From bacf14b1b6177e6cdb5dfd62a6e05a01620651c3 Mon Sep 17 00:00:00 2001
From: Yangge Li <li213@illinois.edu>
Date: Tue, 21 Jun 2022 11:36:32 -0500
Subject: [PATCH] add a simple stop sign example demo8.py; move the time step
out as a parameter
---
demo/demo1.py | 2 +-
demo/demo3.py | 4 ++--
demo/demo4.py | 4 ++--
demo/demo5.py | 17 ++-----------
demo/demo6.py | 24 +++++++++----------
demo/demo7.py | 4 ++--
demo/demo8.py | 18 +++++++-------
demo/example_controller3.py | 4 ++--
demo/example_controller5.py | 4 ++--
demo/example_controller7.py | 4 ++--
demo/example_controller9.py | 4 +---
.../example/example_agent/ball_agent.py | 7 +++---
.../example/example_agent/car_agent.py | 6 ++---
.../example/example_agent/sign_agent.py | 3 +--
.../scene_verifier/agents/base_agent.py | 2 +-
.../scene_verifier/analysis/simulator.py | 4 ++--
.../scene_verifier/analysis/verifier.py | 2 ++
.../scene_verifier/dryvr/core/dryvrcore.py | 5 ++--
.../scene_verifier/scenario/scenario.py | 10 ++++----
19 files changed, 56 insertions(+), 72 deletions(-)
diff --git a/demo/demo1.py b/demo/demo1.py
index 21487dba..b4c57e0c 100644
--- a/demo/demo1.py
+++ b/demo/demo1.py
@@ -69,7 +69,7 @@ if __name__ == "__main__":
# plt.show()
- traces = scenario.simulate(10)
+ traces = scenario.simulate(10, 0.01)
fig = go.Figure()
# fig = plotly_map(tmp_map, 'g', fig)
# fig = plotly_simulation_tree(
diff --git a/demo/demo3.py b/demo/demo3.py
index fcb73ea7..a459d2ec 100644
--- a/demo/demo3.py
+++ b/demo/demo3.py
@@ -69,8 +69,8 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Vehicle),
]
)
- traces = scenario.simulate(70)
- # traces = scenario.verify(70)
+ traces = scenario.simulate(70, 0.05)
+ # traces = scenario.verify(70, 0.05)
# fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/demo4.py b/demo/demo4.py
index db61a07c..a0025e59 100644
--- a/demo/demo4.py
+++ b/demo/demo4.py
@@ -79,8 +79,8 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane3),
]
)
- traces = scenario.simulate(80)
- # traces = scenario.verify(80)
+ traces = scenario.simulate(80, 0.05)
+ # traces = scenario.verify(80, 0.05)
# fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/demo5.py b/demo/demo5.py
index b4412151..8c9ffdd9 100644
--- a/demo/demo5.py
+++ b/demo/demo5.py
@@ -29,19 +29,6 @@ class LaneMode(Enum):
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: LaneObjectMode = LaneObjectMode.Vehicle
-
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
- pass
-
-
if __name__ == "__main__":
input_code_name = './example_controller7.py'
scenario = Scenario()
@@ -72,8 +59,8 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane0),
]
)
- # traces = scenario.simulate(70)
- traces = scenario.verify(60)
+ # traces = scenario.simulate(70, 0.05)
+ traces = scenario.verify(60, 0.05)
fig = plt.figure(2)
fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/demo6.py b/demo/demo6.py
index 4030efdf..b2e6563b 100644
--- a/demo/demo6.py
+++ b/demo/demo6.py
@@ -30,17 +30,17 @@ class LaneMode(Enum):
Lane2 = auto()
Lane3 = 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: LaneObjectMode = LaneObjectMode.Vehicle
+# 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: LaneObjectMode = LaneObjectMode.Vehicle
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
- pass
+# def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
+# pass
if __name__ == "__main__":
@@ -83,8 +83,8 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane3),
]
)
- # traces = scenario.simulate(80)
- traces = scenario.verify(50)
+ # traces = scenario.simulate(80, 0.05)
+ traces = scenario.verify(50, 0.05)
fig = plt.figure(2)
fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/demo7.py b/demo/demo7.py
index b3b5c0c4..3d6b1de9 100644
--- a/demo/demo7.py
+++ b/demo/demo7.py
