From c80eabb44637dc7f545011791c10d134dc44dd5f Mon Sep 17 00:00:00 2001
From: keyis2 <keyis2@illinois.edu>
Date: Sat, 11 Jun 2022 17:23:20 -0500
Subject: [PATCH] marker
---
demo/demo2.py | 16 +-
dist/dryvr_plus_plus-0.1-py3.8.egg | Bin 0 -> 1292 bytes
.../__init__.py | 0
.../example/__init__.py | 0
.../example/example_agent/__init__.py | 0
.../example/example_agent/car_agent.py | 0
.../example/example_agent/sign_agent.py | 0
.../example/example_map/__init__.py | 0
.../example/example_map/simple_map.py | 0
.../example/example_map/simple_map2.py | 0
.../example/example_sensor/__init__.py | 0
.../example/example_sensor/fake_sensor.py | 0
.../plotter/__init__.py | 0
.../plotter/parser.py | 0
.../plotter/plotter2D.py | 166 ++++++++++++++----
.../plotter/plotter3D.py | 0
.../scene_verifier/__init__.py | 0
.../scene_verifier/agents/__init__.py | 0
.../scene_verifier/agents/base_agent.py | 0
.../scene_verifier/analysis/__init__.py | 0
.../analysis/analysis_tree_node.py | 0
.../scene_verifier/analysis/simulator.py | 2 +-
.../scene_verifier/analysis/verifier.py | 0
.../scene_verifier/automaton/__init__.py | 0
.../scene_verifier/automaton/guard.py | 0
.../automaton/hybrid_automaton.py | 0
.../automaton/hybrid_io_automaton.py | 0
.../scene_verifier/automaton/reset.py | 0
.../scene_verifier/code_parser/__init__.py | 0
.../code_parser/pythonparser.py | 0
.../scene_verifier/dryvr/__init__.py | 0
.../scene_verifier/dryvr/common/__init__.py | 0
.../scene_verifier/dryvr/common/config.py | 0
.../scene_verifier/dryvr/common/constant.py | 0
.../scene_verifier/dryvr/common/io.py | 0
.../scene_verifier/dryvr/common/utils.py | 0
.../scene_verifier/dryvr/core/__init__.py | 0
.../scene_verifier/dryvr/core/distance.py | 0
.../scene_verifier/dryvr/core/dryvrcore.py | 0
.../scene_verifier/dryvr/core/dryvrmain.py | 0
.../scene_verifier/dryvr/core/goalchecker.py | 0
.../scene_verifier/dryvr/core/graph.py | 0
.../scene_verifier/dryvr/core/guard.py | 0
.../scene_verifier/dryvr/core/initialset.py | 0
.../dryvr/core/initialsetstack.py | 0
.../scene_verifier/dryvr/core/reachtube.py | 0
.../scene_verifier/dryvr/core/reset.py | 0
.../dryvr/core/uniformchecker.py | 0
.../dryvr/discrepancy/Global_Disc.py | 0
.../dryvr/discrepancy/PW_Discrepancy.py | 0
.../dryvr/discrepancy/__init__.py | 0
.../scene_verifier/map/__init__.py | 0
.../scene_verifier/map/lane.py | 0
.../scene_verifier/map/lane_map.py | 0
.../scene_verifier/map/lane_segment.py | 0
.../scene_verifier/scenario/__init__.py | 0
.../scene_verifier/scenario/scenario.py | 0
.../scene_verifier/utils/__init__.py | 0
.../scene_verifier/utils/utils.py | 0
setup.py | 7 +-
60 files changed, 145 insertions(+), 46 deletions(-)
create mode 100644 dist/dryvr_plus_plus-0.1-py3.8.egg
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/example/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/example/example_agent/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/example/example_agent/car_agent.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/example/example_agent/sign_agent.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/example/example_map/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/example/example_map/simple_map.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/example/example_map/simple_map2.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/example/example_sensor/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/example/example_sensor/fake_sensor.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/plotter/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/plotter/parser.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/plotter/plotter2D.py (88%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/plotter/plotter3D.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/agents/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/agents/base_agent.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/analysis/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/analysis/analysis_tree_node.