From 9041ae3255b0dd2198b4689736f7734673557ce6 Mon Sep 17 00:00:00 2001
From: Yangge Li <li213@illinois.edu>
Date: Mon, 20 Jun 2022 10:56:14 -0500
Subject: [PATCH] handle cases when the returned transition is empty
---
demo/demo2.py | 29 ++++++++-----------
demo/demo3.py | 26 ++++++++---------
demo/demo4.py | 22 +++++++-------
demo/demo7.py | 20 +++++++------
.../scene_verifier/analysis/simulator.py | 6 +++-
.../scene_verifier/analysis/verifier.py | 3 +-
.../scene_verifier/scenario/scenario.py | 5 +++-
7 files changed, 57 insertions(+), 54 deletions(-)
diff --git a/demo/demo2.py b/demo/demo2.py
index 8a102311..7c8d006f 100644
--- a/demo/demo2.py
+++ b/demo/demo2.py
@@ -54,22 +54,17 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane1),
]
)
- # # res_list = scenario.simulate_multi(40,1)
- # traces = scenario.verify(40)
+ # res_list = scenario.simulate(40)
+ traces = scenario.verify(40)
- # fig = plt.figure(2)
- # fig = plot_map(tmp_map, 'g', fig)
- # fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
- # fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
- # # for traces in res_list:
- # # generate_simulation_anime(traces, tmp_map, fig)
- # # # fig,x_lim,y_lim = plot_simulation_tree(traces, 'car1', 1, [2], 'b', fig,x_lim,y_lim)
- # # # fig,x_lim,y_lim = plot_simulation_tree(traces, 'car2', 1, [2], 'r', fig,x_lim,y_lim)
+ fig = plt.figure(2)
+ fig = plot_map(tmp_map, 'g', fig)
+ fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
+ fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
+ plt.show()
- # plt.show()
-
-# this is for plot-based visualization
- traces = scenario.simulate(40)
- fig = go.Figure()
- fig = plotly_simulation_anime(traces, tmp_map, fig)
- fig.show()
+ # # this is for plot-based visualization
+ # traces = scenario.simulate(40)
+ # fig = go.Figure()
+ # fig = plotly_simulation_anime(traces, tmp_map, fig)
+ # fig.show()
diff --git a/demo/demo3.py b/demo/demo3.py
index 54121e8f..1ba4fc08 100644
--- a/demo/demo3.py
+++ b/demo/demo3.py
@@ -42,7 +42,7 @@ class State:
if __name__ == "__main__":
- input_code_name = './example_controller4.py'
+ input_code_name = './demo/example_controller4.py'
scenario = Scenario()
car = CarAgent('car1', file_name=input_code_name)
@@ -70,18 +70,18 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane1),
]
)
- # traces = scenario.simulate(70)
- traces = scenario.verify(70)
+ traces = scenario.simulate(70)
+ # traces = scenario.verify(70)
- fig = plt.figure(2)
- fig = plot_map(tmp_map, 'g', fig)
- fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
- fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
- fig = plot_reachtube_tree(traces, 'car3', 1, [2], 'r', fig)
- fig = plot_reachtube_tree(traces, 'car4', 1, [2], 'r', fig)
- plt.show()
+ # fig = plt.figure(2)
+ # fig = plot_map(tmp_map, 'g', fig)
+ # fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
+ # fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car3', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car4', 1, [2], 'r', fig)
+ # plt.show()
- # fig = go.Figure()
- # fig = plotly_simulation_anime(traces, tmp_map, fig)
- # fig.show()
+ fig = go.Figure()
+ fig = plotly_simulation_anime(traces, tmp_map, fig)
+ fig.show()
diff --git a/demo/demo4.py b/demo/demo4.py
index a7b1bb85..86d69d5e 100644
--- a/demo/demo4.py
+++ b/demo/demo4.py
@@ -79,18 +79,18 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane3),
]
)
- # traces = scenario.simulate(80)
- traces = scenario.verify(80)
+ traces = scenario.simulate(80)
+ # traces = scenario.verify(80)
- fig = plt.figure(2)
- fig = plot_map(tmp_map, 'g', fig)
- fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
- fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
- fig = plot_reachtube_tree(traces, 'car3', 1, [2], 'r', fig)
- fig = plot_reachtube_tree(traces, 'car4', 1, [2], 'r', fig)
- fig = plot_reachtube_tree(traces, 'car5', 1, [2], 'r', fig)
- fig = plot_reachtube_tree(traces, 'car6', 1, [2], 'r', fig)
- plt.show()
+ # fig = plt.figure(2)
+ # fig = plot_map(tmp_map, 'g', fig)
+ # fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
+ # fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car3', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car4', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car5', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car6', 1, [2], 'r', fig)
+ # plt.show()
# fig = go.Figure()
# fig = plotly_simulation_anime(traces, tmp_map, fig)
diff --git a/demo/demo7.py b/demo/demo7.py
index 0b93f3f6..fd2b0b39 100644
--- a/demo/demo7.py
+++ b/demo/demo7.py
@@ -45,7 +45,7 @@ class State:
if __name__ == "__main__":
- input_code_name = './example_controller8.py'
+ input_code_name = './demo/example_controller8.py'
scenario = Scenario()
car = CarAgent('car1', file_name=input_code_name)
@@ -89,17 +89,19 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane3),
]
)
- traces = scenario.simulate(80)
- # traces = scenario.verify(80)
+ traces = scenario.simulate(20)
+ # traces = scenario.verify(15)
# fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
- # fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
- # fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
- # fig = plot_reachtube_tree(traces, 'car3', 1, [2], 'r', fig)
- # fig = plot_reachtube_tree(traces, 'car4', 1, [2], 'r', fig)
- # fig = plot_reachtube_tree(traces, 'car5', 1, [2], 'r', fig)
- # fig = plot_reachtube_tree(traces, 'car6', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'g', fig)
+ # fig = plot_reachtube_tree(traces, 'car3', 1, [2], 'g', fig)
+ # fig = plot_reachtube_tree(traces, 'car4', 1, [2], 'g', fig)
+ # fig = plot_reachtube_tree(traces, 'car5', 1, [2], 'g', fig)
+ # fig = plot_reachtube_tree(traces, 'car6', 1, [2], 'g', fig)
+ # fig = plot_reachtube_tree(traces, 'car7', 1, [2], 'g', fig)
+ # fig = plot_reachtube_tree(traces, 'car8', 1, [2], 'g', fig)
# plt.show()
fig = go.Figure()
diff --git a/dryvr_plus_plus/scene_verifier/analysis/simulator.py b/dryvr_plus_plus/scene_verifier/analysis/simulator.py
index fab7aa29..c1099ecb 100644
--- a/dryvr_plus_plus/scene_verifier/analysis/simulator.py
+++ b/dryvr_plus_plus/scene_verifier/analysis/simulator.py
@@ -34,7 +34,7 @@ class Simulator:
while simulation_queue != []:
node:AnalysisTreeNode = simulation_queue.pop(0)
print(node.start_time, node.mode)
- remain_time = time_horizon - node.start_time
+ remain_time = round(time_horizon - node.start_time,10)
if remain_time <= 0:
continue
# For trace not already simulated
@@ -49,6 +49,10 @@ class Simulator:
transitions, transition_idx = transition_graph.get_transition_simulate_new(node)
+ # If there's no transitions (returned transitions is empty), continue
+ if not transitions:
+ continue
+
# truncate the computed trajectories from idx and store the content after truncate
truncated_trace = {}
for agent_idx in node.agent:
diff --git a/dryvr_plus_plus/scene_verifier/analysis/verifier.py b/dryvr_plus_plus/scene_verifier/analysis/verifier.py
index 01fcdca1..123729a6 100644
--- a/dryvr_plus_plus/scene_verifier/analysis/verifier.py
+++ b/dryvr_plus_plus/scene_verifier/analysis/verifier.py
@@ -65,8 +65,7 @@ class Verifier:
# print("here")
# TODO: Check safety conditions here
- if node.trace['car1'][-1][0] > 50.01:
- print("stop here")
+
# Get all possible transitions to next mode
all_possible_transitions = transition_graph.get_transition_verify_new(node)
max_end_idx = 0
diff --git a/dryvr_plus_plus/scene_verifier/scenario/scenario.py b/dryvr_plus_plus/scene_verifier/scenario/scenario.py
index 142b5172..8a064619 100644
--- a/dryvr_plus_plus/scene_verifier/scenario/scenario.py
+++ b/dryvr_plus_plus/scene_verifier/scenario/scenario.py
@@ -253,7 +253,10 @@ class Scenario:
tmp = tmp[1]
for var in discrete_variable_dict:
tmp = tmp.replace(var, f"'{discrete_variable_dict[var]}'")
- possible_dest[i] = eval(tmp)
+ res = eval(tmp)
+ if not isinstance(res, list):
+ res = [res]
+ possible_dest[i] = res
else:
tmp = tmp[1].split('.')
if tmp[0].strip(' ') in agent.controller.modes:
--
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