@@ -89,8 +89,8 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane3),
]
)
- traces = scenario.simulate(80)
- # traces = scenario.verify(15)
+ traces = scenario.simulate(80, 0.05)
+ # traces = scenario.verify(15, 0.05)
# fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/demo8.py b/demo/demo8.py
index ffd87b01..99b4db8f 100644
--- a/demo/demo8.py
+++ b/demo/demo8.py
@@ -29,13 +29,13 @@ class LaneMode(Enum):
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
+ x:float
+ y:float
+ theta:float
+ v:float
+ vehicle_mode: VehicleMode
+ lane_mode: LaneMode
+ type_mode: LaneObjectMode
def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
pass
@@ -61,8 +61,8 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Sign),
]
)
- traces = scenario.simulate(70)
- # traces = scenario.verify(70)
+ traces = scenario.simulate(13, 0.05)
+ # traces = scenario.verify(70, 0.05)
# fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/example_controller3.py b/demo/example_controller3.py
index 1f606e0c..95209827 100644
--- a/demo/example_controller3.py
+++ b/demo/example_controller3.py
@@ -27,9 +27,9 @@ class State:
v = 0.0
vehicle_mode: VehicleMode = VehicleMode.Normal
lane_mode: LaneMode = LaneMode.Lane0
- type: LaneObjectMode
+ type_mode: LaneObjectMode
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
self.data = []
def controller(ego:State, other:State, sign:State, lane_map:LaneMap):
diff --git a/demo/example_controller5.py b/demo/example_controller5.py
index 4294de0e..1e8f409e 100644
--- a/demo/example_controller5.py
+++ b/demo/example_controller5.py
@@ -27,9 +27,9 @@ class State:
v = 0.0
vehicle_mode: VehicleMode = VehicleMode.Normal
lane_mode: LaneMode = LaneMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
+ type_mode: LaneObjectMode = LaneObjectMode.Vehicle
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
+ 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):
diff --git a/demo/example_controller7.py b/demo/example_controller7.py
index 0c30737a..655278de 100644
--- a/demo/example_controller7.py
+++ b/demo/example_controller7.py
@@ -27,9 +27,9 @@ class State:
v = 0.0
vehicle_mode: VehicleMode = VehicleMode.Normal
lane_mode: LaneMode = LaneMode.Lane0
- type: LaneObjectMode = LaneObjectMode.Vehicle
+ type_mode: LaneObjectMode = LaneObjectMode.Vehicle
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
+ 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):
diff --git a/demo/example_controller9.py b/demo/example_controller9.py
index cda3ac6b..1f7b38c9 100644
--- a/demo/example_controller9.py
+++ b/demo/example_controller9.py
@@ -26,7 +26,6 @@ class State:
y = 0.0
theta = 0.0
v = 0.0
- clock = 0.0
vehicle_mode: VehicleMode = VehicleMode.Normal
lane_mode: LaneMode = LaneMode.Lane0
type_mode: LaneObjectMode = LaneObjectMode.Vehicle
@@ -38,9 +37,8 @@ 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(ego.x - other.x < 5 and ego.x - other.x > -1 and other.type_mode==LaneObjectMode.Sign for other in others):
+ if any(other.x - ego.x < 5 and other.x - ego.x > -1 and other.type_mode==LaneObjectMode.Sign for other in others):
output.vehicle_mode = VehicleMode.Brake
- output.clock = 0
if ego.vehicle_mode == VehicleMode.Brake:
if ego.v <= 0:
output.vehicle_mode = VehicleMode.Stop
diff --git a/dryvr_plus_plus/example/example_agent/ball_agent.py b/dryvr_plus_plus/example/example_agent/ball_agent.py
index 9fd550e8..e4658ba8 100644
--- a/dryvr_plus_plus/example/example_agent/ball_agent.py
+++ b/dryvr_plus_plus/example/example_agent/ball_agent.py
@@ -31,10 +31,9 @@ class BallAgent(BaseAgent):
vy_dot = 0
return [x_dot, y_dot, vx_dot, vy_dot]
- def TC_simulate(self, mode: List[str], initialCondition, time_bound, lane_map:LaneMap=None)->np.ndarray:
- # P1. Should TC_simulate really be part of the agent definition or should it be something more generic?