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/analysis/simulator.py (98%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/analysis/verifier.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/automaton/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/automaton/guard.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/automaton/hybrid_automaton.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/automaton/hybrid_io_automaton.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/automaton/reset.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/code_parser/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/code_parser/pythonparser.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/common/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/common/config.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/common/constant.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/common/io.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/common/utils.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/distance.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/dryvrcore.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/dryvrmain.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/goalchecker.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/graph.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/guard.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/initialset.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/initialsetstack.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/reachtube.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/reset.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/core/uniformchecker.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/discrepancy/Global_Disc.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/discrepancy/PW_Discrepancy.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/dryvr/discrepancy/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/map/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/map/lane.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/map/lane_map.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/map/lane_segment.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/scenario/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/scenario/scenario.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/utils/__init__.py (100%)
rename {demo/dryvr_plus_plus => dryvr_plus_plus}/scene_verifier/utils/utils.py (100%)
diff --git a/demo/demo2.py b/demo/demo2.py
index 574b38f1..b8eaf9b8 100644
--- a/demo/demo2.py
+++ b/demo/demo2.py
@@ -56,8 +56,8 @@ if __name__ == "__main__":
]
)
# res_list = scenario.simulate_multi(40,1)
- # traces = scenario.verify(15)
- traces = scenario.simulate(40)
+ traces = scenario.verify(40)
+ # traces = scenario.simulate(40)
# fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
@@ -73,14 +73,14 @@ if __name__ == "__main__":
# fig = go.Figure()
# fig = plotly_simulation_tree(traces, 'car1', 1, [2], 'b', fig)
# fig.show()
- fig = go.Figure()
- fig = plotly_simulation_anime(traces, tmp_map, fig)
- fig.show()
-
# fig = go.Figure()
- # fig = plotly_reachtube_tree_v2(traces, 'car1', 1, [2], 'blue', fig)
- # # fig = plotly_reachtube_tree_v2(traces, 'car2', 1, [2], 'red', fig)
+ # fig = plotly_simulation_anime(traces, tmp_map, fig)
# fig.show()
+
+ fig = go.Figure()
+ fig = plotly_reachtube_tree_v2(traces, 'car1', 1, [2], 'blue', fig)
+ fig = plotly_reachtube_tree_v2(traces, 'car2', 1, [2], 'red', fig)
+ fig.show()
# fig = go.Figure()
# fig = generate_reachtube_anime(
# traces, 'car1', 1, [2], 'blue', fig, map=tmp_map)
diff --git a/dist/dryvr_plus_plus-0.1-py3.8.egg b/dist/dryvr_plus_plus-0.1-py3.8.egg
new file mode 100644
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diff --git a/demo/dryvr_plus_plus/__init__.py b/dryvr_plus_plus/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/__init__.py
