self.node:
- if len(self.val) == 1:
- self.generic_visit(node)
- return self.val[0]
- elif node.op == ReductionType.Any:
- self.generic_visit(node)
- return ast.BoolOp(
- op = ast.Or(),
- values = self.val
- )
- elif node.op == ReductionType.All:
- self.generic_visit(node)
- return ast.BoolOp(
- op = ast.And(),
- values = self.val
- )
- self.generic_visit(node)
- return node
-
-class GuardExpressionAst:
- def __init__(self, guard_list):
- self.ast_list = copy.deepcopy(guard_list)
- self.cont_variables = {}
- self.varDict = {}
-
- def _build_guard(self, guard_str, agent):
- """
- Build solver for current guard based on guard string
-
- Args:
- guard_str (str): the guard string.
- For example:"And(v>=40-0.1*u, v-40+0.1*u<=0)"
-
- Returns:
- A Z3 Solver obj that check for guard.
- A symbol index dic obj that indicates the index
- of variables that involved in the guard.
- """
- cur_solver = Solver()
- # This magic line here is because SymPy will evaluate == to be False
- # Therefore we are not be able to get free symbols from it
- # Thus we need to replace "==" to something else
-
- symbols_map = {v: k for k, v in self.cont_variables.items()}
-
- for vars in reversed(self.cont_variables):
- guard_str = guard_str.replace(vars, self.cont_variables[vars])
- # XXX `locals` should override `globals` right?
- cur_solver.add(eval(guard_str, globals(), self.varDict)) # TODO use an object instead of `eval` a string
- return cur_solver, symbols_map
-
- def evaluate_guard_cont(self, agent, continuous_variable_dict, lane_map):
- res = False
- is_contained = False
-
- for cont_vars in continuous_variable_dict:
- underscored = cont_vars.replace('.','_')
- self.cont_variables[cont_vars] = underscored
- self.varDict[underscored] = Real(underscored)
-
- z3_string = self.generate_z3_expression()
- if isinstance(z3_string, bool):
- return z3_string, z3_string
-
- cur_solver, symbols = self._build_guard(z3_string, agent)
- cur_solver.push()
- for symbol in symbols:
- start, end = continuous_variable_dict[symbols[symbol]]
- cur_solver.add(self.varDict[symbol] >= start, self.varDict[symbol] <= end)
- if cur_solver.check() == sat:
- # The reachtube hits the guard
- cur_solver.pop()
- res = True
-
- tmp_solver = Solver()
- tmp_solver.add(Not(cur_solver.assertions()[0]))
- for symbol in symbols:
- start, end = continuous_variable_dict[symbols[symbol]]
- tmp_solver.add(self.varDict[symbol] >= start, self.varDict[symbol] <= end)
- if tmp_solver.check() == unsat:
- print("Full intersect, break")
- is_contained = True
-
- return res, is_contained
-
- def generate_z3_expression(self):
- """
- The return value of this function will be a bool/str
-
- If without evaluating the continuous variables the result is True, then
- the guard will automatically be satisfied and is_contained will be True
-
- If without evaluating the continuous variables the result is False, th-
- en the guard will automatically be unsatisfied
-
- If the result is a string, then continuous variables will be checked to
- see if the guard can be satisfied
- """
- res = []
- for node in self.ast_list:
- tmp = self._generate_z3_expression_node(node)
- if isinstance(tmp, bool):
- if not tmp:
- return False
- else:
- continue
- res.append(tmp)
- if res == []:
- return True
- elif len(res) == 1:
- return res[0]
- res = "And("+",".join(res)+")"
- return res
-
- def _generate_z3_expression_node(self, node):
- """
- Perform a DFS over expression ast and generate the guard expression
- The return value of this function can be a bool/str
-
- If without evaluating the continuous variables the result is True, then
- the guard condition will automatically be satisfied
-
- If without evaluating the continuous variables the result is False, then
- the guard condition will not be satisfied
-
- If the result is a string, then continuous variables will be checked to
- see if the guard can be satisfied
- """
- if isinstance(node, ast.BoolOp):
- # Check the operator
- # For each value in the boolop, check results
- if isinstance(node.op, ast.And):
- z3_str = []
- for i,val in enumerate(node.values):
- tmp = self._generate_z3_expression_node(val)
- if isinstance(tmp, bool):
- if tmp:
- continue
- else:
- return False
- z3_str.append(tmp)
- if len(z3_str) == 1:
- z3_str = z3_str[0]
- else:
- z3_str = 'And('+','.join(z3_str)+')'
- return z3_str
- elif isinstance(node.op, ast.Or):
- z3_str = []
- for val in node.values:
- tmp = self._generate_z3_expression_node(val)
- if isinstance(tmp, bool):
- if tmp:
- return True
- else:
- continue
- z3_str.append(tmp)
- if len(z3_str) == 1:
- z3_str = z3_str[0]
- else:
- z3_str = 'Or('+','.join(z3_str)+')'
- return z3_str
- # If string, construct string
- # If bool, check result and discard/evaluate result according to operator
- pass
- elif isinstance(node, ast.Constant):
- # If is bool, return boolean result
- if isinstance(node.value, bool):
- return node.value
- # Else, return raw expression
- else:
- expr = astunparse.unparse(node)
- expr = expr.strip('\n')
- return expr
- elif isinstance(node, ast.UnaryOp):
- # If is UnaryOp,
- value = self._generate_z3_expression_node(node.operand)
- if isinstance(node.op, ast.USub):
- return -value
- elif isinstance(node.op, ast.Not):
- z3_str = 'Not('+value+')'
- return z3_str
- else:
- raise NotImplementedError(f"UnaryOp {node.op} is not supported")
- else:
- # For other cases, we can return the expression directly
- expr = astunparse.unparse(node)
- expr = expr.strip('\n')
- return expr
-
- def evaluate_guard_hybrid(self, agent, discrete_variable_dict, continuous_variable_dict, lane_map:LaneMap):
- """
- Handle guard atomics that contains both continuous and hybrid variables
- Especially, we want to handle function calls that need both continuous and
- discrete variables as input
- We will perform interval arithmetic based on the function calls to the input and replace the function calls
- with temp constants with their values stored in the continuous variable dict
- By doing this, all calls that need both continuous and discrete variables as input will now become only continuous
- variables. We can then handle these using what we already have for the continous variables
- """
- res = True
- for i, node in enumerate(self.ast_list):
- tmp, self.ast_list[i] = self._evaluate_guard_hybrid(node, agent, discrete_variable_dict, continuous_variable_dict, lane_map)
- res = res and tmp
- return res
-
- def _evaluate_guard_hybrid(self, root, agent, disc_var_dict, cont_var_dict, lane_map:LaneMap):
- if isinstance(root, ast.Compare):
- expr = astunparse.unparse(root)
- left, root.left = self._evaluate_guard_hybrid(root.left, agent, disc_var_dict, cont_var_dict, lane_map)
- right, root.comparators[0] = self._evaluate_guard_hybrid(root.comparators[0], agent, disc_var_dict, cont_var_dict, lane_map)
- return True, root
- elif isinstance(root, ast.BoolOp):
- if isinstance(root.op, ast.And):
- res = True
- for i, val in enumerate(root.values):
- tmp, root.values[i] = self._evaluate_guard_hybrid(val, agent, disc_var_dict, cont_var_dict, lane_map)
- res = res and tmp
- if not res:
- break
- return res, root
- elif isinstance(root.op, ast.Or):
- res = False
- for val in root.values:
- tmp,val = self._evaluate_guard_hybrid(val, agent, disc_var_dict, cont_var_dict, lane_map)
- res = res or tmp
- return res, root
- elif isinstance(root, ast.BinOp):
- left, root.left = self._evaluate_guard_hybrid(root.left, agent, disc_var_dict, cont_var_dict, lane_map)
- right, root.right = self._evaluate_guard_hybrid(root.right, agent, disc_var_dict, cont_var_dict, lane_map)
- return True, root
- elif isinstance(root, ast.Call):
- if isinstance(root.func, ast.Attribute):
- func = root.func
- if func.value.id == 'lane_map':
- if func.attr == 'get_lateral_distance':
- # Get function arguments
- arg0_node = root.args[0]
- arg1_node = root.args[1]
- if isinstance(arg0_node, ast.Attribute):
- arg0_var = arg0_node.value.id + '.' + arg0_node.attr
- elif isinstance(arg0_node, ast.Name):
- arg0_var = arg0_node.id
- else:
- raise ValueError(f"Node type {type(arg0_node)} is not supported")
- vehicle_lane = disc_var_dict[arg0_var]
- assert isinstance(arg1_node, ast.List)
- arg1_lower = []
- arg1_upper = []
- for elt in arg1_node.elts:
- if isinstance(elt, ast.Attribute):
- var = elt.value.id + '.' + elt.attr
- elif isinstance(elt, ast.Name):
- var = elt.id
- else:
- raise ValueError(f"Node type {type(elt)} is not supported")
- arg1_lower.append(cont_var_dict[var][0])
- arg1_upper.append(cont_var_dict[var][1])
- vehicle_pos = (arg1_lower, arg1_upper)
-
- # Get corresponding lane segments with respect to the set of vehicle pos
- lane_seg1 = lane_map.get_lane_segment(vehicle_lane, arg1_lower)
- lane_seg2 = lane_map.get_lane_segment(vehicle_lane, arg1_upper)
-
- # Compute the set of possible lateral values with respect to all possible segments
- lateral_set1 = self._handle_lateral_set(lane_seg1, np.array(vehicle_pos))
- lateral_set2 = self._handle_lateral_set(lane_seg2, np.array(vehicle_pos))
-
- # Use the union of two sets as the set of possible lateral positions
- lateral_set = [min(lateral_set1[0], lateral_set2[0]), max(lateral_set1[1], lateral_set2[1])]
-
- # Construct the tmp variable
- tmp_var_name = f'tmp_variable{len(cont_var_dict)+1}'
- # Add the tmp variable to the cont var dict
- cont_var_dict[tmp_var_name] = lateral_set
- # Replace the corresponding function call in ast
- root = ast.parse(tmp_var_name).body[0].value
- return True, root
- elif func.attr == 'get_longitudinal_position':
- # Get function arguments
- arg0_node = root.args[0]
- arg1_node = root.args[1]
- # assert isinstance(arg0_node, ast.Attribute)
- if isinstance(arg0_node, ast.Attribute):
- arg0_var = arg0_node.value.id + '.' + arg0_node.attr
- elif isinstance(arg0_node, ast.Name):
- arg0_var = arg0_node.id
- else:
- raise ValueError(f"Node type {type(arg0_node)} is not supported")
- vehicle_lane = disc_var_dict[arg0_var]
- assert isinstance(arg1_node, ast.List)
- arg1_lower = []
- arg1_upper = []
- for elt in arg1_node.elts:
- if isinstance(elt, ast.Attribute):
- var = elt.value.id + '.' + elt.attr
- elif isinstance(elt, ast.Name):
- var = elt.id
- else:
- raise ValueError(f"Node type {type(elt)} is not supported")
- arg1_lower.append(cont_var_dict[var][0])
- arg1_upper.append(cont_var_dict[var][1])
- vehicle_pos = (arg1_lower, arg1_upper)
-
- # Get corresponding lane segments with respect to the set of vehicle pos
- lane_seg1 = lane_map.get_lane_segment(vehicle_lane, arg1_lower)
- lane_seg2 = lane_map.get_lane_segment(vehicle_lane, arg1_upper)
-
- # Compute the set of possible longitudinal values with respect to all possible segments
- longitudinal_set1 = self._handle_longitudinal_set(lane_seg1, np.array(vehicle_pos))
- longitudinal_set2 = self._handle_longitudinal_set(lane_seg2, np.array(vehicle_pos))
-
- # Use the union of two sets as the set of possible longitudinal positions
- longitudinal_set = [min(longitudinal_set1[0], longitudinal_set2[0]), max(longitudinal_set1[1], longitudinal_set2[1])]
-
- # Construct the tmp variable
- tmp_var_name = f'tmp_variable{len(cont_var_dict)+1}'
- # Add the tmp variable to the cont var dict
- cont_var_dict[tmp_var_name] = longitudinal_set
- # Replace the corresponding function call in ast
- root = ast.parse(tmp_var_name).body[0].value
- return True, root
- else:
- raise ValueError(f'Node type {func} from {astunparse.unparse(func)} is not supported')
- else:
- raise ValueError(f'Node type {func} from {astunparse.unparse(func)} is not supported')
- else:
- raise ValueError(f'Node type {root.func} from {astunparse.unparse(root.func)} is not supported')
- elif isinstance(root, ast.Attribute):
- return True, root
- elif isinstance(root, ast.Constant):
- return root.value, root
- elif isinstance(root, ast.Name):
- return True, root
- elif isinstance(root, ast.UnaryOp):
- if isinstance(root.op, ast.USub):
- res, root.operand = self._evaluate_guard_hybrid(root.operand, agent, disc_var_dict, cont_var_dict, lane_map)
- elif isinstance(root.op, ast.Not):
- res, root.operand = self._evaluate_guard_hybrid(root.operand, agent, disc_var_dict, cont_var_dict, lane_map)
- if not res:
- root.operand = ast.parse('False').body[0].value
- return True, ast.parse('True').body[0].value
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
- return True, root
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
-
- def _handle_longitudinal_set(self, lane_seg: AbstractLane, position: np.ndarray) -> List[float]:
- if lane_seg.type == "Straight":
- # Delta lower
- delta0 = position[0,:] - lane_seg.start
- # Delta upper
- delta1 = position[1,:] - lane_seg.start
-
- longitudinal_low = min(delta0[0]*lane_seg.direction[0], delta1[0]*lane_seg.direction[0]) + \
- min(delta0[1]*lane_seg.direction[1], delta1[1]*lane_seg.direction[1])
- longitudinal_high = max(delta0[0]*lane_seg.direction[0], delta1[0]*lane_seg.direction[0]) + \
- max(delta0[1]*lane_seg.direction[1], delta1[1]*lane_seg.direction[1])
- longitudinal_low += lane_seg.longitudinal_start
- longitudinal_high += lane_seg.longitudinal_start
-
- assert longitudinal_high >= longitudinal_low
- return longitudinal_low, longitudinal_high
- elif lane_seg.type == "Circular":
- # Delta lower
- delta0 = position[0,:] - lane_seg.center
- # Delta upper
- delta1 = position[1,:] - lane_seg.center
-
- phi0 = np.min([
- np.arctan2(delta0[1], delta0[0]),
- np.arctan2(delta0[1], delta1[0]),
- np.arctan2(delta1[1], delta0[0]),
- np.arctan2(delta1[1], delta1[0]),
- ])
- phi1 = np.max([
- np.arctan2(delta0[1], delta0[0]),
- np.arctan2(delta0[1], delta1[0]),
- np.arctan2(delta1[1], delta0[0]),
- np.arctan2(delta1[1], delta1[0]),
- ])
-
- phi0 = lane_seg.start_phase + wrap_to_pi(phi0 - lane_seg.start_phase)
- phi1 = lane_seg.start_phase + wrap_to_pi(phi1 - lane_seg.start_phase)
- longitudinal_low = min(
- lane_seg.direction * (phi0 - lane_seg.start_phase)*lane_seg.radius,
- lane_seg.direction * (phi1 - lane_seg.start_phase)*lane_seg.radius
- ) + lane_seg.longitudinal_start
- longitudinal_high = max(
- lane_seg.direction * (phi0 - lane_seg.start_phase)*lane_seg.radius,
- lane_seg.direction * (phi1 - lane_seg.start_phase)*lane_seg.radius
- ) + lane_seg.longitudinal_start
-
- assert longitudinal_high >= longitudinal_low
- return longitudinal_low, longitudinal_high
- else:
- raise ValueError(f'Lane segment with type {lane_seg.type} is not supported')
-
- def _handle_lateral_set(self, lane_seg: AbstractLane, position: np.ndarray) -> List[float]:
- if lane_seg.type == "Straight":
- # Delta lower
- delta0 = position[0,:] - lane_seg.start
- # Delta upper
- delta1 = position[1,:] - lane_seg.start
-
- lateral_low = min(delta0[0]*lane_seg.direction_lateral[0], delta1[0]*lane_seg.direction_lateral[0]) + \
- min(delta0[1]*lane_seg.direction_lateral[1], delta1[1]*lane_seg.direction_lateral[1])
- lateral_high = max(delta0[0]*lane_seg.direction_lateral[0], delta1[0]*lane_seg.direction_lateral[0]) + \
- max(delta0[1]*lane_seg.direction_lateral[1], delta1[1]*lane_seg.direction_lateral[1])
- assert lateral_high >= lateral_low
- return lateral_low, lateral_high
- elif lane_seg.type == "Circular":
- dx = np.max([position[0,0]-lane_seg.center[0],0,lane_seg.center[0]-position[1,0]])
- dy = np.max([position[0,1]-lane_seg.center[1],0,lane_seg.center[1]-position[1,1]])
- r_low = np.linalg.norm([dx, dy])
-
- dx = np.max([np.abs(position[0,0]-lane_seg.center[0]),np.abs(position[1,0]-lane_seg.center[0])])
- dy = np.max([np.abs(position[0,1]-lane_seg.center[1]),np.abs(position[1,1]-lane_seg.center[1])])
- r_high = np.linalg.norm([dx, dy])
- lateral_low = min(lane_seg.direction*(lane_seg.radius - r_high),lane_seg.direction*(lane_seg.radius - r_low))
- lateral_high = max(lane_seg.direction*(lane_seg.radius - r_high),lane_seg.direction*(lane_seg.radius - r_low))
- # print(lateral_low, lateral_high)
- assert lateral_high >= lateral_low
- return lateral_low, lateral_high
- else:
- raise ValueError(f'Lane segment with type {lane_seg.type} is not supported')
-
- def evaluate_guard_disc(self, agent, discrete_variable_dict, continuous_variable_dict, lane_map):
- """
- Evaluate guard that involves only discrete variables.
- """
- res = True
- for i, node in enumerate(self.ast_list):
- tmp, self.ast_list[i] = self._evaluate_guard_disc(node, agent, discrete_variable_dict, continuous_variable_dict, lane_map)
- res = res and tmp
- return res
-
- def _evaluate_guard_disc(self, root, agent, disc_var_dict, cont_var_dict, lane_map):
- """
- Recursively called function to evaluate guard with only discrete variables
- The function will evaluate all guards with discrete variables and replace the nodes with discrete guards by
- boolean constants
-
- :params:
- :return: The return value will be a tuple. The first element in the tuple will either be a boolean value or a the evaluated value of of an expression involving guard
- The second element in the tuple will be the updated ast node
- """
- if isinstance(root, ast.Compare):
- expr = astunparse.unparse(root)
- left, root.left = self._evaluate_guard_disc(root.left, agent, disc_var_dict, cont_var_dict, lane_map)
- right, root.comparators[0] = self._evaluate_guard_disc(root.comparators[0], agent, disc_var_dict, cont_var_dict, lane_map)
- if isinstance(left, bool) or isinstance(right, bool):
- return True, root
- if isinstance(root.ops[0], ast.GtE):
- res = left>=right
- elif isinstance(root.ops[0], ast.Gt):
- res = left>right
- elif isinstance(root.ops[0], ast.Lt):
- res = left<right
- elif isinstance(root.ops[0], ast.LtE):
- res = left<=right
- elif isinstance(root.ops[0], ast.Eq):
- res = left == right
- elif isinstance(root.ops[0], ast.NotEq):
- res = left != right
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
- if res:
- root = ast.parse('True').body[0].value
- else:
- root = ast.parse('False').body[0].value
- return res, root
- elif isinstance(root, ast.BoolOp):
- if isinstance(root.op, ast.And):
- res = True
- for i,val in enumerate(root.values):
- tmp,root.values[i] = self._evaluate_guard_disc(val, agent, disc_var_dict, cont_var_dict, lane_map)
- res = res and tmp
- if not res:
- break
- return res, root
- elif isinstance(root.op, ast.Or):
- res = False
- for val in root.values:
- tmp,val = self._evaluate_guard_disc(val, agent, disc_var_dict, cont_var_dict, lane_map)
- res = res or tmp
- return res, root
- elif isinstance(root, ast.BinOp):
- # Check left and right in the binop and replace all attributes involving discrete variables
- left, root.left = self._evaluate_guard_disc(root.left, agent, disc_var_dict, cont_var_dict, lane_map)
- right, root.right = self._evaluate_guard_disc(root.right, agent, disc_var_dict, cont_var_dict, lane_map)
- return True, root
- elif isinstance(root, ast.Call):
- expr = astunparse.unparse(root)
- # Check if the root is a function
- if any([var in expr for var in disc_var_dict]) and all([var not in expr for var in cont_var_dict]):
- # tmp = re.split('\(|\)',expr)
- # while "" in tmp:
- # tmp.remove("")
- # for arg in tmp[1:]:
- # if arg in disc_var_dict:
- # expr = expr.replace(arg,f'"{disc_var_dict[arg]}"')
- # res = eval(expr)
- for arg in disc_var_dict:
- expr = expr.replace(arg, f'"{disc_var_dict[arg]}"')
- res = eval(expr)
- if isinstance(res, bool):
- if res:
- root = ast.parse('True').body[0].value
- else:
- root = ast.parse('False').body[0].value
- else:
- # TODO-PARSER: Handle This
- for mode_name in agent.controller.modes:
- # TODO-PARSER: Handle This
- if res in agent.controller.modes[mode_name]:
- res = mode_name+'.'+res
- break
- root = ast.parse(str(res)).body[0].value
- return res, root
- else:
- return True, root
- elif isinstance(root, ast.Attribute):
- expr = astunparse.unparse(root)
- expr = expr.strip('\n')
- if expr in disc_var_dict:
- val = disc_var_dict[expr]
- # TODO-PARSER: Handle This
- for mode_name in agent.controller.modes:
- # TODO-PARSER: Handle This
- if val in agent.controller.modes[mode_name]:
- val = mode_name+'.'+val
- break
- return val, root
- # TODO-PARSER: Handle This
- elif root.value.id in agent.controller.modes:
- return expr, root
- else:
- return True, root
- elif isinstance(root, ast.Constant):
- return root.value, root
- elif isinstance(root, ast.UnaryOp):
- if isinstance(root.op, ast.USub):
- res, root.operand = self._evaluate_guard_disc(root.operand, agent, disc_var_dict, cont_var_dict, lane_map)
- elif isinstance(root.op, ast.Not):
- res, root.operand = self._evaluate_guard_disc(root.operand, agent, disc_var_dict, cont_var_dict, lane_map)
- if not res:
- root.operand = ast.parse('False').body[0].value
- return True, ast.parse('True').body[0].value
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
- return True, root
- elif isinstance(root, ast.Name):
- expr = root.id
- if expr in disc_var_dict:
- val = disc_var_dict[expr]
- # TODO-PARSER: Handle This
- for mode_name in agent.controller.modes:
- # TODO-PARSER: Handle This
- if val in agent.controller.modes[mode_name]:
- val = mode_name + '.' + val
- break
- return val, root
- else:
- return True, root
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
-
- def evaluate_guard_old(self, agent, continuous_variable_dict, discrete_variable_dict, lane_map):
- res = True
- for i, node in enumerate(self.ast_list):
- tmp = self._evaluate_guard_old(node, agent, continuous_variable_dict, discrete_variable_dict, lane_map)
- res = tmp and res
- if not res:
- break
- return res
-
- def _evaluate_guard_old(self, root, agent, cnts_var_dict, disc_var_dict, lane_map):
- if isinstance(root, ast.Compare):
- left = self._evaluate_guard_old(root.left, agent, cnts_var_dict, disc_var_dict, lane_map)
- right = self._evaluate_guard_old(root.comparators[0], agent, cnts_var_dict, disc_var_dict, lane_map)
- if isinstance(root.ops[0], ast.GtE):
- return left>=right
- elif isinstance(root.ops[0], ast.Gt):
- return left>right
- elif isinstance(root.ops[0], ast.Lt):
- return left<right
- elif isinstance(root.ops[0], ast.LtE):
- return left<=right
- elif isinstance(root.ops[0], ast.Eq):
- return left == right
- elif isinstance(root.ops[0], ast.NotEq):
- return left != right
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
-
- elif isinstance(root, ast.BoolOp):
- if isinstance(root.op, ast.And):
- res = True
- for val in root.values:
- tmp = self._evaluate_guard_old(val, agent, cnts_var_dict, disc_var_dict, lane_map)
- res = res and tmp
- if not res:
- break
- return res
- elif isinstance(root.op, ast.Or):
- res = False
- for val in root.values:
- tmp = self._evaluate_guard_old(val, agent, cnts_var_dict, disc_var_dict, lane_map)
- res = res or tmp
- if res:
- break
- return res
- elif isinstance(root, ast.BinOp):
- left = self._evaluate_guard_old(root.left, agent, cnts_var_dict, disc_var_dict, lane_map)
- right = self._evaluate_guard_old(root.right, agent, cnts_var_dict, disc_var_dict, lane_map)
- if isinstance(root.op, ast.Sub):
- return left - right
- elif isinstance(root.op, ast.Add):
- return left + right
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
- elif isinstance(root, ast.Call):
- expr = astunparse.unparse(root)
- # Check if the root is a function
- if isinstance(root.func, ast.Attribute) and "map" in root.func.value.id:
- # if 'map' in expr:
- # tmp = re.split('\(|\)',expr)
- # while "" in tmp:
- # tmp.remove("")
- # for arg in tmp[1:]:
- # if arg in disc_var_dict:
- # expr = expr.replace(arg,f'"{disc_var_dict[arg]}"')
- # res = eval(expr)
- for arg in disc_var_dict:
- expr = expr.replace(arg, f'"{disc_var_dict[arg]}"')
- for arg in cnts_var_dict:
- expr = expr.replace(arg, str(cnts_var_dict[arg]))
- res = eval(expr)
- # TODO-PARSER: Handle This
- for mode_name in agent.controller.modes:
- # TODO-PARSER: Handle This
- if res in agent.controller.modes[mode_name]:
- res = mode_name+'.'+res
- break
- return res
- elif isinstance(root, ast.Attribute):
- expr = astunparse.unparse(root)
- expr = expr.strip('\n')
- if expr in disc_var_dict:
- val = disc_var_dict[expr]
- # TODO-PARSER: Handle This
- for mode_name in agent.controller.modes:
- # TODO-PARSER: Handle This
- if val in agent.controller.modes[mode_name]:
- val = mode_name+'.'+val
- break
- return val
- elif expr in cnts_var_dict:
- val = cnts_var_dict[expr]
- return val
-
- # TODO-PARSER: Handle This
- elif root.value.id in agent.controller.modes:
- return expr
- elif isinstance(root, ast.Constant):
- return root.value
- elif isinstance(root, ast.UnaryOp):
- val = self._evaluate_guard_old(root.operand, agent, cnts_var_dict, disc_var_dict, lane_map)
- if isinstance(root.op, ast.USub):
- return -val
- if isinstance(root.op, ast.Not):
- return not val
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
- elif isinstance(root, ast.Name):
- variable = root.id
- if variable in cnts_var_dict:
- val = cnts_var_dict[variable]
- return val
- elif variable in disc_var_dict:
- val = disc_var_dict[variable]
- # TODO-PARSER: Handle This
- for mode_name in agent.controller.modes:
- # TODO-PARSER: Handle This
- if val in agent.controller.modes[mode_name]:
- val = mode_name+'.'+val
- break
- return val
- else:
- raise ValueError(f"{variable} doesn't exist in either continuous varibales or discrete variables")
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
-
- def parse_any_all_new(self, cont_var_dict: Dict[str, float], disc_var_dict: Dict[str, float], len_dict: Dict[str, int]) -> Dict[str, List[str]]:
- cont_var_updater = {}
- for i in range(len(self.ast_list)):
- root = self.ast_list[i]
- j = 0
- while j < sum(1 for _ in ast.walk(root)):
- # TODO: Find a faster way to access nodes in the tree
- node = list(ast.walk(root))[j]
- if isinstance(node, Reduction):
- new_node = self.unroll_any_all_new(node, cont_var_dict, disc_var_dict, len_dict, cont_var_updater)
- root = NodeSubstituter(node, new_node).visit(root)
- j += 1
- self.ast_list[i] = root
- return cont_var_updater
-
- def unroll_any_all_new(
- self, node: Reduction,
- cont_var_dict: Dict[str, float],
- disc_var_dict: Dict[str, float],
- len_dict: Dict[str, float],
- cont_var_updater: Dict[str, List[str]],
- ) -> Tuple[ast.BoolOp, Dict[str, List[str]]]:
- # if isinstance(parse_arg, ast.GeneratorExp):
- iter_name = node.value.id
- iter_name_list = [node.value.id]
- targ_name = node.it
- targ_name_list = [node.it]
- # targ_var_list = []
- # for var in cont_var_dict:
- # if var.startswith(iter_name + '.'):
- # tmp = var.split('.')[1]
- # targ_var_list.append(targ_name + '.' + tmp)
- # for var in disc_var_dict:
- # if var.startswith(iter_name + '.'):
- # tmp = var.split('.')[1]
- # targ_var_list.append(targ_name + '.' + tmp)
-
- iter_len_list = [range(len_dict[node.value.id])]
- # Get all the iter, targets and the length of iter list
- # for generator in parse_arg.generators:
- # iter_name_list.append(generator.iter.id) # a_list
- # targ_name_list.append(generator.target.id) # a
- # iter_len_list.append(range(len_dict[generator.iter.id])) # len(a_list)
-
- elt = node.expr
- expand_elt_ast_list = []
- iter_len_list = list(itertools.product(*iter_len_list))
- # Loop through all possible combination of iter value
- for i in range(len(iter_len_list)):
- changed_elt = copy.deepcopy(elt)
- iter_pos_list = iter_len_list[i]
- # substitute temporary variable in each of the elt and add corresponding variables in the variable dicts
- parsed_elt = self._parse_elt_new(changed_elt, cont_var_dict, disc_var_dict, cont_var_updater, iter_name_list, targ_name_list, iter_pos_list)
- # Add the expanded elt into the list
- expand_elt_ast_list.append(parsed_elt)
- # Create the new boolop (and/or) node based on the list of expanded elt
- return ValueSubstituter(expand_elt_ast_list, node).visit(node)
-
- def _parse_elt_new(self, root, cont_var_dict, disc_var_dict, cont_var_updater, iter_name_list, targ_var_list, iter_pos_list) -> Any:
- # Loop through all node in the elt ast
- for node in ast.walk(root):
- # If the node is an attribute
- if isinstance(node, ast.Attribute):
- if node.value.id in targ_var_list:
- # Find corresponding targ_name in the targ_var_list
- targ_name = node.value.id
- var_index = targ_var_list.index(targ_name)
-
- # Find the corresponding iter_name in the iter_name_list
- iter_name = iter_name_list[var_index]
-
- # Create the name for the tmp variable
- iter_pos = iter_pos_list[var_index]
- tmp_variable_name = f"{iter_name}_{iter_pos}.{node.attr}"
-
- # Replace variables in the etl by using tmp variables
- root = ValueSubstituter(tmp_variable_name, node).visit(root)
-
- # Find the value of the tmp variable in the cont/disc_var_dict
- # Add the tmp variables into the cont/disc_var_dict
- # NOTE: At each time step, for each agent, the variable value mapping and their
- # sequence in the list is single. Therefore, for the same key, we will always rewrite
- # its content.
- variable_name = iter_name + '.' + node.attr
- variable_val = None
- if variable_name in cont_var_dict:
- # variable_val = cont_var_dict[variable_name][iter_pos]
- # cont_var_dict[tmp_variable_name] = variable_val
- if variable_name not in cont_var_updater:
- cont_var_updater[variable_name] = [(tmp_variable_name, iter_pos)]
- else:
- if (tmp_variable_name, iter_pos) not in cont_var_updater[variable_name]:
- cont_var_updater[variable_name].append((tmp_variable_name, iter_pos))
- elif variable_name in disc_var_dict:
- variable_val = disc_var_dict[variable_name][iter_pos]
- disc_var_dict[tmp_variable_name] = variable_val
- # if variable_name not in disc_var_updater:
- # disc_var_updater[variable_name] = [(tmp_variable_name, iter_pos)]
- # else:
- # if (tmp_variable_name, iter_pos) not in disc_var_updater[variable_name]:
- # disc_var_updater[variable_name].append((tmp_variable_name, iter_pos))
-
- elif isinstance(node, ast.Name):
- targ_var = None
- for tmp in targ_var_list:
- if node.id.startswith(tmp+'.'):
- targ_var = tmp
- break
- if targ_var is not None:
- node:ast.Name
- # Find corresponding targ_name in the targ_var_list
- targ_name = targ_var
- var_index = targ_var_list.index(targ_name)
- attr = node.id.split('.')[1]
-
- # Find the corresponding iter_name in the iter_name_list
- iter_name = iter_name_list[var_index]
-
- # Create the name for the tmp variable
- iter_pos = iter_pos_list[var_index]
- tmp_variable_name = f"{iter_name}_{iter_pos}.{attr}"
-
- # Replace variables in the etl by using tmp variables
- root = ValueSubstituter(tmp_variable_name, node).visit(root)
-
- # Find the value of the tmp variable in the cont/disc_var_dict
- # Add the tmp variables into the cont/disc_var_dict
- variable_name = iter_name + '.' + attr
- variable_val = None
- if variable_name in cont_var_dict:
- # variable_val = cont_var_dict[variable_name][iter_pos]
- # cont_var_dict[tmp_variable_name] = variable_val
- if variable_name not in cont_var_updater:
- cont_var_updater[variable_name] = [(tmp_variable_name, iter_pos)]
- else:
- if (tmp_variable_name, iter_pos) not in cont_var_updater[variable_name]:
- cont_var_updater[variable_name].append((tmp_variable_name, iter_pos))
- elif variable_name in disc_var_dict:
- variable_val = disc_var_dict[variable_name][iter_pos]
- disc_var_dict[tmp_variable_name] = variable_val
- # if variable_name not in disc_var_updater:
- # disc_var_updater[variable_name] = [(tmp_variable_name, iter_pos)]
- # else:
- # if (tmp_variable_name, iter_pos) not in disc_var_updater[variable_name]:
- # disc_var_updater[variable_name].append((tmp_variable_name, iter_pos))
-
- # Return the modified node
- return root
-
- def evaluate_guard(self, agent, continuous_variable_dict, discrete_variable_dict, lane_map):
- res = True
- for i, node in enumerate(self.ast_list):
- tmp = self._evaluate_guard(node, agent, continuous_variable_dict, discrete_variable_dict, lane_map)
- res = tmp and res
- if not res:
- break
- return res
-
- def _evaluate_guard(self, root, agent, cnts_var_dict, disc_var_dict, lane_map):
- if isinstance(root, ast.Compare):
- left = self._evaluate_guard(root.left, agent, cnts_var_dict, disc_var_dict, lane_map)
- right = self._evaluate_guard(root.comparators[0], agent, cnts_var_dict, disc_var_dict, lane_map)
- if isinstance(root.ops[0], ast.GtE):
- return left>=right
- elif isinstance(root.ops[0], ast.Gt):
- return left>right
- elif isinstance(root.ops[0], ast.Lt):
- return left<right
- elif isinstance(root.ops[0], ast.LtE):
- return left<=right
- elif isinstance(root.ops[0], ast.Eq):
- return left == right
- elif isinstance(root.ops[0], ast.NotEq):
- return left != right
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
-
- elif isinstance(root, ast.BoolOp):
- if isinstance(root.op, ast.And):
- res = True
- for val in root.values:
- tmp = self._evaluate_guard(val, agent, cnts_var_dict, disc_var_dict, lane_map)
- res = res and tmp
- if not res:
- break
- return res
- elif isinstance(root.op, ast.Or):
- res = False
- for val in root.values:
- tmp = self._evaluate_guard(val, agent, cnts_var_dict, disc_var_dict, lane_map)
- res = res or tmp
- if res:
- break
- return res
- elif isinstance(root, ast.BinOp):
- left = self._evaluate_guard(root.left, agent, cnts_var_dict, disc_var_dict, lane_map)
- right = self._evaluate_guard(root.right, agent, cnts_var_dict, disc_var_dict, lane_map)
- if isinstance(root.op, ast.Sub):
- return left - right
- elif isinstance(root.op, ast.Add):
- return left + right
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
- elif isinstance(root, ast.Call):
- expr = astunparse.unparse(root)
- # Check if the root is a function
- if isinstance(root.func, ast.Attribute) and "map" in root.func.value.id:
- # if 'map' in expr:
- # tmp = re.split('\(|\)',expr)
- # while "" in tmp:
- # tmp.remove("")
- # for arg in tmp[1:]:
- # if arg in disc_var_dict:
- # expr = expr.replace(arg,f'"{disc_var_dict[arg]}"')
- # res = eval(expr)
- for arg in disc_var_dict:
- expr = expr.replace(arg, f'"{disc_var_dict[arg]}"')
- for arg in cnts_var_dict:
- expr = expr.replace(arg, str(cnts_var_dict[arg]))
- res = eval(expr)
- for mode_name in agent.controller.mode_defs:
- if res in agent.controller.mode_defs[mode_name].modes:
- res = mode_name+'.'+res
- break
- return res
- elif isinstance(root.func, ast.Name):
- if '.' in root.func.id and "map" in root.func.id.split('.')[0]:
- for arg in disc_var_dict:
- expr = expr.replace(arg, f'"{disc_var_dict[arg]}"')
- for arg in cnts_var_dict:
- expr = expr.replace(arg, str(cnts_var_dict[arg]))
- res = eval(expr)
- for mode_name in agent.controller.mode_defs:
- if res in agent.controller.mode_defs[mode_name].modes:
- res = mode_name+'.'+res
- break
- return res
- else:
- raise ValueError(f'Unsupported function {astunparse.unparse(root)}')
- else:
- raise ValueError(f'Unsupported function {astunparse.unparse(root)}')
- elif isinstance(root, ast.Attribute):
- expr = astunparse.unparse(root)
- expr = expr.strip('\n')
- if expr in disc_var_dict:
- val = disc_var_dict[expr]
- for mode_name in agent.controller.mode_defs:
- if val in agent.controller.mode_defs[mode_name].modes:
- val = mode_name+'.'+val
- break
- return val
- elif expr in cnts_var_dict:
- val = cnts_var_dict[expr]
- return val
- elif root.value.id in agent.controller.mode_defs:
- return expr
- elif isinstance(root, ast.Constant):
- return root.value
- elif isinstance(root, ast.UnaryOp):
- val = self._evaluate_guard(root.operand, agent, cnts_var_dict, disc_var_dict, lane_map)
- if isinstance(root.op, ast.USub):
- return -val
- if isinstance(root.op, ast.Not):
- return not val
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
- elif isinstance(root, ast.Name):
- variable = root.id
- if variable in cnts_var_dict:
- val = cnts_var_dict[variable]
- return val
- elif variable in disc_var_dict:
- val = disc_var_dict[variable]
- for mode_name in agent.controller.mode_defs:
- if val in agent.controller.mode_defs[mode_name].modes:
- val = mode_name+'.'+val
- break
- return val
- elif '.' in variable:
- cls_name, attr = variable.split('.')
