From bd479c6dd17a01aefabd307eff5f54ce5d8f8f96 Mon Sep 17 00:00:00 2001
From: Yangge Li <li213@illinois.edu>
Date: Mon, 2 May 2022 12:50:08 -0500
Subject: [PATCH] adding support for ast.UnaryOp
---
example_two_car_lane_switch.py | 4 ++--
ourtool/automaton/guard.py | 11 +++++++++++
2 files changed, 13 insertions(+), 2 deletions(-)
diff --git a/example_two_car_lane_switch.py b/example_two_car_lane_switch.py
index 145a1ffc..5abe0de6 100644
--- a/example_two_car_lane_switch.py
+++ b/example_two_car_lane_switch.py
@@ -69,7 +69,7 @@ if __name__ == "__main__":
scenario.set_init(
[
[[10, 0, 0, 0.5],[10, 0, 0, 0.5]],
- [[0, -0.2, 0, 1.0],[0, 0.2, 0, 1.0]],
+ [[-0.5, -0.2, 0, 1.0],[0.5, 0.2, 0, 1.0]],
],
[
(VehicleMode.Normal, LaneMode.Lane1),
@@ -81,7 +81,7 @@ if __name__ == "__main__":
traces = scenario.verify(40)
fig = plt.figure()
- fig = plot_tree(traces, 'car1', 1, [2], 'b', fig)
+ # fig = plot_tree(traces, 'car1', 1, [2], 'b', fig)
fig = plot_tree(traces, 'car2', 1, [2], 'r', fig)
plt.show()
diff --git a/ourtool/automaton/guard.py b/ourtool/automaton/guard.py
index ba209420..0a80a3a2 100644
--- a/ourtool/automaton/guard.py
+++ b/ourtool/automaton/guard.py
@@ -220,6 +220,11 @@ class GuardExpressionAst:
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
else:
# For other cases, we can return the expression directly
expr = astunparse.unparse(node)
@@ -327,6 +332,12 @@ class GuardExpressionAst:
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, lane_map)
+ 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')
--
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