rename to dryvr_plus_plus/__init__.py
diff --git a/demo/dryvr_plus_plus/example/__init__.py b/dryvr_plus_plus/example/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/example/__init__.py
rename to dryvr_plus_plus/example/__init__.py
diff --git a/demo/dryvr_plus_plus/example/example_agent/__init__.py b/dryvr_plus_plus/example/example_agent/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/example/example_agent/__init__.py
rename to dryvr_plus_plus/example/example_agent/__init__.py
diff --git a/demo/dryvr_plus_plus/example/example_agent/car_agent.py b/dryvr_plus_plus/example/example_agent/car_agent.py
similarity index 100%
rename from demo/dryvr_plus_plus/example/example_agent/car_agent.py
rename to dryvr_plus_plus/example/example_agent/car_agent.py
diff --git a/demo/dryvr_plus_plus/example/example_agent/sign_agent.py b/dryvr_plus_plus/example/example_agent/sign_agent.py
similarity index 100%
rename from demo/dryvr_plus_plus/example/example_agent/sign_agent.py
rename to dryvr_plus_plus/example/example_agent/sign_agent.py
diff --git a/demo/dryvr_plus_plus/example/example_map/__init__.py b/dryvr_plus_plus/example/example_map/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/example/example_map/__init__.py
rename to dryvr_plus_plus/example/example_map/__init__.py
diff --git a/demo/dryvr_plus_plus/example/example_map/simple_map.py b/dryvr_plus_plus/example/example_map/simple_map.py
similarity index 100%
rename from demo/dryvr_plus_plus/example/example_map/simple_map.py
rename to dryvr_plus_plus/example/example_map/simple_map.py
diff --git a/demo/dryvr_plus_plus/example/example_map/simple_map2.py b/dryvr_plus_plus/example/example_map/simple_map2.py
similarity index 100%
rename from demo/dryvr_plus_plus/example/example_map/simple_map2.py
rename to dryvr_plus_plus/example/example_map/simple_map2.py
diff --git a/demo/dryvr_plus_plus/example/example_sensor/__init__.py b/dryvr_plus_plus/example/example_sensor/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/example/example_sensor/__init__.py
rename to dryvr_plus_plus/example/example_sensor/__init__.py
diff --git a/demo/dryvr_plus_plus/example/example_sensor/fake_sensor.py b/dryvr_plus_plus/example/example_sensor/fake_sensor.py
similarity index 100%
rename from demo/dryvr_plus_plus/example/example_sensor/fake_sensor.py
rename to dryvr_plus_plus/example/example_sensor/fake_sensor.py
diff --git a/demo/dryvr_plus_plus/plotter/__init__.py b/dryvr_plus_plus/plotter/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/plotter/__init__.py
rename to dryvr_plus_plus/plotter/__init__.py
diff --git a/demo/dryvr_plus_plus/plotter/parser.py b/dryvr_plus_plus/plotter/parser.py
similarity index 100%
rename from demo/dryvr_plus_plus/plotter/parser.py
rename to dryvr_plus_plus/plotter/parser.py
diff --git a/demo/dryvr_plus_plus/plotter/plotter2D.py b/dryvr_plus_plus/plotter/plotter2D.py
similarity index 88%
rename from demo/dryvr_plus_plus/plotter/plotter2D.py
rename to dryvr_plus_plus/plotter/plotter2D.py
index ae13f889..9e8fd27b 100644
--- a/demo/dryvr_plus_plus/plotter/plotter2D.py
+++ b/dryvr_plus_plus/plotter/plotter2D.py
@@ -4,6 +4,7 @@ This file consist main plotter code for DryVR reachtube output
from __future__ import annotations
from audioop import reverse
+from re import A
import matplotlib.patches as patches
import matplotlib.pyplot as plt
import numpy as np
@@ -13,7 +14,10 @@ import plotly.graph_objects as go
from typing import List
from PIL import Image, ImageDraw
import io
+import operator
from collections import OrderedDict
+
+from torch import layout
from dryvr_plus_plus.scene_verifier.analysis.analysis_tree_node import AnalysisTreeNode
colors = ['red', 'green', 'blue', 'yellow', 'black']
@@ -177,6 +181,7 @@ def generate_reachtube_anime(root, agent_id, x_dim: int = 0, y_dim_list: List[in
"visible": True,
"xanchor": "right"
},
+ "method": "update",
"transition": {"duration": duration, "easing": "cubic-in-out"},