- if cls_name in agent.controller.mode_defs:
-
- else:
- raise ValueError(f"{variable} doesn't exist in either continuous varibales or discrete variables")
- else:
- raise ValueError(f'Node type {root} from {astunparse.unparse(root)} is not supported')
-
- # def _evaluate_guard(self, root, agent, cont_var_dict, disc_var_dict, lane_map):
- # cont_var_dict.update(disc_var_dict)
- # for node in ast.walk(root):
- # if isinstance(node, ast.Name):
- # if node.id in cont_var_dict and '.' in node.id:
- # node.id = node.id.replace('.','_')
- # elif '.' in node.id:
- # class_name, attr = node.id.split('.')
- # if class_name in agent.controller.mode_defs:
- # node.id = attr
-
- # var_dict = {}
- # for var in cont_var_dict:
- # if '.' in var:
- # var_dict[var.replace('.','_')] = cont_var_dict[var]
- # else:
- # var_dict[var] = cont_var_dict[var]
- # var_dict['lane_map'] = lane_map
- # return eval(astunparse.unparse(root), {}, var_dict)
-
-if __name__ == "__main__":
- with open('tmp.pickle','rb') as f:
- guard_list = pickle.load(f)
- tmp = GuardExpressionAst(guard_list)
- # tmp.evaluate_guard()
- # tmp.construct_tree_from_str('(other_x-ego_x<20) and other_x-ego_x>10 and other_vehicle_lane==ego_vehicle_lane')
- print("stop")
\ No newline at end of file
diff --git a/dryvr_plus_plus/scene_verifier/code_parser/__init__.py b/dryvr_plus_plus/scene_verifier/code_parser/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py b/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py
deleted file mode 100644
index 780c4bd2a2a06f5a730d6774de9ac82b3080e91f..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py
+++ /dev/null
@@ -1,545 +0,0 @@
-#parse python file
-
-#REQUIRES PYTHON 3.8!
-from cgitb import reset
-#import clang.cindex
-import typing
-import json
-import sys
-from typing import List, Tuple
-import re
-import itertools
-import ast
-
-from treelib import Node, Tree
-
-'''
-Edge class: utility class to hold the source, dest, guards, and resets for a transition
-'''
-class Edge:
- def __init__(self, source, dest, guards, resets):
- self.source = source
- self.dest = dest
- self.guards = guards
- self.resets = resets
-
-'''
-Statement super class. Holds the code and mode information for a statement.
-If there is no mode information, mode and modeType are None.
-'''
-class Statement:
- def __init__(self, code, mode, modeType, func = None, args = None):
- self.code = code
- self.modeType = modeType
- self.mode = mode
- self.func = func
- self.args = args
-
- def print(self):
- print(self.code)
-
-
-'''
-Guard class. Subclass of statement.
-'''
-class Guard(Statement):
- def __init__(self, code, mode, modeType, inp_ast, func=None, args=None):
- super().__init__(code, mode, modeType, func, args)
- self.ast = inp_ast
-
-
- '''
- Returns true if a guard is checking that we are in a mode.
- '''
- def isModeCheck(self):
- return self.modeType != None
-
- '''
- Helper function to parse a node that contains a guard. Parses out the code and mode.
- Returns a Guard.
- TODO: needs to handle more complex guards.
- '''
- def parseGuard(node, code):
- #assume guard is a strict comparision (modeType == mode)
- if isinstance(node.test, ast.Compare):
- if isinstance(node.test.comparators[0], ast.Attribute):
- if ("Mode" in str(node.test.comparators[0].value.id)):
- modeType = str(node.test.comparators[0].value.id)
- mode = str(node.test.comparators[0].attr)
- return Guard(ast.get_source_segment(code, node.test), mode, modeType, node.test)
- else:
- return Guard(ast.get_source_segment(code, node.test), None, None, node.test)
- elif isinstance(node.test, ast.BoolOp):
- return Guard(ast.get_source_segment(code, node.test), None, None, node.test)
- elif isinstance(node.test, ast.Call):
- source_segment = ast.get_source_segment(code, node.test)
- # func = node.test.func.id
- # args = []
- # for arg in node.test.args:
- # args.append(arg.value.id + '.' + arg.attr)
- return Guard(source_segment, None, None, node.test)
-
-'''
-Reset class. Subclass of statement.
-'''
-class Reset(Statement):
- def __init__(self, code, mode, modeType, inp_ast):
- super().__init__(code, mode, modeType)
- self.ast = inp_ast
-
- '''
- Returns true if a reset is updating our mode.
- '''
- def isModeUpdate(self):
- return self.modeType != None
-
- '''
- Helper function to parse a node that contains a reset. Parses out the code and mode.
- Returns a reset.
- '''
- def parseReset(node, code):
- #assume reset is modeType = newMode
- if isinstance(node.value, ast.Attribute):
- #print("resets " + str(node.value.value.id))
- #print("resets " + str(node.value.attr))
- if ("Mode" in str(node.value.value.id)):
- modeType = str(node.value.value.id)
- mode = str(node.value.attr)
- return Reset(ast.get_source_segment(code, node), mode, modeType, node)
- return Reset(ast.get_source_segment(code, node), None, None, node)
-
-
-'''
-Util class to handle building transitions given a path.
-'''
-class TransitionUtil:
- '''
- Takes in a list of reset objects. Returns a string in the format json expected.
- '''
- def resetString(resets):
- outstr = ""
- for reset in resets:
- outstr+= reset.code + ";"
- outstr = outstr.strip(";")
- return outstr
-
- '''
- Takes in guard code. Returns a string in the format json expected.
- TODO: needs to handle more complex guards.
- '''
- def parseGuardCode(code):
- parts = code.split("and")
- out = code
- if len(parts) > 1:
- left = TransitionUtil.parseGuardCode(parts[0])
- right = TransitionUtil.parseGuardCode(parts[1])
- out = "And(" + left + "," + right + ")"
- return out
-
- '''
- Helper function for parseGuardCode.
- '''
- def guardString(guards):
- output = ""
- first = True
- for guard in guards:
- #print(type(condition))
- if first:
- output+= TransitionUtil.parseGuardCode(guard.code)
- else:
- output = "And(" + TransitionUtil.parseGuardCode(guard.code) + ",(" + output + "))"
- first = False
- return output
-
-
- '''
- Helper function to get the index of the vertex for a set of modes.
- Modes is a list of all modes in the current vertex.
- Vertices is the list of vertices.
- TODO: needs to be tested on more complex examples to see if ordering stays and we can use index function
- '''
- def getIndex(modes, vertices):
- return vertices.index(tuple(modes))
-
- '''
- Function that creates transitions given a path.
- Will create multiple transitions if not all modeTypes are checked/set in the path.
- Returns a list of edges that correspond to the path.
- '''
- def createTransition(path, vertices, modes):
- guards = []
- resets = []
- modeChecks = []
- modeUpdates = []
- for item in path:
- if isinstance(item, Guard):
- if not item.isModeCheck():
- guards.append(item)
- else:
- modeChecks.append(item)
- if isinstance(item, Reset):
- if not item.isModeUpdate():
- resets.append(item)
- else:
- modeUpdates.append(item)
- unfoundSourceModeTypes = []
- sourceModes = []
- unfoundDestModeTypes = []
- destModes = []
- for modeType in modes.keys():
- foundMode = False
- for condition in modeChecks:
- #print(condition.modeType)
- #print(modeType)
- if condition.modeType == modeType:
- sourceModes.append(condition.mode)
- foundMode = True
- if foundMode == False:
- unfoundSourceModeTypes.append(modeType)
- foundMode = False
- for condition in modeUpdates:
- if condition.modeType == modeType:
- destModes.append(condition.mode)
- foundMode = True
- if foundMode == False:
- unfoundDestModeTypes.append(modeType)
-
- unfoundModes = []
- for modeType in unfoundSourceModeTypes:
- unfoundModes.append(modes[modeType])
- unfoundModeCombinations = itertools.product(*unfoundModes)
- sourceVertices = []
- for unfoundModeCombo in unfoundModeCombinations:
- sourceVertex = sourceModes.copy()
- sourceVertex.extend(unfoundModeCombo)
- sourceVertices.append(sourceVertex)
-
- unfoundModes = []
- for modeType in unfoundDestModeTypes:
- unfoundModes.append(modes[modeType])
- unfoundModeCombinations = itertools.product(*unfoundModes)
- destVertices = []
- for unfoundModeCombo in unfoundModeCombinations:
- destVertex = destModes.copy()
- destVertex.extend(unfoundModeCombo)
- destVertices.append(destVertex)
-
- edges = []
- for source in sourceVertices:
- sourceindex = TransitionUtil.getIndex(source, vertices)
- for dest in destVertices:
- destindex = TransitionUtil.getIndex(dest, vertices)
- edges.append(Edge(sourceindex, destindex, guards, resets))
- return edges
-
-class ControllerAst():
- '''
- Initalizing function for a controllerAst object.
- Reads in the code and parses it to a python ast and statement tree.
- Statement tree is a tree of nodes that contain a list in their data. The list contains a single guard or a list of resets.
- Variables (inputs to the controller) are collected.
- Modes are collected from all enums that have the word "mode" in them.
- Vertices are generated by taking the products of mode types.
- '''
- def __init__(self, code = None, file_name = None):
- assert code is not None or file_name is not None
- if file_name is not None:
- with open(file_name,'r') as f:
- code = f.read()
-
- 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.vertices = []
- self.vertexStrings = []
- for vertex in itertools.product(*self.modes.values()):
- self.vertices.append(vertex)
- vertexstring = ','.join(vertex)
- self.vertexStrings.append(vertexstring)
- self.paths = None
-
- '''
- Function to populate paths variable with all paths of the controller.
- '''
- def getAllPaths(self):
- self.paths = self.getNextModes([], True)
- return self.paths
-
- '''
- getNextModes takes in a list of current modes. It should include all modes.
- getNextModes returns a list of paths that can be followed when in the given mode.
- 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: 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
- currnode = self.statementtree.get_node(rootid)
- paths = self.walkstatements(currnode, currentModes, getAllPaths)
-
- return paths
-
- '''
- Helper function to walk the statement tree from parentnode and find paths that are allowed in the currentMode.
- Returns a list of paths.
- '''
- def walkstatements(self, parentnode, currentModes, getAllPaths):
- nextsPaths = []
-
- for node in self.statementtree.children(parentnode.identifier):
- statement = node.data
-
- if isinstance(statement[0], Guard) and statement[0].isModeCheck():
- if getAllPaths or statement[0].mode in currentModes:
- #print(statement.mode)
- newPaths = self.walkstatements(node, currentModes, getAllPaths)
- for path in newPaths:
- newpath = statement.copy()
- newpath.extend(path)
- nextsPaths.append(newpath)
- if len(nextsPaths) == 0:
- nextsPaths.append(statement)
-
- else:
- newPaths =self.walkstatements(node, currentModes, getAllPaths)
- for path in newPaths:
- newpath = statement.copy()
- newpath.extend(path)
- nextsPaths.append(newpath)
- if len(nextsPaths) == 0:
- nextsPaths.append(statement)
-
- return nextsPaths
-
-
- '''
- Function to create a json of the full graph.
- Requires that paths class variables has been set.
- '''
- def create_json(self, input_file_name, output_file_name):
- if not self.paths:
- print("Cannot call create_json without calling getAllPaths")
- return
-
- with open(input_file_name) as in_json_file:
- input_json = json.load(in_json_file)
-
- output_dict = {
- }
-
- output_dict.update(input_json)
-
- edges = []
- guards = []
- resets = []
-
- for path in self.paths:
- transitions = TransitionUtil.createTransition(path, self.vertices, self.modes)
- for edge in transitions:
- edges.append([edge.source, edge.dest])
- guards.append(TransitionUtil.guardString(edge.guards))
- resets.append(TransitionUtil.resetString(edge.resets))
-
- output_dict['vertex'] = self.vertexStrings
- #print(vertices)
- output_dict['variables'] = self.variables
- # #add edge, transition(guards) and resets
- output_dict['edge'] = edges
- #print(len(edges))
- output_dict['guards'] = guards
- #print(len(guards))
- output_dict['resets'] = resets
- #print(len(resets))
-
- output_json = json.dumps(output_dict, indent=4)
- outfile = open(output_file_name, "w")
- outfile.write(output_json)
- outfile.close()
-
- print("wrote json to " + output_file_name)
-
- #inital tree walk, parse into a tree of resets/modes
- '''
- Function called by init function. Walks python ast and parses to a statement tree.
- Returns a statement tree (nodes contain a list of either a single guard or muliple resets), the variables, and a mode dictionary
- '''
- def initalwalktree(self, code, tree):
- vars = []
- discrete_vars = []
- out = []
- mode_dict = {}
- state_object_dict = {}
- vars_dict = {}
- statementtree = Tree()
- for node in ast.walk(tree): #don't think we want to walk the whole thing because lose ordering/depth
- # Get all the modes
- if isinstance(node, ast.ClassDef):
- if "Mode" in node.name:
- modeType = str(node.name)
- modes = []
- for modeValue in node.body:
- modes.append(str(modeValue.targets[0].id))
- mode_dict[modeType] = modes
- if isinstance(node, ast.ClassDef):
- if "State" in node.name:
- 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:
- state_object_dict[node.name]['cont'].append(arg.arg)
- # vars.append(arg.arg)
- else:
- state_object_dict[node.name]['disc'].append(arg.arg)
- # discrete_vars.append(arg.arg)
- if isinstance(node, ast.FunctionDef):
- if node.name == 'controller':
- #print(node.body)
- statementtree = self.parsenodelist(code, node.body, False, Tree(), None)
- #print(type(node.args))
- args = node.args.args
- for arg in args:
- if arg.annotation is None:
- continue
- # Handle case when input is a single variable
- if isinstance(arg.annotation, ast.Name):
- if arg.annotation.id not in state_object_dict:
- continue
- arg_annotation = arg.annotation.id
- # Handle case when input is a list of variables
- elif isinstance(arg.annotation, ast.Subscript):
- if isinstance(arg.annotation.slice, ast.Index):
- if arg.annotation.slice.value.id not in state_object_dict:
- continue
- arg_annotation = arg.annotation.slice.value.id
- elif isinstance(arg.annotation.slice, ast.Name):
- if arg.annotation.slice.id not in state_object_dict:
- continue
- arg_annotation = arg.annotation.slice.id
-
- arg_name = arg.arg
- 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)
-
- return [statementtree, vars, mode_dict, discrete_vars, state_object_dict, vars_dict]
-
-
- '''
- Helper function for initalwalktree which parses the statements in the controller function into a statement tree
- '''
- def parsenodelist(self, code, nodes, addResets, tree, parent):
- childrens_guards=[]
- childrens_resets=[]
- recoutput = []
- #tree.show()
- if parent == None:
- s = Statement("root", None, None)
- tree.create_node("root")
- parent = tree.root
-
- for childnode in nodes:
- if isinstance(childnode, ast.Assign) and addResets:
- reset = Reset.parseReset(childnode, code)
- #print("found reset: " + reset.code)
- childrens_resets.append(reset)
- if isinstance(childnode, ast.If):
- guard = Guard.parseGuard(childnode, code)
- childrens_guards.append(guard)
- #print("found if statement: " + guard.code)
- newTree = Tree()
- newTree.create_node(tag= guard.code, data = [guard])
- #print(self.nodect)
- tempresults = self.parsenodelist(code, childnode.body, True, newTree, newTree.root)
- #for result in tempresults:
- recoutput.append(tempresults)
-
-
- #pathsafterme = []
- if len(childrens_resets) > 0:
- #print("adding node:" + str(self.nodect) + "with parent:" + str(parent))
- tree.create_node(tag = childrens_resets[0].code, data = childrens_resets, parent= parent)
- for subtree in recoutput:
- #print("adding subtree:" + " to parent:" + str(parent))
- tree.paste(parent, subtree)
-
-
- return tree
-
-class EmptyAst(ControllerAst):
- def __init__(self):
- super().__init__(code="True", file_name=None)
- self.discrete_variables = []
- self.modes = {
- 'NullMode':['Null'],
- 'LaneMode':['Normal']
- }
- self.paths = None
- self.state_object_dict = {
- 'State':{
- 'cont':[],
- 'disc':[],
- 'type':[]
- }
- }
- self.variables = []
- self.vars_dict = []
- self.vertexStrings = ['Null,Normal']
- self.vertices=[('Null','Normal')]
- self.statementtree.create_node("root")
-
-##main code###
-if __name__ == "__main__":
- #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 = {
- }
-
- #read in the controler code
- f = open(input_code_name,'r')
- code = f.read()
-
- #parse the controller code into our controller ast objct
- controller_obj = ControllerAst(code)
-
- print(controller_obj.variables)
-
- #demonstrate you can check getNextModes after only initalizing
- paths = controller_obj.getNextModes("NormalA;Normal3")
-
- print("Results")
- for path in paths:
- for item in path:
- print(item.code)
- print()
- print("Done")
-
- #attempt to write to json, fail because we haven't populated paths yet
- controller_obj.create_json(input_file_name, output_file_name)
-
- #call function that gets all paths
- controller_obj.getAllPaths()
-
- #write json with all paths
- controller_obj.create_json(input_file_name, output_file_name)
-
-
-
-
-
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/__init__.py b/dryvr_plus_plus/scene_verifier/dryvr/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/common/__init__.py b/dryvr_plus_plus/scene_verifier/dryvr/common/__init__.py
deleted file mode 100644
index 7dbea944864d1e4d5337014013f9b49ae5ce1bb1..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/common/__init__.py
+++ /dev/null
@@ -1,22 +0,0 @@
-# _oo0oo_
-# o8888888o
-# 88" . "88
-# (| -_- |)
-# 0\ = /0
-# ___/`---'\___
-# .' \\| |// '.
-# / \\||| : |||// \
-# / _||||| -:- |||||- \
-# | | \\\ - /// | |
-# | \_| ''\---/'' |_/ |
-# \ .-\__ '-' ___/-. /
-# ___'. .' /--.--\ `. .'___
-# ."" '< `.___\_<|>_/___.' >' "".
-# | | : `- \`.;`\ _ /`;.`/ - ` : | |
-# \ \ `_. \_ __\ /__ _/ .-` / /
-# =====`-.____`.___ \_____/___.-`___.-'=====
-# `=---='
-#
-#
-# ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-# Codes are far away from bugs with the protection
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/common/config.py b/dryvr_plus_plus/scene_verifier/dryvr/common/config.py
deleted file mode 100644
index 6b23f518d74bd9d178fe2f56ad613ad65c0ea1a5..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/common/config.py
+++ /dev/null
@@ -1,11 +0,0 @@
-""" Global Configurations """
-
-# Verification config
-SIMUTESTNUM = 10
-SIMTRACENUM = 10
-REFINETHRES = 10
-CHILDREFINETHRES = 2
-
-# Synthesis config
-RANDMODENUM = 3
-RANDSECTIONNUM = 3
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/common/constant.py b/dryvr_plus_plus/scene_verifier/dryvr/common/constant.py
deleted file mode 100644
index 0eaaa69353ee78fe8b7023ec6d73a12550213335..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/common/constant.py
+++ /dev/null
@@ -1,28 +0,0 @@
-"""
-This file contains constant for DryVR
-"""
-
-# Logic constant
-DEBUG = False
-PLOTGRAPH = True
-
-# Flag value
-SAFE = 1
-UNSAFE = -1
-UNKNOWN = 0
-NOSTATUS = 99
-BLOATDEBUG = False
-PLOTDIM = 2
-
-# File Paths
-GRAPHOUTPUT = 'output/curGraph.png'
-RRTGRAPHPOUTPUT = 'output/rrtGraph.png'
-SIMRESULTOUTPUT = 'output/Traj.txt'
-REACHTUBEOUTPUT = 'output/reachtube.txt'
-RRTOUTPUT = 'output/rrtTube.txt'
-UNSAFEFILENAME = 'output/unsafeTube.txt'
-
-# Useful constant string
-NEWLINE = '----------------------------------------------'
-PW = "PW"
-GLOBAL = "GLOBAL"
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/common/io.py b/dryvr_plus_plus/scene_verifier/dryvr/common/io.py
deleted file mode 100644
index fee8a03e3bd5ac5b2424465d81e891d4c3b0a145..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/common/io.py
+++ /dev/null
@@ -1,156 +0,0 @@
-"""
-This file contains IO functions for DryVR
-"""
-
-import six
-
-from dryvr_plus_plus.scene_verifier.dryvr.common.utils import DryVRInput, RrtInput, checkVerificationInput, checkSynthesisInput
-
-
-def writeReachTubeFile(result, path):
- """
- Write reach tube to a file
-
- reach tube example:
- mode1
- [0.0, 1, 2]
- [0.1, 2, 3]
- [0.1, 2, 3]
- ....
- mode1->mode2
- [1.0, 3, 4]
- ....
-
- Args:
- result (list): list of reachable state.
- path (str): file name.
-
- Returns:
- None
-
- """
- with open(path, 'w') as f:
- for line in result:
- if isinstance(line, six.string_types):
- f.write(line + '\n')
- elif isinstance(line, list):
- f.write(' '.join(map(str, line)) + '\n')
-
-
-def writeRrtResultFile(modes, traces, path):
- """
- Write control synthesis result to a file
-
- Args:
- modes (list): list of mode.
- traces (list): list of traces corresponding to modes
- path (str): file name.
-
- Returns:
- None
-
- """
- with open(path, 'w') as f:
- for mode, trace in zip(modes, traces):
- f.write(mode + '\n')
- for line in trace:
- f.write(" ".join(map(str, line)) + '\n')
-
-
-def parseVerificationInputFile(data):
- """
- Parse the json input for DryVR verification
-
- Args:
- data (dict): dictionary contains parameters
-
- Returns:
- DryVR verification input object
-
- """
-
- # If resets is missing, fill with empty resets
- if not 'resets' in data:
- data['resets'] = ["" for _ in range(len(data["edge"]))]
-
- # If initialMode is missing, fill with empty initial mode
- if not 'initialVertex' in data:
- data['initialVertex'] = -1
-
- # If deterministic is missing, default to non-deterministic
- if not 'deterministic' in data:
- data['deterministic'] = False
-
- # If bloating method is missing, default global descrepancy
- if not 'bloatingMethod' in data:
- data['bloatingMethod'] = 'GLOBAL'
-
- # Set a fake kvalue since kvalue is not used in this case
-
- 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 example provides
- # simulation function to DryVR directly
- if not 'directory' in data:
- data['directory'] = ""
-
- checkVerificationInput(data)
- return DryVRInput(
- vertex=data["vertex"],
- edge=data["edge"],
- guards=data["guards"],
- variables=data["variables"],
- initialSet=data["initialSet"],
- unsafeSet=data["unsafeSet"],
- timeHorizon=data["timeHorizon"],
- path=data["directory"],
- resets=data["resets"],
- initialVertex=data["initialVertex"],
- deterministic=data["deterministic"],
- bloatingMethod=data['bloatingMethod'],
- kvalue=data['kvalue'],
- )
-
-
-def parseRrtInputFile(data):
- """
- Parse the json input for DryVR controller synthesis
-
- Args:
- data (dict): dictionary contains parameters
-
- Returns:
- DryVR controller synthesis input object
-
- """
-
- # If bloating method is missing, default global descrepancy
- if not 'bloatingMethod' in data:
- data['bloatingMethod'] = 'GLOBAL'
-
- # set a fake kvalue since kvalue is not used in this case
-
- 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 example provides
- # simulation function to DryVR directly
- if not 'directory' in data:
- data['directory'] = ""
-
- checkSynthesisInput(data)
-
- return RrtInput(
- modes=data["modes"],
- variables=data["variables"],
- initialSet=data["initialSet"],
- unsafeSet=data["unsafeSet"],
- goalSet=data["goalSet"],
- timeHorizon=data["timeHorizon"],
- minTimeThres=data["minTimeThres"],
- path=data["directory"],
- goal=data["goal"],
- bloatingMethod=data['bloatingMethod'],
- kvalue=data['kvalue'],
- )
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/common/utils.py b/dryvr_plus_plus/scene_verifier/dryvr/common/utils.py
deleted file mode 100644
index 25bb029d0a98edb8ee706a2fff4004b0497b597d..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/common/utils.py
+++ /dev/null
@@ -1,304 +0,0 @@
-"""
-This file contains common utils for DryVR
-"""
-
-import importlib
-import random
-
-from collections import namedtuple
-
-# This is the tuple for input file parsed by DryVR
-DryVRInput = namedtuple(
- 'DryVRInput',
- 'vertex edge guards variables initialSet unsafeSet timeHorizon path resets initialVertex deterministic '
- 'bloatingMethod kvalue '
-)
-
-# This is the tuple for rtt input file parsed by DryVR
-RrtInput = namedtuple(
- 'RttInput',
- 'modes variables initialSet unsafeSet goalSet timeHorizon minTimeThres path goal bloatingMethod kvalue'
-)
-
-
-def importSimFunction(path):
- """
- Load simulation function from given file path
- Note the folder in the examples directory must have __init__.py
- And the simulation function must be named TC_Simulate
- The function should looks like following:
- TC_Simulate(Mode, initialCondition, time_bound)
-
- Args:
- path (str): Simulator directory.
-
- Returns:
- simulation function
-
- """
- try:
- # FIXME TC_Simulate should just be a simple call back function
- import os
- import sys
- sys.path.append(os.path.abspath(path))
- mod_name = path.replace('/', '.')
- module = importlib.import_module(mod_name)
- sys.path.pop()
-
- return module.TC_Simulate
- except ImportError as e:
- print("Import simulation function failed!")
- print(e)
- exit() # TODO Proper return
-
-
-def randomPoint(lower, upper):
- """
- Pick a random point between lower and upper bound
- This function supports both int or list
-
- Args:
- lower (list or int or float): lower bound.
- upper (list or int or float): upper bound.
-
- Returns:
- random point (either float or list of float)
-
- """
- random.seed(4)
-
- if isinstance(lower, int) or isinstance(lower, float):
- return random.uniform(lower, upper)
-
- if isinstance(lower, list):
- assert len(lower) == len(upper), "Random Point List Range Error"
-
- return [random.uniform(lower[i], upper[i]) for i in range(len(lower))]
-
-
-def calcDelta(lower, upper):
- """
- Calculate the delta value between the lower and upper bound
- The function only supports list since we assue initial set is always list
-
- Args:
- lower (list): lowerbound.
- upper (list): upperbound.
-
- Returns:
- delta (list of float)
-
- """
- # Convert list into float in case they are int
- lower = [float(val) for val in lower]
- upper = [float(val) for val in upper]
-
- assert len(lower) == len(upper), "Delta calc List Range Error"
- return [(upper[i] - lower[i]) / 2 for i in range(len(upper))]
-
-
-def calcCenterPoint(lower, upper):
- """
- Calculate the center point between the lower and upper bound
- The function only supports list since we assue initial set is always list
-
- Args:
- lower (list): lowerbound.
- upper (list): upperbound.
-
- Returns:
- delta (list of float)
-
- """
-
- # Convert list into float in case they are int
- lower = [float(val) for val in lower]
- upper = [float(val) for val in upper]
- assert len(lower) == len(upper), "Center Point List Range Error"
- return [(upper[i] + lower[i]) / 2 for i in range(len(upper))]
-
-
-def buildModeStr(g, vertex):
- """
- Build a unique string to represent a mode
- This should be something like "modeName,modeNum"
-
- Args:
- g (igraph.Graph): Graph object.
- vertex (int or str): vertex number.
-
- Returns:
- str: a string to represent a mode
-
- """
- return g.vs[vertex]['label'] + ',' + str(vertex)
-
-
-def handleReplace(input_str, keys):
- """
- Replace variable in inputStr to self.varDic["variable"]
- For example:
- input
- And(y<=0,t>=0.2,v>=-0.1)
- output:
- And(self.varDic["y"]<=0,self.varDic["t"]>=0.2,self.varDic["v"]>=-0.1)
-
- Args:
- input_str (str): original string need to be replaced
- keys (list): list of variable strings
-
- Returns:
- str: a string that all variables have been replaced into a desire form
-
- """
- idxes = []
- i = 0
- original = input_str
-
- keys.sort(key=lambda s: len(s))
- for key in keys[::-1]:
- for i in range(len(input_str)):
- if input_str[i:].startswith(key):
- idxes.append((i, i + len(key)))
- input_str = input_str[:i] + "@" * len(key) + input_str[i + len(key):]
-
- idxes = sorted(idxes)
-
- input_str = original
- for idx in idxes[::-1]:
- key = input_str[idx[0]:idx[1]]
- target = 'self.varDic["' + key + '"]'
- input_str = input_str[:idx[0]] + target + input_str[idx[1]:]
- return input_str
-
-
-def neg(orig):
- """
- Neg the original condition
- For example:
- input
- And(y<=0,t>=0.2,v>=-0.1)
- output:
- Not(And(y<=0,t>=0.2,v>=-0.1))
-
- Args:
- orig (str): original string need to be neg
-
- Returns:
- a neg condition string
-
- """
- return 'Not(' + orig + ')'
-
-
-def trimTraces(traces):
- """
- trim all traces to the same length
-
- Args:
- traces (list): list of traces generated by simulator
- Returns:
- traces (list) after trim to the same length
-
- """
-
- ret_traces = []
- trace_lengths = []
- for trace in traces:
- trace_lengths.append(len(trace))
- trace_len = min(trace_lengths)
- # print(trace_lengths)
- for trace in traces:
- ret_traces.append(trace[:trace_len])
-
- return ret_traces
-
-
-def checkVerificationInput(data):
- """
- Check verification input to make sure it is valid
-
- Args:
- data (obj): json data object
- Returns:
- None
-
- """
- assert len(data['variables']) == len(data['initialSet'][0]), "Initial set dimension mismatch"
-
- assert len(data['variables']) == len(data['initialSet'][1]), "Initial set dimension mismatch"
-
- assert len(data['edge']) == len(data["guards"]), "guard number mismatch"
-
- assert len(data['edge']) == len(data["resets"]), "reset number mismatch"
-
- if data["bloatingMethod"] == "PW":
- assert 'kvalue' in data, "kvalue need to be provided when bloating method set to PW"
-
- for i in range(len(data['variables'])):
- assert data['initialSet'][0][i] <= data['initialSet'][1][i], "initial set lowerbound is larger than upperbound"
-
-
-def checkSynthesisInput(data):
- """
- Check Synthesis input to make sure it is valid
-
- Args:
- data (obj): json data object
- Returns:
- None
-
- """
- assert len(data['variables']) == len(data['initialSet'][0]), "Initial set dimension mismatch"
-
- assert len(data['variables']) == len(data['initialSet'][1]), "Initial set dimension mismatch"
-
- for i in range(len(data['variables'])):
- assert data['initialSet'][0][i] <= data['initialSet'][1][i], "initial set lowerbound is larger than upperbound"
-
- assert data["minTimeThres"] < data["timeHorizon"], "min time threshold is too large!"
-
- if data["bloatingMethod"] == "PW":
- assert 'kvalue' in data, "kvalue need to be provided when bloating method set to PW"
-
-
-def isIpynb():
- """
- Check if the code is running on Ipython notebook
- """
- try:
- cfg = get_ipython().config
- if "IPKernelApp" in cfg:
- return True
- else:
- return False
- except NameError:
- return False
-
-
-def overloadConfig(configObj, userConfig):
- """
- Overload example config to config module
-
- Args:
- configObj (module): config module
- userConfig (dict): example specified config
- """
-
- if "SIMUTESTNUM" in userConfig:
- configObj.SIMUTESTNUM = userConfig["SIMUTESTNUM"]
-
- if "SIMTRACENUM" in userConfig:
- configObj.SIMTRACENUM = userConfig["SIMTRACENUM"]
-
- if "REFINETHRES" in userConfig:
- configObj.REFINETHRES = userConfig["REFINETHRES"]
-
- if "CHILDREFINETHRES" in userConfig:
- configObj.CHILDREFINETHRES = userConfig["CHILDREFINETHRES"]
-
- if "RANDMODENUM" in userConfig:
- configObj.RANDMODENUM = userConfig["RANDMODENUM"]
-
- if "RANDSECTIONNUM" in userConfig:
- configObj.RANDSECTIONNUM = userConfig["RANDSECTIONNUM"]
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/__init__.py b/dryvr_plus_plus/scene_verifier/dryvr/core/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/distance.py b/dryvr_plus_plus/scene_verifier/dryvr/core/distance.py
deleted file mode 100644
index 8da15a12091e3501880ca1411bb5fc4e4156099d..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/distance.py
+++ /dev/null
@@ -1,52 +0,0 @@
-"""
-This file contains a distance checker class for controller synthesis
-"""
-from math import sqrt
-
-
-class DistChecker:
- """
- This is the class to calculate the distance between
- current set and the goal set for DryVR controller synthesis.
- The distance it calculate is the euclidean distance.
- """
-
- def __init__(self, goal_set, variables):
- """
- Distance checker class initialization function.
-
- Args:
- goal_set (list): a list describing the goal set.
- [["x_1","x_2"],[19.5,-1],[20.5,1]]
- which defines a goal set
- 19.5<=x_1<=20.5 && -1<=x_2<=1
- variables (list): list of variable name
- """
- var, self.lower, self.upper = goal_set
- self.idx = []
- for v in var:
- self.idx.append(variables.index(v) + 1)
-
- def calc_distance(self, lower_bound, upper_bound):
- """
- Calculate the euclidean distance between the
- current set and goal set.
-
- Args:
- lower_bound (list): the lower bound of the current set.
- upper_bound (list): the upper bound of the current set.
-
- Returns:
- the euclidean distance between current set and goal set
-
- """
- dist = 0.0
- for i in range(len(self.idx)):
- max_val = max(
- (self.lower[i] - lower_bound[self.idx[i]]) ** 2,
- (self.upper[i] - lower_bound[self.idx[i]]) ** 2,
- (self.lower[i] - upper_bound[self.idx[i]]) ** 2,
- (self.upper[i] - upper_bound[self.idx[i]]) ** 2
- )
- dist += max_val
- return sqrt(dist)
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py b/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py
deleted file mode 100644
index bbb1ccfe00b07b393d6ae00e26a31d6fe7bd7530..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py
+++ /dev/null
@@ -1,309 +0,0 @@
-"""
-This file contains core functions used by DryVR
-"""
-from __future__ import print_function
-import random
-
-import networkx as nx
-import numpy as np
-import igraph
-
-
-from dryvr_plus_plus.scene_verifier.dryvr.common.constant import *
-from dryvr_plus_plus.scene_verifier.dryvr.common.io import writeReachTubeFile
-from dryvr_plus_plus.scene_verifier.dryvr.common.utils import randomPoint, calcDelta, calcCenterPoint, trimTraces
-from dryvr_plus_plus.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):
- """
- Build graph object using given parameters
-
- Args:
- vertex (list): list of vertex with mode name
- edge (list): list of edge that connects vertex
- guards (list): list of guard corresponding to each edge
- resets (list): list of reset corresponding to each edge
-
- Returns:
- graph object
-
- """
- g = igraph.Graph(directed=True)
- g.add_vertices(len(vertex))
- g.add_edges(edge)
-
- g.vs['label'] = vertex
- g.vs['name'] = vertex
- labels = []
- for i in range(len(guards)):
- cur_guard = guards[i]
- cur_reset = resets[i]
- if not cur_reset:
- labels.append(cur_guard)
- else:
- labels.append(cur_guard + '|' + cur_reset)
-
- g.es['label'] = labels
- g.es['guards'] = guards
- g.es['resets'] = resets
-
- # if PLOTGRAPH:
- # graph = igraph.plot(g, GRAPHOUTPUT, margin=40)
- # graph.save()
- return g
-
-
-def build_rrt_graph(modes, traces, is_ipynb):
- """
- Build controller synthesis graph object using given modes and traces.
- Note this function is very different from buildGraph function.
- This is white-box transition graph learned from controller synthesis algorithm
- The reason to build it is to output the transition graph to file
-
- Args:
- modes (list): list of mode name
- traces (list): list of trace corresponding to each mode
- is_ipynb (bool): check if it's in Ipython notebook environment
-
- Returns:
- None
-
- """
- if is_ipynb:
- vertex = []
- # Build unique identifier for a vertex and mode name
- for idx, v in enumerate(modes):
- vertex.append(v + "," + str(idx))
-
- edge_list = []
- edge_label = {}
- for i in range(1, len(modes)):
- edge_list.append((vertex[i - 1], vertex[i]))
- lower = traces[i - 1][-2][0]
- upper = traces[i - 1][-1][0]
- edge_label[(vertex[i - 1], vertex[i])] = "[" + str(lower) + "," + str(upper) + "]"
-
- fig = plt.figure()
- ax = fig.add_subplot(111)
- nx_graph = nx.DiGraph()
- nx_graph.add_edges_from(edge_list)
- pos = nx.spring_layout(nx_graph)
- colors = ['green'] * len(nx_graph.nodes())
- fig.suptitle('transition graph', fontsize=10)
- nx.draw_networkx_labels(nx_graph, pos)
- options = {
- 'node_color': colors,
- 'node_size': 1000,
- 'cmap': plt.get_cmap('jet'),
- 'arrowstyle': '-|>',
- 'arrowsize': 50,
- }
- nx.draw_networkx(nx_graph, pos, arrows=True, **options)
- nx.draw_networkx_edge_labels(nx_graph, pos, edge_labels=edge_label)
- fig.canvas.draw()
-
- else:
- g = igraph.Graph(directed=True)
- g.add_vertices(len(modes))
- edges = []
- for i in range(1, len(modes)):
- edges.append([i - 1, i])
- g.add_edges(edges)
-
- g.vs['label'] = modes
- g.vs['name'] = modes
-
- # Build guard
- guard = []
- for i in range(len(traces) - 1):
- lower = traces[i][-2][0]
- upper = traces[i][-1][0]
- guard.append("And(t>" + str(lower) + ", t<=" + str(upper) + ")")
- g.es['label'] = guard
- graph = igraph.plot(g, RRTGRAPHPOUTPUT, margin=40)
- graph.save()
-
-
-def simulate(g, init_condition, time_horizon, guard, sim_func, reset, init_vertex, deterministic):
- """
- This function does a full hybrid simulation
-
- Args:
- g (obj): graph object
- init_condition (list): initial point
- time_horizon (float): time horizon to simulate
- guard (dryvr_plus_plus.core.guard.Guard): list of guard string corresponding to each transition
- sim_func (function): simulation function
- reset (dryvr_plus_plus.core.reset.Reset): list of reset corresponding to each transition
- init_vertex (int): initial vertex that simulation starts
- deterministic (bool) : enable or disable must transition
-
- Returns:
- A dictionary obj contains simulation result.
- Key is mode name and value is the simulation trace.
