From 8ce6282c793e815c2800976ff7de606b46b39fc7 Mon Sep 17 00:00:00 2001
From: Yangge Li <li213@illinois.edu>
Date: Tue, 4 Oct 2022 21:39:52 -0500
Subject: [PATCH] modify many car example, small modification in parser
---
demo/tacas2023/exp2/example_controller5.py | 2 +-
demo/tacas2023/exp3/demo6.py | 2 +-
verse/analysis/analysis_tree.py | 6 ++++++
verse/map/lane_map.py | 2 ++
verse/parser/parser.py | 13 ++++++++++---
5 files changed, 20 insertions(+), 5 deletions(-)
diff --git a/demo/tacas2023/exp2/example_controller5.py b/demo/tacas2023/exp2/example_controller5.py
index 2c95eee4..3414a5c2 100644
--- a/demo/tacas2023/exp2/example_controller5.py
+++ b/demo/tacas2023/exp2/example_controller5.py
@@ -49,7 +49,7 @@ def controller(ego:State, others:List[State], lane_map):
output = copy.deepcopy(ego)
if ego.agent_mode == VehicleMode.Normal:
if vehicle_front(ego, others, lane_map):
- if lane_map.h_exist(ego.lane_mode, ego.agent_mode, 'SwitchLeft'):
+ if lane_map.h_exist(ego.lane_mode, ego.agent_mode, VehicleMode.SwitchLeft):
output.agent_mode = VehicleMode.SwitchLeft
output.lane_mode = lane_map.h(ego.lane_mode, ego.agent_mode, 'SwitchLeft')
if vehicle_front(ego, others, lane_map):
diff --git a/demo/tacas2023/exp3/demo6.py b/demo/tacas2023/exp3/demo6.py
index b73c5bda..071a9ee8 100644
--- a/demo/tacas2023/exp3/demo6.py
+++ b/demo/tacas2023/exp3/demo6.py
@@ -71,7 +71,7 @@ if __name__ == "__main__":
# 1, 2], 'lines', 'trace', sample_rate=1)
# fig.show()
- traces = scenario.verify(20, 0.05)
+ traces = scenario.verify(80, 0.1)
fig = go.Figure()
fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
fig.show()
diff --git a/verse/analysis/analysis_tree.py b/verse/analysis/analysis_tree.py
index 32407900..83dd940f 100644
--- a/verse/analysis/analysis_tree.py
+++ b/verse/analysis/analysis_tree.py
@@ -58,6 +58,8 @@ class AnalysisTreeNode:
return rst_dict
def get_track(self, agent_id, D):
+ if 'TrackMode' not in self.agent[agent_id].controller.mode_defs:
+ return ""
for d in D:
if d in self.agent[agent_id].controller.mode_defs['TrackMode'].modes:
return d
@@ -65,6 +67,10 @@ class AnalysisTreeNode:
def get_mode(self, agent_id, D):
res = []
+ if 'TrackMode' not in self.agent[agent_id].controller.mode_defs:
+ if len(D)==1:
+ return D[0]
+ return D
for d in D:
if d not in self.agent[agent_id].controller.mode_defs['TrackMode'].modes:
res.append(d)
diff --git a/verse/map/lane_map.py b/verse/map/lane_map.py
index abe532ef..a286fbaa 100644
--- a/verse/map/lane_map.py
+++ b/verse/map/lane_map.py
@@ -104,6 +104,8 @@ class LaneMap:
return lane.get_lane_width()
def h(self, lane_idx, agent_mode_src, agent_mode_dest):
+ if self.h_dict == {}:
+ return ""
return self.h_dict[(lane_idx, agent_mode_src, agent_mode_dest)]
def h_exist(self, lane_idx, agent_mode_src, agent_mode_dest):
diff --git a/verse/parser/parser.py b/verse/parser/parser.py
index 60b6ee23..eebcb893 100644
--- a/verse/parser/parser.py
+++ b/verse/parser/parser.py
@@ -623,8 +623,6 @@ def proc(node: ast.AST, env: Env) -> Any:
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):
- if isinstance(node.value, ast.Name) and node.value.id in env.mode_defs:
- return node.attr
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):
@@ -704,7 +702,16 @@ def proc(node: ast.AST, env: Env) -> Any:
if len(node.args) > 1:
raise ValueError("too many args to `copy.deepcopy`")
return proc(node.args[0], env)
- return node
+ ret = copy.deepcopy(node)
+ tmp = []
+ for a in ret.args:
+ if isinstance(a, ast.Attribute) and isinstance(a.value, ast.Name) and a.value.id in env.mode_defs:
+ tmp.append(ast.Constant(a.attr, kind=None))
+ else:
+ tmp.append(a)
+ ret.args = tmp
+
+ return ret
if isinstance(fun, ast.arg):
if fun.arg == "copy.deepcopy":
raise Exception("unreachable")
--
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