"pad": {"b": 10, "t": 50},
"len": 0.9,
@@ -217,7 +222,7 @@ def generate_reachtube_anime(root, agent_id, x_dim: int = 0, y_dim_list: List[in
"x": trace_x,
"y": trace_y,
"mode": "markers + text",
- "text": [(round(trace_theta[i]/pi*180, 2), round(trace_v[i], 2)) for i in range(len(trace_theta))],
+ "text": [(round(trace_theta[i]/pi*180, 2), round(trace_v[i], 3)) for i in range(len(trace_theta))],
"textposition": "bottom center",
# "marker": {
# "sizemode": "area",
@@ -306,6 +311,7 @@ def plotly_reachtube_tree_v2(root, agent_id, x_dim: int = 0, y_dim_list: List[in
bg_color = ['rgba(31,119,180,1)', 'rgba(255,127,14,0.2)', 'rgba(44,160,44,0.2)', 'rgba(214,39,40,0.2)', 'rgba(148,103,189,0.2)',
'rgba(140,86,75,0.2)', 'rgba(227,119,194,0.2)', 'rgba(127,127,127,0.2)', 'rgba(188,189,34,0.2)', 'rgba(23,190,207,0.2)']
queue = [root]
+ show_legend = False
while queue != []:
node = queue.pop(0)
traces = node.trace
@@ -347,26 +353,26 @@ def plotly_reachtube_tree_v2(root, agent_id, x_dim: int = 0, y_dim_list: List[in
trace_y_even = np.array([trace[i][2] for i in range(1, max_id+1, 2)])
fig.add_trace(go.Scatter(x=trace_x_odd.tolist()+trace_x_odd[::-1].tolist(), y=trace_y_odd.tolist()+trace_y_even[::-1].tolist(), mode='lines',
fill='toself',
- fillcolor=bg_color[0],
+ fillcolor=color,
line_color='rgba(255,255,255,0)',
- showlegend=True
+ showlegend=show_legend
))
fig.add_trace(go.Scatter(x=trace_x_even.tolist()+trace_x_even[::-1].tolist(), y=trace_y_odd.tolist()+trace_y_even[::-1].tolist(), mode='lines',
fill='toself',
- fillcolor=bg_color[0],
+ fillcolor=color,
line_color='rgba(255,255,255,0)',
- showlegend=True))
+ showlegend=show_legend))
fig.add_trace(go.Scatter(x=trace_x_odd.tolist()+trace_x_even[::-1].tolist(), y=trace_y_odd.tolist()+trace_y_even[::-1].tolist(), mode='lines',
fill='toself',
- fillcolor=bg_color[0],
+ fillcolor=color,
line_color='rgba(255,255,255,0)',
- showlegend=True
+ showlegend=show_legend
))
fig.add_trace(go.Scatter(x=trace_x_even.tolist()+trace_x_odd[::-1].tolist(), y=trace_y_odd.tolist()+trace_y_even[::-1].tolist(), mode='lines',
fill='toself',
- fillcolor=bg_color[0],
+ fillcolor=color,
line_color='rgba(255,255,255,0)',
- showlegend=True))
+ showlegend=show_legend))
# fig.add_trace(go.Scatter(x=trace_x_odd.tolist(), y=trace_y_odd.tolist(), mode='lines',
# # fill='toself',
# # fillcolor=bg_color[0],
@@ -495,9 +501,14 @@ def plotly_reachtube_tree_v2(root, agent_id, x_dim: int = 0, y_dim_list: List[in
# fill='toself',
# line=dict(dash="dot"),
line_color="black",
- text=[range(0, max_id+1)],
- name='lines',
- showlegend=False))
+ marker={
+ "sizemode": "area",
+ "sizeref": 200000,
+ "size": 2
+ },
+ text=[range(0, max_id+1)],
+ name='lines',
+ showlegend=False))
queue += node.child
# fig.update_traces(line_dash="dash")
return fig
@@ -776,34 +787,44 @@ def plotly_simulation_anime(root, map=None, fig=None):
# fig = plot_map(map, 'g', fig)
timed_point_dict = {}
stack = [root]
+ print("plot")
+ # print(root.mode)
x_min, x_max = float('inf'), -float('inf')
y_min, y_max = float('inf'), -float('inf')
+ segment_start = set()
+ # previous_mode = {}
+ # for agent_id in root.mode:
+ # previous_mode[agent_id] = []
+
while stack != []:
node = stack.pop()
traces = node.trace
for agent_id in traces:
trace = np.array(traces[agent_id])
+ segment_start.add(round(trace[0][0], 2))
for i in range(len(trace)):
x_min = min(x_min, trace[i][1])
x_max = max(x_max, trace[i][1])
y_min = min(y_min, trace[i][2])
y_max = max(y_max, trace[i][2])
+ # print(round(trace[i][0], 2))
if round(trace[i][0], 2) not in timed_point_dict:
timed_point_dict[round(trace[i][0], 2)] = [
- trace[i][1:].tolist()]
+ {agent_id: trace[i][1:].tolist()}]
else:
init = False
for record in timed_point_dict[round(trace[i][0], 2)]:
- if record == trace[i][1:].tolist():
+ if list(record.values())[0] == trace[i][1:].tolist():
init = True
break
if init == False:
timed_point_dict[round(trace[i][0], 2)].append(