-
- """
-
- ret_val = igraph.defaultdict(list)
- # If you do not declare initialMode, then we will just use topological sort to find starting point
- if init_vertex == -1:
- computer_order = g.topological_sorting(mode=igraph.OUT)
- cur_vertex = computer_order[0]
- else:
- cur_vertex = init_vertex
- remain_time = time_horizon
- cur_time = 0
-
- # Plus 1 because we need to consider about time
- dimensions = len(init_condition) + 1
-
- sim_result = []
- # Avoid numeric error
- while remain_time > 0.01:
-
- if DEBUG:
- print(NEWLINE)
- print((cur_vertex, remain_time))
- print('Current State', g.vs[cur_vertex]['label'], remain_time)
-
- if init_condition is None:
- # Ideally this should not happen
- break
-
- cur_successors = g.successors(cur_vertex)
- transit_time = remain_time
- cur_label = g.vs[cur_vertex]['label']
-
- cur_sim_result = sim_func(cur_label, init_condition, transit_time)
- if isinstance(cur_sim_result, np.ndarray):
- cur_sim_result = cur_sim_result.tolist()
-
- if len(cur_successors) == 0:
- # Some model return numpy array, convert to list
- init_condition, truncated_result = guard.guard_sim_trace(
- cur_sim_result,
- ""
- )
- cur_successor = None
-
- else:
- # First find all possible transition
- # Second randomly pick a path and time to transit
- next_modes = []
- for cur_successor in cur_successors:
- edge_id = g.get_eid(cur_vertex, cur_successor)
- cur_guard_str = g.es[edge_id]['guards']
- cur_reset_str = g.es[edge_id]['resets']
-
- next_init, truncated_result = guard.guard_sim_trace(
- cur_sim_result,
- cur_guard_str
- )
-
- next_init = reset.reset_point(cur_reset_str, next_init)
- # If there is a transition
- if next_init:
- next_modes.append((cur_successor, next_init, truncated_result))
- if next_modes:
- # It is a non-deterministic system, randomly choose next state to transit
- if not deterministic:
- cur_successor, init_condition, truncated_result = random.choice(next_modes)
- # This is deterministic system, choose earliest transition
- else:
- shortest_time = float('inf')
- for s, i, t in next_modes:
- cur_tube_time = t[-1][0]
- if cur_tube_time < shortest_time:
- cur_successor = s
- init_condition = i
- truncated_result = t
- shortest_time = cur_tube_time
- else:
- cur_successor = None
- init_condition = None
-
- # Get real transit time from truncated result
- transit_time = truncated_result[-1][0]
- ret_val[cur_label] += truncated_result
- sim_result.append(cur_label)
- for simRow in truncated_result:
- simRow[0] += cur_time
- sim_result.append(simRow)
-
- remain_time -= transit_time
- print("transit time", transit_time, "remain time", remain_time)
- cur_time += transit_time
- cur_vertex = cur_successor
-
- writeReachTubeFile(sim_result, SIMRESULTOUTPUT)
- return ret_val
-
-
-def calc_bloated_tube(
- mode_label,
- initial_set,
- time_horizon,
- time_step,
- sim_func,
- bloating_method,
- kvalue,
- sim_trace_num,
- guard_checker=None,
- guard_str="",
- lane_map = None
- ):
- """
- This function calculate the reach tube for single given mode
-
- Args:
- mode_label (str): mode name
- initial_set (list): a list contains upper and lower bound of the initial set
- time_horizon (float): time horizon to simulate
- sim_func (function): simulation function
- bloating_method (str): determine the bloating method for reach tube, either GLOBAL or PW
- sim_trace_num (int): number of simulations used to calculate the discrepancy
- kvalue (list): list of float used when bloating method set to PW
- guard_checker (dryvr_plus_plus.core.guard.Guard or None): guard check object
- guard_str (str): guard string
-
- Returns:
- Bloated reach tube
-
- """
- print(initial_set)
- random.seed(4)
- cur_center = calcCenterPoint(initial_set[0], initial_set[1])
- cur_delta = calcDelta(initial_set[0], initial_set[1])
- traces = [sim_func(mode_label, cur_center, time_horizon, time_step, lane_map)]
- # Simulate SIMTRACENUM times to learn the sensitivity
- for _ in range(sim_trace_num):
- new_init_point = randomPoint(initial_set[0], initial_set[1])
- traces.append(sim_func(mode_label, new_init_point, time_horizon, time_step, lane_map))
-
- # Trim the trace to the same length
- traces = trimTraces(traces)
- if guard_checker is not None:
- # pre truncated traces to get better bloat result
- max_idx = -1
- for trace in traces:
- ret_idx = guard_checker.guard_sim_trace_time(trace, guard_str)
- max_idx = max(max_idx, ret_idx + 1)
- for i in range(len(traces)):
- traces[i] = traces[i][:max_idx]
-
- # The major
- if bloating_method == GLOBAL:
- cur_reach_tube: np.ndarray = get_reachtube_segment(np.array(traces), np.array(cur_delta), "PWGlobal")
- # cur_reach_tube: np.ndarray = ReachabilityEngine.get_reachtube_segment_wrapper(np.array(traces), np.array(cur_delta))
- elif bloating_method == PW:
- cur_reach_tube: np.ndarray = get_reachtube_segment(np.array(traces), np.array(cur_delta), "PW")
- # cur_reach_tube: np.ndarray = ReachabilityEngine.get_reachtube_segment_wrapper(np.array(traces), np.array(cur_delta))
- else:
- raise ValueError("Unsupported bloating method '" + bloating_method + "'")
- final_tube = np.zeros((cur_reach_tube.shape[0]*2, cur_reach_tube.shape[2]))
- final_tube[0::2, :] = cur_reach_tube[:, 0, :]
- final_tube[1::2, :] = cur_reach_tube[:, 1, :]
- # print(final_tube.tolist()[-2], final_tube.tolist()[-1])
- return final_tube.tolist()
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrmain.py b/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrmain.py
deleted file mode 100644
index 0b185c3c1f9018b9c687700594741c9bc072c46c..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrmain.py
+++ /dev/null
@@ -1,541 +0,0 @@
-"""
-This file contains a single function that verifies model
-"""
-from __future__ import print_function
-import time
-
-import dryvr_plus_plus.common.config as userConfig
-from dryvr_plus_plus.common.io import parseVerificationInputFile, parseRrtInputFile, writeRrtResultFile
-from dryvr_plus_plus.common.utils import buildModeStr, isIpynb, overloadConfig
-from dryvr_plus_plus.core.distance import DistChecker
-from dryvr_plus_plus.core.dryvrcore import *
-from dryvr_plus_plus.core.goalchecker import GoalChecker
-from dryvr_plus_plus.core.graph import Graph
-from dryvr_plus_plus.core.guard import Guard
-from dryvr_plus_plus.core.initialset import InitialSet
-from dryvr_plus_plus.core.initialsetstack import InitialSetStack, GraphSearchNode
-from dryvr_plus_plus.core.reachtube import ReachTube
-from dryvr_plus_plus.core.reset import Reset
-from dryvr_plus_plus.core.uniformchecker import UniformChecker
-# from dryvr_plus_plus.tube_computer.backend.reachabilityengine import ReachabilityEngine
-# from dryvr_plus_plus.tube_computer.backend.initialset import InitialSet
-
-def verify(data, sim_function, param_config=None):
- """
- DryVR verification algorithm.
- It does the verification and print out the verify result.
-
- Args:
- data (dict): dictionary that contains params for the input file
- sim_function (function): black-box simulation function
- param_config (dict or None): example-specified configuration
-
- Returns:
- Safety (str): safety of the system
- Reach (obj): reach tube object
-
- """
- if param_config is None:
- param_config = {}
- # 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)
-
- refine_counter = 0
-
- params = parseVerificationInputFile(data)
- # Build the graph object
- graph = build_graph(
- params.vertex,
- params.edge,
- params.guards,
- params.resets
- )
-
- # Build the progress graph for jupyter notebook
- # isIpynb is used to detect if the code is running
- # on notebook or terminal, the graph will only be shown
- # in notebook mode
- progress_graph = Graph(params, isIpynb())
-
- # Make sure the initial mode is specified if the graph is dag
- # FIXME should move this part to input check
- # Bolun 02/12/2018
- assert graph.is_dag() or params.initialVertex != -1, "Graph is not DAG and you do not have initial mode!"
-
- checker = UniformChecker(params.unsafeSet, params.variables)
- guard = Guard(params.variables)
- reset = Reset(params.variables)
- t_start = time.time()
-
- # Step 1) Simulation Test
- # Random generate points, then simulate and check the result
- for _ in range(userConfig.SIMUTESTNUM):
- rand_init = randomPoint(params.initialSet[0], params.initialSet[1])
-
- if DEBUG:
- print('Random checking round ', _, 'at point ', rand_init)
-
- # Do a full hybrid simulation
- sim_result = simulate(
- graph,
- rand_init,
- params.timeHorizon,
- guard,
- sim_function,
- reset,
- params.initialVertex,
- params.deterministic
- )
-
- # Check the traces for each mode
- for mode in sim_result:
- safety = checker.check_sim_trace(sim_result[mode], mode)
- if safety == -1:
- print('Current simulation is not safe. Program halt')
- print('simulation time', time.time() - t_start)
- return "UNSAFE", None
- sim_end_time = time.time()
-
- # Step 2) Check Reach Tube
- # Calculate the over approximation of the reach tube and check the result
- print("Verification Begin")
-
- # Get the initial mode
- if params.initialVertex == -1:
- compute_order = graph.topological_sorting(mode=igraph.OUT)
- initial_vertex = compute_order[0]
- else:
- initial_vertex = params.initialVertex
-
- # Build the initial set stack
- cur_mode_stack = InitialSetStack(initial_vertex, userConfig.REFINETHRES, params.timeHorizon,0)
- cur_mode_stack.stack.append(InitialSet(params.initialSet[0], params.initialSet[1]))
- cur_mode_stack.bloated_tube.append(buildModeStr(graph, initial_vertex))
- while True:
- # backward_flag can be SAFE, UNSAFE or UNKNOWN
- # If the backward_flag is SAFE/UNSAFE, means that the children nodes
- # of current nodes are all SAFE/UNSAFE. If one of the child node is
- # UNKNOWN, then the backward_flag is UNKNOWN.
- backward_flag = SAFE
-
- while cur_mode_stack.stack:
- print(str(cur_mode_stack))
- print(cur_mode_stack.stack[-1])
-
- if not cur_mode_stack.is_valid():
- # A stack will be invalid if number of initial sets
- # is more than refine threshold we set for each stack.
- # Thus we declare this stack is UNKNOWN
- print(cur_mode_stack.mode, "is not valid anymore")
- backward_flag = UNKNOWN
- break
-
- # This is condition check to make sure the reach tube output file
- # will be readable. Let me try to explain this.
- # A reachtube output will be something like following
- # MODEA->MODEB
- # [0.0, 1.0, 1.1]
- # [0.1, 1.1, 1.2]
- # .....
- # Once we have refinement, we will add multiple reach tube to
- # this cur_mode_stack.bloatedTube
- # However, we want to copy MODEA->MODEB so we know that two different
- # reach tube from two different refined initial set
- # The result will be look like following
- # MODEA->MODEB
- # [0.0, 1.0, 1.1]
- # [0.1, 1.1, 1.2]
- # .....
- # MODEA->MODEB (this one gets copied!)
- # [0.0, 1.5, 1.6]
- # [0.1, 1.6, 1.7]
- # .....
- if isinstance(cur_mode_stack.bloated_tube[-1], list):
- cur_mode_stack.bloated_tube.append(cur_mode_stack.bloated_tube[0])
-
- cur_stack = cur_mode_stack.stack
- cur_vertex = cur_mode_stack.mode
- cur_remain_time = cur_mode_stack.remain_time
- cur_label = graph.vs[cur_vertex]['label']
- cur_successors = graph.successors(cur_vertex)
- cur_initial = [cur_stack[-1].lower_bound, cur_stack[-1].upper_bound]
- # Update the progress graph
- progress_graph.update(buildModeStr(graph, cur_vertex), cur_mode_stack.bloated_tube[0],
- cur_mode_stack.remain_time)
-
- if len(cur_successors) == 0:
- # If there is not successor
- # Calculate the current bloated tube without considering the guard
- cur_bloated_tube = calc_bloated_tube(cur_label,
- cur_initial,
- cur_remain_time,
- sim_function,
- params.bloatingMethod,
- params.kvalue,
- userConfig.SIMTRACENUM,
- )
-
- candidate_tube = []
- shortest_time = float("inf")
- shortest_tube = None
-
- for cur_successor in cur_successors:
- edge_id = graph.get_eid(cur_vertex, cur_successor)
- cur_guard_str = graph.es[edge_id]['guards']
- cur_reset_str = graph.es[edge_id]['resets']
- # Calculate the current bloated tube with guard involved
- # Pre-check the simulation trace so we can get better bloated result
- cur_bloated_tube = calc_bloated_tube(cur_label,
- cur_initial,
- cur_remain_time,
- sim_function,
- params.bloatingMethod,
- params.kvalue,
- userConfig.SIMTRACENUM,
- guard_checker=guard,
- guard_str=cur_guard_str,
- )
-
- # Use the guard to calculate the next initial set
- next_init, truncated_result, transit_time = guard.guard_reachtube(
- cur_bloated_tube,
- cur_guard_str,
- )
-
- if next_init is None:
- continue
-
- # Reset the next initial set
- next_init = reset.reset_set(cur_reset_str, next_init[0], next_init[1])
-
- # Build next mode stack
- next_mode_stack = InitialSetStack(
- cur_successor,
- userConfig.CHILDREFINETHRES,
- cur_remain_time - transit_time,
- start_time=transit_time+cur_mode_stack.start_time
- )
- next_mode_stack.parent = cur_mode_stack
- next_mode_stack.stack.append(InitialSet(next_init[0], next_init[1]))
- next_mode_stack.bloated_tube.append(
- cur_mode_stack.bloated_tube[0] + '->' + buildModeStr(graph, cur_successor))
- cur_stack[-1].child[cur_successor] = next_mode_stack
- if len(truncated_result) > len(candidate_tube):
- candidate_tube = truncated_result
-
- # In case of must transition
- # We need to record shortest tube
- # As shortest tube is the tube invoke transition
- if truncated_result[-1][0] < shortest_time:
- shortest_time = truncated_result[-1][0]
- shortest_tube = truncated_result
-
- # Handle must transition
- if params.deterministic and len(cur_stack[-1].child) > 0:
- next_modes_info = []
- for next_mode in cur_stack[-1].child:
- next_modes_info.append((cur_stack[-1].child[next_mode].remain_time, next_mode))
- # This mode gets transit first, only keep this mode
- max_remain_time, max_time_mode = max(next_modes_info)
- # Pop other modes because of deterministic system
- for _, next_mode in next_modes_info:
- if next_mode == max_time_mode:
- continue
- cur_stack[-1].child.pop(next_mode)
- candidate_tube = shortest_tube
- print("Handle deterministic system, next mode", graph.vs[list(cur_stack[-1].child.keys())[0]]['label'])
-
- if not candidate_tube:
- candidate_tube = cur_bloated_tube
-
- for i in range(len(candidate_tube)):
- candidate_tube[i][0] += cur_mode_stack.start_time
-
- # Check the safety for current bloated tube
- safety = checker.check_reachtube(candidate_tube, cur_label)
- if safety == UNSAFE:
- print("System is not safe in Mode ", cur_label)
- # Start back Tracking from this point and print tube to a file
- # push current unsafe_tube to unsafe tube holder
- unsafe_tube = [cur_mode_stack.bloated_tube[0]] + candidate_tube
- while cur_mode_stack.parent is not None:
- prev_mode_stack = cur_mode_stack.parent
- unsafe_tube = [prev_mode_stack.bloated_tube[0]] + prev_mode_stack.stack[-1].bloated_tube \
- + unsafe_tube
- cur_mode_stack = prev_mode_stack
- print('simulation time', sim_end_time - t_start)
- print('verification time', time.time() - sim_end_time)
- print('refine time', refine_counter)
- writeReachTubeFile(unsafe_tube, UNSAFEFILENAME)
- ret_reach = ReachTube(cur_mode_stack.bloated_tube, params.variables, params.vertex)
- return "UNSAFE", ret_reach
-
- elif safety == UNKNOWN:
- # Refine the current initial set
- print(cur_mode_stack.mode, "check bloated tube unknown")
- discard_initial = cur_mode_stack.stack.pop()
- init_one, init_two = discard_initial.refine()
- cur_mode_stack.stack.append(init_one)
- cur_mode_stack.stack.append(init_two)
- refine_counter += 1
-
- elif safety == SAFE:
- print("Mode", cur_mode_stack.mode, "check bloated tube safe")
- if cur_mode_stack.stack[-1].child:
- cur_mode_stack.stack[-1].bloated_tube += candidate_tube
- next_mode, next_mode_stack = cur_mode_stack.stack[-1].child.popitem()
- cur_mode_stack = next_mode_stack
- print("Child exist in cur mode inital", cur_mode_stack.mode, "is cur_mode_stack Now")
- else:
- cur_mode_stack.bloated_tube += candidate_tube
- cur_mode_stack.stack.pop()
- print("No child exist in current initial, pop")
-
- if cur_mode_stack.parent is None:
- # We are at head now
- if backward_flag == SAFE:
- # All the nodes are safe
- print("System is Safe!")
- print("refine time", refine_counter)
- writeReachTubeFile(cur_mode_stack.bloated_tube, REACHTUBEOUTPUT)
- ret_reach = ReachTube(cur_mode_stack.bloated_tube, params.variables, params.vertex)
- print('simulation time', sim_end_time - t_start)
- print('verification time', time.time() - sim_end_time)
- return "SAFE", ret_reach
- elif backward_flag == UNKNOWN:
- print("Hit refine threshold, system halt, result unknown")
- print('simulation time', sim_end_time - t_start)
- print('verification time', time.time() - sim_end_time)
- return "UNKNOWN", None
- else:
- if backward_flag == SAFE:
- prev_mode_stack = cur_mode_stack.parent
- prev_mode_stack.stack[-1].bloated_tube += cur_mode_stack.bloated_tube
- print('back flag safe from', cur_mode_stack.mode, 'to', prev_mode_stack.mode)
- if len(prev_mode_stack.stack[-1].child) == 0:
- # There is no next mode from this initial set
- prev_mode_stack.bloated_tube += prev_mode_stack.stack[-1].bloated_tube
- prev_mode_stack.stack.pop()
- cur_mode_stack = prev_mode_stack
- print("No child in prev mode initial, pop,", prev_mode_stack.mode, "is cur_mode_stack Now")
- else:
- # There is another mode transition from this initial set
- next_mode, next_mode_stack = prev_mode_stack.stack[-1].child.popitem()
- cur_mode_stack = next_mode_stack
- print("Child exist in prev mode inital", next_mode_stack.mode, "is cur_mode_stack Now")
- elif backward_flag == UNKNOWN:
- prev_mode_stack = cur_mode_stack.parent
- print('back flag unknown from', cur_mode_stack.mode, 'to', prev_mode_stack.mode)
- discard_initial = prev_mode_stack.stack.pop()
- init_one, init_two = discard_initial.refine()
- prev_mode_stack.stack.append(init_one)
- prev_mode_stack.stack.append(init_two)
- cur_mode_stack = prev_mode_stack
- refine_counter += 1
-
-
-def graph_search(data, sim_function, param_config=None):
- """
- DryVR controller synthesis algorithm.
- It does the controller synthesis and print out the search result.
- tube and transition graph will be stored in output folder if algorithm finds one
-
- Args:
- data (dict): dictionary that contains params for the input file
- sim_function (function): black-box simulation function
- param_config (dict or None): example-specified configuration
-
- Returns:
- None
-
- """
- if param_config is None:
- param_config = {}
- # 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
- params = parseRrtInputFile(data)
- # Construct objects
- checker = UniformChecker(params.unsafeSet, params.variables)
- goal_set_checker = GoalChecker(params.goalSet, params.variables)
- distance_checker = DistChecker(params.goal, params.variables)
- # Read the important param
- available_modes = params.modes
- start_modes = params.modes
- remain_time = params.timeHorizon
- min_time_thres = params.minTimeThres
-
- # Set goal reach flag to False
- # Once the flag is set to True, It means we find a transition Graph
- goal_reached = False
-
- # Build the initial mode stack
- # Current Method is ugly, we need to get rid of the initial Mode for GraphSearch
- # It helps us to achieve the full automate search
- # TODO Get rid of the initial Mode thing
- random.shuffle(start_modes)
- dummy_node = GraphSearchNode("start", remain_time, min_time_thres, 0)
- for mode in start_modes:
- dummy_node.children[mode] = GraphSearchNode(mode, remain_time, min_time_thres, dummy_node.level + 1)
- dummy_node.children[mode].parent = dummy_node
- dummy_node.children[mode].initial = (params.initialSet[0], params.initialSet[1])
-
- cur_mode_stack = dummy_node.children[start_modes[0]]
- dummy_node.visited.add(start_modes[0])
-
- t_start = time.time()
- while True:
-
- if not cur_mode_stack:
- break
-
- if cur_mode_stack == dummy_node:
- start_modes.pop(0)
- if len(start_modes) == 0:
- break
-
- cur_mode_stack = dummy_node.children[start_modes[0]]
- dummy_node.visited.add(start_modes[0])
- continue
-
- print(str(cur_mode_stack))
-
- # Keep check the remain time, if the remain time is less than minTime
- # It means it is impossible to stay in one mode more than minTime
- # Therefore, we have to go back to parents
- if cur_mode_stack.remain_time < min_time_thres:
- print("Back to previous mode because we cannot stay longer than the min time thres")
- cur_mode_stack = cur_mode_stack.parent
- continue
-
- # If we have visited all available modes
- # We should select a new candidate point to proceed
- # If there is no candidates available,
- # Then we can say current node is not valid and go back to parent
- if len(cur_mode_stack.visited) == len(available_modes):
- if len(cur_mode_stack.candidates) < 2:
- print("Back to previous mode because we do not have any other modes to pick")
- cur_mode_stack = cur_mode_stack.parent
- # If the tried all possible cases with no luck to find path
- if not cur_mode_stack:
- break
- continue
- else:
- print("Pick a new point from candidates")
- cur_mode_stack.candidates.pop(0)
- cur_mode_stack.visited = set()
- cur_mode_stack.children = {}
- continue
-
- # Generate bloated tube if we haven't done so
- if not cur_mode_stack.bloated_tube:
- print("no bloated tube find in this mode, generate one")
- cur_bloated_tube = calc_bloated_tube(
- cur_mode_stack.mode,
- cur_mode_stack.initial,
- cur_mode_stack.remain_time,
- sim_function,
- params.bloatingMethod,
- params.kvalue,
- userConfig.SIMTRACENUM
- )
-
- # Cut the bloated tube once it intersect with the unsafe set
- cur_bloated_tube = checker.cut_tube_till_unsafe(cur_bloated_tube)
-
- # If the tube time horizon is less than minTime, it means
- # we cannot stay in this mode for min thres time, back to the parent node
- if not cur_bloated_tube or cur_bloated_tube[-1][0] < min_time_thres:
- print("bloated tube is not long enough, discard the mode")
- cur_mode_stack = cur_mode_stack.parent
- continue
- cur_mode_stack.bloated_tube = cur_bloated_tube
-
- # Generate candidates points for next node
- random_sections = cur_mode_stack.random_picker(userConfig.RANDSECTIONNUM)
-
- if not random_sections:
- print("bloated tube is not long enough, discard the mode")
- cur_mode_stack = cur_mode_stack.parent
- continue
-
- # Sort random points based on the distance to the goal set
- random_sections.sort(key=lambda x: distance_checker.calc_distance(x[0], x[1]))
- cur_mode_stack.candidates = random_sections
- print("Generate new bloated tube and candidate, with candidates length", len(cur_mode_stack.candidates))
-
- # Check if the current tube reaches goal
- result, tube = goal_set_checker.goal_reachtube(cur_bloated_tube)
- if result:
- cur_mode_stack.bloated_tube = tube
- goal_reached = True
- break
-
- # We have visited all next mode we have, generate some thing new
- # This is actually not necessary, just shuffle all modes would be enough
- # There should not be RANDMODENUM things since it does not make any difference
- # Anyway, for each candidate point, we will try to visit all modes eventually
- # Therefore, using RANDMODENUM to get some random modes visit first is useless
- # TODO, fix this part
- if len(cur_mode_stack.visited) == len(cur_mode_stack.children):
- # leftMode = set(available_modes) - set(cur_mode_stack.children.keys())
- # random_modes = random.sample(leftMode, min(len(leftMode), RANDMODENUM))
- random_modes = available_modes
- random.shuffle(random_modes)
-
- random_sections = cur_mode_stack.random_picker(userConfig.RANDSECTIONNUM)
- for mode in random_modes:
- candidate = cur_mode_stack.candidates[0]
- cur_mode_stack.children[mode] = GraphSearchNode(mode, cur_mode_stack.remain_time - candidate[1][0],
- min_time_thres, cur_mode_stack.level + 1)
- cur_mode_stack.children[mode].initial = (candidate[0][1:], candidate[1][1:])
- cur_mode_stack.children[mode].parent = cur_mode_stack
-
- # Random visit a candidate that is not visited before
- for key in cur_mode_stack.children:
- if key not in cur_mode_stack.visited:
- break
-
- print("transit point is", cur_mode_stack.candidates[0])
- cur_mode_stack.visited.add(key)
- cur_mode_stack = cur_mode_stack.children[key]
-
- # Back track to print out trace
- print("RRT run time", time.time() - t_start)
- if goal_reached:
- print("goal reached")
- traces = []
- modes = []
- while cur_mode_stack:
- modes.append(cur_mode_stack.mode)
- if not cur_mode_stack.candidates:
- traces.append([t for t in cur_mode_stack.bloated_tube])
- else:
- # Cut the trace till candidate
- temp = []
- for t in cur_mode_stack.bloated_tube:
- if t == cur_mode_stack.candidates[0][0]:
- temp.append(cur_mode_stack.candidates[0][0])
- temp.append(cur_mode_stack.candidates[0][1])
- break
- else:
- temp.append(t)
- traces.append(temp)
- if cur_mode_stack.parent != dummy_node:
- cur_mode_stack = cur_mode_stack.parent
- else:
- break
- # Reorganize the content in modes list for plotter use
- modes = modes[::-1]
- traces = traces[::-1]
- build_rrt_graph(modes, traces, isIpynb())
- for i in range(1, len(modes)):
- modes[i] = modes[i - 1] + '->' + modes[i]
-
- writeRrtResultFile(modes, traces, RRTOUTPUT)
- else:
- print("could not find graph")
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/goalchecker.py b/dryvr_plus_plus/scene_verifier/dryvr/core/goalchecker.py
deleted file mode 100644
index 242ec870edd0a950ff131a02e17a9cf5bafbdc3b..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/goalchecker.py
+++ /dev/null
@@ -1,107 +0,0 @@
-"""
-This file contains uniform checker class for DryVR
-"""
-
-from dryvr_plus_plus.common.utils import handleReplace, neg
-from z3 import *
-
-
-class GoalChecker:
- """
- This is class to check if the goal set is reached
- by reach tube
- """
-
- def __init__(self, goal, variables):
- """
- Goal checker class initialization function.
-
- Args:
- goal (str): a str describing the goal set.
- For example: "And(x_1>=19.5, x_1<=20.5, x_2>=-1.0, x_2<=1.0)"
- variables (list): list of variable name
- """
- self.varDic = {'t': Real('t')}
- self.variables = variables
- for var in variables:
- self.varDic[var] = Real(var)
-
- goal = handleReplace(goal, list(self.varDic.keys()))
-
- self.intersectChecker = Solver()
- self.containChecker = Solver()
-
- self.intersectChecker.add(eval(goal))
- self.containChecker.add(eval(neg(goal)))
-
- def goal_reachtube(self, tube):
- """
- Check if the reach tube satisfied the goal
-
- Args:
- tube (list): the reach tube.
-
- Returns:
- A bool indicates if the goal is reached
- The truncated tube if the goal is reached, otherwise the whole tube
- """
- for i in range(0, len(tube), 2):
- lower = tube[i]
- upper = tube[i + 1]
- if self._check_intersection(lower, upper):
- if self._check_containment(lower, upper):
- return True, tube[:i + 2]
- return False, tube
-
- def _check_intersection(self, lower, upper):
- """
- Check if the goal set intersect with the current set
- #FIXME Maybe this is not necessary since we only want to check
- the fully contained case
- Bolun 02/13/2018
-
- Args:
- lower (list): the list represent the set's lowerbound.
- upper (list): the list represent the set's upperbound.
-
- Returns:
- A bool indicates if the set intersect with the goal set
- """
- cur_solver = self.intersectChecker
- cur_solver.push()
- cur_solver.add(self.varDic["t"] >= lower[0])
- cur_solver.add(self.varDic["t"] <= upper[0])
- for i in range(1, len(lower)):
- cur_solver.add(self.varDic[self.variables[i - 1]] >= lower[i])
- cur_solver.add(self.varDic[self.variables[i - 1]] <= upper[i])
- if cur_solver.check() == sat:
- cur_solver.pop()
- return True
- else:
- cur_solver.pop()
- return False
-
- def _check_containment(self, lower, upper):
- """
- Check if the current set contained in goal set.
-
- Args:
- lower (list): the list represent the set's lowerbound.
- upper (list): the list represent the set's upperbound.
-
- Returns:
- A bool indicates if the set if contained in the goal set
- """
- cur_solver = self.containChecker
- cur_solver.push()
- cur_solver.add(self.varDic["t"] >= lower[0])
- cur_solver.add(self.varDic["t"] <= upper[0])
- for i in range(1, len(lower)):
- cur_solver.add(self.varDic[self.variables[i - 1]] >= lower[i])
- cur_solver.add(self.varDic[self.variables[i - 1]] <= upper[i])
- if cur_solver.check() == sat:
- cur_solver.pop()
- return False
- else:
- cur_solver.pop()
- return True
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/graph.py b/dryvr_plus_plus/scene_verifier/dryvr/core/graph.py
deleted file mode 100644
index d4770ff2001d436b7c4e0c9408812cea809c2fa1..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/graph.py
+++ /dev/null
@@ -1,80 +0,0 @@
-"""
-This file contains graph class for DryVR
-"""
-# import matplotlib.pyplot as plt
-import networkx as nx
-
-
-class Graph:
- """
- This is class to plot the progress graph for dryvr's
- function, it is supposed to display the graph in jupyter
- notebook and update the graph as dryvr is running
- """
-
- def __init__(self, params, is_ipynb):
- """
- Guard checker class initialization function.
-
- Args:
- params (obj): An object contains the parameter
- is_ipynb (bool): check if the code is running on ipython or not
- """
- self._is_ipynb = is_ipynb
- if not is_ipynb:
- return
- vertex = []
- # Build unique identifier for a vertex and mode name
- for idx, v in enumerate(params.vertex):
- vertex.append(v + "," + str(idx))
-
- edges = params.edge
- self.edgeList = []
- for e in edges:
- self.edgeList.append((vertex[e[0]], vertex[e[1]]))
- # Initialize the plot
- # self.fig = plt.figure()
- # self.ax = self.fig.add_subplot(111)
-
- # Initialize the graph
- self.G = nx.DiGraph()
- self.G.add_edges_from(self.edgeList)
- self.pos = nx.spring_layout(self.G)
- self.colors = ['green'] * len(self.G.nodes())
- # self.fig.suptitle('', fontsize=10)
- # Draw the graph when initialize
- # self.draw()
- # plt.show()
-
- def draw(self):
- """
- Draw the white-box transition graph.
- """
-
- nx.draw_networkx_labels(self.G, self.pos)
- options = {
- 'node_color': self.colors,
- 'node_size': 1000,
- 'cmap': plt.get_cmap('jet'),
- 'arrowstyle': '-|>',
- 'arrowsize': 50,
- }
- nx.draw_networkx(self.G, self.pos, arrows=True, **options)
- self.fig.canvas.draw()
-
- def update(self, cur_node, title, remain_time):
- """
- update the graph
- Args:
- cur_node (str): current vertex dryvr is verifying
- title (str): current transition path as the title
- remain_time (float): remaining time
- """
- if not self._is_ipynb:
- return
- self.ax.clear()
- self.colors = ['green'] * len(self.G.nodes())
- self.colors[list(self.G.nodes()).index(cur_node)] = 'red'
- self.fig.suptitle(title, fontsize=10)
- self.ax.set_title("remain:" + str(remain_time))
- self.draw()
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/guard.py b/dryvr_plus_plus/scene_verifier/dryvr/core/guard.py
deleted file mode 100644
index 79f1b70677881254fe6d2676f41485c3fdaef17a..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/guard.py
+++ /dev/null
@@ -1,211 +0,0 @@
-"""
-This file contains guard class for DryVR
-"""
-
-import random
-
-import sympy
-from z3 import *
-
-from dryvr_plus_plus.common.utils import handleReplace
-
-
-class Guard:
- """
- This is class to calculate the set in the
- reach tube that intersect with the guard
- """
-
- def __init__(self, variables):
- """
- Guard checker class initialization function.
-
- Args:
- variables (list): list of variable name
- """
- self.varDic = {'t': Real('t')}
- self.variables = variables
- for var in variables:
- self.varDic[var] = Real(var)
-
- def _build_guard(self, guard_str):
- """
- Build solver for current guard based on guard string
-
- Args:
- guard_str (str): the guard string.
- For example:"And(v>=40-0.1*u, v-40+0.1*u<=0)"
-
- Returns:
- A Z3 Solver obj that check for guard.
- A symbol index dic obj that indicates the index
- of variables that involved in the guard.
- """
- cur_solver = Solver()
- # This magic line here is because SymPy will evaluate == to be False
- # Therefore we are not be able to get free symbols from it
- # Thus we need to replace "==" to something else
- sympy_guard_str = guard_str.replace("==", ">=")
-
- symbols = list(sympy.sympify(sympy_guard_str, evaluate=False).free_symbols)
- symbols = [str(s) for s in symbols]
- symbols_idx = {s: self.variables.index(s) + 1 for s in symbols if s in self.variables}
- if 't' in symbols:
- symbols_idx['t'] = 0
-
- guard_str = handleReplace(guard_str, list(self.varDic.keys()))
- cur_solver.add(eval(guard_str)) # TODO use an object instead of `eval` a string
- return cur_solver, symbols_idx
-
- def guard_sim_trace(self, trace, guard_str):
- """
- Check the guard for simulation trace.
- Note we treat the simulation trace as the set as well.
- Consider we have a simulation trace as following
- [0.0, 1.0, 1.1]
- [0.1, 1.02, 1.13]
- [0.2, 1.05, 1.14]
- ...
- We can build set like
- lower_bound: [0.0, 1.0, 1.1]
- upper_bound: [0.1, 1.02, 1.13]
-
- lower_bound: [0.1, 1.02, 1.13]
- upper_bound: [0.2, 1.05, 1.14]
- And check guard for these set. This is because if the guard
- is too small, it is likely for simulation point ignored the guard.
- For example:
- . . . . |guard| . . .
- In this case, the guard gets ignored
-
- Args:
- trace (list): the simulation trace
- guard_str (str): the guard string.
- For example:"And(v>=40-0.1*u, v-40+0.1*u<=0)"
-
- Returns:
- A initial point for next mode,
- The truncated simulation trace
- """
- if not guard_str:
- return None, trace
- cur_solver, symbols = self._build_guard(guard_str)
- guard_set = {}
-
- for idx in range(len(trace) - 1):
- lower = trace[idx]
- upper = trace[idx + 1]
- cur_solver.push()
- for symbol in symbols:
- cur_solver.add(self.varDic[symbol] >= min(lower[symbols[symbol]], upper[symbols[symbol]]))
- cur_solver.add(self.varDic[symbol] <= max(lower[symbols[symbol]], upper[symbols[symbol]]))
- if cur_solver.check() == sat:
- cur_solver.pop()
- guard_set[idx] = upper
- else:
- cur_solver.pop()
- if guard_set:
- # Guard set is not empty, randomly pick one and return
- # idx, point = random.choice(list(guard_set.items()))
- idx, point = list(guard_set.items())[0]
- # Return the initial point for next mode, and truncated trace
- return point[1:], trace[:idx + 1]
-
- if guard_set:
- # Guard set is not empty, randomly pick one and return
- # idx, point = random.choice(list(guard_set.items()))
- idx, point = list(guard_set.items())[0]
- # Return the initial point for next mode, and truncated trace
- return point[1:], trace[:idx + 1]
-
- # No guard hits for current tube
- return None, trace
-
- def guard_sim_trace_time(self, trace, guard_str):
- """
- Return the length of the truncated traces
-
- Args:
- trace (list): the simulation trace
- guard_str (str): the guard string.
- For example:"And(v>=40-0.1*u, v-40+0.1*u<=0)"
-
- Returns:
- the length of the truncated traces.
- """
- next_init, trace = self.guard_sim_trace(trace, guard_str)
- return len(trace)
-
- def guard_reachtube(self, tube, guard_str):
- """
- Check the guard intersection of the reach tube
-
-
- Args:
- tube (list): the reach tube
- guard_str (str): the guard string.
- For example:"And(v>=40-0.1*u, v-40+0.1*u<=0)"
-
- Returns:
- Next mode initial set represent as [upper_bound, lower_bound],
- Truncated tube before the guard,
- The time when elapsed in current mode.
-
- """
- if not guard_str:
- return None, tube
-
- cur_solver, symbols = self._build_guard(guard_str)
- guard_set_lower = []
- guard_set_upper = []
- for i in range(0, len(tube), 2):
- cur_solver.push()
- lower_bound = tube[i]
- upper_bound = tube[i + 1]
- for symbol in symbols:
- cur_solver.add(self.varDic[symbol] >= lower_bound[symbols[symbol]])
- cur_solver.add(self.varDic[symbol] <= upper_bound[symbols[symbol]])
- if cur_solver.check() == sat:
- # The reachtube hits the guard
- cur_solver.pop()
- guard_set_lower.append(lower_bound)
- guard_set_upper.append(upper_bound)
-
- tmp_solver = Solver()
- tmp_solver.add(Not(cur_solver.assertions()[0]))
- for symbol in symbols:
- tmp_solver.add(self.varDic[symbol] >= lower_bound[symbols[symbol]])
- tmp_solver.add(self.varDic[symbol] <= upper_bound[symbols[symbol]])
- if tmp_solver.check() == unsat:
- print("Full intersect, break")
- break
- else:
- cur_solver.pop()
- if guard_set_lower:
- # Guard set is not empty, build the next initial set and return
- # At some point we might further reduce the initial set for next mode
- init_lower = guard_set_lower[0][1:]
- init_upper = guard_set_upper[0][1:]
- for j in range(1, len(guard_set_lower)):
- for k in range(1, len(guard_set_lower[0])):
- init_lower[k - 1] = min(init_lower[k - 1], guard_set_lower[j][k])
- init_upper[k - 1] = max(init_upper[k - 1], guard_set_upper[j][k])
- # Return next initial Set, the result tube, and the true transit time
- return [init_lower, init_upper], tube[:i], guard_set_lower[0][0]
-
- # Construct the guard if all later trace sat the guard condition
- if guard_set_lower:
- # Guard set is not empty, build the next initial set and return
- # At some point we might further reduce the initial set for next mode
- init_lower = guard_set_lower[0][1:]
- init_upper = guard_set_upper[0][1:]
- for j in range(1, len(guard_set_lower)):
- for k in range(1, len(guard_set_lower[0])):
- init_lower[k - 1] = min(init_lower[k - 1], guard_set_lower[j][k])
- init_upper[k - 1] = max(init_upper[k - 1], guard_set_upper[j][k])
- # init_upper[0] = init_lower[0]
-
- # Return next initial Set, the result tube, and the true transit time
- return [init_lower, init_upper], tube[:i], guard_set_lower[0][0]
-
- return None, tube, tube[-1][0]
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/initialset.py b/dryvr_plus_plus/scene_verifier/dryvr/core/initialset.py
deleted file mode 100644
index 0bc2a0a4f00648f93e859d83b6d8c0e172b5d69b..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/initialset.py
+++ /dev/null
@@ -1,69 +0,0 @@
-"""
-This file contains initial set class for DryVR
-"""
-
-
-class InitialSet:
- """
- This is class to represent the initial set
- """
-
- def __init__(self, lower, upper):
- """
- Initial set class initialization function.