- time_step = 0.05
- # P2. Looks like this should be a global parameter; some config file should be setting this.
+ def TC_simulate(self, mode: List[str], initialCondition, time_bound, time_step, lane_map:LaneMap=None)->np.ndarray:
+ # TODO: P1. Should TC_simulate really be part of the agent definition or should it be something more generic?
+ # TODO: P2. Looks like this should be a global parameter; some config file should be setting this.
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)]
diff --git a/dryvr_plus_plus/example/example_agent/car_agent.py b/dryvr_plus_plus/example/example_agent/car_agent.py
index 3bee15fc..dde521e4 100644
--- a/dryvr_plus_plus/example/example_agent/car_agent.py
+++ b/dryvr_plus_plus/example/example_agent/car_agent.py
@@ -37,8 +37,7 @@ class NPCAgent(BaseAgent):
a = 0
return steering, a
- def TC_simulate(self, mode: List[str], initialCondition, time_bound, lane_map:LaneMap=None)->np.ndarray:
- time_step = 0.05
+ 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 = [i*time_step for i in range(0,number_points)]
@@ -95,8 +94,7 @@ class CarAgent(BaseAgent):
steering = np.clip(steering, -0.61, 0.61)
return steering, a
- def TC_simulate(self, mode: List[str], initialCondition, time_bound, lane_map:LaneMap=None)->np.ndarray:
- time_step = 0.05
+ 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)]
diff --git a/dryvr_plus_plus/example/example_agent/sign_agent.py b/dryvr_plus_plus/example/example_agent/sign_agent.py
index b6eb7fe3..2b97fa27 100644
--- a/dryvr_plus_plus/example/example_agent/sign_agent.py
+++ b/dryvr_plus_plus/example/example_agent/sign_agent.py
@@ -7,8 +7,7 @@ class SignAgent(BaseAgent):
self.id = id
self.controller = EmptyAst()
- def TC_simulate(self, mode, init, time_horizon, map=None):
- time_step = 0.01
+ def TC_simulate(self, mode, init, time_horizon, time_step, map=None):
number_points = int(np.ceil(float(time_horizon)/time_step))
t = [i*time_step for i in range(0,number_points)]
trace = [[0] + init] + [[i + time_step] + init for i in t]
diff --git a/dryvr_plus_plus/scene_verifier/agents/base_agent.py b/dryvr_plus_plus/scene_verifier/agents/base_agent.py
index 62d92d82..96d912e9 100644
--- a/dryvr_plus_plus/scene_verifier/agents/base_agent.py
+++ b/dryvr_plus_plus/scene_verifier/agents/base_agent.py
@@ -5,5 +5,5 @@ class BaseAgent:
self.controller = ControllerAst(code, file_name)
self.id = id
- def TC_simulate(self, mode, initialSet, time_horizon, map=None):
+ def TC_simulate(self, mode, initialSet, time_horizon, time_step, map=None):
raise NotImplementedError
\ No newline at end of file
diff --git a/dryvr_plus_plus/scene_verifier/analysis/simulator.py b/dryvr_plus_plus/scene_verifier/analysis/simulator.py
index c1099ecb..853122e7 100644
--- a/dryvr_plus_plus/scene_verifier/analysis/simulator.py
+++ b/dryvr_plus_plus/scene_verifier/analysis/simulator.py
@@ -11,7 +11,7 @@ class Simulator:
def __init__(self):
self.simulation_tree_root = None
- def simulate(self, init_list, init_mode_list, agent_list:List[BaseAgent], transition_graph, time_horizon, lane_map):