- trace[i][1:].tolist())
+ {agent_id: trace[i][1:].tolist()})
time = round(trace[i][0], 2)
stack += node.child
# fill in most of layout
- # print(time)
+ print(segment_start)
+ # print(timed_point_dict.keys())
duration = int(600/time)
fig_dict["layout"]["xaxis"] = {
"range": [(x_min-10), (x_max+10)],
@@ -859,12 +880,20 @@ def plotly_simulation_anime(root, map=None, fig=None):
}
# make data
point_list = timed_point_dict[0]
- # print(point_list)
+ x_list = []
+ y_list = []
+ text_list = []
+ for data in point_list:
+ trace = list(data.values())[0]
+ # print(trace)
+ x_list.append(trace[0])
+ y_list.append(trace[1])
+ text_list.append((round(trace[3], 2), round(trace[2]/pi*180, 2)))
data_dict = {
- "x": [data[0] for data in point_list],
- "y": [data[1] for data in point_list],
+ "x": x_list,
+ "y": y_list,
"mode": "markers + text",
- "text": [(round(data[3], 2), round(data[2]/pi*180, 2)) for data in point_list],
+ "text": text_list,
"textposition": "bottom center",
# "marker": {
# "sizemode": "area",
@@ -877,20 +906,30 @@ def plotly_simulation_anime(root, map=None, fig=None):
# make frames
for time_point in timed_point_dict:
+ # print(time_point)
frame = {"data": [], "layout": {
"annotations": []}, "name": str(time_point)}
- # print(timed_point_dict[time_point])
+ # print(timed_point_dict[time_point][0])
point_list = timed_point_dict[time_point]
# point_list = list(OrderedDict.fromkeys(timed_point_dict[time_point]))
- trace_x = [data[0] for data in point_list]
- trace_y = [data[1] for data in point_list]
- trace_theta = [data[2] for data in point_list]
- trace_v = [data[3] for data in point_list]
+ # todokeyi
+ trace_x = []
+ trace_y = []
+ trace_theta = []
+ trace_v = []
+ for data in point_list:
+ trace = list(data.values())[0]
+ # print(trace)
+ trace_x.append(trace[0])
+ trace_y.append(trace[1])
+ trace_theta.append(trace[2])
+ trace_v.append(trace[3])
data_dict = {
"x": trace_x,
"y": trace_y,
"mode": "markers + text",
- "text": [(round(trace_theta[i]/pi*180, 2), round(trace_v[i], 2)) for i in range(len(trace_theta))],
+ "text": [(round(trace_theta[i]/pi*180, 2), round(trace_v[i], 3)) for i in range(len(trace_theta))],
+ "textfont": dict(size=14, color="black"),
"textposition": "bottom center",
# "marker": {
# "sizemode": "area",
@@ -904,7 +943,7 @@ def plotly_simulation_anime(root, map=None, fig=None):
ax = np.cos(trace_theta[i])*trace_v[i]
ay = np.sin(trace_theta[i])*trace_v[i]
# print(trace_x[i]+ax, trace_y[i]+ay)
- annotations_dict = {"x": trace_x[i]+ax+0.1, "y": trace_y[i]+ay,
+ annotations_dict = {"x": trace_x[i]+ax, "y": trace_y[i]+ay,
# "xshift": ax, "yshift": ay,
"ax": trace_x[i], "ay": trace_y[i],
"arrowwidth": 2,
@@ -918,6 +957,25 @@ def plotly_simulation_anime(root, map=None, fig=None):
"arrowcolor": "black"}
frame["layout"]["annotations"].append(annotations_dict)
+ # if (time_point in segment_start) and (operator.ne(previous_mode[agent_id], node.mode[agent_id])):
+ # annotations_dict = {"x": trace_x[i], "y": trace_y[i],
+ # # "xshift": ax, "yshift": ay,
+ # # "ax": trace_x[i], "ay": trace_y[i],
+ # # "arrowwidth": 2,
+ # # "arrowside": 'end',
+ # "showarrow": False,
+ # # "arrowsize": 1,
+ # # "xref": 'x', "yref": 'y',
+ # # "axref": 'x', "ayref": 'y',
+ # "text": str(node.mode[agent_id][0]),
+ # # "arrowhead": 1,
+ # # "arrowcolor": "black"
+ # }
+ # frame["layout"]["annotations"].append(annotations_dict)
+ # print(frame["layout"]["annotations"])
+ # i += 1
+ # previous_mode[agent_id] = node.mode[agent_id]
+
fig_dict["frames"].append(frame)
slider_step = {"args": [
[time_point],
@@ -936,32 +994,72 @@ def plotly_simulation_anime(root, map=None, fig=None):
fig = plotly_map(map, 'g', fig)
i = 0
queue = [root]
+ previous_mode = {}
+ agent_list = []
+ for agent_id in root.mode:
+ previous_mode[agent_id] = []
+ agent_list.append(agent_id)
+ text_pos = 'middle center'
while queue != []:
node = queue.pop(0)
traces = node.trace
- print(node.mode)
+ # print(node.mode)