-
- Args:
- lower (list): lower bound of the initial set
- upper (list): upper bound of the initial set
- """
-
- self.lower_bound = lower
- self.upper_bound = upper
- self.delta = [(upper[i] - lower[i]) / 2.0 for i in range(len(upper))]
- # Child point points to children InitialSetStack obj
- # This it how it works
- # Since a initial set can generate a reach tube that intersect
- # with different guards
- # So there can be multiple children pointers
- # Therefore this is a dictionary obj
- # self.child["MODEA"] = InitialSetStack for MODEA
- self.child = {}
- self.bloated_tube = []
-
- def refine(self):
- """
- This function refine the current initial set into two smaller set
-
- Returns:
- two refined initial set
-
- """
- # Refine the initial set into two smaller set
- # based on index with largest delta
- idx = self.delta.index(max(self.delta))
- # Construct first smaller initial set
- init_set_one_ub = list(self.upper_bound)
- init_set_one_lb = list(self.lower_bound)
- init_set_one_lb[idx] += self.delta[idx]
- # Construct second smaller initial set
- init_set_two_ub = list(self.upper_bound)
- init_set_two_lb = list(self.lower_bound)
- init_set_two_ub[idx] -= self.delta[idx]
-
- return (
- InitialSet(init_set_one_lb, init_set_one_ub),
- InitialSet(init_set_two_lb, init_set_two_ub),
- )
-
- def __str__(self):
- """
- Build string representation for the initial set
-
- Returns:
- A string describes the initial set
- """
- ret = ""
- ret += "Lower Bound: " + str(self.lower_bound) + "\n"
- ret += "Upper Bound: " + str(self.upper_bound) + "\n"
- ret += "Delta: " + str(self.delta) + "\n"
- return ret
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/initialsetstack.py b/dryvr_plus_plus/scene_verifier/dryvr/core/initialsetstack.py
deleted file mode 100644
index e3474a07eb00a97e1fe734eaccc323ea410d2500..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/initialsetstack.py
+++ /dev/null
@@ -1,132 +0,0 @@
-"""
-This file contains initial set class stack for DryVR
-"""
-import random
-
-
-class InitialSetStack:
- """
- This is class is for list of initial sets for a single node
- """
-
- def __init__(self, mode, threshold, remain_time, start_time):
- """
- Initial set class initialization function.
-
- Args:
- mode (str): the mode name for current node
- threshold (int): threshold for refinement
- remain_time (float): remaining time of the current node
- """
-
- # Mode name for the current mode
- self.mode = mode
- # Threshold (int) for the refinement
- self.threshold = threshold
- # Pointer point to the parent node
- # If you wonder where child pointers are
- # It's actually in the InitialSet class.........
- self.parent = None
- # A stack for InitialSet object
- self.stack = []
- self.remain_time = remain_time
- # Stores bloated tube result for all tubes start from initial sets in stack
- self.bloated_tube = []
- self.start_time = start_time
-
- def is_valid(self):
- """
- Check if current node is still valid or not.
- (if number of initial sets in stack are more than threshold)
-
- Returns:
- A bool to check if the stack is valid or not valid
- """
- return len(self.stack) <= self.threshold
-
- def __str__(self):
- """
- Build string representation for the initial set stack
-
- Args:
- None
- Returns:
- A string describes the stack
- """
- ret = "===============================================\n"
- ret += "Mode: " + str(self.mode) + "\n"
- ret += "stack size: " + str(len(self.stack)) + "\n"
- ret += "remainTime: " + str(self.remain_time) + "\n"
- return ret
-
-
-class GraphSearchNode:
- """
- This is class for graph search node
- Contains some helpful stuff in graph search tree
- """
-
- def __init__(self, mode, remain_time, min_time_thres, level):
- """
- GraphSearchNode class initialization function.
-
- Args:
- mode (str): the mode name for current node
- remain_time (float): remaining time of the current node
- min_time_thres (float): minimal time should stay in this mode
- level (int): tree depth
- """
- self.mode = mode
- # Pointer point to parent node
- self.parent = None
- # Initial set
- self.initial = None
- self.bloated_tube = []
- self.remain_time = remain_time
- self._min_time_thres = min_time_thres
- # Pointer point to children
- self.children = {}
- # keep track which child is visited
- self.visited = set()
- # select number of candidates initial set for children
- self.candidates = []
- self.level = level
-
- def random_picker(self, k):
- """
- Randomly pick k candidates initial set
-
- Args:
- k (int): number of candidates
- Returns:
- A list of candidate initial sets
- """
- i = 0
- ret = []
- while i < len(self.bloated_tube):
- if self.bloated_tube[i][0] >= self._min_time_thres:
- ret.append((self.bloated_tube[i], self.bloated_tube[i + 1]))
- i += 2
-
- random.shuffle(ret)
- return ret[:k]
-
- def __str__(self):
- """
- Build string representation for the Graph Search Node
-
- Returns:
- A string describes the stack
- """
- ret = ""
- ret += "Level: " + str(self.level) + "\n"
- ret += "Mode: " + str(self.mode) + "\n"
- ret += "Initial: " + str(self.initial) + "\n"
- ret += "visited: " + str(self.visited) + "\n"
- ret += "num candidates: " + str(len(self.candidates)) + "\n"
- ret += "remaining time: " + str(self.remain_time) + "\n"
- if self.bloated_tube:
- ret += "bloatedTube: True" + "\n"
- else:
- ret += "bloatedTube: False" + "\n"
- return ret
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/reachtube.py b/dryvr_plus_plus/scene_verifier/dryvr/core/reachtube.py
deleted file mode 100644
index 850b8a5a1fd796541d4cade354e0ad3537b3ad6c..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/reachtube.py
+++ /dev/null
@@ -1,88 +0,0 @@
-"""
-This file contains reach tube class for DryVR
-"""
-
-import six
-
-
-class ReachTube:
- """
- This is class is an object for reach tube
- Ideally it should support to fetch reachtube by mode and variable name
- And it should allow users to plot the reach tube in different ways
- """
-
- def __init__(self, tube, variables, modes):
- """
- ReachTube class initialization function.
-
- Args:
- tube (list): raw reach tube (that used to print to file)
- variables (list): list of variables in the reach tube
- modes (list): list of modes in the reach ReachTube
- """
- self._tube = tube
- self._variables = variables
- self._modes = modes
-
- # Build the raw string representation so example can print it
-
- self.raw = ""
- for line in tube:
- if isinstance(line, str):
- self.raw += line + "\n"
- else:
- self.raw += " ".join(map(str, line)) + '\n'
-
- # Build dictionary object so you can easily pull out part of the list
- self._tube_dict = {}
- for mode in modes:
- self._tube_dict[mode] = {}
- for var in variables + ["t"]:
- self._tube_dict[mode][var] = []
-
- cur_mode = ""
- for line in tube:
- if isinstance(line, six.string_types):
- cur_mode = line.split('->')[-1].split(',')[0] # Get current mode name
- for var in ['t'] + self._variables:
- self._tube_dict[cur_mode][var].append(line)
- else:
- for var, val in zip(['t'] + self._variables, line):
- self._tube_dict[cur_mode][var].append(val)
-
- def __str__(self):
- """
- print the raw tube
- """
- return str(self.raw)
-
- def filter(self, mode=None, variable=None, contain_label=True):
- """
- This is a filter function that allows you to select
- Args:
- mode (str, list): single mode name or list of mode name
- variable (str, list): single variable or list of variables
- """
- if mode is None:
- mode = self._modes
- if variable is None:
- variable = ["t"] + self._variables
-
- if isinstance(mode, str):
- mode = [mode]
- if isinstance(variable, str):
- variable = [variable]
-
- res = []
- for m in mode:
- temp = []
- for i in range(len(self._tube_dict[m]["t"])):
- if isinstance(self._tube_dict[m]["t"][i], str):
- if contain_label:
- temp.append([self._tube_dict[m]["t"][i]] + variable)
- continue
-
- temp.append([self._tube_dict[m][v][i] for v in variable])
- res.append(temp)
- return res
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/reset.py b/dryvr_plus_plus/scene_verifier/dryvr/core/reset.py
deleted file mode 100644
index 56f57abe06e14ba560a7bc967b575b25927ca31c..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/reset.py
+++ /dev/null
@@ -1,209 +0,0 @@
-"""
-This file contains reset class for DryVR
-"""
-
-import sympy
-
-from dryvr_plus_plus.common.utils import randomPoint
-
-
-class Reset:
- """
- This is class for resetting the initial set
- """
-
- def __init__(self, variables):
- """
- Reset class initialization function.
-
- Args:
- variables (list): list of varibale name
- """
- self.variables = variables
-
- def reset_set(self, raw_eqs_str, lower_bound, upper_bound):
- """
- Reset the initial set based on reset expressions
-
- Args:
- raw_eqs_str (str): reset expressions separated by ';'
- lower_bound (list): lower bound of the initial set
- upper_bound (list): upper bound of the initial set
-
- Returns:
- lower bound and upper bound of the initial set after reset
- """
- if not raw_eqs_str:
- return lower_bound, upper_bound
-
- raw_eqs = raw_eqs_str.split(';')
- lb_list = []
- ub_list = []
- for rawEqu in raw_eqs:
- lb, ub = self._handle_reset(rawEqu, lower_bound, upper_bound)
- lb_list.append(lb)
- ub_list.append(ub)
-
- return self._merge_result(lb_list, ub_list, lower_bound, upper_bound)
-
- def reset_point(self, raw_eqs_str, point):
- """
- Reset the initial point based on reset expressions
-
- Args:
- raw_eqs_str (str): list of reset expression
- point (list): the initial point need to be reset
-
- Returns:
- a point after reset
- """
- if point == [] or not point:
- return point
- lower, upper = self.reset_set(raw_eqs_str, point, point)
- return randomPoint(lower, upper)
-
- @staticmethod
- def _merge_result(lb_list, ub_list, lower_bound, upper_bound):
- """
- Merge the a list of reset result
- Since we allow multiple reset per transition,
- we get list of reset result, each result corresponding to one reset expression
- We need to merge all reset result together
-
- Args:
- lb_list (list): list of reset lower bound results
- ub_list (list): list of reset upper bound results
- lower_bound(list): original lower bound
- upper_bound(list): original upper bound
-
- Returns:
- Upper bound and lower bound after merge the reset result
- """
- ret_lb = list(lower_bound)
- ret_ub = list(upper_bound)
-
- for i in range(len(lb_list)):
- cur_lb = lb_list[i]
- cur_ub = ub_list[i]
- for j in range(len(cur_lb)):
- if cur_lb[j] != lower_bound[j]:
- ret_lb[j] = cur_lb[j]
- if cur_ub[j] != upper_bound[j]:
- ret_ub[j] = cur_ub[j]
- return ret_lb, ret_ub
-
- def _build_all_combo(self, symbols, lower_bound, upper_bound):
- """
- This function allows us to build all combination given symbols
- For example, if we have a 2-dimension set for dim A and B.
- symbols = [A,B]
- lowerBound = [1.0, 2.0]
- upperBound = [3.0, 4.0]
- Then the result should be all possible combination of the value of A and B
- result:
- [[1.0, 2.0], [3.0, 4.0], [3.0, 2.0], [1.0, 4.0]]
-
- Args:
- symbols (list): symbols we use to create combo
- lower_bound (list): lower bound of the set
- upper_bound (list): upper bound of the set
-
- Returns:
- List of combination value
- """
- if not symbols:
- return []
-
- cur_symbol = str(symbols[0])
- idx = self.variables.index(cur_symbol)
- lo = lower_bound[idx]
- up = upper_bound[idx]
- ret = []
- next_level = self._build_all_combo(symbols[1:], lower_bound, upper_bound)
- if next_level:
- for n in next_level:
- ret.append(n + [(cur_symbol, lo)])
- ret.append(n + [(cur_symbol, up)])
- else:
- ret.append([cur_symbol, lo])
- ret.append([cur_symbol, up])
- return ret
-
- def _handle_wrapped_reset(self, raw_eq, lower_bound, upper_bound):
- """
- This is a function to handle reset such as V = [0, V+1]
-
- Args:
- raw_eq (str): reset equation
- lower_bound (list): lower bound of the set
- upper_bound (list): upper bound of the set
-
- Returns:
- Upper bound and lower bound after the reset
- """
- final_equ = sympy.sympify(raw_eq)
- rhs_symbols = list(final_equ.free_symbols)
- combos = self._build_all_combo(rhs_symbols, lower_bound, upper_bound)
- min_reset = float('inf')
- max_reset = float('-inf')
- if combos:
- for combo in combos:
- if len(combo) == 2:
- result = float(final_equ.subs(combo[0], combo[1]))
- else:
- result = float(final_equ.subs(combo))
- min_reset = min(min_reset, float(result))
- max_reset = max(max_reset, float(result))
- else:
- min_reset = float(final_equ)
- max_reset = float(final_equ)
- return (min_reset, max_reset)
-
- def _handle_reset(self, raw_equ, lower_bound, upper_bound):
- """
- Handle the reset with single reset expression
-
- Args:
- raw_equ (str): reset equation
- lower_bound (list): lower bound of the set
- upper_bound (list): upper bound of the set
-
- Returns:
- Upper bound and lower bound after the reset
- """
- equ_split = raw_equ.split('=')
- lhs, rhs = equ_split[0], equ_split[1]
- target = sympy.sympify(lhs)
- # Construct the equation
- final_equ = sympy.sympify(rhs)
- if not isinstance(final_equ, list):
- rhs_symbols = list(sympy.sympify(rhs).free_symbols)
- else:
- rhs_symbols = None
- # print target, rhs_symbols
- combos = self._build_all_combo(rhs_symbols, lower_bound, upper_bound)
- # final_equ = solve(equ, target)[0]
-
- min_reset = float('inf')
- max_reset = float('-inf')
- if combos:
- for combo in combos:
- if len(combo) == 2:
- result = float(final_equ.subs(combo[0], combo[1]))
- else:
- result = float(final_equ.subs(combo))
- min_reset = min(min_reset, float(result))
- max_reset = max(max_reset, float(result))
- elif isinstance(final_equ, list):
- min_reset = min(self._handle_wrapped_reset(final_equ[0], lower_bound, upper_bound))
- max_reset = max(self._handle_wrapped_reset(final_equ[1], lower_bound, upper_bound))
- else:
- min_reset = float(final_equ)
- max_reset = float(final_equ)
-
- ret_lb = list(lower_bound)
- ret_ub = list(upper_bound)
- target_idx = self.variables.index(str(target))
- ret_lb[target_idx] = min_reset
- ret_ub[target_idx] = max_reset
- return ret_lb, ret_ub
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/uniformchecker.py b/dryvr_plus_plus/scene_verifier/dryvr/core/uniformchecker.py
deleted file mode 100644
index dfa49b0a6d2d55b3c539029518cfbb8f1459a128..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/uniformchecker.py
+++ /dev/null
@@ -1,213 +0,0 @@
-"""
-This file contains uniform checker class for DryVR
-"""
-import sympy
-from z3 import *
-
-from dryvr_plus_plus.common.constant import *
-from dryvr_plus_plus.common.utils import handleReplace, neg
-
-
-class UniformChecker:
- """
- This is class for check unsafe checking
- """
-
- def __init__(self, unsafe, variables):
- """
- Reset class initialization function.
-
- Args:
- unsafe (str): unsafe constraint
- variables (list): list of variable name
- """
- self.varDic = {'t': Real('t')}
- self._variables = variables
- self._solver_dict = {}
- for var in variables:
- self.varDic[var] = Real(var)
-
- if not unsafe:
- return
-
- original = unsafe
-
- unsafe = handleReplace(unsafe, list(self.varDic.keys()))
- unsafe_list = unsafe[1:].split('@')
- for unsafe in unsafe_list:
- mode, cond = unsafe.split(':')
- self._solver_dict[mode] = [Solver(), Solver()]
- self._solver_dict[mode][0].add(eval(cond))
- self._solver_dict[mode][1].add(eval(neg(cond)))
-
- unsafe_list = original[1:].split('@')
- for unsafe in unsafe_list:
- mode, cond = unsafe.split(':')
- # This magic line here is because SymPy will evaluate == to be False
- # Therefore we are not be able to get free symbols from it
- # Thus we need to replace "==" to something else, which is >=
- cond = cond.replace("==", ">=")
- symbols = list(sympy.sympify(cond).free_symbols)
- symbols = [str(s) for s in symbols]
- symbols_idx = {s: self._variables.index(s) + 1 for s in symbols if s in self._variables}
- if 't' in symbols:
- symbols_idx['t'] = 0
- self._solver_dict[mode].append(symbols_idx) # TODO Fix typing
-
- def check_sim_trace(self, traces, mode):
- """
- Check the simulation trace
-
- Args:
- traces (list): simulation traces
- mode (str): mode need to be checked
-
- Returns:
- An int for checking result SAFE = 1, UNSAFE = -1
- """
- if mode in self._solver_dict:
- cur_solver = self._solver_dict[mode][0]
- symbols = self._solver_dict[mode][2]
- elif 'Allmode' in self._solver_dict:
- cur_solver = self._solver_dict['Allmode'][0]
- symbols = self._solver_dict['Allmode'][2]
- else:
- # Return True if we do not check this mode
- return SAFE
-
- for t in traces:
- cur_solver.push()
- for symbol in symbols:
- cur_solver.add(self.varDic[symbol] == t[symbols[symbol]])
-
- if cur_solver.check() == sat:
- cur_solver.pop()
- return UNSAFE
- else:
- cur_solver.pop()
- return SAFE
-
- def check_reachtube(self, tube, mode):
- """
- Check the bloated reach tube
-
- Args:
- tube (list): reach tube
- mode (str): mode need to be checked
-
- Returns:
- An int for checking result SAFE = 1, UNSAFE = -1, UNKNOWN = 0
- """
- if mode not in self._solver_dict and 'Allmode' not in self._solver_dict:
- # Return True if we do not check this mode
- return SAFE
-
- safe = SAFE
- for i in range(0, len(tube), 2):
- lower = tube[i]
- upper = tube[i + 1]
- if self._check_intersection(lower, upper, mode):
- if self._check_containment(lower, upper, mode):
- # The unsafe region is fully contained
- return UNSAFE
- else:
- # We do not know if it is truly unsafe or not
- safe = UNKNOWN
- return safe
-
- def cut_tube_till_unsafe(self, tube):
- """
- Truncated the tube before it intersect with unsafe set
-
- Args:
- tube (list): reach tube
-
- Returns:
- truncated tube
- """
- if not self._solver_dict:
- return tube
- # Cut the reach tube till it intersect with unsafe
- for i in range(0, len(tube), 2):
- lower = tube[i]
- upper = tube[i + 1]
- if self._check_intersection(lower, upper, 'Allmode'):
- # we need to cut here
- return tube[:i]
-
- return tube
-
- def _check_intersection(self, lower, upper, mode):
- """
- Check if current set intersect with the unsafe set
-
- Args:
- lower (list): lower bound of the current set
- upper (list): upper bound of the current set
- mode (str): the mode need to be checked
-
- Returns:
- Return a bool to indicate if the set intersect with the unsafe set
- """
- if mode in self._solver_dict:
- cur_solver = self._solver_dict[mode][0]
- symbols = self._solver_dict[mode][2]
- elif 'Allmode' in self._solver_dict:
- cur_solver = self._solver_dict['Allmode'][0]
- symbols = self._solver_dict['Allmode'][2]
- else:
- raise ValueError("Unknown mode '" + mode + "'")
-
- cur_solver.push()
- for symbol in symbols:
- cur_solver.add(self.varDic[symbol] >= lower[symbols[symbol]])
- cur_solver.add(self.varDic[symbol] <= upper[symbols[symbol]])
-
- check_result = cur_solver.check()
-
- if check_result == sat:
- cur_solver.pop()
- return True
- if check_result == unknown:
- print("Z3 return unknown result")
- exit() # TODO Proper return instead of exit
- else:
- cur_solver.pop()
- return False
-
- def _check_containment(self, lower, upper, mode):
- """
- Check if the current set is fully contained in unsafe region
-
- Args:
- lower (list): lower bound of the current set
- upper (list): upper bound of the current set
- mode (str): the mode need to be checked
-
- Returns:
- Return a bool to indicate if the set is fully contained in unsafe region
- """
- if mode in self._solver_dict:
- cur_solver = self._solver_dict[mode][1]
- symbols = self._solver_dict[mode][2]
- elif 'Allmode' in self._solver_dict:
- cur_solver = self._solver_dict['Allmode'][1]
- symbols = self._solver_dict['Allmode'][2]
- else:
- raise ValueError("Unknown mode '" + mode + "'")
-
- cur_solver.push()
- for symbol in symbols:
- cur_solver.add(self.varDic[symbol] >= lower[symbols[symbol]])
- cur_solver.add(self.varDic[symbol] <= upper[symbols[symbol]])
- check_result = cur_solver.check()
-
- if check_result == sat:
- cur_solver.pop()
- return False
- if check_result == unknown:
- print("Z3 return unknown result")
- exit() # TODO Proper return instead of exit
- else:
- cur_solver.pop()
- return True
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/Global_Disc.py b/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/Global_Disc.py
deleted file mode 100644
index d84b5176e7c3ae8aca917af0ea533e5f6aab137d..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/Global_Disc.py
+++ /dev/null
@@ -1,125 +0,0 @@
-"""
-This file contains core bloating algorithm for dryvr
-"""
-
-from typing import List, Tuple
-import numpy as np
-import scipy as sp
-import scipy.spatial
-
-_TRUE_MIN_CONST = -10
-_EPSILON = 1.0e-6
-_SMALL_EPSILON = 1e-10
-
-
-def get_reachtube_segment(training_traces: np.ndarray, initial_radii: np.ndarray, method='PWGlobal') -> np.array:
- num_traces: int = training_traces.shape[0]
- ndims: int = training_traces.shape[2] # This includes time
- trace_len: int = training_traces.shape[1]
- center_trace: np.ndarray = training_traces[0, :, :]
- trace_initial_time = center_trace[0, 0]
- x_points: np.ndarray = center_trace[:, 0] - trace_initial_time
- assert np.all(training_traces[0, :, 0] == training_traces[1:, :, 0])
- y_points: np.ndarray = all_sensitivities_calc(training_traces, initial_radii)
- points: np.ndarray = np.zeros((ndims - 1, trace_len, 2))
- points[np.where(initial_radii != 0), 0, 1] = 1.0
- points[:, :, 0] = np.reshape(x_points, (1, x_points.shape[0]))
- points[:, 1:, 1] = y_points
- normalizing_initial_set_radii: np.ndarray = initial_radii.copy()
- normalizing_initial_set_radii[np.where(normalizing_initial_set_radii == 0)] = 1.0
- df: np.ndarray = np.zeros((trace_len, ndims))
- if method == 'PW':
- df[:, 1:] = np.transpose(
- points[:, :, 1] * np.reshape(normalizing_initial_set_radii, (normalizing_initial_set_radii.size, 1)))
- elif method == 'PWGlobal':
- # replace zeros with epsilons
- # points[np.where(points[:, 0, 1] == 0), 0, 1] = 1.0e-100
- # to fit exponentials make y axis log of sensitivity
- points[:, :, 1] = np.maximum(points[:, :, 1], _EPSILON)
- points[:, :, 1] = np.log(points[:, :, 1])
- for dim_ind in range(1, ndims):
- new_min = min(np.min(points[dim_ind - 1, 1:, 1]) + _TRUE_MIN_CONST, -10)
- if initial_radii[dim_ind - 1] == 0:
- # exclude initial set, then add true minimum points
- new_points: np.ndarray = np.row_stack(
- (np.array((points[dim_ind - 1, 1, 0], new_min)), np.array((points[dim_ind - 1, -1, 0], new_min))))
- else:
- # start from zero, then add true minimum points
- new_points: np.ndarray = np.row_stack((points[dim_ind - 1, 0, :],
- np.array((points[dim_ind - 1, 0, 0], new_min)),
- np.array((points[dim_ind - 1, -1, 0], new_min))))
- df[0, dim_ind] = initial_radii[dim_ind - 1]
- # Tuple order is start_time, end_time, slope, y-intercept
- cur_dim_points = np.concatenate((points[dim_ind - 1, 1:, :], new_points), axis=0)
- cur_hull: sp.spatial.ConvexHull = sp.spatial.ConvexHull(cur_dim_points)
- linear_separators: List[Tuple[float, float, float, float, int, int]] = []
- vert_inds = list(zip(cur_hull.vertices[:-1], cur_hull.vertices[1:]))
- vert_inds.append((cur_hull.vertices[-1], cur_hull.vertices[0]))
- for end_ind, start_ind in vert_inds:
- if cur_dim_points[start_ind, 1] != new_min and cur_dim_points[end_ind, 1] != new_min:
- slope = (cur_dim_points[end_ind, 1] - cur_dim_points[start_ind, 1]) / (
- cur_dim_points[end_ind, 0] - cur_dim_points[start_ind, 0])
- y_intercept = cur_dim_points[start_ind, 1] - cur_dim_points[start_ind, 0] * slope
- start_time = cur_dim_points[start_ind, 0]
- end_time = cur_dim_points[end_ind, 0]
- assert start_time < end_time
- if start_time == 0:
- linear_separators.append((start_time, end_time, slope, y_intercept, 0, end_ind + 1))
- else:
- linear_separators.append((start_time, end_time, slope, y_intercept, start_ind + 1, end_ind + 1))
- linear_separators.sort()
- prev_val = 0
- prev_ind = 1 if initial_radii[dim_ind - 1] == 0 else 0
- for linear_separator in linear_separators:
- _, _, slope, y_intercept, start_ind, end_ind = linear_separator
- assert prev_ind == start_ind
- assert start_ind < end_ind
- segment_t = center_trace[start_ind:end_ind + 1, 0]
- segment_df = normalizing_initial_set_radii[dim_ind - 1] * np.exp(y_intercept) * np.exp(
- slope * segment_t)
- segment_df[0] = max(segment_df[0], prev_val)
- df[start_ind:end_ind + 1, dim_ind] = segment_df
- prev_val = segment_df[-1]
- prev_ind = end_ind
- else:
- print('Discrepancy computation method,', method, ', is not supported!')
- raise ValueError
- assert (np.all(df >= 0))
- reachtube_segment: np.ndarray = np.zeros((trace_len - 1, 2, ndims))
- reachtube_segment[:, 0, :] = np.minimum(center_trace[1:, :] - df[1:, :], center_trace[:-1, :] - df[:-1, :])
- reachtube_segment[:, 1, :] = np.maximum(center_trace[1:, :] + df[1:, :], center_trace[:-1, :] + df[:-1, :])
- # assert 100% training accuracy (all trajectories are contained)
- for trace_ind in range(training_traces.shape[0]):
- if not (np.all(reachtube_segment[:, 0, :] <= training_traces[trace_ind, 1:, :]) and np.all(reachtube_segment[:, 1, :] >= training_traces[trace_ind, 1:, :])):
- assert np.any(np.abs(training_traces[trace_ind, 0, 1:]-center_trace[0, 1:]) > initial_radii)
- print(f"Warning: Trace #{trace_ind}", "of this initial set is sampled outside of the initial set because of floating point error and is not contained in the initial set")
- return reachtube_segment
-
-
-def all_sensitivities_calc(training_traces: np.ndarray, initial_radii: np.ndarray):
- num_traces: int
- trace_len: int
- ndims: int
- num_traces, trace_len, ndims = training_traces.shape
- normalizing_initial_set_radii: np.array = initial_radii.copy()
- y_points: np.array = np.zeros((normalizing_initial_set_radii.shape[0], trace_len - 1))
- normalizing_initial_set_radii[np.where(normalizing_initial_set_radii == 0)] = 1.0
- for cur_dim_ind in range(1, ndims):
- normalized_initial_points: np.array = training_traces[:, 0, 1:] / normalizing_initial_set_radii
- initial_distances = sp.spatial.distance.pdist(normalized_initial_points, 'chebyshev') + _SMALL_EPSILON
- for cur_time_ind in range(1, trace_len):
- y_points[cur_dim_ind - 1, cur_time_ind - 1] = np.max((sp.spatial.distance.pdist(
- np.reshape(training_traces[:, cur_time_ind, cur_dim_ind],
- (training_traces.shape[0], 1)), 'chebychev'
- )/ normalizing_initial_set_radii[cur_dim_ind - 1]) / initial_distances)
- return y_points
-
-if __name__=="__main__":
- with open("test.npy", "rb") as f:
- training_traces = np.load(f)
- initial_radii = np.array([1.96620653e-06, 2.99999995e+00, 3.07000514e-07, 8.84958773e-13, 1.05625786e-16, 3.72500000e+00, 0.00000000e+00, 0.00000000e+00])
- result = get_reachtube_segment(training_traces, initial_radii, method='PWGlobal')
- print(training_traces.dtype)
- # plot_rtsegment_and_traces(result, training_traces[np.array((0, 6))])
-
-
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/PW_Discrepancy.py b/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/PW_Discrepancy.py
deleted file mode 100644
index 53cac39418bfb66277fc7a37b25387648e5c076e..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/PW_Discrepancy.py
+++ /dev/null
@@ -1,341 +0,0 @@
-from __future__ import division, print_function
-
-import math
-
-
-def read_data(traces):
- """ Read in all the traces """
- error_thred_time = 1e-3
-
- trace = traces[0]
- delta_time = trace[1][0] - trace[0][0]
-
- # Calculate variables
- dimensions = len(trace[0])
- dimensions_nt = dimensions - 1
- end_time = trace[-1][0]
-
- # Align all the traces
- for i in range(len(traces)):
- initial_time = traces[i][0][0]
- for j in range(len(traces[i])):
- traces[i][j][0] = traces[i][j][0] - initial_time
-
- # reassign the start time and end time
- start_time = 0
- for i in range(len(traces)):
- end_time = min(end_time, traces[i][-1][0])
-
- # trim all the points after the end time
- traces_trim = traces
-
- # reassign trace_len
- trace_len = len(traces_trim[0])
-
- return (traces_trim, dimensions, dimensions_nt, trace_len, end_time, delta_time, start_time)
-
-
-def compute_diff(traces):
- """ Compute difference between traces """
- # Iterate over all combinations
- traces_diff = []
- for i in range(0, len(traces)):
- for j in range(i + 1, len(traces)):
-
- trace_diff = []
-
- # Iterate over the data of the trace
- for t in range(0, len(traces[i])):
- diff = [abs(x_i - y_i) for x_i, y_i in zip(traces[i][t],
- traces[j][t])]
- trace_diff.append(diff[1:])
-
- # Append to traces diff minus time difference
- traces_diff.append(trace_diff)
-
- # TODO Eliminate hardcoded file name
- with open('output/tracediff2.txt', 'w') as write_file:
- for i in range(len(traces_diff)):
- for j in range(len(traces_diff[0])):
- write_file.write(str(traces_diff[i][j]) + '\n')
- write_file.write('\n')
- return traces_diff
-
-
-def find_time_intervals(traces_diff, dimensions_nt, end_time, trace_len, delta_time, K_value):
- """ Compute the time intervals """
- # FIXME just do 1 dimension for now
- # Iterate through all dimensions
- num_ti = []
- time_intervals = []
-
- for i in range(0, dimensions_nt):
-
- time_dim = []
-
- # Obtain difference at start of interval
- diff_0 = []
- t_0 = 0.0
- time_dim.append(t_0)
- for k in range(0, len(traces_diff)):
- diff_0.append(traces_diff[k][0][i])
- # Iterate through all points in trace
-
- for j in range(1, trace_len):
- # Obtain difference at ith time of interval
- diff_i = []
- try:
- for k in range(0, len(traces_diff)):
- diff_i.append(traces_diff[k][j][i])
- except IndexError:
- print(trace_len)
- print(k, j, i)
- print(len(traces_diff[k]))
- print(len(traces_diff[k][j]))
-
- # Check time
- t_i = j * delta_time
- t = t_i - t_0
- if t <= 0:
- continue
-
- # Compute ratios
- ratio = []
- for d_0, d_i in zip(diff_0, diff_i):
- if d_i < 1E-3:
- continue
- elif d_0 < 1E-3:
- continue
-
- # NOTE not sure if this is right?
- # ratio.append((1 / t) * math.log(d_i / d_0))
- ratio.append(d_i / d_0)
-
- # Check ratios if less than constant
- # new_int = all(r <= 2.0*K_value[i] for r in ratio)
- # new_int = all(r <= 2**(2*t)*K_value[i] for r in ratio)
- new_int = all(r <= 1 for r in ratio)
- if new_int == False:
- if t_i != end_time:
- time_dim.append(t_i)
- diff_0 = diff_i
- t_0 = t_i
-
- # Append the time intervals
- time_dim.append(end_time)
- time_intervals.append(time_dim)
- # record the number of time intervals
- num_ti.append(len(time_intervals[i]) - 1)
-
- return (time_intervals, num_ti)
-
-
-# Compute discrepancies
-def calculate_discrepancies(time_intervals, traces_diff, dimensions_nt, delta_time, K_value):
- # FIXME
- # Iterate over all dimensions
- discrepancies = []
- for nd in range(0, dimensions_nt):
- # for nd in xrange(0, P_DIM):
- disc = []
-
- # Iterate over all time intervals
- for ni in range(0, len(time_intervals[nd]) - 1):
- t_0 = time_intervals[nd][ni]
- t_e = time_intervals[nd][ni + 1]
- # t_i = t_0 + delta_time
-
- # FIXME (???)
- # print "note",delta_time
- points = int((t_e - t_0) / delta_time + 0.5) + 1
- idx = int(t_0 / delta_time)
-
- # try to find the best K and gamma
- tmp_K_value = K_value[nd]
- # Iterate over all trace difference
- glpk_rows = []
- close_flag = 0
- for k in range(0, len(traces_diff)):
-
- # Compute initial
- diff_0 = traces_diff[k][0][nd]
- if diff_0 <= 1E-3:
- # print('Find two traces to be too closed!')
- # print('use the default value!')
- close_flag = 1
- break
- ln_0 = math.log(diff_0)
-
- # FIXME need to reset the delta_time here
- t_i = t_0 + delta_time
- # print(disc)
- # Obtain rows for GLPK
- for r in range(1, points):
- t_d = t_i - t_0
- t_i += delta_time
- diff_i = traces_diff[k][idx + r][nd]
-
- if diff_i < 1E-3:
- continue
-
- ln_i = math.log(diff_i)
-
- # compute the existing previous time interval discrepancy
- discrepancy_now = 0
- if len(disc) != 0:
- for time_prev in range(0, len(disc)):
- discrepancy_now = discrepancy_now + disc[time_prev] * (
- time_intervals[nd][time_prev + 1] - time_intervals[nd][time_prev])
-
- ln_d = ln_i - ln_0 - math.log(tmp_K_value) - discrepancy_now
- glpk_rows.append([t_d, ln_d])
-
- # Debugging algebraic solution
- if close_flag == 0:
- alg = [d / t for t, d in glpk_rows]
- if len(alg) != 0:
- alg_max = max(alg)
- else:
- alg_max = 0
- else:
- alg_max = 0
-
- disc.append(alg_max)
-
- # Append discrepancies
- discrepancies.append(disc)
-
- return discrepancies
-
-
-# Obtain bloated tube
-def generate_bloat_tube(traces, time_intervals, discrepancies, Initial_Delta, end_time, trace_len, dimensions_nt,
- delta_time, K_value):
-
- # Iterate over all dimensions
- # FIXME
- bloat_tube = []
- for i in range(trace_len):
- bloat_tube.append([])
- bloat_tube.append([])
-
- for nd in range(0, dimensions_nt):
- # for nd in xrange(P_DIM - 1, P_DIM):
-
- time_bloat = []
- low_bloat = []
- up_bloat = []
-
- # To construct the reach tube
- time_tube = []
- tube = []
-
- prev_delta = Initial_Delta[nd]
-
- # Iterate over all intervals
- previous_idx = -1
-
- for ni in range(0, len(time_intervals[nd]) - 1):
- t_0 = time_intervals[nd][ni]
- t_e = time_intervals[nd][ni + 1]
-
- if t_e == end_time:
- points = int((t_e - t_0) / delta_time + 0.5) + 1
- else:
- points = int((t_e - t_0) / delta_time + 0.5)
- idx = int(t_0 / delta_time)
-
- gamma = discrepancies[nd][ni]
-
- # Iterate over all points in center trace
- for r in range(0, points):
-
- current_idx = idx + r
-
- if current_idx != previous_idx + 1:
- # print('Index mismatch found!')