+ def simulate(self, init_list, init_mode_list, agent_list:List[BaseAgent], transition_graph, time_horizon, time_step, lane_map):
# Setup the root of the simulation tree
root = AnalysisTreeNode(
trace={},
@@ -43,7 +43,7 @@ class Simulator:
# Simulate 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 = node.agent[agent_id].TC_simulate(mode, init, remain_time, time_step, lane_map)
trace[:,0] += node.start_time
node.trace[agent_id] = trace.tolist()
diff --git a/dryvr_plus_plus/scene_verifier/analysis/verifier.py b/dryvr_plus_plus/scene_verifier/analysis/verifier.py
index 123729a6..56a131b7 100644
--- a/dryvr_plus_plus/scene_verifier/analysis/verifier.py
+++ b/dryvr_plus_plus/scene_verifier/analysis/verifier.py
@@ -21,6 +21,7 @@ class Verifier:
agent_list:List[BaseAgent],
transition_graph,
time_horizon,
+ time_step,
lane_map
):
root = AnalysisTreeNode()
@@ -53,6 +54,7 @@ class Verifier:
cur_bloated_tube = calc_bloated_tube(mode,
init,
remain_time,
+ time_step,
node.agent[agent_id].TC_simulate,
'PW',
100,
diff --git a/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py b/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py
index a52a0f32..bbb1ccfe 100644
--- a/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py
+++ b/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py
@@ -245,6 +245,7 @@ def calc_bloated_tube(
mode_label,
initial_set,
time_horizon,
+ time_step,
sim_func,
bloating_method,
kvalue,
@@ -275,11 +276,11 @@ def calc_bloated_tube(
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, lane_map)]
+ 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, lane_map))
+ 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)
diff --git a/dryvr_plus_plus/scene_verifier/scenario/scenario.py b/dryvr_plus_plus/scene_verifier/scenario/scenario.py
index 1698eecc..3b003429 100644
--- a/dryvr_plus_plus/scene_verifier/scenario/scenario.py
+++ b/dryvr_plus_plus/scene_verifier/scenario/scenario.py
@@ -65,8 +65,8 @@ class Scenario:
trace = self.simulate(time_horizon)
res_list.append(trace)
return res_list
-
- def simulate(self, time_horizon):
+
+ def simulate(self, time_horizon, time_step):
init_list = []
init_mode_list = []
agent_list = []
@@ -75,9 +75,9 @@ class Scenario:
init_mode_list.append(self.init_mode_dict[agent_id])
agent_list.append(self.agent_dict[agent_id])
print(init_list)
- return self.simulator.simulate(init_list, init_mode_list, agent_list, self, time_horizon, self.map)
+ return self.simulator.simulate(init_list, init_mode_list, agent_list, self, time_horizon, time_step, self.map)
- def verify(self, time_horizon):
+ def verify(self, time_horizon, time_step):
init_list = []
init_mode_list = []
agent_list = []
@@ -89,7 +89,7 @@ class Scenario:
init_list.append(init)
init_mode_list.append(self.init_mode_dict[agent_id])
agent_list.append(self.agent_dict[agent_id])
- return self.verifier.compute_full_reachtube(init_list, init_mode_list, agent_list, self, time_horizon, self.map)
+ return self.verifier.compute_full_reachtube(init_list, init_mode_list, agent_list, self, time_horizon, time_step, self.map)
def check_guard_hit(self, state_dict):
lane_map = self.map
--
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