# [[time,x,y,theta,v]...]
+ i = 0
for agent_id in traces:
trace = np.array(traces[agent_id])
# print(trace)
trace_y = trace[:, 2].tolist()
trace_x = trace[:, 1].tolist()
# theta = [i/pi*180 for i in trace[:, 3]]
- color = 'green'
- if agent_id == 'car2':
- color = 'red'
+ i = agent_list.index(agent_id)
+ color = colors[i % 5]
fig.add_trace(go.Scatter(x=trace[:, 1], y=trace[:, 2],
mode='lines',
line_color=color,
- text=[(round(trace[i, 3]/pi*180, 2), round(trace[i, 4], 2))
+ text=[(round(trace[i, 3]/pi*180, 2), round(trace[i, 4], 3))
for i in range(len(trace_y))],
showlegend=False)
# name='lines')
)
- i += 1
+ if previous_mode[agent_id] != node.mode[agent_id]:
+ theta = trace[0, 3]
+ veh_mode = node.mode[agent_id][0]
+ if veh_mode == 'Normal':
+ text_pos = 'middle center'
+ elif veh_mode == 'Brake':
+ if theta >= -pi/2 and theta <= pi/2:
+ text_pos = 'middle left'
+ else:
+ text_pos = 'middle right'
+ elif veh_mode == 'SwitchLeft':
+ if theta >= -pi/2 and theta <= pi/2:
+ text_pos = 'top center'
+ else:
+ text_pos = 'bottom center'
+ elif veh_mode == 'SwitchRight':
+ if theta >= -pi/2 and theta <= pi/2:
+ text_pos = 'bottom center'
+ else:
+ text_pos = 'top center'
+ fig.add_trace(go.Scatter(x=[trace[0, 1]], y=[trace[0, 2]],
+ mode='markers+text',
+ line_color='rgba(255,255,255,0.3)',
+ text=str(agent_id)+': ' +
+ str(node.mode[agent_id][0]),
+ textposition=text_pos,
+ textfont=dict(
+ # family="sans serif",
+ size=10,
+ color="grey"),
+ showlegend=False,
+ ))
+ # i += 1
+ previous_mode[agent_id] = node.mode[agent_id]
queue += node.child
# fig.update_traces(mode='lines')
-
+ # fig.update_annotations(textfont=dict(size=14, color="black"))
+ # print(fig.frames[0].layout["annotations"])
return fig
# fig.show()
diff --git a/demo/dryvr_plus_plus/plotter/plotter3D.py b/dryvr_plus_plus/plotter/plotter3D.py
similarity index 100%
rename from demo/dryvr_plus_plus/plotter/plotter3D.py
rename to dryvr_plus_plus/plotter/plotter3D.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/__init__.py b/dryvr_plus_plus/scene_verifier/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/__init__.py
rename to dryvr_plus_plus/scene_verifier/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/agents/__init__.py b/dryvr_plus_plus/scene_verifier/agents/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/agents/__init__.py
rename to dryvr_plus_plus/scene_verifier/agents/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/agents/base_agent.py b/dryvr_plus_plus/scene_verifier/agents/base_agent.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/agents/base_agent.py
rename to dryvr_plus_plus/scene_verifier/agents/base_agent.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/analysis/__init__.py b/dryvr_plus_plus/scene_verifier/analysis/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/analysis/__init__.py
rename to dryvr_plus_plus/scene_verifier/analysis/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/analysis/analysis_tree_node.py b/dryvr_plus_plus/scene_verifier/analysis/analysis_tree_node.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/analysis/analysis_tree_node.py
rename to dryvr_plus_plus/scene_verifier/analysis/analysis_tree_node.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/analysis/simulator.py b/dryvr_plus_plus/scene_verifier/analysis/simulator.py
similarity index 98%
rename from demo/dryvr_plus_plus/scene_verifier/analysis/simulator.py
rename to dryvr_plus_plus/scene_verifier/analysis/simulator.py
index 97514d88..dd6f03f8 100644
--- a/demo/dryvr_plus_plus/scene_verifier/analysis/simulator.py
+++ b/dryvr_plus_plus/scene_verifier/analysis/simulator.py