- if current_idx == previous_idx:
- idx += 1
- elif current_idx == previous_idx + 2:
- idx -= 1
-
- pnt = traces[0][idx + r]
- pnt_time = pnt[0]
- pnt_data = pnt[nd + 1]
-
- cur_delta = prev_delta * math.exp(gamma * delta_time)
- max_delta = max(prev_delta, cur_delta)
-
- time_bloat.append(pnt_time)
- low_bloat.append(pnt_data - max_delta * K_value[nd])
- up_bloat.append(pnt_data + max_delta * K_value[nd])
-
- if nd == 0:
- bloat_tube[2 * (idx + r)].append(pnt_time)
- bloat_tube[2 * (idx + r)].append(pnt_data - max_delta * K_value[nd])
- bloat_tube[2 * (idx + r) + 1].append(pnt_time + delta_time)
- bloat_tube[2 * (idx + r) + 1].append(pnt_data + max_delta * K_value[nd])
- else:
- bloat_tube[2 * (idx + r)].append(pnt_data - max_delta * K_value[nd])
- bloat_tube[2 * (idx + r) + 1].append(pnt_data + max_delta * K_value[nd])
-
- prev_delta = cur_delta
-
- previous_idx = idx + r
-
- return bloat_tube
-
-# Print out the intervals and discrepancies
-def print_int_disc(discrepancies, time_intervals):
- for nd in range(0, len(discrepancies)):
- for p in range(0, len(discrepancies[nd])):
- print('idx: ' + str(p) + ' int: ' + str(time_intervals[nd][p])
- + ' to ' + str(time_intervals[nd][p + 1]) + ', disc: ' +
- str(discrepancies[nd][p]))
- print('')
-
-def PW_Bloat_to_tube(Initial_Delta, plot_flag, plot_dim, traces, K_value):
- # Read data in
- # if Mode == 'Const':
- # K_value = [1.0,1.0,2.0]
- # elif Mode == 'Brake':
- # K_value = [1.0,1.0,7.0]
-
- # if Mode == 'Const;Const':
- # K_value = [1.0,1.0,2.0,1.0,1.0,2.0]
- # elif Mode == 'Brake;Const':
- # K_value = [1.0,1.0,2.0,1.0,1.0,2.0]
-
- # elif Mode == 'Brake;Brake':
- # K_value = [1.0,1.0,5.0,1.0,1.0,2.0]
-
- traces, dimensions, dimensions_nt, trace_len, end_time, delta_time, start_time = read_data(traces)
- # Compute difference between traces
- traces_diff = compute_diff(traces)
- # print traces_diff
-
- # Find time intervals for discrepancy calculations
- time_intervals, num_ti = find_time_intervals(traces_diff, dimensions_nt, end_time, trace_len, delta_time, K_value)
- # print('number of time intervals:')
- # print num_ti
- # Discrepancy calculation
- discrepancies = calculate_discrepancies(time_intervals, traces_diff, dimensions_nt, delta_time, K_value)
- # print('The K values')
- # print K_value,
- # system.exit('test')
-
- # Write discrepancies to file
- # write_to_file(time_intervals,discrepancies,write_path +' disp.txt', 'disc')
-
- # Nicely print the intervals and discrepancies
- # print_int_disc(discrepancies,time_intervals)
-
- # Bloat the tube using time intervals
- reach_tube = generate_bloat_tube(traces, time_intervals, discrepancies, Initial_Delta, end_time, trace_len,
- dimensions_nt, delta_time, K_value)
-
- # if plot_flag:
- # plot_traces(traces, plot_dim, reach_tube)
- # plt.show()
-
- return reach_tube
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/__init__.py b/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/dryvr_plus_plus/scene_verifier/map/__init__.py b/dryvr_plus_plus/scene_verifier/map/__init__.py
deleted file mode 100644
index c4fd24f6b4b1fa640294337d048c0fc8d7051183..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/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 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/dryvr_plus_plus/scene_verifier/map/lane_map_3d.py b/dryvr_plus_plus/scene_verifier/map/lane_map_3d.py
deleted file mode 100644
index ed56964cbe42e0e65429e2e6fdefc381c5ef0d71..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/map/lane_map_3d.py
+++ /dev/null
@@ -1,34 +0,0 @@
-from typing import Dict, List
-import copy
-from enum import Enum
-
-import numpy as np
-
-from dryvr_plus_plus.scene_verifier.map.lane_segment import AbstractLane
-from dryvr_plus_plus.scene_verifier.map.lane import Lane
-from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
-
-
-class LaneMap_3d(LaneMap):
-
- def __init__(self, lane_seg_list: List[Lane] = [], waypoints: List = [], guard_boxes: List = [], time_limits: List = []):
- super().__init__(lane_seg_list)
- # these are for the Follow_Waypoint mode of qurdrotor
- self.waypoints = waypoints
- self.guard_boxes = guard_boxes
- self.time_limits = time_limits
-
- def get_waypoint_by_id(self, waypoint_id):
- return self.waypoints[waypoint_id]
-
- def check_guard_box(self, state, waypoint_id):
- if waypoint_id >= len(self.guard_boxes):
- return False
- box = self.guard_boxes[int(waypoint_id)]
- for i in range(len(box[0])):
- if state[i] < box[0][i] or state[i] > box[1][i]:
- return False
- return True
-
- def get_timelimit_by_id(self, waypoint_id):
- return self.time_limits[waypoint_id]
diff --git a/dryvr_plus_plus/scene_verifier/map/lane_segment_3d.py b/dryvr_plus_plus/scene_verifier/map/lane_segment_3d.py
deleted file mode 100644
index d88e6cfc72c4e34d63b9ac5076fb3d0c4c6990ae..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/map/lane_segment_3d.py
+++ /dev/null
@@ -1,23 +0,0 @@
-from typing import List
-import numpy as np
-from abc import ABCMeta, abstractmethod
-from typing import Tuple, List, Optional, Union
-
-from dryvr_plus_plus.scene_verifier.utils.utils import wrap_to_pi, Vector, get_class_path, class_from_path, to_serializable
-from dryvr_plus_plus.scene_verifier.map.lane_segment import LineType, AbstractLane, StraightLane
-
-
-class StraightLane_3d(StraightLane):
-
- """A lane going in 3d straight line."""
-
- def __init__(self,
- id: str,
- start: Vector,
- end: Vector,
- width: float = AbstractLane.DEFAULT_WIDTH,
- line_types: Tuple[LineType, LineType] = None,
- forbidden: bool = False,
- speed_limit: float = 20,
- priority: int = 0) -> None:
- super().__init__(id, start ,end , width,line_types,forbidden,speed_limit,priority)
diff --git a/dryvr_plus_plus/scene_verifier/scenario/__init__.py b/dryvr_plus_plus/scene_verifier/scenario/__init__.py
deleted file mode 100644
index 559069149e378ddbcab6cecd08c7ec429a29962f..0000000000000000000000000000000000000000
--- a/dryvr_plus_plus/scene_verifier/scenario/__init__.py
+++ /dev/null
@@ -1,4 +0,0 @@
-# try:
-# from Scenario import *
-# except:
-# from scene_verifier.scenario.Scenario import *
\ No newline at end of file
diff --git a/dryvr_plus_plus/scene_verifier/sensor/__init__.py b/dryvr_plus_plus/scene_verifier/sensor/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/dryvr_plus_plus/scene_verifier/utils/__init__.py b/dryvr_plus_plus/scene_verifier/utils/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/requirements.txt b/requirements.txt
index 01eb1fc3837f4aa68c23b514e282c1e00c9329c3..43f67414d862b24a0eff1fcbbd0ebd89c99da0a0 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -11,3 +11,5 @@ treelib~=1.6.1
z3-solver~=4.8.17.0
igraph~=0.9.10
plotly~=5.8.0
+beautifulsoup4~=4.11.1
+lxml~=4.9.1
\ No newline at end of file
diff --git a/setup.py b/setup.py
index 8790ceb50a423984a4efeeb318219cdc8d6ee216..f2d6499cf3ee022155f915ab2c4ece7a9a16fb48 100644
--- a/setup.py
+++ b/setup.py
@@ -2,9 +2,9 @@
from setuptools import setup, find_packages
setup(
- name='dryvr_plus_plus',
+ name='verse',
version='0.1',
- description='DryVR++',
+ description='AutoVerse',
author='Yangge Li, Katherine Braught, Haoqing Zhu',
maintainer='Yangge Li, Katherine Braught, Haoqing Zhu',
maintainer_email='{li213, braught2, haoqing3}@illinois.edu',
@@ -24,7 +24,9 @@ setup(
"treelib~=1.6.1",
"z3-solver~=4.8.17.0",
"igraph~=0.9.10",
- "plotly~=5.8.0"
+ "plotly~=5.8.0",
+ "beautifulsoup4~=4.11.1",
+ "lxml~=4.9.1"
],
classifiers=[
'Development Status :: 2 - Pre-Alpha',
diff --git a/tests/example_controller1.py b/tests/example_controller1.py
index 788d4b77980e7a691bd79cb0653f72122cc80931..a7f5900c43a26ea39a22854f144233d51b4eda57 100644
--- a/tests/example_controller1.py
+++ b/tests/example_controller1.py
@@ -1,6 +1,6 @@
from enum import Enum, auto
import copy
-from src.scene_verifier.map.lane_map import LaneMap
+from src.map import LaneMap
class VehicleMode(Enum):
Normal = auto()
diff --git a/tests/testdpp.py b/tests/testdpp.py
index 01a3ee09ac4518876337f7a9ee90c6101d4c119c..8ae8be1edaaad7299a7ac2e5069cc671c67e935f 100644
--- a/tests/testdpp.py
+++ b/tests/testdpp.py
@@ -47,12 +47,9 @@ def controller(ego:State):
return output_vehicle_mode, output_lane_mode
-from dryvr_plus_plus.example.example_agent.car_agent import CarAgent
-from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
-from dryvr_plus_plus.example.example_map.simple_map import SimpleMap2
-from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor1
-import matplotlib.pyplot as plt
-import numpy as np
+from verse.example.example_agent.car_agent import CarAgent
+from verse.scenario.scenario import Scenario
+from verse.map.example_map.simple_map import SimpleMap2
class TestSimulatorMethods(unittest.TestCase):
diff --git a/verse/__init__.py b/verse/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..2bf861b4a2a52239a80b9f2d1a1df858ab34ab9e
--- /dev/null
+++ b/verse/__init__.py
@@ -0,0 +1,7 @@
+from verse import agents, sensor, scenario, plotter, map, parser, automaton, analysis
+from verse.agents import BaseAgent
+from verse.sensor import BaseSensor
+from verse.map import LaneSegment, LaneMap, Lane
+from verse.scenario import Scenario
+
+from verse.plotter import plotter2D, plotter3D
diff --git a/verse/agents/__init__.py b/verse/agents/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..f6e29f76d2acc653975515c0f63cb21e7b2af91e
--- /dev/null
+++ b/verse/agents/__init__.py
@@ -0,0 +1,2 @@
+from verse.agents.base_agent import BaseAgent
+from verse.agents import base_agent
diff --git a/verse/agents/base_agent.py b/verse/agents/base_agent.py
new file mode 100644
index 0000000000000000000000000000000000000000..17d11aea46df7fd87518f71817b5e27a893da7dd
--- /dev/null
+++ b/verse/agents/base_agent.py
@@ -0,0 +1,58 @@
+from verse.parser.parser import ControllerIR
+import numpy as np
+from scipy.integrate import ode
+
+class BaseAgent:
+ """
+ Agent Base class
+
+ Methods
+ -------
+ TC_simulate
+ """
+ def __init__(self, id, code = None, file_name = None):
+ """
+ Constructor of agent base class.
+
+ Parameters
+ ----------
+ id : str
+ id of the agent.
+ code: str
+ actual code of python controller
+ file_name: str
+ file name to the python controller
+ """
+ self.controller: ControllerIR = ControllerIR.parse(code, file_name)
+ self.id = id
+
+ def TC_simulate(self, mode, initialSet, time_horizon, time_step, map=None):
+ """
+ Abstract simulation function
+
+ Parameters
+ ----------
+ mode: str
+ The current mode to simulate
+ initialSet: List[float]
+ The initial condition to perform the simulation
+ time_horizon: float
+ The time horizon for simulation
+ time_step: float
+ time_step for performing simulation
+ map: LaneMap, optional
+ Provided if the map is used
+ """
+ time_bound = float(time_horizon)
+ number_points = int(np.ceil(time_bound/time_step))
+ t = [round(i*time_step, 10) for i in range(0, number_points)]
+ # note: digit of time
+ init = initialSet
+ trace = [[0]+init]
+ for i in range(len(t)):
+ r = ode(self.dynamics)
+ r.set_initial_value(init)
+ res: np.ndarray = r.integrate(r.t + time_step)
+ init = res.flatten().tolist()
+ trace.append([t[i] + time_step] + init)
+ return np.array(trace)
\ No newline at end of file
diff --git a/dryvr_plus_plus/__init__.py b/verse/agents/example_agent/__init__.py
similarity index 100%
rename from dryvr_plus_plus/__init__.py
rename to verse/agents/example_agent/__init__.py
diff --git a/dryvr_plus_plus/example/example_agent/ball_agent.py b/verse/agents/example_agent/ball_agent.py
similarity index 100%
rename from dryvr_plus_plus/example/example_agent/ball_agent.py
rename to verse/agents/example_agent/ball_agent.py
diff --git a/dryvr_plus_plus/example/example_agent/car_agent.py b/verse/agents/example_agent/car_agent.py
similarity index 100%
rename from dryvr_plus_plus/example/example_agent/car_agent.py
rename to verse/agents/example_agent/car_agent.py
diff --git a/dryvr_plus_plus/example/example_agent/origin_agent.py b/verse/agents/example_agent/origin_agent.py
similarity index 100%
rename from dryvr_plus_plus/example/example_agent/origin_agent.py
rename to verse/agents/example_agent/origin_agent.py
diff --git a/dryvr_plus_plus/example/example_agent/prarm.json b/verse/agents/example_agent/prarm.json
similarity index 100%
rename from dryvr_plus_plus/example/example_agent/prarm.json
rename to verse/agents/example_agent/prarm.json
diff --git a/dryvr_plus_plus/example/example_agent/quadrotor_agent.py b/verse/agents/example_agent/quadrotor_agent.py
similarity index 80%
rename from dryvr_plus_plus/example/example_agent/quadrotor_agent.py
rename to verse/agents/example_agent/quadrotor_agent.py
index 898bc2621401633de54a3e970da5eba831d963d6..cf5499f5a04ddcbddb3e6a572c2f5414cd3d5a3f 100644
--- a/dryvr_plus_plus/example/example_agent/quadrotor_agent.py
+++ b/verse/agents/example_agent/quadrotor_agent.py
@@ -88,14 +88,19 @@ class QuadrotorAgent(BaseAgent):
ddone_flag = ddf
return [dref_x, dref_y, dref_z, dx, dy, dz, dvx, dvy, dvz, dwaypoint, ddone_flag]
- def action_handler(self, state, lane_map: LaneMap_3d) -> Tuple[float, float]:
- waypoint = state[-2]
- df = 0
- if lane_map.check_guard_box(state[3:9], waypoint):
- df = 1
+ def action_handler(self, mode, state, lane_map: LaneMap_3d) -> Tuple[float, float]:
+ if mode == 'Follow_Waypoint':
+ waypoint = state[-2]
+ df = 0
+ if lane_map.check_guard_box(self.id, state[3:9], waypoint):
+ df = 1
+ if mode == 'Follow_Lane':
+ pass
+ else:
+ raise ValueError
return df
- def runModel(self, initalCondition, time_bound, time_step, ref_input, lane_map: LaneMap_3d):
+ def runModel(self, mode, initalCondition, time_bound, time_step, ref_input, lane_map: LaneMap_3d):
init = initalCondition
trajectory = [init]
r = ode(self.dynamic)
@@ -135,7 +140,7 @@ class QuadrotorAgent(BaseAgent):
idx = np.argmax(res)
u = control_input_list[idx] + ref_input[0:3] + [sc]
- df = self.action_handler(init, lane_map)
+ df = self.action_handler(mode[0], init, lane_map)
u = u+[df]
init = trajectory[i] # len 11
r = ode(self.dynamic)
@@ -161,18 +166,26 @@ class QuadrotorAgent(BaseAgent):
# total time_bound remained
time_bound = float(time_bound)
initialCondition[-2] = int(initialCondition[-2])
- time_bound = min(lane_map.get_timelimit_by_id(
- initialCondition[-2]), time_bound)
- # number_points = int(np.ceil(time_bound/time_step))
- # todo
if mode[0] == 'Follow_Waypoint':
- mode_parameters = lane_map.get_waypoint_by_id(initialCondition[-2])
+ time_bound = min(lane_map.get_timelimit_by_id(self.id,
+ initialCondition[-2]), time_bound)
+ mode_parameters = lane_map.get_waypoint_by_id(
+ self.id, initialCondition[-2])
ref_vx = (mode_parameters[3] - mode_parameters[0]) / time_bound
ref_vy = (mode_parameters[4] - mode_parameters[1]) / time_bound
ref_vz = (mode_parameters[5] - mode_parameters[2]) / time_bound
sym_rot_angle = 0
- trace = self.runModel(mode_parameters[0:3] + list(initialCondition), time_bound, time_step, [ref_vx, ref_vy, ref_vz,
- sym_rot_angle], lane_map)
+ trace = self.runModel(mode, mode_parameters[0:3] + list(initialCondition), time_bound, time_step, [ref_vx, ref_vy, ref_vz,
+ sym_rot_angle], lane_map)
+ if mode[0] == 'Follow_Lane':
+ mode_parameters = lane_map.get_waypoint_by_id(
+ self.id, initialCondition[-2])
+ if len(mode_parameters) == 3:
+ lane_map.get_next_point(mode[1], self.id, initialCondition[-2])
+ time_bound = min(lane_map.get_timelimit_by_id(self.id,
+ initialCondition[-2]), time_bound)
+ pass
+
return np.array(trace)
# import json
diff --git a/dryvr_plus_plus/example/example_agent/sign_agent.py b/verse/agents/example_agent/sign_agent.py
similarity index 100%
rename from dryvr_plus_plus/example/example_agent/sign_agent.py
rename to verse/agents/example_agent/sign_agent.py
diff --git a/dryvr_plus_plus/example/example_agent/tempCodeRunnerFile.py b/verse/agents/example_agent/tempCodeRunnerFile.py
similarity index 100%
rename from dryvr_plus_plus/example/example_agent/tempCodeRunnerFile.py
rename to verse/agents/example_agent/tempCodeRunnerFile.py
diff --git a/verse/analysis/__init__.py b/verse/analysis/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..5c1e5bcab00f727b27c6e04bb92b728a5e201a7d
--- /dev/null
+++ b/verse/analysis/__init__.py
@@ -0,0 +1,5 @@
+from .analysis_tree import *
+from .simulator import Simulator
+from .verifier import Verifier
+
+from . import simulator, verifier, analysis_tree
diff --git a/verse/analysis/analysis_tree.py b/verse/analysis/analysis_tree.py
new file mode 100644
index 0000000000000000000000000000000000000000..792c5b4fa6cd0a8f1bd40c23a0e0a3caa6d2ed84
--- /dev/null
+++ b/verse/analysis/analysis_tree.py
@@ -0,0 +1,124 @@
+from typing import List, Dict, Any
+import json
+
+class AnalysisTreeNode:
+ """AnalysisTreeNode class
+ A AnalysisTreeNode stores the continous execution of the system without transition happening"""
+ trace: Dict
+ """The trace for each agent.
+ The key of the dict is the agent id and the value of the dict is simulated traces for each agent"""
+ init: Dict
+
+ def __init__(
+ self,
+ trace={},
+ init={},
+ mode={},
+ static = {},
+ uncertain_param = {},
+ agent={},
+ assert_hits={},
+ child=[],
+ start_time = 0,
+ ndigits = 10,
+ type = 'simtrace',
+ id = 0
+ ):
+ self.trace:Dict = trace
+ self.init: Dict[str, List[float]] = init
+ self.mode: Dict[str, List[str]] = mode
+ self.agent: Dict = agent
+ self.child: List[AnalysisTreeNode] = child
+ self.start_time: float = round(start_time, ndigits)
+ self.assert_hits = assert_hits
+ self.type: str = type
+ self.static: Dict[str, List[str]] = static
+ self.uncertain_param: Dict[str, List[str]] = uncertain_param
+ self.id: int = id
+
+ def to_dict(self):
+ rst_dict = {
+ 'id': self.id,
+ 'parent': None,
+ 'child': [],
+ 'agent': {},
+ 'init': self.init,
+ 'mode': self.mode,
+ 'static': self.static,
+ 'start_time': self.start_time,
+ 'trace': self.trace,
+ 'type': self.type,
+ 'assert_hits': self.assert_hits
+ }
+ agent_dict = {}
+ for agent_id in self.agent:
+ agent_dict[agent_id] = f'{type(self.agent[agent_id])}'
+ rst_dict['agent'] = agent_dict
+
+ return rst_dict
+
+ @staticmethod
+ def from_dict(data) -> "AnalysisTreeNode":
+ return AnalysisTreeNode(
+ trace = data['trace'],
+ init = data['init'],
+ mode = data['mode'],
+ static = data['static'],
+ agent = data['agent'],
+ assert_hits = data['assert_hits'],
+ child = [],
+ start_time = data['start_time'],
+ type = data['type'],
+ )
+
+class AnalysisTree:
+ def __init__(self, root):
+ self.root:AnalysisTreeNode = root
+ self.nodes:List[AnalysisTreeNode] = self.get_all_nodes(root)
+
+ def get_all_nodes(self, root: AnalysisTreeNode) -> List[AnalysisTreeNode]:
+ # Perform BFS/DFS to store all the tree node in a list
+ res = []
+ queue = [root]
+ node_id = 0
+ while queue:
+ node = queue.pop(0)
+ node.id = node_id
+ res.append(node)
+ node_id += 1
+ queue += node.child
+ return res
+
+ def dump(self, fn):
+ res_dict = {}
+ converted_node = self.root.to_dict()
+ res_dict[self.root.id] = converted_node
+ queue = [self.root]
+ while queue:
+ parent_node = queue.pop(0)
+ for child_node in parent_node.child:
+ node_dict = child_node.to_dict()
+ node_dict['parent'] = parent_node.id
+ res_dict[child_node.id] = node_dict
+ res_dict[parent_node.id]['child'].append(child_node.id)
+ queue.append(child_node)
+
+ with open(fn,'w+') as f:
+ json.dump(res_dict,f, indent=4, sort_keys=True)
+
+ @staticmethod
+ def load(fn):
+ f = open(fn, 'r')
+ data = json.load(f)
+ f.close()
+ root_node_dict = data[str(0)]
+ root = AnalysisTreeNode.from_dict(root_node_dict)
+ queue = [(root_node_dict, root)]
+ while queue:
+ parent_node_dict, parent_node = queue.pop(0)
+ for child_node_idx in parent_node_dict['child']:
+ child_node_dict = data[str(child_node_idx)]
+ child_node = AnalysisTreeNode.from_dict(child_node_dict)
+ parent_node.child.append(child_node)
+ queue.append((child_node_dict, child_node))
+ return AnalysisTree(root)
\ No newline at end of file
diff --git a/verse/analysis/dryvr.py b/verse/analysis/dryvr.py
new file mode 100644
index 0000000000000000000000000000000000000000..2a79c6a0d3be48b268e6a543a2094e0c1291c960
--- /dev/null
+++ b/verse/analysis/dryvr.py
@@ -0,0 +1,267 @@
+import random, numpy as np
+from typing import List, Tuple
+from scipy import spatial
+
+_TRUE_MIN_CONST = -10
+_EPSILON = 1.0e-6
+_SMALL_EPSILON = 1e-10
+SIMTRACENUM = 10
+
+PW = "PW"
+GLOBAL = "GLOBAL"
+
+def all_sensitivities_calc(training_traces: np.ndarray, initial_radii: np.ndarray):
+ num_traces: int
+ trace_len: int
+ ndims: int
+ num_traces, trace_len, ndims = training_traces.shape
+ normalizing_initial_set_radii: np.array = initial_radii.copy()
+ y_points: np.array = np.zeros(
+ (normalizing_initial_set_radii.shape[0], trace_len - 1))
+ normalizing_initial_set_radii[np.where(
+ normalizing_initial_set_radii == 0)] = 1.0
+ for cur_dim_ind in range(1, ndims):
+ # keyi: move out of loop
+ normalized_initial_points: np.array = training_traces[:,
+ 0, 1:] / normalizing_initial_set_radii
+ initial_distances = spatial.distance.pdist(
+ normalized_initial_points, 'chebyshev') + _SMALL_EPSILON
+ for cur_time_ind in range(1, trace_len):
+ y_points[cur_dim_ind - 1, cur_time_ind - 1] = np.max((spatial.distance.pdist(
+ np.reshape(training_traces[:, cur_time_ind, cur_dim_ind],
+ (training_traces.shape[0], 1)), 'chebychev'
+ ) / normalizing_initial_set_radii[cur_dim_ind - 1]) / initial_distances)
+ return y_points
+
+def get_reachtube_segment(training_traces: np.ndarray, initial_radii: np.ndarray, method='PWGlobal') -> np.array:
+ num_traces: int = training_traces.shape[0]
+ ndims: int = training_traces.shape[2] # This includes time
+ trace_len: int = training_traces.shape[1]
+ center_trace: np.ndarray = training_traces[0, :, :]
+ trace_initial_time = center_trace[0, 0]
+ x_points: np.ndarray = center_trace[:, 0] - trace_initial_time
+ assert np.all(training_traces[0, :, 0] == training_traces[1:, :, 0])
+ y_points: np.ndarray = all_sensitivities_calc(training_traces, initial_radii)
+ points: np.ndarray = np.zeros((ndims - 1, trace_len, 2))
+ points[np.where(initial_radii != 0), 0, 1] = 1.0
+ points[:, :, 0] = np.reshape(x_points, (1, x_points.shape[0]))
+ points[:, 1:, 1] = y_points
+ normalizing_initial_set_radii: np.ndarray = initial_radii.copy()
+ normalizing_initial_set_radii[np.where(normalizing_initial_set_radii == 0)] = 1.0
+ df: np.ndarray = np.zeros((trace_len, ndims))
+ if method == 'PW':
+ df[:, 1:] = np.transpose(
+ points[:, :, 1] * np.reshape(normalizing_initial_set_radii, (normalizing_initial_set_radii.size, 1)))
+ elif method == 'PWGlobal':
+ # replace zeros with epsilons
+ # points[np.where(points[:, 0, 1] == 0), 0, 1] = 1.0e-100
+ # to fit exponentials make y axis log of sensitivity
+ points[:, :, 1] = np.maximum(points[:, :, 1], _EPSILON)
+ points[:, :, 1] = np.log(points[:, :, 1])
+ for dim_ind in range(1, ndims):
+ new_min = min(np.min(points[dim_ind - 1, 1:, 1]) + _TRUE_MIN_CONST, -10)
+ if initial_radii[dim_ind - 1] == 0:
+ # exclude initial set, then add true minimum points
+ new_points: np.ndarray = np.row_stack(
+ (np.array((points[dim_ind - 1, 1, 0], new_min)), np.array((points[dim_ind - 1, -1, 0], new_min))))
+ else:
+ # start from zero, then add true minimum points
+ new_points: np.ndarray = np.row_stack((points[dim_ind - 1, 0, :],
+ np.array((points[dim_ind - 1, 0, 0], new_min)),
+ np.array((points[dim_ind - 1, -1, 0], new_min))))
+ df[0, dim_ind] = initial_radii[dim_ind - 1]
+ # Tuple order is start_time, end_time, slope, y-intercept
+ cur_dim_points = np.concatenate(
+ (points[dim_ind - 1, 1:, :], new_points), axis=0)
+ cur_hull: spatial.ConvexHull = spatial.ConvexHull(
+ cur_dim_points)
+ linear_separators: List[Tuple[float,
+ float, float, float, int, int]] = []
+ vert_inds = list(
+ zip(cur_hull.vertices[:-1], cur_hull.vertices[1:]))
+ vert_inds.append((cur_hull.vertices[-1], cur_hull.vertices[0]))
+ for end_ind, start_ind in vert_inds:
+ if cur_dim_points[start_ind, 1] != new_min and cur_dim_points[end_ind, 1] != new_min:
+ slope = (cur_dim_points[end_ind, 1] - cur_dim_points[start_ind, 1]) / (
+ cur_dim_points[end_ind, 0] - cur_dim_points[start_ind, 0])
+ y_intercept = cur_dim_points[start_ind, 1] - cur_dim_points[start_ind, 0] * slope
+ start_time = cur_dim_points[start_ind, 0]
+ end_time = cur_dim_points[end_ind, 0]
+ assert start_time < end_time
+ if start_time == 0:
+ linear_separators.append((start_time, end_time, slope, y_intercept, 0, end_ind + 1))
+ else:
+ linear_separators.append((start_time, end_time, slope, y_intercept, start_ind + 1, end_ind + 1))
+ linear_separators.sort()
+ prev_val = 0
+ prev_ind = 1 if initial_radii[dim_ind - 1] == 0 else 0
+ for linear_separator in linear_separators:
+ _, _, slope, y_intercept, start_ind, end_ind = linear_separator
+ assert prev_ind == start_ind
+ assert start_ind < end_ind
+ segment_t = center_trace[start_ind:end_ind + 1, 0]
+ segment_df = normalizing_initial_set_radii[dim_ind - 1] * np.exp(y_intercept) * np.exp(
+ slope * segment_t)
+ segment_df[0] = max(segment_df[0], prev_val)
+ df[start_ind:end_ind + 1, dim_ind] = segment_df
+ prev_val = segment_df[-1]
+ prev_ind = end_ind
+ else:
+ print('Discrepancy computation method,', method, ', is not supported!')
+ raise ValueError
+ assert (np.all(df >= 0))
+ reachtube_segment: np.ndarray = np.zeros((trace_len - 1, 2, ndims))
+ reachtube_segment[:, 0, :] = np.minimum(center_trace[1:, :] - df[1:, :], center_trace[:-1, :] - df[:-1, :])
+ reachtube_segment[:, 1, :] = np.maximum(center_trace[1:, :] + df[1:, :], center_trace[:-1, :] + df[:-1, :])
+ # assert 100% training accuracy (all trajectories are contained)
+ for trace_ind in range(training_traces.shape[0]):
+ if not (np.all(reachtube_segment[:, 0, :] <= training_traces[trace_ind, 1:, :]) and np.all(reachtube_segment[:, 1, :] >= training_traces[trace_ind, 1:, :])):
+ assert np.any(np.abs(training_traces[trace_ind, 0, 1:]-center_trace[0, 1:]) > initial_radii)
+ print(f"Warning: Trace #{trace_ind}", "of this initial set is sampled outside of the initial set because of floating point error and is not contained in the initial set")
+ return reachtube_segment
+
+def calcCenterPoint(lower, upper):
+ """
+ Calculate the center point between the lower and upper bound
+ The function only supports list since we assue initial set is always list
+
+ Args:
+ lower (list): lowerbound.
+ upper (list): upperbound.
+
+ Returns:
+ delta (list of float)
+
+ """
+
+ # Convert list into float in case they are int
+ lower = [float(val) for val in lower]
+ upper = [float(val) for val in upper]
+ assert len(lower) == len(upper), "Center Point List Range Error"
+ return [(upper[i] + lower[i]) / 2 for i in range(len(upper))]
+
+def calcDelta(lower, upper):
+ """
+ Calculate the delta value between the lower and upper bound
+ The function only supports list since we assue initial set is always list
+
+ Args:
+ lower (list): lowerbound.
+ upper (list): upperbound.
+
+ Returns:
+ delta (list of float)
+
+ """
+ # Convert list into float in case they are int
+ lower = [float(val) for val in lower]
+ upper = [float(val) for val in upper]
+
+ assert len(lower) == len(upper), "Delta calc List Range Error"
+ return [(upper[i] - lower[i]) / 2 for i in range(len(upper))]
+
+def randomPoint(lower, upper, seed=None):
+ """
+ Pick a random point between lower and upper bound
+ This function supports both int or list
+
+ Args:
+ lower (list or int or float): lower bound.
+ upper (list or int or float): upper bound.
+
+ Returns:
+ random point (either float or list of float)
+
+ """
+ if seed is not None:
+ random.seed(seed)
+
+ if isinstance(lower, int) or isinstance(lower, float):
+ return random.uniform(lower, upper)
+
+ if isinstance(lower, list):
+ assert len(lower) == len(upper), "Random Point List Range Error"
+
+ return [random.uniform(lower[i], upper[i]) for i in range(len(lower))]
+
+def trimTraces(traces):
+ """
+ trim all traces to the same length
+
+ Args:
+ traces (list): list of traces generated by simulator
+ Returns:
+ traces (list) after trim to the same length
+
+ """
+
+ trace_len = min(len(trace) for trace in traces)
+ return [trace[:trace_len] for trace in traces]
+
+def calc_bloated_tube(
+ mode_label,
+ initial_set,
+ time_horizon,
+ time_step,
+ sim_func,
+ bloating_method,
+ kvalue,
+ sim_trace_num,
+ guard_checker=None,
+ guard_str="",
+ lane_map = None
+ ):
+ """
+ This function calculate the reach tube for single given mode
+
+ Args:
+ mode_label (str): mode name
+ initial_set (list): a list contains upper and lower bound of the initial set
+ time_horizon (float): time horizon to simulate
+ sim_func (function): simulation function
+ bloating_method (str): determine the bloating method for reach tube, either GLOBAL or PW
+ sim_trace_num (int): number of simulations used to calculate the discrepancy
+ kvalue (list): list of float used when bloating method set to PW
+ guard_checker (verse.core.guard.Guard or None): guard check object
+ guard_str (str): guard string
+
+ Returns:
+ Bloated reach tube
+
+ """
+ print(initial_set)
+ random.seed(4)
+ cur_center = calcCenterPoint(initial_set[0], initial_set[1])
+ cur_delta = calcDelta(initial_set[0], initial_set[1])
+ traces = [sim_func(mode_label, cur_center, time_horizon, time_step, lane_map)]
+ # Simulate SIMTRACENUM times to learn the sensitivity
+ for i in range(sim_trace_num):
+ new_init_point = randomPoint(initial_set[0], initial_set[1], i)
+ traces.append(sim_func(mode_label, new_init_point, time_horizon, time_step, lane_map))
+
+ # Trim the trace to the same length
+ traces = trimTraces(traces)
+ if guard_checker is not None:
+ # pre truncated traces to get better bloat result
+ max_idx = -1
+ for trace in traces:
+ ret_idx = guard_checker.guard_sim_trace_time(trace, guard_str)
+ max_idx = max(max_idx, ret_idx + 1)
+ for i in range(len(traces)):
+ traces[i] = traces[i][:max_idx]
+
+ # The major
+ if bloating_method == GLOBAL:
+ cur_reach_tube: np.ndarray = get_reachtube_segment(np.array(traces), np.array(cur_delta), "PWGlobal")
+ # cur_reach_tube: np.ndarray = ReachabilityEngine.get_reachtube_segment_wrapper(np.array(traces), np.array(cur_delta))
+ elif bloating_method == PW:
+ cur_reach_tube: np.ndarray = get_reachtube_segment(np.array(traces), np.array(cur_delta), "PW")
+ # cur_reach_tube: np.ndarray = ReachabilityEngine.get_reachtube_segment_wrapper(np.array(traces), np.array(cur_delta))
+ else:
+ raise ValueError("Unsupported bloating method '" + bloating_method + "'")
+ final_tube = np.zeros((cur_reach_tube.shape[0]*2, cur_reach_tube.shape[2]))
+ final_tube[0::2, :] = cur_reach_tube[:, 0, :]
+ final_tube[1::2, :] = cur_reach_tube[:, 1, :]
+ # print(final_tube.tolist()[-2], final_tube.tolist()[-1])
+ return final_tube
+
\ No newline at end of file
diff --git a/verse/analysis/mixmonotone.py b/verse/analysis/mixmonotone.py
new file mode 100644
index 0000000000000000000000000000000000000000..9b344268bf156a7d08bf0d6ec3d3d7a65a0203d0
--- /dev/null
+++ b/verse/analysis/mixmonotone.py
@@ -0,0 +1,274 @@
+import numpy as np
+from scipy.optimize import minimize
+import inspect, ast, textwrap, inspect, astunparse
+import warnings
+from sympy import Symbol, diff
+from sympy.utilities.lambdify import lambdify
+from sympy.core import *
+
+from scipy.integrate import ode
+
+def find_min(expr_func, jac_func, var_range, num_var, args, idx):
+ bounds = []
+ x0 = []
+ for i in range(var_range.shape[1]):
+ bounds.append((var_range[0,i], var_range[1,i]))
+ x0.append(var_range[0,i])
+ # print(expr_func(x0, args, idx))
+ # print(jac_func(x0, args, idx).shape)
+ res = minimize(
+ expr_func,
+ x0,
+ args = (num_var, args, idx),
+ bounds = bounds,
+ jac = jac_func,
+ method = 'L-BFGS-B'
+ )
+ # print(res)
+ return res.fun
+
+def find_max(expr_func, jac_func, var_range, num_var, args, idx):
+ neg_expr_func = lambda x, num_var, args, idx: -expr_func(x, num_var, args, idx)
+ neg_jac_func = lambda x, num_var, args, idx: -jac_func(x, num_var, args, idx)
+ res = find_min(neg_expr_func, neg_jac_func, var_range, num_var, args, idx)
+ return -res
+
+def find_min_symbolic(expr, var_range):
+ bounds = []
+ vars = list(expr.free_symbols)
+ x0 = []
+ jac = []
+ for var in vars:
+ bounds.append(var_range[var])
+ x0.append(var_range[var][0])
+ jac.append(diff(expr, var))
+ expr_func = lambdify([vars], expr)
+ jac_func = lambdify([vars], jac)
+ res = minimize(
+ expr_func,
+ x0,
+ bounds = bounds,
+ jac = jac_func,
+ method = 'L-BFGS-B'
+ )
+ return res.fun
+
+def find_max_symbolic(expr, var_range):
+ tmp = -expr
+ res = find_min_symbolic(tmp, var_range)
+ return -res
+
+def compute_reachtube_mixmono_disc(
+ initial_set,
+ uncertain_var_bound,
+ time_horizon,
+ time_step,
+ decomposition
+):
+ initial_set = initial_set[0]
+ number_points = int(np.ceil(time_horizon / time_step))
+ t = [round(i * time_step, 10) for i in range(0, number_points)]
+ trace = [[0] + initial_set[0] + initial_set[1]]
+ num_var = len(initial_set[0])
+ for i in range(len(t)):
+ xk = trace[-1]
+ x = xk[1:1 + num_var]
+ xhat = xk[1 + num_var:]
+ w = uncertain_var_bound[0]
+ what = uncertain_var_bound[1]
+ d = decomposition(x, w, xhat, what, time_step)
+ dhat = decomposition(xhat, what, x, w, time_step)
+ trace.append([round(t[i] + time_step, 10)] + d + dhat)
+
+ res = []
+ for i in range(len(trace) - 1):
+ res0 = [trace[i][0]] + np.minimum.reduce(
+ [trace[i][1:1 + num_var], trace[i + 1][1:1 + num_var], trace[i][1 + num_var:],
+ trace[i + 1][1 + num_var:]]
+ ).tolist()
+ res.append(res0)
+ res1 = [trace[i + 1][0]] + np.maximum.reduce(
+ [trace[i][1:1 + num_var], trace[i + 1][1:1 + num_var], trace[i][1 + num_var:],
+ trace[i + 1][1 + num_var:]]
+ ).tolist()
+ res.append(res1)
+ return res
+
+def compute_reachtube_mixmono_cont(
+ initial_set,
+ uncertain_var_bound,
+ time_horizon,
+ time_step,
+ decomposition
+):
+ initial_set = initial_set[0]
+ num_var = len(initial_set[0])
+ num_uncertain_var = len(uncertain_var_bound[0])
+ def decomposition_dynamics(t, state, u):
+ x, xhat = state[:num_var], state[num_var:]
+ w, what = u[:num_uncertain_var], u[num_uncertain_var:]
+
+ d = decomposition(x,w,xhat,what)
+ dhat = decomposition(xhat,what,x,w)
+
+ return np.concatenate((d, dhat))
+ time_bound = float(time_horizon)
+ number_points = int(np.ceil(time_bound/time_step))
+ t = [round(i*time_step, 10) for i in range(0, number_points)]
+ init = initial_set[0] + initial_set[1]
+ uncertain = uncertain_var_bound[0] + uncertain_var_bound[1]
+ trace = [[0]+init]
+ r = ode(decomposition_dynamics).set_integrator('dopri5', nsteps=2000).set_initial_value(init).set_f_params(uncertain)
+ for i in range(len(t)):
+ res: np.ndarray = r.integrate(r.t+time_step)
+ res = res.flatten().tolist()
+ trace.append([t[i]+time_step]+res)
+
+ res = []
+ for i in range(len(trace) - 1):
+ res0 = [trace[i][0]] + np.minimum.reduce(
+ [trace[i][1:1 + num_var], trace[i + 1][1:1 + num_var], trace[i][1 + num_var:],
+ trace[i + 1][1 + num_var:]]
+ ).tolist()
+ res.append(res0)
+ res1 = [trace[i + 1][0]] + np.maximum.reduce(
+ [trace[i][1:1 + num_var], trace[i + 1][1:1 + num_var], trace[i][1 + num_var:],
+ trace[i + 1][1 + num_var:]]
+ ).tolist()
+ res.append(res1)
+ return res
+
+
+def calculate_bloated_tube_mixmono_cont(
+ mode,
+ init,
+ uncertain_param,
+ time_horizon,
+ time_step,
+ agent,
+ lane_map
+):
+ if hasattr(agent, 'dynamics') and hasattr(agent, 'decomposition'):
+ decomposition = agent.decomposition
+ res = compute_reachtube_mixmono_cont(init, uncertain_param, time_horizon, time_step, decomposition)
+ else:
+ raise ValueError('Not enough information to apply discrete time mixed monotone algorithm.')
