From 825696d0fa76239a007cb8ae0db37a3ece3a37ea Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Tue, 11 Oct 2022 14:46:49 -0500
Subject: [PATCH] no trace
---
verse/analysis/simulator.py | 17 +++++++++--------
verse/scenario/scenario.py | 4 ++--
2 files changed, 11 insertions(+), 10 deletions(-)
diff --git a/verse/analysis/simulator.py b/verse/analysis/simulator.py
index 77a9ab93..69e2f198 100644
--- a/verse/analysis/simulator.py
+++ b/verse/analysis/simulator.py
@@ -53,7 +53,7 @@ class Simulator:
# Perform BFS through the simulation tree to loop through all possible transitions
while simulation_queue != []:
node: AnalysisTreeNode = simulation_queue.pop(0)
- pp(("start sim", node.start_time, {a: (*node.mode[a], *node.init[a]) for a in node.mode}))
+ # pp(("start sim", node.start_time, {a: (*node.mode[a], *node.init[a]) for a in node.mode}))
remain_time = round(time_horizon - node.start_time, 10)
if remain_time <= 0:
continue
@@ -63,9 +63,9 @@ class Simulator:
mode = node.mode[agent_id]
init = node.init[agent_id]
if self.config.incremental:
- pp(("check hit", agent_id, mode, init))
+ # pp(("check hit", agent_id, mode, init))
cached = self.cache.check_hit(agent_id, mode, init)
- pp(("check hit res", agent_id, len(cached.transitions) if cached != None else None))
+ # pp(("check hit res", agent_id, len(cached.transitions) if cached != None else None))
else:
cached = None
if agent_id in node.trace:
@@ -85,7 +85,7 @@ class Simulator:
trace[:, 0] += node.start_time
trace = trace.tolist()
node.trace[agent_id] = trace
- pp(("cached_segments", cached_segments.keys()))
+ # pp(("cached_segments", cached_segments.keys()))
# TODO: for now, make sure all the segments comes from the same node; maybe we can do
# something to combine results from different nodes in the future
node_ids = list(set((s.run_num, s.node_id) for s in cached_segments.values()))
@@ -97,7 +97,7 @@ class Simulator:
old_node = find(past_runs[old_run_num].nodes, lambda n: n.id == old_node_id)
assert old_node != None
new_cache, paths_to_sim = to_simulate(old_node.agent, node.agent, cached_segments)
- pp(("to sim", new_cache.keys(), len(paths_to_sim)))
+ # pp(("to sim", new_cache.keys(), len(paths_to_sim)))
# else:
# print("!!!")
@@ -115,7 +115,8 @@ class Simulator:
node.trace[agent_idx] = node.trace[agent_idx][:transition_idx+1]
if asserts != None:
- print(transition_idx)
+ pass
+ # print(transition_idx)
# pp({a: len(t) for a, t in node.trace.items()})
else:
# If there's no transitions (returned transitions is empty), continue
@@ -124,7 +125,7 @@ class Simulator:
for agent_id in node.agent:
if agent_id not in cached_segments:
self.cache.add_segment(agent_id, node, [], full_traces[agent_id], [], transition_idx, run_num)
- print(red("no trans"))
+ # print(red("no trans"))
continue
transit_agents = transitions.keys()
@@ -186,7 +187,7 @@ class Simulator:
)
node.child.append(tmp)
simulation_queue.append(tmp)
- print(red("end sim"))
+ # print(red("end sim"))
# Put the node in the child of current node. Put the new node in the queue
# node.child.append(AnalysisTreeNode(
# trace = next_node_trace,
diff --git a/verse/scenario/scenario.py b/verse/scenario/scenario.py
index c0b9d27c..0c4d8adc 100644
--- a/verse/scenario/scenario.py
+++ b/verse/scenario/scenario.py
@@ -421,7 +421,7 @@ class Scenario:
_transitions = [trans.transition for seg in cache.values() for trans in seg.transitions]
# _transitions = [trans.transition for seg in cache.values() for trans in seg.transitions if trans_close(trans.inits, node.init)]
- pp(("cached trans", _transitions))
+ # pp(("cached trans", _transitions))
if len(_transitions) == 0:
return None, None, 0
min_trans_ind = min(_transitions)
@@ -432,7 +432,7 @@ class Scenario:
# pp(("chosen tran", agent_id, tran))
cached_trans[agent_id].append((agent_id, tran.disc, tran.cont, tran.paths))
if len(paths) == 0:
- print(red("full cache"))
+ # print(red("full cache"))
return None, dict(cached_trans), min_trans_ind
path_transitions = defaultdict(int)
--
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