+ return res
+
+def calculate_bloated_tube_mixmono_disc(
+ mode,
+ init,
+ uncertain_param,
+ time_horizon,
+ time_step,
+ agent,
+ lane_map
+ ):
+ if hasattr(agent, 'dynamics') and hasattr(agent, 'decomposition'):
+ decomposition = agent.decomposition
+ res = compute_reachtube_mixmono_disc(init, uncertain_param, time_horizon, time_step, decomposition)
+ elif hasattr(agent, 'dynamics') and hasattr(agent, 'dynamics_jac'):
+ def decomposition_func(x, w, xhat, what, dt):
+ expr_func = lambda x, num_var, args, idx: agent.dynamics(list(x[:num_var]), list(x[num_var:])+args)[idx]
+ jac_func = lambda x, num_var, args, idx: agent.dynamics_jac(list(x[:num_var]), list(x[num_var:])+args)[idx, :]
+
+ assert len(x) == len(xhat)
+ assert len(w) == len(what)
+
+ d = []
+ num_var = len(x)
+ args = [dt]
+ if all(a <= b for a, b in zip(x, xhat)) and all(a <= b for a, b in zip(w, what)):
+ var_range = np.array([x + w, xhat + what])
+ for i in range(len(x)):
+ val = find_min(expr_func, jac_func, var_range, num_var, args, i)
+ d.append(val)
+ elif all(b <= a for a, b in zip(x, xhat)) and all(b <= a for a, b in zip(w, what)):
+ var_range = np.array([xhat + what, x + w])
+ for i in range(len(x)):
+ val = find_max(expr_func, jac_func, var_range, num_var, args, i)
+ d.append(val)
+ else:
+ raise ValueError(f"Condition for x, w, x_hat, w_hat not satisfied: {[x, w, xhat, what]}")
+ return d
+
+ res = compute_reachtube_mixmono_disc(init, uncertain_param, time_horizon, time_step,
+ decomposition_func)
+ elif hasattr(agent, 'dynamics'):
+ dynamics_func = agent.dynamics
+ lines = inspect.getsource(dynamics_func)
+ function_body = ast.parse(textwrap.dedent(lines)).body[0].body
+ if not isinstance(function_body, list):
+ raise ValueError(f'Failed to extract dynamics for {agent}')
+
+ text_exprs = []
+ extract = False
+ x_var = []
+ w_var = []
+ for i, elem in enumerate(function_body):
+ if isinstance(elem, ast.Expr):
+ if isinstance(elem.value, ast.Constant) and elem.value.value == 'Begin Dynamic':
+ extract = True
+ elif isinstance(elem, ast.Expr):
+ if isinstance(elem.value, ast.Constant) and elem.value.value == 'End Dynamic':
+ extract = False
+ elif extract:
+ if isinstance(elem, ast.Assign):
+ text_exprs.append(astunparse.unparse(elem.value))
+ # x_var_name = elem.targets[0].id.replace('_plus','')
+ # x_var.append(x_var_name)
+ else:
+ if isinstance(elem, ast.Assign):
+ if elem.value.id == 'args':
+ var_list = elem.targets[0].elts
+ for var in var_list[:-1]:
+ w_var.append(var.id)
+ elif elem.value.id == 'x':
+ var_list = elem.targets[0].elts
+ for var in var_list:
+ x_var.append(var.id)
+
+ if len(text_exprs) != len(x_var):
+ raise ValueError(f'Failed to extract dynamics for {agent}')
+
+ symbol_x = [Symbol(elem,real=True) for elem in x_var]
+ symbol_w = [Symbol(elem,real=True) for elem in w_var]
+ dt = Symbol("dt", real=True)
+
+ tmp = [sympify(elem).subs("dt", time_step) for elem in text_exprs]
+ expr_symbol = []
+ for expr in tmp:
+ for symbol in symbol_x:
+ expr = expr.subs(symbol.name, symbol)
+ for symbol in symbol_w:
+ expr = expr.subs(symbol.name, symbol)
+ expr_symbol.append(expr)
+ exprs = expr_symbol
+
+ def computeD(x, w, x_hat, w_hat, dt):
+ d = []
+ for expr in exprs:
+ if all(a<=b for a,b in zip(x, x_hat)) and all(a<=b for a,b in zip(w,w_hat)):
+ var_range = {}
+ for i, var in enumerate(symbol_x):
+ var_range[var] = (x[i], x_hat[i])
+ for i, var in enumerate(symbol_w):
+ var_range[var] = (w[i], w_hat[i])
+ res = find_min_symbolic(expr, var_range)
+ d.append(res)
+ elif all(a>=b for a,b in zip(x,x_hat)) and all(a>=b for a,b in zip(w,w_hat)):
+ var_range = {}
+ for i,var in enumerate(symbol_x):
+ var_range[var] = (x_hat[i], x[i])
+ for i, var in enumerate(symbol_w):
+ var_range[var] = (w_hat[i], w[i])
+ res = find_max_symbolic(expr, var_range)
+ d.append(res)
+ else:
+ raise ValueError(f"Condition for x, w, x_hat, w_hat not satisfied: {[x, w, x_hat, w_hat]}")
+ return d
+ res = compute_reachtube_mixmono_disc(init, uncertain_param, time_horizon, time_step,
+ computeD)
+ else:
+ raise ValueError('Not enough information to apply discrete time mixed monotone algorithm.')
+ return res
\ No newline at end of file
diff --git a/dryvr_plus_plus/scene_verifier/analysis/simulator.py b/verse/analysis/simulator.py
similarity index 87%
rename from dryvr_plus_plus/scene_verifier/analysis/simulator.py
rename to verse/analysis/simulator.py
index 8427098000fa5ac08efc8059ec96907d3fb3da98..4d0a3115e9a99a568eeff8cee7881862ad5c05a8 100644
--- a/dryvr_plus_plus/scene_verifier/analysis/simulator.py
+++ b/verse/analysis/simulator.py
@@ -1,5 +1,3 @@
-from dryvr_plus_plus.scene_verifier.analysis.analysis_tree_node import AnalysisTreeNode
-from dryvr_plus_plus.scene_verifier.agents.base_agent import BaseAgent
from typing import List, Dict
import copy
import itertools
@@ -8,18 +6,32 @@ import functools
import pprint
pp = functools.partial(pprint.pprint, compact=True, width=100)
+# from verse.agents.base_agent import BaseAgent
+from verse.analysis.analysis_tree import AnalysisTreeNode, AnalysisTree
class Simulator:
def __init__(self):
- self.simulation_tree_root = None
+ self.simulation_tree = None
- def simulate(self, init_list, init_mode_list, static_list, agent_list: List[BaseAgent], transition_graph, time_horizon, time_step, lane_map):
+ def simulate(
+ self,
+ init_list,
+ init_mode_list,
+ static_list,
+ uncertain_param_list,
+ agent_list,
+ transition_graph,
+ time_horizon,
+ time_step,
+ lane_map
+ ):
# Setup the root of the simulation tree
root = AnalysisTreeNode(
trace={},
init={},
mode={},
static={},
+ uncertain_param={},
agent={},
child=[],
start_time=0,
@@ -30,9 +42,10 @@ class Simulator:
root.mode[agent.id] = init_mode
init_static = [elem.name for elem in static_list[i]]
root.static[agent.id] = init_static
+ root.uncertain_param[agent.id] = uncertain_param_list[i]
root.agent[agent.id] = agent
root.type = 'simtrace'
- self.simulation_tree_root = root
+
simulation_queue = []
simulation_queue.append(root)
# Perform BFS through the simulation tree to loop through all possible transitions
@@ -84,6 +97,7 @@ class Simulator:
for transition_combination in all_transition_combinations:
next_node_mode = copy.deepcopy(node.mode)
next_node_static = copy.deepcopy(node.static)
+ next_node_uncertain_param = copy.deepcopy(node.uncertain_param)
next_node_agent = node.agent
next_node_start_time = list(
truncated_trace.values())[0][0][0]
@@ -105,6 +119,7 @@ class Simulator:
init=next_node_init,
mode=next_node_mode,
static=next_node_static,
+ uncertain_param=next_node_uncertain_param,
agent=next_node_agent,
child=[],
start_time=next_node_start_time,
@@ -122,4 +137,6 @@ class Simulator:
# start_time = next_node_start_time
# ))
# simulation_queue += node.child
- return self.simulation_tree_root
+
+ self.simulation_tree = AnalysisTree(root)
+ return self.simulation_tree
diff --git a/dryvr_plus_plus/scene_verifier/utils/utils.py b/verse/analysis/utils.py
similarity index 100%
rename from dryvr_plus_plus/scene_verifier/utils/utils.py
rename to verse/analysis/utils.py
diff --git a/verse/analysis/verifier.py b/verse/analysis/verifier.py
new file mode 100644
index 0000000000000000000000000000000000000000..2997428182e922b344c6327fdcfd6ac6aadd677b
--- /dev/null
+++ b/verse/analysis/verifier.py
@@ -0,0 +1,241 @@
+from typing import List
+import copy
+
+import numpy as np
+
+# from verse.agents.base_agent import BaseAgent
+from verse.analysis.analysis_tree import AnalysisTreeNode, AnalysisTree
+from verse.analysis.dryvr import calc_bloated_tube, SIMTRACENUM
+from verse.analysis.mixmonotone import calculate_bloated_tube_mixmono_cont, calculate_bloated_tube_mixmono_disc
+
+
+class Verifier:
+ def __init__(self):
+ self.reachtube_tree = None
+ self.unsafe_set = None
+ self.verification_result = None
+
+ def calculate_full_bloated_tube(
+ self,
+ mode_label,
+ initial_set,
+ time_horizon,
+ time_step,
+ sim_func,
+ params,
+ kvalue,
+ sim_trace_num,
+ combine_seg_length = 1000,
+ guard_checker=None,
+ guard_str="",
+ lane_map = None
+ ):
+ # Handle Parameters
+ bloating_method = 'PW'
+ if 'bloating_method' in params:
+ bloating_method = params['bloating_method']
+
+ res_tube = None
+ tube_length = 0
+ for combine_seg_idx in range(0, len(initial_set), combine_seg_length):
+ rect_seg = initial_set[combine_seg_idx:combine_seg_idx+combine_seg_length]
+ combined_rect = None
+ for rect in rect_seg:
+ rect = np.array(rect)
+ if combined_rect is None:
+ combined_rect = rect
+ else:
+ combined_rect[0, :] = np.minimum(
+ combined_rect[0, :], rect[0, :])
+ combined_rect[1, :] = np.maximum(
+ combined_rect[1, :], rect[1, :])
+ combined_rect = combined_rect.tolist()
+ cur_bloated_tube = calc_bloated_tube(mode_label,
+ combined_rect,
+ time_horizon,
+ time_step,
+ sim_func,
+ bloating_method,
+ kvalue,
+ sim_trace_num,
+ lane_map = lane_map
+ )
+ if combine_seg_idx == 0:
+ res_tube = cur_bloated_tube
+ tube_length = cur_bloated_tube.shape[0]
+ else:
+ cur_bloated_tube = cur_bloated_tube[:tube_length - combine_seg_idx*2,:]
+ # Handle Lower Bound
+ res_tube[combine_seg_idx*2::2,1:] = np.minimum(
+ res_tube[combine_seg_idx*2::2,1:],
+ cur_bloated_tube[::2,1:]
+ )
+ # Handle Upper Bound
+ res_tube[combine_seg_idx*2+1::2,1:] = np.maximum(
+ res_tube[combine_seg_idx*2+1::2,1:],
+ cur_bloated_tube[1::2,1:]
+ )
+ return res_tube.tolist()
+
+
+ def compute_full_reachtube(
+ self,
+ init_list: List[float],
+ init_mode_list: List[str],
+ static_list: List[str],
+ uncertain_param_list: List[float],
+ agent_list,
+ transition_graph,
+ time_horizon,
+ time_step,
+ lane_map,
+ init_seg_length,
+ reachability_method,
+ params = {}
+ ):
+ root = AnalysisTreeNode(
+ trace={},
+ init={},
+ mode={},
+ static = {},
+ uncertain_param={},
+ agent={},
+ assert_hits={},
+ child=[],
+ start_time = 0,
+ ndigits = 10,
+ type = 'simtrace',
+ id = 0
+ )
+ # root = AnalysisTreeNode()
+ 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]]
+ root.mode[agent.id] = init_mode
+ init_static = [elem.name for elem in static_list[i]]
+ 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)
+ while verification_queue != []:
+ node: AnalysisTreeNode = verification_queue.pop(0)
+ print(node.start_time, node.mode)
+ remain_time = round(time_horizon - node.start_time, 10)
+ if remain_time <= 0:
+ continue
+ # For reachtubes not already computed
+ # TODO: can add parallalization for this loop
+ for agent_id in node.agent:
+ if agent_id not in node.trace:
+ # Compute the trace starting from initial condition
+ mode = node.mode[agent_id]
+ init = node.init[agent_id]
+ uncertain_param = node.uncertain_param[agent_id]
+ # trace = node.agent[agent_id].TC_simulate(mode, init, remain_time,lane_map)
+ # trace[:,0] += node.start_time
+ # node.trace[agent_id] = trace.tolist()
+ if reachability_method == "DRYVR":
+ cur_bloated_tube = self.calculate_full_bloated_tube(mode,
+ init,
+ remain_time,
+ time_step,
+ node.agent[agent_id].TC_simulate,
+ params,
+ 100,
+ SIMTRACENUM,
+ combine_seg_length=init_seg_length,
+ lane_map = lane_map
+ )
+ elif reachability_method == "MIXMONO_CONT":
+ cur_bloated_tube = calculate_bloated_tube_mixmono_cont(
+ mode,
+ init,
+ uncertain_param,
+ remain_time,
+ time_step,
+ node.agent[agent_id],
+ lane_map
+ )
+ elif reachability_method == "MIXMONO_DISC":
+ cur_bloated_tube = calculate_bloated_tube_mixmono_disc(
+ mode,
+ init,
+ uncertain_param,
+ remain_time,
+ time_step,
+ node.agent[agent_id],
+ lane_map
+ )
+ else:
+ raise ValueError(f"Reachability computation method {reachability_method} not available.")
+ trace = np.array(cur_bloated_tube)
+ trace[:, 0] += node.start_time
+ node.trace[agent_id] = trace.tolist()
+ # print("here")
+
+ # Get all possible transitions to next mode
+ asserts, all_possible_transitions = transition_graph.get_transition_verify_new(node)
+ if asserts != None:
+ asserts, idx = asserts
+ for agent in node.agent:
+ node.trace[agent] = node.trace[agent][:(idx + 1) * 2]
+ node.assert_hits = asserts
+ continue
+
+ max_end_idx = 0
+ for transition in all_possible_transitions:
+ # Each transition will contain a list of rectangles and their corresponding indexes in the original list
+ transit_agent_idx, src_mode, dest_mode, next_init, idx = transition
+ start_idx, end_idx = idx[0], idx[-1]
+
+ truncated_trace = {}
+ for agent_idx in node.agent:
+ truncated_trace[agent_idx] = node.trace[agent_idx][start_idx*2:]
+ if end_idx > max_end_idx:
+ max_end_idx = end_idx
+
+ if dest_mode is None:
+ continue
+
+ next_node_mode = copy.deepcopy(node.mode)
+ next_node_static = node.static
+ next_node_uncertain_param = node.uncertain_param
+ next_node_mode[transit_agent_idx] = dest_mode
+ next_node_agent = node.agent
+ next_node_start_time = list(truncated_trace.values())[0][0][0]
+ next_node_init = {}
+ next_node_trace = {}
+ for agent_idx in next_node_agent:
+ if agent_idx == transit_agent_idx:
+ next_node_init[agent_idx] = next_init
+ else:
+ next_node_trace[agent_idx] = truncated_trace[agent_idx]
+
+ tmp = AnalysisTreeNode(
+ trace=next_node_trace,
+ init=next_node_init,
+ mode=next_node_mode,
+ static = next_node_static,
+ uncertain_param = next_node_uncertain_param,
+ agent=next_node_agent,
+ assert_hits = {},
+ child=[],
+ start_time=round(next_node_start_time, 10),
+ type='reachtube'
+ )
+ node.child.append(tmp)
+ verification_queue.append(tmp)
+
+ """Truncate trace of current node based on max_end_idx"""
+ """Only truncate when there's transitions"""
+ if all_possible_transitions:
+ for agent_idx in node.agent:
+ node.trace[agent_idx] = node.trace[agent_idx][:(
+ max_end_idx+1)*2]
+
+ self.reachtube_tree = AnalysisTree(root)
+ return self.reachtube_tree
+
+
diff --git a/verse/automaton/__init__.py b/verse/automaton/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..0651cd10599cb4dcfea46cdffaa8ce8559e697af
--- /dev/null
+++ b/verse/automaton/__init__.py
@@ -0,0 +1,3 @@
+from . import guard, reset
+from .guard import GuardExpressionAst
+from .reset import ResetExpression
diff --git a/dryvr_plus_plus/scene_verifier/automaton/guard.py b/verse/automaton/guard.py
similarity index 98%
rename from dryvr_plus_plus/scene_verifier/automaton/guard.py
rename to verse/automaton/guard.py
index 69888a64934cf70d7d1e8ecbc144db3896248dad..022bdb968fbd89c17b07ddc463c09b73d1ff1acd 100644
--- a/dryvr_plus_plus/scene_verifier/automaton/guard.py
+++ b/verse/automaton/guard.py
@@ -1,16 +1,13 @@
-from typing import List, Dict, Any
+from typing import Any
import pickle
import ast
-import copy
from z3 import *
-import numpy as np
-from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
-from dryvr_plus_plus.scene_verifier.map.lane_segment import AbstractLane
-from dryvr_plus_plus.scene_verifier.utils.utils import *
-from dryvr_plus_plus.scene_verifier.agents.base_agent import BaseAgent
-from dryvr_plus_plus.scene_verifier.code_parser.parser import Reduction, ReductionType, unparse
+from verse.map import LaneMap, AbstractLane
+from verse.analysis.utils import *
+from verse.agents.base_agent import BaseAgent
+from verse.parser import Reduction, ReductionType, unparse
class LogicTreeNode:
def __init__(self, data, child = [], val = None, mode_guard = None):
@@ -144,7 +141,6 @@ class GuardExpressionAst:
start, end = continuous_variable_dict[symbols[symbol]]
tmp_solver.add(self.varDict[symbol] >= start, self.varDict[symbol] <= end)
if tmp_solver.check() == unsat:
- print("Full intersect, break")
is_contained = True
return res, is_contained
@@ -879,14 +875,12 @@ class GuardExpressionAst:
cont_var_updater = {}
for i in range(len(self.ast_list)):
root = self.ast_list[i]
- j = 0
- while j < sum(1 for _ in ast.walk(root)):
+ nodes = ast.walk(root)
+ for node in nodes:
# TODO: Find a faster way to access nodes in the tree
- node = list(ast.walk(root))[j]
if isinstance(node, Reduction):
new_node = self.unroll_any_all_new(node, cont_var_dict, disc_var_dict, len_dict, cont_var_updater)
root = NodeSubstituter(node, new_node).visit(root)
- j += 1
self.ast_list[i] = root
return cont_var_updater
diff --git a/dryvr_plus_plus/scene_verifier/automaton/hybrid_automaton.py b/verse/automaton/hybrid_automaton.py
similarity index 100%
rename from dryvr_plus_plus/scene_verifier/automaton/hybrid_automaton.py
rename to verse/automaton/hybrid_automaton.py
diff --git a/dryvr_plus_plus/scene_verifier/automaton/hybrid_io_automaton.py b/verse/automaton/hybrid_io_automaton.py
similarity index 89%
rename from dryvr_plus_plus/scene_verifier/automaton/hybrid_io_automaton.py
rename to verse/automaton/hybrid_io_automaton.py
index d7c485a52bf6ce65016e25b0b75a48d4d803c0e8..1ebc5dd8812ff9e62d22c916c0bff53c2b067fe9 100644
--- a/dryvr_plus_plus/scene_verifier/automaton/hybrid_io_automaton.py
+++ b/verse/automaton/hybrid_io_automaton.py
@@ -1,4 +1,4 @@
-from dryvr_plus_plus.scene_verifier.automaton.hybrid_automaton import HybridAutomaton
+from verse.automaton.hybrid_automaton import HybridAutomaton
class HybridIoAutomaton(HybridAutomaton):
def __init__(
diff --git a/dryvr_plus_plus/scene_verifier/automaton/reset.py b/verse/automaton/reset.py
similarity index 96%
rename from dryvr_plus_plus/scene_verifier/automaton/reset.py
rename to verse/automaton/reset.py
index f26aa249072049b30adfce56ddea6727050c09bb..efc5541b1c60613fb4fe1dfa01febe0a239d7a40 100644
--- a/dryvr_plus_plus/scene_verifier/automaton/reset.py
+++ b/verse/automaton/reset.py
@@ -1,14 +1,14 @@
import itertools, copy
-import dryvr_plus_plus.scene_verifier.code_parser.astunparser as astunparser
+import numpy as np
-import numpy as np
+from verse.parser import unparse
class ResetExpression():
def __init__(self, reset):
reset_var, reset_val_ast = reset
self.var = reset_var
self.val_ast = reset_val_ast
- self.expr = astunparser.unparse(reset_val_ast).strip('\n')
+ self.expr = unparse(reset_val_ast)
def __eq__(self, o) -> bool:
if o is None:
diff --git a/verse/map/__init__.py b/verse/map/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..3edab69004c38b4bede72b873f36e1d0ecbec15a
--- /dev/null
+++ b/verse/map/__init__.py
@@ -0,0 +1,5 @@
+from . import lane_segment, lane_map, lane, opendrive_parser
+from .lane_segment import AbstractLane, LaneSegment, StraightLane, CircularLane
+from .lane_map import LaneMap
+from .lane import Lane
+from .opendrive_parser import opendrive_map
diff --git a/dryvr_plus_plus/example/__init__.py b/verse/map/example_map/__init__.py
similarity index 100%
rename from dryvr_plus_plus/example/__init__.py
rename to verse/map/example_map/__init__.py
diff --git a/dryvr_plus_plus/example/example_map/simple_map.py b/verse/map/example_map/simple_map.py
similarity index 100%
rename from dryvr_plus_plus/example/example_map/simple_map.py
rename to verse/map/example_map/simple_map.py
diff --git a/dryvr_plus_plus/example/example_map/simple_map2.py b/verse/map/example_map/simple_map2.py
similarity index 100%
rename from dryvr_plus_plus/example/example_map/simple_map2.py
rename to verse/map/example_map/simple_map2.py
diff --git a/dryvr_plus_plus/example/example_map/simple_map_3d.py b/verse/map/example_map/simple_map_3d.py
similarity index 100%
rename from dryvr_plus_plus/example/example_map/simple_map_3d.py
rename to verse/map/example_map/simple_map_3d.py
diff --git a/dryvr_plus_plus/scene_verifier/map/lane.py b/verse/map/lane.py
similarity index 79%
rename from dryvr_plus_plus/scene_verifier/map/lane.py
rename to verse/map/lane.py
index e48e3f10cc14647bd5d6d3cfcba4d2198a4e7b25..5d133f8ee7d4106a3bc40cfd60085d1c15361600 100644
--- a/dryvr_plus_plus/scene_verifier/map/lane.py
+++ b/verse/map/lane.py
@@ -2,7 +2,7 @@ from typing import List
import numpy as np
-from dryvr_plus_plus.scene_verifier.map.lane_segment import AbstractLane
+from verse.map.lane_segment import AbstractLane
class Lane():
COMPENSATE = 3
@@ -10,6 +10,7 @@ class Lane():
self.id = id
self.segment_list: List[AbstractLane] = seg_list
self._set_longitudinal_start()
+ self.lane_width = seg_list[0].width
def _set_longitudinal_start(self):
longitudinal_start = 0
@@ -18,12 +19,18 @@ class Lane():
longitudinal_start += lane_seg.length
def get_lane_segment(self, position:np.ndarray) -> AbstractLane:
+ min_lateral = float('inf')
+ idx = -1
+ seg = None
for seg_idx, segment in enumerate(self.segment_list):
logitudinal, lateral = segment.local_coordinates(position)
is_on = 0-Lane.COMPENSATE <= logitudinal < segment.length
if is_on:
- return seg_idx, segment
- return -1,None
+ if lateral < min_lateral:
+ idx = seg_idx
+ seg = segment
+ min_lateral = lateral
+ return idx, seg
def get_heading(self, position:np.ndarray) -> float:
seg_idx, segment = self.get_lane_segment(position)
@@ -42,3 +49,6 @@ class Lane():
seg_idx, segment = self.get_lane_segment(position)
longitudinal, lateral = segment.local_coordinates(position)
return lateral
+
+ def get_lane_width(self) -> float:
+ return self.lane_width
\ No newline at end of file
diff --git a/dryvr_plus_plus/scene_verifier/map/lane_map.py b/verse/map/lane_map.py
similarity index 92%
rename from dryvr_plus_plus/scene_verifier/map/lane_map.py
rename to verse/map/lane_map.py
index bb7560a7bf5251b00f5fe672d573113338d6ffe0..813a56ba930166fbb3a934f37f20e135900192f4 100644
--- a/dryvr_plus_plus/scene_verifier/map/lane_map.py
+++ b/verse/map/lane_map.py
@@ -4,8 +4,8 @@ from enum import Enum
import numpy as np
-from dryvr_plus_plus.scene_verifier.map.lane_segment import AbstractLane
-from dryvr_plus_plus.scene_verifier.map.lane import Lane
+from verse.map.lane_segment import AbstractLane
+from verse.map.lane import Lane
class LaneMap:
def __init__(self, lane_seg_list:List[Lane] = []):
@@ -71,6 +71,8 @@ class LaneMap:
return lane.get_longitudinal_position(position)
def get_lateral_distance(self, lane_idx:str, position:np.ndarray) -> float:
+ if position[0]>138 and position[0]<140 and position[1]>-9 and position[1]<-8:
+ print("stop")
if not isinstance(position, np.ndarray):
position = np.array(position)
lane = self.lane_dict[lane_idx]
@@ -112,3 +114,7 @@ class LaneMap:
ret_dict[lane_idx] = lane.get_speed_limit()
# print(ret_dict)
return ret_dict
+
+ def get_lane_width(self, lane_idx: str) -> float:
+ lane: Lane = self.lane_dict[lane_idx]
+ return lane.get_lane_width()
diff --git a/dryvr_plus_plus/scene_verifier/map/lane_segment.py b/verse/map/lane_segment.py
similarity index 98%
rename from dryvr_plus_plus/scene_verifier/map/lane_segment.py
rename to verse/map/lane_segment.py
index 642d7a005ba84f6d3956dbed49dcd5e4c7ac94e5..795544709f23c33a4e19c988c079136518825af4 100644
--- a/dryvr_plus_plus/scene_verifier/map/lane_segment.py
+++ b/verse/map/lane_segment.py
@@ -1,9 +1,8 @@
-from typing import List
import numpy as np
from abc import ABCMeta, abstractmethod
-from typing import Tuple, List, Optional, Union
+from typing import Tuple, List, Optional
-from dryvr_plus_plus.scene_verifier.utils.utils import wrap_to_pi, Vector, get_class_path, class_from_path,to_serializable
+from verse.analysis.utils import wrap_to_pi, Vector, get_class_path, to_serializable
class LineType:
diff --git a/verse/map/opendrive_parser.py b/verse/map/opendrive_parser.py
new file mode 100644
index 0000000000000000000000000000000000000000..02a86e6bdc5ce0bc543ab6e0759c71df592f986a
--- /dev/null
+++ b/verse/map/opendrive_parser.py
@@ -0,0 +1,353 @@
+#Import all the lane objects we are going to use for lane object identification################
+from turtle import right
+import numpy as np #Numpy library to do the calculations
+import matplotlib.pyplot as plt #Matplotlib library to visualize the roads
+from bs4 import BeautifulSoup #Beautiful Soup library for parsing data in python
+###############################################################################################
+
+#Import all the lane objects needed to generate all the lane map objects for the controllers
+from verse.map.lane import Lane
+from verse.map.lane_map import LaneMap
+from verse.map.lane_segment import *
+###############################################################################################
+
+###############################ASAM OPEN DRIVE PARSING FUNCTION################################
+def file_parser(file_name):
+ with open(file_name,'r') as f: #now we are going to read each line inside the file
+ data = f.read() #Read all the file
+ soup = BeautifulSoup(data,'xml') #store the data into the soup
+ return soup
+###############################################################################################
+
+#########Check if we can get all the lane data from this tag from the ASAM Open DRIVE File
+def check_valid_side(side):
+ lane_array = [] #lane array
+ temp_lanes = [] #temporary lanes to append
+ alpha_array = [] #array of alpha values
+ if side is not None: #we want to check is the side we are traversing is NOT NONE
+ temp_lanes = side.find_all('lane') #let's find all the left lane
+ for tl in temp_lanes: #traverse each element in the left lane
+ lane_array.append(tl['type']) #add each of the left segment to the temporary left array
+ temp_alpha = tl.find('width') #width of the temp road.
+ alpha_array.append(float(temp_alpha['a'])) #add the alpha value into the array
+ return True,lane_array,alpha_array #return True if the side is valid
+ return False,[],[] #otherwise return False
+
+#This the function that condenses the 2d matrix into lane segments
+def condense_matrix(drive_way_matrix,width_2d):
+ lanes_to_return = [] #to store the lanes to return
+ width_to_return = [] #to store the width between each lane
+ cols = len(drive_way_matrix[0]) #number of columns
+ drive_way_matrix = np.array(drive_way_matrix) #driveway 2d matrix to traverse
+ width_2d = np.array(width_2d) #width 2d matrix to traverse
+ for i in range(cols):
+ lane_to_append = Lane("Lane"+str(i+1),drive_way_matrix[:,i].tolist()) #combine all the rows into one list for each column
+ lanes_to_return.append(lane_to_append) #add each Lane object to the list we want to return
+ mean = np.mean(width_2d[:,i]) #calculate the mean of all the space between the lanes
+ width_to_return.append(mean) #add it to the width we want to return
+ return lanes_to_return,width_to_return
+
+######This is the function which traverses each road element in a given road#####################
+def road_traverser(road):
+ left_drive_way_2d = []
+ left_width_2d = []
+ right_drive_way_2d = []
+ right_width_2d = []
+
+ for elem in road: #traverse each road segment in the open drive file
+ planview = elem.find('planView') #we are going to find the planview
+ road_geom = planview.find_all('geometry') #then find all the geometry
+ lane_types = elem.find('lanes') #let's find all the lanes
+
+ ###################LEFT SIDE OF THE ROAD##############################################################
+ left = lane_types.find('left') #find all the left side of the road
+ left_valid, left_array,left_alpha_array = check_valid_side(left) #check the left side of the lane
+
+ #################RIGHT SIDE OF THE ROAD################################################################
+ right = lane_types.find('right') #find all the center side of the road
+ right_valid, right_array,right_alpha_array = check_valid_side(right) #check the right side of the lane
+ #######################################################################################################
+
+ for rg in road_geom: #traverse each geometry for each road
+ left_temp_drive = [] #temporary list to store driveway segments
+ left_temp_width_2d = []
+ right_temp_drive = [] #temporary list to store driveway segments
+ right_temp_width_2d = []
+ temp_x = float(rg['x']) #don't forget to cast this to float!
+ temp_y = float(rg['y']) #don't forget to cast this float!
+ hdg = float(rg['hdg']) #gets the heading of the road
+ length = float(rg['length']) #gets the length of the road
+
+ if (rg.line): #we want to check if this is the line segment
+ xi = temp_x #x-coordinate starting point
+ xf = temp_x + np.cos(hdg) * length #x-coordinate ending point
+ yi = temp_y #y-coordinate starting point
+ yf = temp_y + np.sin(hdg) * length #y-coordinate ending point
+
+ ###########################NORMALIZATION PART##############################
+ delta_x = xf - xi #find the difference between two x-coordinates
+ delta_y = yf - yi #find the differences between two y-coordinates
+ N_left = np.array([-delta_y,delta_x])/(np.sqrt(delta_x**2 + delta_y**2)) #Normal Vector for left side
+ N_right = np.array([delta_y,-delta_x])/(np.sqrt(delta_x**2 + delta_y**2)) #Normal Vector for right side
+ ##############################################################################
+
+ ########################LEFT ARRAY#######################
+ left_alpha_val = 0
+ left_idx = 0
+ assert (len(left_array) == len(left_alpha_array))
+
+ if left_valid:
+ for left_elem in left_array:
+ if left_elem == 'sidewalk':
+ style = '-'
+ left_alpha_val += left_alpha_array[left_idx]
+ elif left_elem == 'driving':
+ style = '--'
+ left_alpha_val += 0.5*left_alpha_array[left_idx]
+ left_new_vect_i = np.array([xi,yi]) + left_alpha_val*N_left
+ left_new_vect_f = np.array([xf,yf]) + left_alpha_val*N_left
+ id = str(left_idx)
+ width = left_alpha_array[left_idx]
+ line_types = style
+ straight_to_append = StraightLane(id,left_new_vect_i,left_new_vect_f,width,line_types,False,20,0) #Straight (id, start vector, end vector, width, line type,forbidden,speed limit, priority)
+ left_temp_drive.append(straight_to_append)
+ left_temp_width_2d.append(left_alpha_val)
+ left_alpha_val -= 0.5*left_alpha_array[left_idx]
+ left_alpha_val += left_alpha_array[left_idx]
+
+ left_idx +=1 #increment left index
+
+ ###################RIGHT ARRAY#########################
+ right_alpha_val = 0
+ right_idx = 0
+ assert (len(right_array) == len(right_alpha_array))
+ if right_valid:
+ for right_elem in right_array:
+ if right_elem == 'sidewalk':
+ style = '-'
+ right_alpha_val += right_alpha_array[right_idx]
+
+ elif right_elem == 'driving':
+ style = '--'
+ right_alpha_val += 0.5*right_alpha_array[right_idx]
+ right_new_vect_i = np.array([xi,yi]) + right_alpha_val*N_right
+ right_new_vect_f = np.array([xf,yf]) + right_alpha_val*N_right
+ id = str(right_idx)
+ width = right_alpha_array[right_idx]
+ line_types = style
+ straight_to_append = StraightLane(id,right_new_vect_i,right_new_vect_f,width,line_types,False,20,0) #Straight (id, start vector, end vector, width, line type,forbidden,speed limit, priority)
+ right_temp_drive.append(straight_to_append)
+ right_alpha_val -= 0.5*right_alpha_array[right_idx]
+ right_alpha_val += right_alpha_array[right_idx]
+
+ right_idx +=1
+
+ else: #if this is not a line segment then this is a curve
+ #IMPORTANT #NOTE_TO KEEP IN MIND OF:
+ #if curvature is negative:
+ #then the center is at the right hand side of the vehicle in vehicle's frame
+ curvature = float(rg.find('arc')['curvature']) #curvature
+ radius = np.abs(1/curvature) #radius = 1/curvature
+ arc_length = float(rg['length']) #arc-length
+
+ ############WE ARE GOING TO DETERMINE THE VECTOR DIRECTION####################
+ T = np.array([np.cos(hdg) , np.sin(hdg),0]) #tangent vector on the curved line
+ N = np.array([0,0,1]) #normal vector on the curved line
+ S = np.cross(N,T) #cross product of normal and tangent vectors
+ xi = temp_x #initial x-coordinate
+ yi = temp_y #initial y-coordinate
+ center = [] #center coordinates
+ curvature_direction = [] #store the direction of each curvature
+
+ if curvature < 0: #if the curvature is negative then it it CLOCKWISE
+ center = np.array([xi,yi]) - S[0:2]*radius #center is equal to the current point subtract the radius
+ curvature_direction.append(False)
+ else: #if the curvature is positive then it is COUNTER-CLOCKWISE
+ center = np.array([xi,yi]) + S[0:2]*radius #center is equal to the current point add the radius
+ curvature_direction.append(True)
+
+ x_diff = xi - center[0] #x_diff means the difference between the current x-coordinate and the center x-coordinate
+ y_diff = yi - center[1] #y_diff means the difference between the current y-coordinate and the center y-coordinate
+ initial_theta = np.arctan2(y_diff, x_diff) #initial theta is the angle between the y_diff and x_diff
+ delta_theta = abs(arc_length/radius) #delta theta is the final angle of the curvature
+
+ if curvature < 0: #if the curvature is negative
+ final_theta = initial_theta - delta_theta #we want to go the opposite way so subtract delta theta from initial theta
+ else: #this condition means that the curvvature is positive
+ final_theta = initial_theta + delta_theta #we want to go COUNTER-CLOCKWISE so ADD the delta theta to initial theta
+
+ #####THIS IS WHERE I AM GOING TO ADJUST EACH LANE SEGMENT OF THE CURVE
+ #########################LEFT ARRAY#########################################################
+ left_idx = 0
+ assert (len(left_array) == len(left_alpha_array))
+ temp_radius = radius
+ if left_valid:
+ for left_elem in left_array:
+ for curve_dir in curvature_direction:
+ if curve_dir == True:
+ if left_elem == 'driving':
+ temp_radius -= 0.5*left_alpha_array[left_idx]
+ id = str(left_idx)
+ center_points = center
+ start_phase = initial_theta
+ end_phase = final_theta
+ clockwise = False
+ width = left_alpha_array[left_idx]
+ style = '--'
+ circle_to_append = CircularLane(id,center_points,temp_radius,start_phase,end_phase,clockwise,width,style,False,20,0)
+ left_temp_drive.append(circle_to_append)
+ left_temp_width_2d.append(width)
+ temp_radius += 0.5*left_alpha_array[left_idx]
+ temp_radius -= left_alpha_array[left_idx]
+
+ elif left_elem == 'sidewalk':
+ style = '-'
+ temp_radius -= left_alpha_array[left_idx]
+
+ else:
+ if left_elem == 'driving':
+ temp_radius += 0.5*left_alpha_array[left_idx]
+ id = str(left_idx)
+ center_points = center
+ start_phase = initial_theta
+ end_phase = final_theta
+ clockwise = True
+ width = left_alpha_array[left_idx]
+ style = '--'
+ circle_to_append = CircularLane(id,center_points,temp_radius,start_phase,end_phase,clockwise,width,style,False,20,0)
+ left_temp_drive.append(circle_to_append)
+ left_temp_width_2d.append(width)
+ temp_radius -= 0.5*left_alpha_array[left_idx]
+ temp_radius += left_alpha_array[left_idx]
+
+ elif left_elem == 'sidewalk':
+ style = '-'
+ temp_radius += left_alpha_array[left_idx]
+
+ left_idx +=1 #increment the left index
+
+ #############################RIGHT ARRAY##############################################
+ right_idx = 0
+ assert (len(right_array) == len(right_alpha_array))
+ temp_radius = radius
+ if right_valid:
+ for right_elem in right_array:
+ for curve_dir in curvature_direction:
+ if curve_dir == True:
+ if right_elem == 'driving':
+ temp_radius += 0.5*right_alpha_array[right_idx]
+ id = str(right_idx)
+ center_points = center
+ start_phase = initial_theta
+ end_phase = final_theta
+ clockwise = False
+ width = right_alpha_array[right_idx]
+ style = '--'
+ circle_to_append = CircularLane(id,center_points,temp_radius,start_phase,end_phase,clockwise,width,style,False,20,0)
+ right_temp_drive.append(circle_to_append)
+ temp_radius -= 0.5*right_alpha_array[right_idx]
+ temp_radius += right_alpha_array[right_idx]
+
+ elif right_elem == 'sidewalk':
+ style = '-'
+ temp_radius += right_alpha_array[right_idx]
+
+ else:
+ if right_elem == 'driving':
+ temp_radius -= 0.5*right_alpha_array[right_idx]
+ id = str(right_idx)
+ center_points = center
+ start_phase = initial_theta
+ end_phase = final_theta
+ clockwise = False
+ width = right_alpha_array[right_idx]
+ style = '--'
+ circle_to_append = CircularLane(id,center_points,temp_radius,start_phase,end_phase,clockwise,width,style,False,20,0)
+ right_temp_drive.append(circle_to_append)
+ temp_radius += 0.5*right_alpha_array[right_idx]
+ temp_radius -= right_alpha_array[right_idx]
+
+ elif right_elem == 'sidewalk':
+ style = '-'
+ temp_radius -= right_alpha_array[right_idx]
+ right_idx +=1 #increment the right index
+ left_drive_way_2d.append(left_temp_drive)
+ left_width_2d.append(left_temp_width_2d)
+ right_drive_way_2d.append(right_temp_drive)
+ right_width_2d.append(right_temp_width_2d)
+
+ return left_drive_way_2d,left_width_2d,right_drive_way_2d,right_width_2d
+
+# def temp_right(): #this is just a temporary function to populate the right side
+# dp = []
+# widths_2d = []
+# for i in range(22):
+# list = []
+# width_temp = []
+# for j in range(3):
+# id = str(-(j+1))
+# start_vector = [0,0]
+# end_vector = [10,10]
+# width = 10
+# line_types = '-'
+# to_append = StraightLane(id,start_vector,end_vector,width,line_types,False,20,0) #Straight (id, start vector, end vector, width, line type,forbidden,speed limit, priority)
+# list.append(to_append)
+# width_temp.append(width)
+# dp.append(list)
+# widths_2d.append(width_temp)
+
+# lanes_to_return = []
+# width_to_return = []
+# cols = len(dp[0])
+
+# drive_way_matrix = np.array(dp)
+# width_2d = np.array(widths_2d)
+# for i in range(cols):
+# lane_to_append = Lane("Lane"+str(-(i+1)),drive_way_matrix[:,i].tolist())
+# lanes_to_return.append(lane_to_append)
+# mean = np.mean(width_2d[:,i])
+# width_to_return.append(mean)
+# return lanes_to_return
+
+#Function to generate lane data visualization while parsing the ASAM Open DRIVE file
+def opendrive_map(file_name):
+ soup = file_parser(file_name) #call the file parsing function
+ road = soup.find_all('road')[:-1] #first find all the road segments and ignore the last one
+
+ left_drive_way_2d,left_width_2d,right_drive_way_2d,right_width_2d = road_traverser(road)
+ left_lanes,left_widths = condense_matrix(left_drive_way_2d,left_width_2d) #condense matrix returns left side of the road along the width 2d matrix
+ right_lanes,right_widths = condense_matrix(right_drive_way_2d,right_width_2d) #condense matrix returns the right side of the road along the width 2d matrix
+ #right_lanes = temp_right() #just a temporary function to generate the right side of the road
+
+ total = left_lanes[::-1] + right_lanes #reverse the left lane order and then combine with the right lane list to create one long lane list
+ completed_lanes = LaneMap(total) #create a lane map
+
+ for i in range(len(total)-1,0,-1):
+ completed_lanes.left_lane_dict[total[i].id] = [total[i-1].id] #connect each left side for each lane
+
+ for i in range(len(total)-1):
+ completed_lanes.right_lane_dict[total[i].id] = [total[i+1].id] #connect each right side for each lane
+
+ return completed_lanes #return the connected lane object
+
+if __name__ == '__main__':
+ file_name1 = 'map_package/Maps/t1_triple/OpenDrive/t1_triple.xodr' #parse in first file
+ file_name2 = 'map_package/Maps/t2_triple/OpenDrive/t2_triple.xodr' #parse in second file
+ file_name3 = 'map_package/Maps/t3/OpenDrive/t3.xodr' #parse in third file
+ file_name4 = 'map_package/Maps/t4/OpenDrive/t4.xodr' #parse in fourth file
+ file_name5 = 'map_package/Maps/track5/OpenDrive/track5.xodr' #parse in fifth file
+ file_list = [file_name1,file_name2, file_name3, file_name4, file_name5] #store the file names in an array
+ lane_list = []
+
+ for idx,value in enumerate(file_list):
+ lane_list = opendrive_map(value)
+ # plt.figure()
+ # lane_visualizer(value,idx)
+ # plt.savefig('full_road_geometry/figure'+str(idx)+'.png')
+ # plt.show()
+
+ # for idx,value in enumerate(file_list):
+ # plt.figure()
+ # center_visualizer(value, idx)
+ # plt.savefig('road_centerline_geometry/figure'+str(idx)+'.png')
+ # plt.show()
\ No newline at end of file
diff --git a/verse/parser/__init__.py b/verse/parser/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..0feeb65b362dae7155aeb197e1300e63adae1d6a
--- /dev/null
+++ b/verse/parser/__init__.py
@@ -0,0 +1,2 @@
+from .parser import ControllerIR, StateDef, ModeDef, Lambda, Reduction, ReductionType, unparse
+from . import astunparser, parser
diff --git a/dryvr_plus_plus/scene_verifier/code_parser/astunparser.py b/verse/parser/astunparser.py
similarity index 100%
rename from dryvr_plus_plus/scene_verifier/code_parser/astunparser.py
rename to verse/parser/astunparser.py
diff --git a/dryvr_plus_plus/scene_verifier/code_parser/parser.py b/verse/parser/parser.py
similarity index 76%
rename from dryvr_plus_plus/scene_verifier/code_parser/parser.py
rename to verse/parser/parser.py
index 99c6c18495922cc720c8e0650fadf1413eac9251..8961e0ce8698d94c5ce39176cb34b9c91db29b5b 100644
--- a/dryvr_plus_plus/scene_verifier/code_parser/parser.py
+++ b/verse/parser/parser.py
@@ -1,9 +1,20 @@
-import ast, copy
+import ast, copy, warnings
from typing import List, Dict, Union, Optional, Any, Tuple
from dataclasses import dataclass, field, fields
from enum import Enum, auto
-from dryvr_plus_plus.scene_verifier.code_parser import astunparser
-from dryvr_plus_plus.scene_verifier.utils.utils import find
+from verse.parser import astunparser
+from verse.analysis.utils import find
+
+def merge_conds(c):
+ if len(c) == 0:
+ return ast.Constant(True)
+ if len(c) == 1:
+ return c[0]
+ else:
+ return ast.BoolOp(ast.And(), c)
+
+def compile_expr(e):
+ return compile(ast.fix_missing_locations(ast.Expression(e)), "", "eval")
def unparse(e):
return astunparser.unparse(e).strip("\n")
@@ -110,7 +121,7 @@ class Reduction(CustomIR):
CustomIR.set_fields(Reduction)
@dataclass
-class Assert:
+class _Assert:
cond: ast.expr
label: Optional[str]
pre: List[ast.expr] = field(default_factory=list)
@@ -120,15 +131,35 @@ class Assert:
return False
return len(self.pre) == len(o.pre) and all(ControllerIR.ir_eq(a, b) for a, b in zip(self.pre, o.pre)) and ControllerIR.ir_eq(self.cond, o.cond)
+@dataclass
+class CompiledAssert:
+ cond: Any # FIXME type for compiled python (`code`?)
+ label: str
+ pre: Any
+
+@dataclass
+class Assert:
+ cond: ast.expr
+ label: str
+ pre: ast.expr
+
+@dataclass
+class LambdaArg:
+ name: str
+ typ: Optional[str]
+ is_list: bool
+
+LambdaArgs = List[LambdaArg]
+
@dataclass
class Lambda:
"""A closure. Comes from either a `lambda` or a `def`ed function"""
- args: List[Tuple[str, Optional[str]]]
+ args: LambdaArgs
body: Optional[ast.expr]
- asserts: List[Assert]
+ asserts: List[_Assert]
@staticmethod
- def from_ast(tree: Union[ast.FunctionDef, ast.Lambda], env: "Env", veri: bool) -> "Lambda":
+ def from_ast(tree: Union[ast.FunctionDef, ast.Lambda], env: "Env") -> "Lambda":
args = []
for a in tree.args.args:
if a.annotation != None:
@@ -149,18 +180,18 @@ class Lambda:
else:
typ = handle_simple_ann(a.annotation)
is_list = False
- args.append((a.arg, typ, is_list))
+ args.append(LambdaArg(a.arg, typ, is_list))
else:
- args.append((a.arg, None, False))
+ args.append(LambdaArg(a.arg, None, False))
env.push()
- for a, typ, is_list in args:
- env.add_hole(a, typ)
+ for a in args:
+ env.add_hole(a.name, a.typ)
ret = None
if isinstance(tree, ast.FunctionDef):
for node in tree.body:
- ret = proc(node, env, veri)
+ ret = proc(node, env)
elif isinstance(tree, ast.Lambda):
- ret = proc(tree.body, env, veri)
+ ret = proc(tree.body, env)
asserts = env.scopes[0].asserts
env.pop()
return Lambda(args, ret, asserts)
@@ -169,15 +200,15 @@ class Lambda:
def empty() -> "Lambda":
return Lambda(args=[], body=None, asserts=[])
- def apply(self, args: List[ast.expr]) -> Tuple[List[Assert], ast.expr]:
+ def apply(self, args: List[ast.expr]) -> Tuple[List[_Assert], ast.expr]:
ret = copy.deepcopy(self.body)
- subst = ArgSubstituter({k: v for (k, _, _), v in zip(self.args, args)})
+ subst = ArgSubstituter({a.name: v for a, v in zip(self.args, args)})
ret = subst.visit(ret)
- def visit_assert(a: Assert):
+ def visit_assert(a: _Assert):
a = copy.deepcopy(a)
pre = [subst.visit(p) for p in a.pre]
cond = subst.visit(a.cond)
- return Assert(cond, a.label, pre)
+ return _Assert(cond, a.label, pre)
asserts = [visit_assert(a) for a in copy.deepcopy(self.asserts)]
return asserts, ret
@@ -186,7 +217,7 @@ ast_dump = lambda node, dump=False: ast.dump(node) if dump else unparse(node)
@dataclass
class ScopeLevel:
v: Dict[str, ScopeValue] = field(default_factory=dict)
- asserts: List[Assert] = field(default_factory=list)
+ asserts: List[_Assert] = field(default_factory=list)
class ArgSubstituter(ast.NodeTransformer):
args: Dict[str, ast.expr]
@@ -200,22 +231,30 @@ class ArgSubstituter(ast.NodeTransformer):
self.generic_visit(node)
return node
+@dataclass
+class ModePath:
+ cond: Any
+ cond_veri: ast.expr
+ var: str
+ val: Any
+ val_veri: ast.expr
+
@dataclass
class ControllerIR:
- controller: Optional[Lambda]
- controller_veri: Optional[Lambda]
- unsafe: Optional[Lambda]
- asserts: List[Assert]
+ args: LambdaArgs
+ paths: List[ModePath]
+ asserts: List[CompiledAssert]
+ asserts_veri: List[Assert]
state_defs: Dict[str, StateDef]
mode_defs: Dict[str, ModeDef]
@staticmethod
def parse(code: Optional[str] = None, fn: Optional[str] = None) -> "ControllerIR":
- return ControllerIR.from_envs(*Env.parse(code, fn))
+ return ControllerIR.from_env(Env.parse(code, fn))
@staticmethod
def empty() -> "ControllerIR":
- return ControllerIR(None, None, None, [], {}, {})
+ return ControllerIR([], [], [], [], {}, {})
@staticmethod
def dump(node, dump=False):
@@ -229,7 +268,7 @@ class ControllerIR:
return f"<Lambda args: {node.args} body: {ControllerIR.dump(node.body, dump)} asserts: {ControllerIR.dump(node.asserts, dump)}>"
if isinstance(node, CondVal):
return f"<CondVal [{', '.join(f'{ControllerIR.dump(e.val, dump)} if {ControllerIR.dump(e.cond, dump)}' for e in node.elems)}]>"
- if isinstance(node, Assert):
+ if isinstance(node, _Assert):
if len(node.pre) > 0:
pre = f"[{', '.join(ControllerIR.dump(a, dump) for a in node.pre)}] => "
else:
@@ -252,27 +291,34 @@ class ControllerIR:
return ControllerIR.dump(a) == ControllerIR.dump(b) # FIXME Proper equality checks; dump needed cuz asts are dumb
@staticmethod
- def from_envs(env, env_veri):
- top, top_veri = env.scopes[0].v, env_veri.scopes[0].v
+ def from_env(env):
+ top = env.scopes[0].v
if 'controller' not in top or not isinstance(top['controller'], Lambda):
raise TypeError("can't find controller")
- controller = Env.trans_args(top['controller'], False)
- controller_veri = Env.trans_args(top_veri['controller'], True)
- unsafe = Env.trans_args(top['unsafe'], False) if 'unsafe' in top else None
- assert isinstance(controller, Lambda) and isinstance(controller_veri, Lambda) and isinstance(unsafe, (Lambda, type(None)))
- return ControllerIR(controller, controller_veri, unsafe, env.scopes[0].asserts, env.state_defs, env.mode_defs)
-
- def getNextModes(self) -> List[Any]:
- controller_body = self.controller_veri.body
+ controller = top['controller']
+ asserts = [(a.cond, a.label if a.label != None else f"<assert {i}>", merge_conds(a.pre)) for i, a in enumerate(controller.asserts)]
+ asserts_veri = [Assert(Env.trans_args(copy.deepcopy(c), True), l, Env.trans_args(copy.deepcopy(p), True)) for c, l, p in asserts]
+ for a in asserts_veri:
+ print(ControllerIR.dump(a.pre), ControllerIR.dump(a.cond, True))
+ asserts_sim = [CompiledAssert(compile_expr(Env.trans_args(c, False)), l, compile_expr(Env.trans_args(p, False))) for c, l, p in asserts]
+
+ assert isinstance(controller, Lambda)
paths = []
- for variable in controller_body:
- val = controller_body[variable]
+ if not isinstance(controller.body, dict):
+ raise NotImplementedError("non-object return")
+ for var, val in controller.body.items():
if not isinstance(val, CondVal):
continue
for case in val.elems:
if len(case.cond) > 0:
- paths.append((case.cond, (variable, case.val)))
- return paths
+ cond = merge_conds(case.cond)
+ cond_veri = Env.trans_args(copy.deepcopy(cond), True)
+ val_veri = Env.trans_args(copy.deepcopy(case.val), True)
+ cond = compile_expr(Env.trans_args(cond, False))
+ val = compile_expr(Env.trans_args(case.val, False))
+ paths.append(ModePath(cond, cond_veri, var, val, val_veri))
+
+ return ControllerIR(controller.args, paths, asserts_sim, asserts_veri, env.state_defs, env.mode_defs)
@dataclass
class Env():
@@ -293,12 +339,9 @@ class Env():
root = ast.parse(cont, fn)
else:
raise TypeError("need at least one of `code` and `fn`")
- root_veri = copy.deepcopy(root)
env = Env()
- proc(root, env, False)
- env_veri = Env()
- proc(root_veri, env_veri, True)
- return env, env_veri
+ proc(root, env)
+ return env
def push(self):
self.scopes = [ScopeLevel()] + self.scopes
@@ -323,7 +366,7 @@ class Env():
self.set(name, ast.arg(name, ast.Constant(typ, None)))
def add_assert(self, expr, label):
- self.scopes[0].asserts.append(Assert(expr, label))
+ self.scopes[0].asserts.append(_Assert(expr, label))
@staticmethod
def dump_scope(env: ScopeLevel, dump=False):
@@ -345,7 +388,8 @@ class Env():
@staticmethod
def trans_args(sv: ScopeValue, veri: bool) -> ScopeValue:
- def trans_condval(cv: CondVal):
+ def trans_condval(cv: CondVal, veri: bool):
+ raise NotImplementedError("flatten CondVal assignments")
for i, case in enumerate(cv.elems):
cv.elems[i].val = Env.trans_args(case.val, veri)
for j, cond in enumerate(case.cond):
@@ -363,14 +407,20 @@ class Env():
cond = ast.BoolOp(ast.And(), case.cond) if len(case.cond) > 1 else case.cond[0]
ret = ast.IfExp(cond, case.val, ret)
return ret
- """Finish up parsing to turn `ast.arg` placeholders into `ast.Name`s so that the trees can be easily evaluated later"""
+ def trans_reduction(red: Reduction, veri: bool):
+ if veri:
+ red.expr = Env.trans_args(red.expr, True)
+ red.value = Env.trans_args(red.value, True)
+ return red
+ expr = Env.trans_args(red.expr, False)
+ value = Env.trans_args(red.value, False)
+ gen_expr = ast.GeneratorExp(expr, [ast.comprehension(ast.Name(red.it, ctx=ast.Store()), value, [], False)])
+ return ast.Call(ast.Name(str(red.op), ctx=ast.Load()), [gen_expr], [])
- if isinstance(sv, dict):
- for k, v in sv.items():
- sv[k] = Env.trans_args(v, veri)
- return sv
+ if isinstance(sv, Reduction):
+ return trans_reduction(sv, veri)
if isinstance(sv, CondVal):
- return trans_condval(sv)
+ return trans_condval(sv, veri)
if isinstance(sv, ast.AST):
class ArgTransformer(ast.NodeTransformer):
def __init__(self, veri: bool):
@@ -379,13 +429,27 @@ class Env():
def visit_arg(self, node):
return ast.Name(node.arg, ctx=ast.Load())
def visit_CondVal(self, node):
- return trans_condval(node)
+ return trans_condval(node, self.veri)
+ def visit_Reduction(self, node):
+ return trans_reduction(node, self.veri)
+ # def visit_Attribute(self, node: ast.Attribute) -> Any:
+ # if self.veri:
+ # value = super().visit(node.value)
+ # if isinstance(value, ast.Name):
+ # return ast.Name(f"{value.id}.{node.attr}", ctx=ast.Load())
+ # raise ValueError(f"value of attribute node is not name?: {unparse(node)}")
+ # else:
+ # return super().generic_visit(node)
return ArgTransformer(veri).visit(sv)
+ if isinstance(sv, dict):
+ for k, v in sv.items():
+ sv[k] = Env.trans_args(v, veri)
+ return sv
if isinstance(sv, Lambda):
sv.body = Env.trans_args(sv.body, veri)
sv.asserts = [Env.trans_args(a, veri) for a in sv.asserts]
return sv
- if isinstance(sv, Assert):
+ if isinstance(sv, _Assert):
sv.cond = Env.trans_args(sv.cond, veri)
sv.pre = [Env.trans_args(p, veri) for p in sv.pre]
return sv
@@ -393,16 +457,18 @@ class Env():
sv.expr = Env.trans_args(sv.expr, veri)
sv.value = Env.trans_args(sv.value, veri)
return sv
+ print(ControllerIR.dump(sv, True))
+ raise NotImplementedError(str(sv.__class__))
ScopeValueMap = Dict[str, ScopeValue]
-def merge_if(test: ast.expr, trues: Env, falses: Env, env: Env, veri: bool):
+def merge_if(test: ast.expr, trues: Env, falses: Env, env: Env):
# `true`, `false` and `env` should have the same level
for true, false in zip(trues.scopes, falses.scopes):
- merge_if_single(test, true.v, false.v, env, veri)
+ merge_if_single(test, true.v, false.v, env)
env.scopes[0].asserts = merge_assert(test, trues.scopes[0].asserts, falses.scopes[0].asserts, env.scopes[0].asserts)
-def merge_assert(test: ast.expr, trues: List[Assert], falses: List[Assert], orig: List[Assert]):
+def merge_assert(test: ast.expr, trues: List[_Assert], falses: List[_Assert], orig: List[_Assert]):
def merge_cond(test, asserts):
for a in asserts:
a.pre.append(test)
@@ -415,7 +481,7 @@ def merge_assert(test: ast.expr, trues: List[Assert], falses: List[Assert], orig
m_trues, m_falses = merge_cond(test, trues), merge_cond(ast.UnaryOp(ast.Not(), test), falses)
return m_trues + m_falses + orig
-def merge_if_single(test, true: ScopeValueMap, false: ScopeValueMap, scope: Union[Env, ScopeValueMap], veri: bool):
+def merge_if_single(test, true: ScopeValueMap, false: ScopeValueMap, scope: Union[Env, ScopeValueMap]):
def lookup(s, k):
if isinstance(s, Env):
return s.lookup(k)
@@ -438,7 +504,7 @@ def merge_if_single(test, true: ScopeValueMap, false: ScopeValueMap, scope: Unio
assign(scope, var, {})
var_true_emp, var_false_emp, var_scope = true.get(var, {}), false.get(var, {}), lookup(scope, var)
assert isinstance(var_true_emp, dict) and isinstance(var_false_emp, dict) and isinstance(var_scope, dict)
- merge_if_single(test, var_true_emp, var_false_emp, var_scope, veri)
+ merge_if_single(test, var_true_emp, var_false_emp, var_scope)
else:
var_orig = lookup(scope, var)
if_val = merge_if_val(test, var_true, var_false, var_orig)
@@ -480,20 +546,20 @@ def merge_if_val(test, true: Optional[ScopeValue], false: Optional[ScopeValue],
return CondVal(ret.elems + orig.elems)
return ret
-def proc_assign(target: ast.AST, val, env: Env, veri: bool):
+def proc_assign(target: ast.AST, val, env: Env):
def proc_assign_attr(value, attr, val):
- if proc(value, env, veri) == None:
- proc_assign(value, {}, env, veri)
- obj = proc(value, env, veri)
+ if proc(value, env) == None:
+ proc_assign(value, {}, env)
+ obj = proc(value, env)
if isinstance(val, ast.AST):
- val = proc(val, env, veri)
+ val = proc(val, env)
if val != None:
obj[attr] = val
else:
obj[attr] = val
if isinstance(target, ast.Name):
if isinstance(val, ast.AST):
- val = proc(val, env, veri)
+ val = proc(val, env)
if val != None:
if isinstance(val, ast.arg):
assert isinstance(val.annotation, ast.Constant)
@@ -523,13 +589,10 @@ START_OF_MAIN = "--start-of-main--"
# NOTE `ast.arg` used as a placeholder for idents we don't know the value of.
# This is fine as it's never used in expressions
-# NOTE `veri` as a flag to create 2 versions of ASTs, one used for simulation and one for
-# verification. This is needed as one form is easier to be directly evaluated while the other easier
-# for verification. The differences between them means they can't be easily converted to one another
-def proc(node: ast.AST, env: Env, veri: bool) -> Any:
+def proc(node: ast.AST, env: Env) -> Any:
if isinstance(node, ast.Module):
for node in node.body:
- if proc(node, env, veri) == START_OF_MAIN:
+ if proc(node, env) == START_OF_MAIN:
break
elif not_ir_ast(node):
return node
@@ -539,14 +602,14 @@ def proc(node: ast.AST, env: Env, veri: bool) -> Any:
elif isinstance(node, ast.If):
if is_main_check(node):
return START_OF_MAIN
- test = proc(node.test, env, veri)
+ test = proc(node.test, env)
true_scope = copy.deepcopy(env)
for true in node.body:
- proc(true, true_scope, veri)
+ proc(true, true_scope)
false_scope = copy.deepcopy(env)
for false in node.orelse:
- proc(false, false_scope, veri)
- merge_if(test, true_scope, false_scope, env, veri)
+ proc(false, false_scope)
+ merge_if(test, true_scope, false_scope, env)
# Definition/Assignment
elif isinstance(node, ast.Import) or isinstance(node, ast.ImportFrom):
@@ -554,13 +617,13 @@ def proc(node: ast.AST, env: Env, veri: bool) -> Any:
env.add_hole(alias.name if alias.asname == None else alias.asname, None)
elif isinstance(node, ast.Assign):
if len(node.targets) == 1:
- proc_assign(node.targets[0], node.value, env, veri)
+ proc_assign(node.targets[0], node.value, env)
else:
raise NotImplementedError("unpacking not supported")
elif isinstance(node, ast.Name):# and isinstance(node.ctx, ast.Load):
return env.lookup(node.id)
elif isinstance(node, ast.Attribute) and isinstance(node.ctx, ast.Load):
- obj = proc(node.value, env, veri)
+ obj = proc(node.value, env)
# TODO since we know what the mode and state types contain we can do some typo checking
if not_ir_ast(obj):
if obj.arg in env.mode_defs:
@@ -569,9 +632,9 @@ def proc(node: ast.AST, env: Env, veri: bool) -> Any:
return attr
return obj[node.attr]
elif isinstance(node, ast.FunctionDef):
- env.set(node.name, Lambda.from_ast(node, env, veri))
+ env.set(node.name, Lambda.from_ast(node, env))
elif isinstance(node, ast.Lambda):
- return Lambda.from_ast(node, env, veri)
+ return Lambda.from_ast(node, env)
elif isinstance(node, ast.ClassDef):
def grab_names(nodes: List[ast.stmt]):
names = []
@@ -607,7 +670,7 @@ def proc(node: ast.AST, env: Env, veri: bool) -> Any:
env.state_defs[node.name] = state_vars
env.add_hole(node.name, None)
elif isinstance(node, ast.Assert):
- cond = proc(node.test, env, veri)
+ cond = proc(node.test, env)
if node.msg == None:
env.add_assert(cond, None)
elif isinstance(node.msg, ast.Constant):
@@ -617,20 +680,20 @@ def proc(node: ast.AST, env: Env, veri: bool) -> Any:
# Expressions
elif isinstance(node, ast.UnaryOp):
- return ast.UnaryOp(node.op, proc(node.operand, env, veri))
+ return ast.UnaryOp(node.op, proc(node.operand, env))
elif isinstance(node, ast.BinOp):
- return ast.BinOp(proc(node.left, env, veri), node.op, proc(node.right, env, veri))
+ return ast.BinOp(proc(node.left, env), node.op, proc(node.right, env))
elif isinstance(node, ast.BoolOp):
- return ast.BoolOp(node.op, [proc(val, env, veri) for val in node.values])
+ return ast.BoolOp(node.op, [proc(val, env) for val in node.values])
elif isinstance(node, ast.Compare):
if len(node.ops) > 1 or len(node.comparators) > 1:
raise NotImplementedError("too many comparisons")
- return ast.Compare(proc(node.left, env, veri), node.ops, [proc(node.comparators[0], env, veri)])
+ return ast.Compare(proc(node.left, env), node.ops, [proc(node.comparators[0], env)])
elif isinstance(node, ast.Call):
- fun = proc(node.func, env, veri)
+ fun = proc(node.func, env)
if isinstance(fun, Lambda):
- args = [proc(a, env, veri) for a in node.args]
+ args = [proc(a, env) for a in node.args]
asserts, ret = fun.apply(args)
env.scopes[0].asserts.extend(asserts)
return ret
@@ -638,14 +701,14 @@ def proc(node: ast.AST, env: Env, veri: bool) -> Any:
if isinstance(fun.value, ast.arg) and fun.value.arg == "copy" and fun.attr == "deepcopy":
if len(node.args) > 1:
raise ValueError("too many args to `copy.deepcopy`")
- return proc(node.args[0], env, veri)
+ return proc(node.args[0], env)
return node
if isinstance(fun, ast.arg):
if fun.arg == "copy.deepcopy":
raise Exception("unreachable")
else:
ret = copy.deepcopy(node)
- ret.args = [proc(a, env, veri) for a in ret.args]
+ ret.args = [proc(a, env) for a in ret.args]
return ret
if isinstance(node.func, ast.Name):
name = node.func.id
@@ -663,33 +726,31 @@ def proc(node: ast.AST, env: Env, veri: bool) -> Any:
raise NotImplementedError("complex generator target")
env.push()
env.add_hole(target.id, None)
- if veri:
- op = ReductionType.from_str(name)
- def cond_trans(e: ast.expr, c: ast.expr) -> ast.expr:
- if op == ReductionType.Any:
- return ast.BoolOp(ast.And(), [e, c])
- else:
- return ast.BoolOp(ast.Or(), [e, ast.UnaryOp(ast.Not(), c)])
- expr = proc(expr, env, veri)
- expr = cond_trans(expr, ast.BoolOp(ast.And(), ifs)) if len(ifs) > 0 else expr
- ret = Reduction(op, expr, target.id, proc(iter, env, veri))
- else:
- gens.elt = proc(gens.elt, env, veri)
- gen.iter = proc(gen.iter, env, veri)
- gen.ifs = [proc(cond, env, veri) for cond in gen.ifs]
- ret = node
+ op = ReductionType.from_str(name)
+ def cond_trans(e: ast.expr, c: ast.expr) -> ast.expr:
+ if op == ReductionType.Any:
+ return ast.BoolOp(ast.And(), [e, c])
+ else:
+ return ast.BoolOp(ast.Or(), [e, ast.UnaryOp(ast.Not(), c)])
+ expr = proc(expr, env)
+ expr = cond_trans(expr, ast.BoolOp(ast.And(), ifs)) if len(ifs) > 0 else expr
+ ret = Reduction(op, expr, target.id, proc(iter, env))
env.pop()
return ret
elif isinstance(node, ast.Return):
- return proc(node.value, env, veri) if node.value != None else None
+ return proc(node.value, env) if node.value != None else None
elif isinstance(node, ast.IfExp):
return node
+ elif isinstance(node, ast.Expr):
+ if isinstance(node.value, ast.Call):
+ warnings.warn(f"Effects of this call will not be included in the result: \"{unparse(node.value)}\"")
+ return None
# Literals
elif isinstance(node, ast.List):
- return ast.List([proc(e, env, veri) for e in node.elts])
+ return ast.List([proc(e, env) for e in node.elts])
elif isinstance(node, ast.Tuple):
- return ast.Tuple([proc(e, env, veri) for e in node.elts])
+ return ast.Tuple([proc(e, env) for e in node.elts])
elif isinstance(node, ast.Constant):
return node # XXX simplification?
else:
diff --git a/dryvr_plus_plus/plotter/__init__.py b/verse/plotter/__init__.py
similarity index 100%
rename from dryvr_plus_plus/plotter/__init__.py
rename to verse/plotter/__init__.py
diff --git a/dryvr_plus_plus/plotter/parser.py b/verse/plotter/parser.py
similarity index 100%
rename from dryvr_plus_plus/plotter/parser.py
rename to verse/plotter/parser.py
diff --git a/dryvr_plus_plus/plotter/plotter2D.py b/verse/plotter/plotter2D.py
similarity index 89%
rename from dryvr_plus_plus/plotter/plotter2D.py
rename to verse/plotter/plotter2D.py
index 57bb05f53e9a92d88da31c76a77e00513b13e8f9..d29af2b4350c1ad6aec7df0202dd9ec37d69fbaf 100644
--- a/dryvr_plus_plus/plotter/plotter2D.py
+++ b/verse/plotter/plotter2D.py
@@ -55,11 +55,12 @@ These 5 functions share the same API.
"""
-def reachtube_anime(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim: int = 2, map_type='lines', scale_type='trace', print_dim_list=None, label_mode='None'):
+def reachtube_anime(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim: int = 2, map_type='lines', scale_type='trace', print_dim_list=None, label_mode='None', sample_rate=1, speed_rate=1):
"""It gives the animation of the verfication."""
+ root = sample_trace(root, sample_rate)
agent_list = list(root.agent.keys())
timed_point_dict = {}
- stack = [root]
+ queue = [root]
x_min, x_max = float('inf'), -float('inf')
y_min, y_max = float('inf'), -float('inf')
# input check
@@ -68,14 +69,14 @@ def reachtube_anime(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim: int
if print_dim_list is None:
print_dim_list = range(0, num_dim)
scheme_list = list(scheme_dict.keys())
-
- while stack != []:
- node = stack.pop()
+ num_points = 0
+ while queue != []:
+ node = queue.pop()
traces = node.trace
for agent_id in traces:
trace = np.array(traces[agent_id])
if trace[0][0] > 0:
- trace = trace[4:]
+ trace = trace[8:]
for i in range(0, len(trace)-1, 2):
x_min = min(x_min, trace[i][x_dim])
x_max = max(x_max, trace[i][x_dim])
@@ -84,6 +85,7 @@ def reachtube_anime(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim: int
time_point = round(trace[i][0], 2)
rect = [trace[i][0:].tolist(), trace[i+1][0:].tolist()]
if time_point not in timed_point_dict:
+ num_points += 1
timed_point_dict[time_point] = {agent_id: [rect]}
else:
if agent_id in timed_point_dict[time_point].keys():
@@ -91,11 +93,12 @@ def reachtube_anime(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim: int
else:
timed_point_dict[time_point][agent_id] = [rect]
- stack += node.child
+ queue += node.child
+ duration = int(5000/num_points/speed_rate)
fig_dict, sliders_dict = create_anime_dict(duration)
for time_point in timed_point_dict:
frame = {"data": [], "layout": {
- "annotations": [], "shapes": []}, "name": str(time_point)}
+ "annotations": [], "shapes": []}, "name": '{:.3f}'.format(time_point)}
agent_dict = timed_point_dict[time_point]
for agent_id, rect_list in agent_dict.items():
for rect in rect_list:
@@ -105,21 +108,20 @@ def reachtube_anime(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim: int
"y0": rect[0][y_dim],
"x1": rect[1][x_dim],
"y1": rect[1][y_dim],
- "fillcolor": 'rgba(0,0,0,0.5)',
- "line": dict(color='rgba(255,255,255,0)'),
+ "fillcolor": 'rgba(0,0,0,0.7)',
+ "line": dict(color='rgba(0,0,0,0.7)'),
"visible": True
-
}
frame["layout"]["shapes"].append(shape_dict)
fig_dict["frames"].append(frame)
slider_step = {"args": [
- ['{:.2f}'.format(time_point)],
+ ['{:.3f}'.format(time_point)],
{"frame": {"duration": duration, "redraw": False},
"mode": "immediate",
"transition": {"duration": duration}}
],
- "label": '{:.2f}'.format(time_point),
+ "label": '{:.3f}'.format(time_point),
"method": "animate"}
sliders_dict["steps"].append(slider_step)
@@ -182,8 +184,9 @@ def reachtube_anime(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim: int
return fig
-def reachtube_tree(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim=2, map_type='lines', scale_type='trace', print_dim_list=None, label_mode='None'):
+def reachtube_tree(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim=2, map_type='lines', scale_type='trace', print_dim_list=None, label_mode='None', sample_rate=1):
"""It statically shows all the traces of the verfication."""
+ root = sample_trace(root, sample_rate)
fig = draw_map(map=map, fig=fig, fill_type=map_type)
agent_list = list(root.agent.keys())
# input check
@@ -246,8 +249,9 @@ def reachtube_tree(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim=2, map
return fig
-def simulation_tree(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type='lines', scale_type='trace', print_dim_list=None, label_mode='None'):
+def simulation_tree(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type='lines', scale_type='trace', print_dim_list=None, label_mode='None', sample_rate=1):
"""It statically shows all the traces of the simulation."""
+ root = sample_trace(root, sample_rate)
fig = draw_map(map=map, fig=fig, fill_type=map_type)
agent_list = list(root.agent.keys())
# input check
@@ -313,10 +317,11 @@ def simulation_tree(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type=
return fig
-def simulation_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type='lines', scale_type='trace', print_dim_list=None, label_mode='None'):
+def simulation_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type='lines', scale_type='trace', print_dim_list=None, label_mode='None', sample_rate=1, speed_rate=1):
"""It gives the animation of the simulation without trail but is faster."""
+ root = sample_trace(root, sample_rate)
timed_point_dict = {}
- stack = [root]
+ queue = [root]
x_min, x_max = float('inf'), -float('inf')
y_min, y_max = float('inf'), -float('inf')
# input check
@@ -325,8 +330,9 @@ def simulation_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type
if print_dim_list is None:
print_dim_list = range(0, num_dim)
agent_list = list(root.agent.keys())
- while stack != []:
- node = stack.pop()
+ num_points = 0
+ while queue != []:
+ node = queue.pop()
traces = node.trace
for agent_id in traces:
trace = np.array(traces[agent_id])
@@ -338,6 +344,7 @@ def simulation_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type
time_point = round(trace[i][0], 2)
tmp_trace = trace[i][0:].tolist()
if time_point not in timed_point_dict:
+ num_points += 1
timed_point_dict[time_point] = {agent_id: [tmp_trace]}
else:
if agent_id not in timed_point_dict[time_point].keys():
@@ -345,8 +352,8 @@ def simulation_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type
elif tmp_trace not in timed_point_dict[time_point][agent_id]:
timed_point_dict[time_point][agent_id].append(
tmp_trace)
- time = round(trace[i][0], 2)
- stack += node.child
+ queue += node.child
+ duration = int(5000/num_points/speed_rate)
fig_dict, sliders_dict = create_anime_dict(duration)
# make data
trace_dict = timed_point_dict[0]
@@ -379,7 +386,7 @@ def simulation_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type
# make frames
for time_point in timed_point_dict:
frame = {"data": [], "layout": {
- "annotations": []}, "name": '{:.2f}'.format(time_point)}
+ "annotations": []}, "name": '{:.3f}'.format(time_point)}
point_list = timed_point_dict[time_point]
for agent_id, trace_list in point_list.items():
color = colors[agent_list.index(agent_id) % 12][1]
@@ -410,12 +417,12 @@ def simulation_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type
frame["data"].append(data_dict)
fig_dict["frames"].append(frame)
slider_step = {"args": [
- ['{:.2f}'.format(time_point)],
+ ['{:.3f}'.format(time_point)],
{"frame": {"duration": duration, "redraw": True},
"mode": "immediate",
"transition": {"duration": duration}}
],
- "label": '{:.2f}'.format(time_point),
+ "label": '{:.3f}'.format(time_point),
"method": "animate"}
sliders_dict["steps"].append(slider_step)
@@ -461,10 +468,11 @@ def simulation_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type
return fig
-def simulation_anime_trail(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim=2, map_type='lines', scale_type='trace', print_dim_list=None, label_mode='None'):
+def simulation_anime_trail(root, map=None, fig=go.Figure(), x_dim: int = 1, y_dim=2, map_type='lines', scale_type='trace', print_dim_list=None, label_mode='None', sample_rate=1, speed_rate=1):
"""It gives the animation of the simulation with trail."""
+ root = sample_trace(root, sample_rate)
timed_point_dict = {}
- stack = [root]
+ queue = [root]
x_min, x_max = float('inf'), -float('inf')
y_min, y_max = float('inf'), -float('inf')
# input check
@@ -472,9 +480,9 @@ def simulation_anime_trail(root, map=None, fig=go.Figure(), x_dim: int = 1, y_di
check_dim(num_dim, x_dim, y_dim, print_dim_list)
if print_dim_list is None:
print_dim_list = range(0, num_dim)
-
- while stack != []:
- node = stack.pop()
+ num_points = 0
+ while queue != []:
+ node = queue.pop()
traces = node.trace
for agent_id in traces:
trace = np.array(traces[agent_id])
@@ -486,6 +494,7 @@ def simulation_anime_trail(root, map=None, fig=go.Figure(), x_dim: int = 1, y_di
time_point = round(trace[i][0], 3)
tmp_trace = trace[i][0:].tolist()
if time_point not in timed_point_dict:
+ num_points += 1
timed_point_dict[time_point] = {agent_id: [tmp_trace]}
else:
if agent_id not in timed_point_dict[time_point].keys():
@@ -494,7 +503,8 @@ def simulation_anime_trail(root, map=None, fig=go.Figure(), x_dim: int = 1, y_di
timed_point_dict[time_point][agent_id].append(
tmp_trace)
time = round(trace[i][0], 2)
- stack += node.child
+ queue += node.child
+ duration = int(5000/num_points/speed_rate)
fig_dict, sliders_dict = create_anime_dict(duration)
time_list = list(timed_point_dict.keys())
agent_list = list(root.agent.keys())
@@ -534,7 +544,7 @@ def simulation_anime_trail(root, map=None, fig=go.Figure(), x_dim: int = 1, y_di
for time_point_id in range(trail_limit, len(time_list)):
time_point = time_list[time_point_id]
frame = {"data": [], "layout": {
- "annotations": []}, "name": '{:.2f}'.format(time_point)}
+ "annotations": []}, "name": '{:.3f}'.format(time_point)}
for agent_id in agent_list:
color = colors[agent_list.index(agent_id) % 12][1]
for id in range(0, trail_len, step):
@@ -583,12 +593,12 @@ def simulation_anime_trail(root, map=None, fig=go.Figure(), x_dim: int = 1, y_di
fig_dict["frames"].append(frame)
slider_step = {"args": [
- ['{:.2f}'.format(time_point)],
+ ['{:.3f}'.format(time_point)],
{"frame": {"duration": duration, "redraw": False},
"mode": "immediate",
"transition": {"duration": duration}}
],
- "label": '{:.2f}'.format(time_point),
+ "label": '{:.3f}'.format(time_point),
"method": "animate"}
sliders_dict["steps"].append(slider_step)
@@ -662,73 +672,24 @@ def reachtube_tree_single(root, agent_id, fig=go.Figure(), x_dim: int = 1, y_dim
trace_y_odd = np.array([trace[i][y_dim] for i in range(0, max_id, 2)])
trace_y_even = np.array([trace[i][y_dim]
for i in range(1, max_id+1, 2)])
- # trace_y_new = [0]*len(trace)
- # trace_y_new[0] = trace[0][y_dim]
- # trace_y_new[int(len(trace)/2)] = trace[-1][y_dim]
- # for i in range(1, max_id, 2):
- # if trace[i][y_dim] > trace[i+1][y_dim]:
- # trace_y_new[i] = trace[i][y_dim]
- # trace_y_new[max_id+1-i] = trace[i+1][y_dim]
- # else:
- # trace_y_new[i] = trace[i+1][y_dim]
- # trace_y_new[max_id+1-i] = trace[i][y_dim]
- # trace_y_new=np.array(trace_y_new)
- # fig.add_trace(go.Scatter(x=trace_x_odd.tolist()+trace_x_even[::-1].tolist(), y=trace_y_new, mode='lines',
- # fill='toself',
- # fillcolor=fillcolor,
- # opacity=0.5,
- # line_color='rgba(255,255,255,0)',
- # showlegend=show_legend
- # ))
- # fig.add_trace(go.Scatter(x=trace_x_odd.tolist()+trace_x_odd[::-1].tolist(), y=trace_y_odd.tolist()+trace_y_even[::-1].tolist(), mode='lines',
- # fill='toself',
- # fillcolor=fillcolor,
- # opacity=0.5,
- # line_color='rgba(255,255,255,0)',
- # showlegend=show_legend
- # ))
- # fig.add_trace(go.Scatter(x=trace_x_even.tolist()+trace_x_even[::-1].tolist(), y=trace_y_odd.tolist()+trace_y_even[::-1].tolist(), mode='lines',
- # fill='toself',
- # fillcolor=fillcolor,
- # opacity=0.5,
- # line_color='rgba(255,255,255,0)',
- # showlegend=show_legend))
fig.add_trace(go.Scatter(x=trace_x_odd.tolist()+trace_x_even[::-1].tolist()+[trace_x_odd[0]], y=trace_y_odd.tolist()+trace_y_even[::-1].tolist()+[trace_y_odd[0]], mode='markers+lines',
fill='toself',
fillcolor=fillcolor,
# opacity=0.5,
marker={'size': 1},
- line_color=colors[scheme_dict[color]][2],
+ line_color=colors[scheme_dict[color]][4],
line={'width': 1},
showlegend=show_legend
))
- # fig.add_trace(go.Scatter(x=trace_x_even.tolist()+trace_x_odd[::-1].tolist(), y=trace_y_odd.tolist()+trace_y_even[::-1].tolist(), mode='lines',
- # fill='toself',
- # fillcolor=fillcolor,
- # opacity=0.5,
- # line_color='rgba(255,255,255,0)',
- # showlegend=show_legend))
+ 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': 'grey'},
+ marker={'size': 4, 'color': 'black'},
+ showlegend=False))
queue += node.child
-
- # queue = [root]
- # while queue != []:
- # node = queue.pop(0)
- # traces = node.trace
- # trace = np.array(traces[agent_id])
- # max_id = len(trace)-1
- # fig.add_trace(go.Scatter(x=trace[:, x_dim], y=trace[:, y_dim],
- # mode='markers',
- # text=[
- # ['{:.2f}'.format(trace[i, j])for j in print_dim_list] for i in range(0, trace.shape[0])],
- # line_color=colors[scheme_dict[color]][0],
- # marker={
- # "sizemode": "area",
- # "sizeref": 200000,
- # "size": 2
- # },
- # name='lines',
- # showlegend=False))
- # queue += node.child
return fig
@@ -775,16 +736,15 @@ def simulation_tree_single(root, agent_id, fig: go.Figure() = go.Figure(), x_dim
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',
- # line_color='grey',
text=['HIT:\n' +
a for a in node.assert_hits[agent_id]],
textfont={'color': 'grey'},
- legendgroup=agent_id,
marker={'size': 4, 'color': 'black'},
- legendgrouptitle_text=agent_id,
- name=str(round(start[0], 2))+'-'+str(round(end[0], 2)) +
- '-'+str(count_dict[time])+'hit',
- showlegend=True))
+ # legendgroup=agent_id,
+ # legendgrouptitle_text=agent_id,
+ # name=str(round(start[0], 2))+'-'+str(round(end[0], 2)) +
+ # '-'+str(count_dict[time])+'hit',
+ showlegend=False))
color_id = (color_id+4) % 5
queue += node.child
@@ -1018,3 +978,29 @@ def get_text_pos(veh_mode):
text_pos = 'middle center'
text = veh_mode
return text_pos, text
+
+
+def sample_trace(root, sample_rate: int = 1):
+ queue = [root]
+ # print(root.trace)
+ if root.type == 'reachtube':
+ sample_rate = sample_rate*2
+ while queue != []:
+ node = queue.pop()
+ for agent_id in node.agent:
+ trace_length = len(node.trace[agent_id])
+ tmp = []
+ for i in range(0, trace_length, sample_rate):
+ if i+sample_rate-1 < trace_length:
+ tmp.append(node.trace[agent_id][i])
+ tmp.append(node.trace[agent_id][i+sample_rate-1])
+ node.trace[agent_id] = tmp
+ queue += node.child
+ else:
+ while queue != []:
+ node = queue.pop()
+ for agent_id in node.agent:
+ node.trace[agent_id] = [node.trace[agent_id][i]
+ for i in range(0, len(node.trace[agent_id]), sample_rate)]
+ queue += node.child
+ return root
diff --git a/dryvr_plus_plus/plotter/plotter3D.py b/verse/plotter/plotter3D.py
similarity index 100%
rename from dryvr_plus_plus/plotter/plotter3D.py
rename to verse/plotter/plotter3D.py
diff --git a/dryvr_plus_plus/plotter/plotter_README.md b/verse/plotter/plotter_README.md
similarity index 100%
rename from dryvr_plus_plus/plotter/plotter_README.md
rename to verse/plotter/plotter_README.md
diff --git a/verse/scenario/__init__.py b/verse/scenario/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..d0b85f91a62a505230b77bc564bbb59815dd314b
--- /dev/null
+++ b/verse/scenario/__init__.py
@@ -0,0 +1,2 @@
+from . import scenario
+from .scenario import *
\ No newline at end of file
diff --git a/dryvr_plus_plus/scene_verifier/scenario/scenario.py b/verse/scenario/scenario.py
similarity index 68%
rename from dryvr_plus_plus/scene_verifier/scenario/scenario.py
rename to verse/scenario/scenario.py
index dfe395b3c53b3300a580502e6882bd773aa81b08..53e684fed3d1890ee88fcbd7ffb23171c00c9451 100644
--- a/dryvr_plus_plus/scene_verifier/scenario/scenario.py
+++ b/verse/scenario/scenario.py
@@ -7,17 +7,12 @@ import ast
import numpy as np
-from dryvr_plus_plus.scene_verifier.agents.base_agent import BaseAgent
-from dryvr_plus_plus.scene_verifier.automaton.guard import GuardExpressionAst
-from dryvr_plus_plus.scene_verifier.automaton.reset import ResetExpression
-from dryvr_plus_plus.scene_verifier.code_parser.parser import ControllerIR, unparse
-from dryvr_plus_plus.scene_verifier.analysis.simulator import Simulator
-from dryvr_plus_plus.scene_verifier.analysis.verifier import Verifier
-from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
-from dryvr_plus_plus.scene_verifier.utils.utils import find, sample_rect
-from dryvr_plus_plus.scene_verifier.analysis.analysis_tree_node import AnalysisTreeNode
-from dryvr_plus_plus.scene_verifier.sensor.base_sensor import BaseSensor
-from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
+from verse.agents.base_agent import BaseAgent
+from verse.automaton import GuardExpressionAst, ResetExpression
+from verse.analysis import Simulator, Verifier, AnalysisTreeNode, AnalysisTree
+from verse.analysis.utils import find, sample_rect
+from verse.sensor.base_sensor import BaseSensor
+from verse.map.lane_map import LaneMap
EGO, OTHERS = "ego", "others"
@@ -30,10 +25,14 @@ class Scenario:
self.init_dict = {}
self.init_mode_dict = {}
self.static_dict = {}
- self.static_dict = {}
+ self.uncertain_param_dict = {}
self.map = LaneMap()
self.sensor = BaseSensor()
+ # Parameters
+ self.init_seg_length = 1000
+ self.reachability_method = 'DRYVR'
+
def set_sensor(self, sensor):
self.sensor = sensor
@@ -59,11 +58,13 @@ class Scenario:
# agent.controller.vertices = list(itertools.product(*mode_vals))
# agent.controller.vertexStrings = [','.join(elem) for elem in agent.controller.vertices]
- def set_init(self, init_list, init_mode_list, static_list=[]):
+ def set_init(self, init_list, init_mode_list, static_list=[], uncertain_param_list = []):
assert len(init_list) == len(self.agent_dict)
assert len(init_mode_list) == len(self.agent_dict)
assert len(static_list) == len(
self.agent_dict) or len(static_list) == 0
+ assert len(uncertain_param_list) == len(self.agent_dict)\
+ or len(uncertain_param_list) == 0
print(init_mode_list)
print(type(init_mode_list))
for i, agent_id in enumerate(self.agent_dict.keys()):
@@ -73,6 +74,10 @@ class Scenario:
self.static_dict[agent_id] = copy.deepcopy(static_list[i])
else:
self.static_dict[agent_id] = []
+ if uncertain_param_list:
+ self.uncertain_param_dict[agent_id] = copy.deepcopy(uncertain_param_list[i])
+ else:
+ self.uncertain_param_dict[agent_id] = []
def simulate_multi(self, time_horizon, num_sim):
res_list = []
@@ -81,24 +86,27 @@ class Scenario:
res_list.append(trace)
return res_list
- def simulate(self, time_horizon, time_step):
+ def simulate(self, time_horizon, time_step) -> AnalysisTree:
init_list = []
init_mode_list = []
static_list = []
agent_list = []
+ uncertain_param_list = []
for agent_id in self.agent_dict:
init_list.append(sample_rect(self.init_dict[agent_id]))
init_mode_list.append(self.init_mode_dict[agent_id])
static_list.append(self.static_dict[agent_id])
+ uncertain_param_list.append(self.uncertain_param_dict[agent_id])
agent_list.append(self.agent_dict[agent_id])
print(init_list)
- return self.simulator.simulate(init_list, init_mode_list, static_list, agent_list, self, time_horizon, time_step, self.map)
+ return self.simulator.simulate(init_list, init_mode_list, static_list, uncertain_param_list, agent_list, self, time_horizon, time_step, self.map)
- def verify(self, time_horizon, time_step):
+ def verify(self, time_horizon, time_step, reachability_method = 'DRYVR', params = {}) -> AnalysisTree:
init_list = []
init_mode_list = []
static_list = []
agent_list = []
+ uncertain_param_list = []
for agent_id in self.agent_dict:
init = self.init_dict[agent_id]
tmp = np.array(init)
@@ -107,8 +115,11 @@ class Scenario:
init_list.append(init)
init_mode_list.append(self.init_mode_dict[agent_id])
static_list.append(self.static_dict[agent_id])
+ uncertain_param_list.append(self.uncertain_param_dict[agent_id])
agent_list.append(self.agent_dict[agent_id])
- return self.verifier.compute_full_reachtube(init_list, init_mode_list, static_list, agent_list, self, time_horizon, time_step, self.map)
+
+ res = self.verifier.compute_full_reachtube(init_list, init_mode_list, static_list, uncertain_param_list, agent_list, self, time_horizon, time_step, self.map, self.init_seg_length, reachability_method, params)
+ return res
def apply_reset(self, agent: BaseAgent, reset_list, all_agent_state) -> Tuple[str, np.ndarray]:
lane_map = self.map
@@ -119,8 +130,7 @@ class Scenario:
dest = copy.deepcopy(agent_mode)
possible_dest = [[elem] for elem in dest]
- ego_type = find(agent.controller.controller.args,
- lambda a: a[0] == EGO)[1]
+ ego_type = find(agent.controller.args, lambda a: a.name == EGO).typ
rect = copy.deepcopy([agent_state[0][1:], agent_state[1][1:]])
# The reset_list here are all the resets for a single transition. Need to evaluate each of them
@@ -166,8 +176,7 @@ class Scenario:
found = True
break
if not found:
- raise ValueError(
- f'Reset continuous variable {cts_variable} not found')
+ raise ValueError(f'Reset continuous variable {cts_variable} not found')
# substituting low variables
symbols = []
@@ -231,26 +240,15 @@ class Scenario:
# Get guard
agent: BaseAgent = self.agent_dict[agent_id]
agent_mode = node.mode[agent_id]
- if agent.controller.controller == None:
+ if len(agent.controller.args) == 0:
continue
- # TODO-PARSER: update how we get all next modes
- # The getNextModes function will return
state_dict = {}
for tmp in node.agent:
- state_dict[tmp] = (node.trace[tmp][0],
- node.mode[tmp], node.static[tmp])
- cont_var_dict_template, discrete_variable_dict, len_dict = self.sensor.sense(
- self, agent, state_dict, self.map)
- paths = agent.controller.getNextModes()
- for guard_list, reset in paths:
- guard_expression = GuardExpressionAst(guard_list)
-
- # copy.deepcopy(guard_expression.ast_list[0].operand)
- # can_satisfy = guard_expression.fast_pre_process(discrete_variable_dict)
- continuous_variable_updater = guard_expression.parse_any_all_new(
- cont_var_dict_template, discrete_variable_dict, len_dict)
- agent_guard_dict[agent_id].append(
- (guard_expression, continuous_variable_updater, copy.deepcopy(discrete_variable_dict), reset))
+ state_dict[tmp] = (node.trace[tmp][0], node.mode[tmp], node.static[tmp])
+ cont_var_dict_template, discrete_variable_dict, len_dict = self.sensor.sense(self, agent, state_dict, self.map)
+ paths = agent.controller.paths
+ for path in paths:
+ agent_guard_dict[agent_id].append((path.cond, discrete_variable_dict, path.var, path.val))
transitions = defaultdict(list)
# TODO: We can probably rewrite how guard hit are detected and resets are handled for simulation
@@ -268,9 +266,7 @@ class Scenario:
continuous_variable_dict, orig_disc_vars, _ = self.sensor.sense(
self, agent, state_dict, self.map)
# Unsafety checking
- ego_ty_name = find(
- agent.controller.controller.args, lambda a: a[0] == EGO)[1]
-
+ ego_ty_name = find(agent.controller.args, lambda a: a.name == EGO).typ
def pack_env(agent: BaseAgent, cont, disc, map):
env = copy.deepcopy(cont)
env.update(disc)
@@ -281,66 +277,48 @@ class Scenario:
for k, v in env.items():
k = k.split(".")
packed[k[0]][k[1]] = v
- for arg, arg_type, is_list in agent.controller.controller.args:
- if arg != EGO and 'map' not in arg:
- other = arg
- others_keys = list(packed[other].keys())
- if is_list:
- packed[other] = [state_ty(
- **{k: packed[other][k][i] for k in others_keys}) for i in range(len(packed[other][others_keys[0]]))]
+ for arg in agent.controller.args:
+ if arg.name != EGO and 'map' not in arg.name:
+ other = arg.name
+ if other in packed:
+ others_keys = list(packed[other].keys())
+ packed[other] = [state_ty(**{k: packed[other][k][i] for k in others_keys}) for i in range(len(packed[other][others_keys[0]]))]
+ if not arg.is_list:
+ packed[other] = packed[other][0]
else:
- packed[other] = state_ty(
- **{k: packed[other][k] for k in others_keys})
+ if arg.is_list:
+ packed[other] = []
+ else:
+ raise ValueError(f"Expected one {ego_ty_name} for {other}, got none")
packed[EGO] = state_ty(**packed[EGO])
- map_var = find(agent.controller.controller.args,
- lambda a: "map" in a[0])
+ map_var = find(agent.controller.args, lambda a: "map" in a.name)
if map_var != None:
- packed[map_var[0]] = map
+ packed[map_var.name] = map
packed: Dict[str, Any] = dict(packed.items())
- packed.update(env)
+ # packed.update(env)
return packed
- packed_env = pack_env(
- agent, continuous_variable_dict, orig_disc_vars, self.map)
-
- def eval_expr(expr, env):
- return eval(compile(ast.fix_missing_locations(ast.Expression(expr)), "", "eval"), env)
+ packed_env = pack_env(agent, continuous_variable_dict, orig_disc_vars, self.map)
# Check safety conditions
- for i, a in enumerate(agent.controller.controller.asserts):
- pre_sat = all(eval_expr(p, packed_env) for p in a.pre)
- if pre_sat:
- cond_sat = eval_expr(a.cond, packed_env)
- if not cond_sat:
- label = a.label if a.label != None else f"<assert {i}>"
+ for assertion in agent.controller.asserts:
+ if eval(assertion.pre, packed_env):
+ if not eval(assertion.cond, packed_env):
del packed_env["__builtins__"]
- print(
- f"assert hit for {agent_id}: \"{label}\" @ {packed_env}")
- asserts[agent_id].append(label)
+ print(f"assert hit for {agent_id}: \"{assertion.label}\" @ {packed_env}")
+ asserts[agent_id].append(assertion.label)
if agent_id in asserts:
continue
all_resets = defaultdict(list)
- for guard_expression, continuous_variable_updater, discrete_variable_dict, reset in agent_guard_dict[agent_id]:
+ for guard_comp, discrete_variable_dict, var, reset in agent_guard_dict[agent_id]:
new_cont_var_dict = copy.deepcopy(continuous_variable_dict)
- one_step_guard = guard_expression.ast_list
- self.apply_cont_var_updater(
- new_cont_var_dict, continuous_variable_updater)
- env = pack_env(agent, new_cont_var_dict,
- discrete_variable_dict, self.map)
- if len(one_step_guard) == 0:
- raise ValueError("empty guard")
- if len(one_step_guard) == 1:
- one_step_guard = one_step_guard[0]
- elif len(one_step_guard) > 1:
- one_step_guard = ast.BoolOp(ast.And(), one_step_guard)
- guard_satisfied = eval_expr(one_step_guard, env)
+ env = pack_env(agent, new_cont_var_dict, discrete_variable_dict, self.map)
# Collect all the hit guards for this agent at this time step
- if guard_satisfied:
+ if eval(guard_comp, env):
# If the guard can be satisfied, handle resets
- reset_expr = ResetExpression(reset)
- all_resets[reset_expr.var].append(reset_expr)
+ all_resets[var].append(reset)
iter_list = []
for reset_var in all_resets:
@@ -355,8 +333,7 @@ class Scenario:
possible_dest = [[elem] for elem in dest]
for j, reset_idx in enumerate(pos):
reset_variable = list(all_resets.keys())[j]
- reset_expr: ResetExpression = all_resets[reset_variable][reset_idx]
- res = eval_expr(reset_expr.val_ast, packed_env)
+ res = eval(all_resets[reset_variable][reset_idx], packed_env)
ego_type = agent.controller.state_defs[ego_ty_name]
if "mode" in reset_variable:
var_loc = ego_type.disc.index(reset_variable)
@@ -383,68 +360,81 @@ class Scenario:
break
return None, transitions, idx
- def get_transition_verify_new(self, node: AnalysisTreeNode):
+ def get_transition_verify_new(self, node:AnalysisTreeNode):
lane_map = self.map
- possible_transitions = []
- agent_guard_dict = {}
+ agent_guard_dict = defaultdict(list)
for agent_id in node.agent:
- agent: BaseAgent = self.agent_dict[agent_id]
- if agent.controller.controller == None:
+ agent:BaseAgent = self.agent_dict[agent_id]
+ if len(agent.controller.args) == 0:
continue
agent_mode = node.mode[agent_id]
state_dict = {}
for tmp in node.agent:
- state_dict[tmp] = (node.trace[tmp][0*2:0*2+2],
- node.mode[tmp], node.static[tmp])
+ state_dict[tmp] = (node.trace[tmp][0*2:0*2+2], node.mode[tmp], node.static[tmp])
- cont_var_dict_template, discrete_variable_dict, length_dict = self.sensor.sense(
- self, agent, state_dict, self.map)
+ cont_var_dict_template, discrete_variable_dict, length_dict = self.sensor.sense(self, agent, state_dict, self.map)
# TODO-PARSER: Get equivalent for this function
- paths = agent.controller.getNextModes()
+ paths = agent.controller.paths
for guard_idx, path in enumerate(paths):
# Construct the guard expression
- guard_list = path[0]
- reset = path[1]
- guard_expression = GuardExpressionAst(guard_list, guard_idx)
-
- cont_var_updater = guard_expression.parse_any_all_new(
- cont_var_dict_template, discrete_variable_dict, length_dict)
- self.apply_cont_var_updater(
- cont_var_dict_template, cont_var_updater)
- guard_can_satisfied = guard_expression.evaluate_guard_disc(
- agent, discrete_variable_dict, cont_var_dict_template, self.map)
+ reset = (path.var, path.val_veri)
+ guard_expression = GuardExpressionAst([path.cond_veri], guard_idx)
+
+ cont_var_updater = guard_expression.parse_any_all_new(cont_var_dict_template, discrete_variable_dict, length_dict)
+ self.apply_cont_var_updater(cont_var_dict_template, cont_var_updater)
+ guard_can_satisfied = guard_expression.evaluate_guard_disc(agent, discrete_variable_dict, cont_var_dict_template, self.map)
if not guard_can_satisfied:
continue
- if agent_id not in agent_guard_dict:
- agent_guard_dict[agent_id] = [
- (guard_expression, cont_var_updater, copy.deepcopy(discrete_variable_dict), reset)]
- else:
- agent_guard_dict[agent_id].append(
- (guard_expression, cont_var_updater, copy.deepcopy(discrete_variable_dict), reset))
+ agent_guard_dict[agent_id].append((guard_expression, cont_var_updater, copy.deepcopy(discrete_variable_dict), reset))
trace_length = int(len(list(node.trace.values())[0])/2)
guard_hits = []
- guard_hit_bool = False
- for idx in range(0, trace_length):
+ guard_hit = False
+ for idx in range(0,trace_length):
any_contained = False
hits = []
state_dict = {}
for tmp in node.agent:
- state_dict[tmp] = (node.trace[tmp][idx*2:idx*2+2],
- node.mode[tmp], node.static[tmp])
+ state_dict[tmp] = (node.trace[tmp][idx*2:idx*2+2], node.mode[tmp], node.static[tmp])
- for agent_id in agent_guard_dict:
- agent: BaseAgent = self.agent_dict[agent_id]
+ asserts = defaultdict(list)
+ for agent_id in self.agent_dict.keys():
+ agent:BaseAgent = self.agent_dict[agent_id]
+ if len(agent.controller.args) == 0:
+ continue
agent_state, agent_mode, agent_static = state_dict[agent_id]
agent_state = agent_state[1:]
- continuous_variable_dict, _, _ = self.sensor.sense(
- self, agent, state_dict, self.map)
+ cont_vars, disc_vars, len_dict = self.sensor.sense(self, agent, state_dict, self.map)
resets = defaultdict(list)
+ # Check safety conditions
+ for i, a in enumerate(agent.controller.asserts_veri):
+ pre_expr = a.pre
+ def eval_expr(expr):
+ ge = GuardExpressionAst([copy.deepcopy(expr)])
+ cont_var_updater = ge.parse_any_all_new(cont_vars, disc_vars, len_dict)
+ self.apply_cont_var_updater(cont_vars, cont_var_updater)
+ sat = ge.evaluate_guard_disc(agent, disc_vars, cont_vars, self.map)
+ if sat:
+ sat = ge.evaluate_guard_hybrid(agent, disc_vars, cont_vars, self.map)
+ if sat:
+ sat, contained = ge.evaluate_guard_cont(agent, cont_vars, self.map)
+ sat = sat and contained
+ return sat
+ if eval_expr(pre_expr):
+ if not eval_expr(a.cond):
+ label = a.label if a.label != None else f"<assert {i}>"
+ print(f"assert hit for {agent_id}: \"{label}\"")
+ print(idx)
+ asserts[agent_id].append(label)
+ if agent_id in asserts:
+ continue
+ if agent_id not in agent_guard_dict:
+ continue
+
for guard_expression, continuous_variable_updater, discrete_variable_dict, reset in agent_guard_dict[agent_id]:
- new_cont_var_dict = copy.deepcopy(continuous_variable_dict)
- one_step_guard: GuardExpressionAst = copy.deepcopy(
- guard_expression)
+ new_cont_var_dict = copy.deepcopy(cont_vars)
+ one_step_guard:GuardExpressionAst = copy.deepcopy(guard_expression)
self.apply_cont_var_updater(
new_cont_var_dict, continuous_variable_updater)
@@ -473,21 +463,22 @@ class Scenario:
# a list of reset expression
hits.append((agent_id, tuple(reset_idx),
combined_reset_list[i]))
+ if len(asserts) > 0:
+ return (asserts, idx), None
if hits != []:
guard_hits.append((hits, state_dict, idx))
- guard_hit_bool = True
- if hits == [] and guard_hit_bool:
+ guard_hit = True
+ elif guard_hit:
break
if any_contained:
break
- reset_dict = {}
- reset_idx_dict = {}
+ reset_dict = {}#defaultdict(lambda: defaultdict(list))
+ reset_idx_dict = {}#defaultdict(lambda: defaultdict(list))
for hits, all_agent_state, hit_idx in guard_hits:
for agent_id, reset_idx, reset_list in hits:
# TODO: Need to change this function to handle the new reset expression and then I am done
- dest_list, reset_rect = self.apply_reset(
- node.agent[agent_id], reset_list, all_agent_state)
+ dest_list,reset_rect = self.apply_reset(node.agent[agent_id], reset_list, all_agent_state)
if agent_id not in reset_dict:
reset_dict[agent_id] = {}
reset_idx_dict[agent_id] = {}
@@ -505,25 +496,13 @@ class Scenario:
reset_dict[agent_id][reset_idx][dest].append(reset_rect)
reset_idx_dict[agent_id][reset_idx][dest].append(hit_idx)
+ possible_transitions = []
# Combine reset rects and construct transitions
for agent in reset_dict:
for reset_idx in reset_dict[agent]:
for dest in reset_dict[agent][reset_idx]:
- combined_rect = None
- for rect in reset_dict[agent][reset_idx][dest]:
- rect = np.array(rect)
- if combined_rect is None:
- combined_rect = rect
- else:
- combined_rect[0, :] = np.minimum(
- combined_rect[0, :], rect[0, :])
- combined_rect[1, :] = np.maximum(
- combined_rect[1, :], rect[1, :])
- combined_rect = combined_rect.tolist()
- min_idx = min(reset_idx_dict[agent][reset_idx][dest])
- max_idx = max(reset_idx_dict[agent][reset_idx][dest])
transition = (
- agent, node.mode[agent], dest, combined_rect, (min_idx, max_idx))
+ agent, node.mode[agent], dest, reset_dict[agent][reset_idx][dest], reset_idx_dict[agent][reset_idx][dest])
possible_transitions.append(transition)
# Return result
- return possible_transitions
+ return None, possible_transitions
diff --git a/verse/sensor/__init__.py b/verse/sensor/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..84c25cb04182a74b366fb85fcc606fd2db862ab8
--- /dev/null
+++ b/verse/sensor/__init__.py
@@ -0,0 +1,2 @@
+from . import base_sensor
+from .base_sensor import BaseSensor
diff --git a/dryvr_plus_plus/scene_verifier/sensor/base_sensor.py b/verse/sensor/base_sensor.py
similarity index 75%
rename from dryvr_plus_plus/scene_verifier/sensor/base_sensor.py
rename to verse/sensor/base_sensor.py
index dca18c973c2059dca30fc601aecbf8f77721a3a8..4cc9217c92ab934fcee929a1b8eead3a82e4728f 100644
--- a/dryvr_plus_plus/scene_verifier/sensor/base_sensor.py
+++ b/verse/sensor/base_sensor.py
@@ -1,5 +1,5 @@
import numpy as np
-from dryvr_plus_plus.scene_verifier.agents.base_agent import BaseAgent
+from verse.agents.base_agent import BaseAgent
def sets(d, thing, attrs, vals):
@@ -16,14 +16,14 @@ def adds(d, thing, attrs, vals):
def set_states_2d(cnts, disc, thing, val, cont_var, disc_var, stat_var):
state, mode, static = val
- sets(cnts, thing, cont_var, state[1:5])
+ sets(cnts, thing, cont_var, state[1:])
sets(disc, thing, disc_var, mode)
sets(disc, thing, stat_var, static)
def set_states_3d(cnts, disc, thing, val, cont_var, disc_var, stat_var):
state, mode, static = val
- transp = np.transpose(np.array(state)[:, 1:5])
+ transp = np.transpose(np.array(state)[:, 1:])
# assert len(transp) == 4
sets(cnts, thing, cont_var, transp)
sets(disc, thing, disc_var, mode)
@@ -32,14 +32,14 @@ def set_states_3d(cnts, disc, thing, val, cont_var, disc_var, stat_var):
def add_states_2d(cont, disc, thing, val, cont_var, disc_var, stat_var):
state, mode, static = val
- adds(cont, thing, cont_var, state[1:5])
+ adds(cont, thing, cont_var, state[1:])
adds(disc, thing, disc_var, mode)
adds(disc, thing, stat_var, static)
def add_states_3d(cont, disc, thing, val, cont_var, disc_var, stat_var):
state, mode, static = val
- transp = np.transpose(np.array(state)[:, 1:5])
+ transp = np.transpose(np.array(state)[:, 1:])
assert len(transp) == 4
adds(cont, thing, cont_var, transp)
adds(disc, thing, disc_var, mode)
@@ -59,12 +59,12 @@ class BaseSensor():
for agent_id in state_dict:
if agent_id == agent.id:
# Get type of ego
- controller_args = agent.controller.controller.args
+ controller_args = agent.controller.args
arg_type = None
for arg in controller_args:
- if arg[0] == 'ego':
- arg_type = arg[1]
- break
+ if arg.name == 'ego':
+ arg_type = arg.typ
+ break
if arg_type is None:
continue
raise ValueError(f"Invalid arg for ego")
@@ -74,14 +74,14 @@ class BaseSensor():
set_states_2d(
cont, disc, 'ego', state_dict[agent_id], cont_var, disc_var, stat_var)
else:
- controller_args = agent.controller.controller.args
+ controller_args = agent.controller.args
arg_type = None
arg_name = None
for arg in controller_args:
- if arg[0] != 'ego' and 'map' not in arg[0]:
- arg_name = arg[0]
- arg_type = arg[1]
- break
+ if arg.name != 'ego' and 'map' not in arg.name:
+ arg_name = arg.name
+ arg_type = arg.typ
+ break
if arg_type is None:
continue
raise ValueError(f"Invalid arg for others")
@@ -95,12 +95,12 @@ class BaseSensor():
for agent_id in state_dict:
if agent_id == agent.id:
# Get type of ego
- controller_args = agent.controller.controller.args
+ controller_args = agent.controller.args
arg_type = None
for arg in controller_args:
- if arg[0] == 'ego':
- arg_type = arg[1]
- break
+ if arg.name == 'ego':
+ arg_type = arg.typ
+ break
if arg_type is None:
raise ValueError(f"Invalid arg for ego")
cont_var = agent.controller.state_defs[arg_type].cont
@@ -109,20 +109,19 @@ class BaseSensor():
set_states_3d(
cont, disc, 'ego', state_dict[agent_id], cont_var, disc_var, stat_var)
else:
- controller_args = agent.controller.controller.args
+ controller_args = agent.controller.args
arg_type = None
arg_name = None
for arg in controller_args:
- if arg[0] != 'ego' and 'map' not in arg[0]:
- arg_name = arg[0]
- arg_type = arg[1]
- break
+ if arg.name != 'ego' and 'map' not in arg.name:
+ arg_name = arg.name
+ arg_type = arg.typ
+ break
if arg_type is None:
raise ValueError(f"Invalid arg for others")
cont_var = agent.controller.state_defs[arg_type].cont
disc_var = agent.controller.state_defs[arg_type].disc
stat_var = agent.controller.state_defs[arg_type].static
- add_states_3d(
- cont, disc, arg_name, state_dict[agent_id], cont_var, disc_var, stat_var)
-
+ add_states_3d(cont, disc, arg_name, state_dict[agent_id], cont_var, disc_var, stat_var)
+
return cont, disc, len_dict
diff --git a/dryvr_plus_plus/example/example_agent/__init__.py b/verse/sensor/example_sensor/__init__.py
similarity index 100%
rename from dryvr_plus_plus/example/example_agent/__init__.py
rename to verse/sensor/example_sensor/__init__.py
diff --git a/dryvr_plus_plus/example/example_sensor/craft_sensor.py b/verse/sensor/example_sensor/craft_sensor.py
similarity index 100%
rename from dryvr_plus_plus/example/example_sensor/craft_sensor.py
rename to verse/sensor/example_sensor/craft_sensor.py
diff --git a/dryvr_plus_plus/example/example_sensor/fake_sensor.py b/verse/sensor/example_sensor/fake_sensor.py
similarity index 100%
rename from dryvr_plus_plus/example/example_sensor/fake_sensor.py
rename to verse/sensor/example_sensor/fake_sensor.py
diff --git a/dryvr_plus_plus/example/example_sensor/quadrotor_sensor.py b/verse/sensor/example_sensor/quadrotor_sensor.py
similarity index 100%
rename from dryvr_plus_plus/example/example_sensor/quadrotor_sensor.py
rename to verse/sensor/example_sensor/quadrotor_sensor.py
diff --git a/dryvr_plus_plus/example/example_sensor/thermo_sensor.py b/verse/sensor/example_sensor/thermo_sensor.py
similarity index 100%
rename from dryvr_plus_plus/example/example_sensor/thermo_sensor.py
rename to verse/sensor/example_sensor/thermo_sensor.py