@@ -89,7 +89,7 @@ class Simulator:
continue
# next_node = AnalysisTreeNode(trace = {},init={},mode={},agent={}, child = [], start_time = 0)
next_node_mode = copy.deepcopy(node.mode)
- next_node_mode[transit_agent_idx] = dest_mode
+ next_node_mode[transit_agent_idx] = list(dest_mode)
next_node_agent = node.agent
next_node_start_time = list(truncated_trace.values())[0][0][0]
next_node_init = {}
diff --git a/demo/dryvr_plus_plus/scene_verifier/analysis/verifier.py b/dryvr_plus_plus/scene_verifier/analysis/verifier.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/analysis/verifier.py
rename to dryvr_plus_plus/scene_verifier/analysis/verifier.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/automaton/__init__.py b/dryvr_plus_plus/scene_verifier/automaton/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/automaton/__init__.py
rename to dryvr_plus_plus/scene_verifier/automaton/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/automaton/guard.py b/dryvr_plus_plus/scene_verifier/automaton/guard.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/automaton/guard.py
rename to dryvr_plus_plus/scene_verifier/automaton/guard.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/automaton/hybrid_automaton.py b/dryvr_plus_plus/scene_verifier/automaton/hybrid_automaton.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/automaton/hybrid_automaton.py
rename to dryvr_plus_plus/scene_verifier/automaton/hybrid_automaton.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/automaton/hybrid_io_automaton.py b/dryvr_plus_plus/scene_verifier/automaton/hybrid_io_automaton.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/automaton/hybrid_io_automaton.py
rename to dryvr_plus_plus/scene_verifier/automaton/hybrid_io_automaton.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/automaton/reset.py b/dryvr_plus_plus/scene_verifier/automaton/reset.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/automaton/reset.py
rename to dryvr_plus_plus/scene_verifier/automaton/reset.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/code_parser/__init__.py b/dryvr_plus_plus/scene_verifier/code_parser/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/code_parser/__init__.py
rename to dryvr_plus_plus/scene_verifier/code_parser/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py b/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py
rename to dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/__init__.py b/dryvr_plus_plus/scene_verifier/dryvr/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/__init__.py
rename to dryvr_plus_plus/scene_verifier/dryvr/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/common/__init__.py b/dryvr_plus_plus/scene_verifier/dryvr/common/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/common/__init__.py
rename to dryvr_plus_plus/scene_verifier/dryvr/common/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/common/config.py b/dryvr_plus_plus/scene_verifier/dryvr/common/config.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/common/config.py
rename to dryvr_plus_plus/scene_verifier/dryvr/common/config.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/common/constant.py b/dryvr_plus_plus/scene_verifier/dryvr/common/constant.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/common/constant.py
rename to dryvr_plus_plus/scene_verifier/dryvr/common/constant.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/common/io.py b/dryvr_plus_plus/scene_verifier/dryvr/common/io.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/common/io.py
rename to dryvr_plus_plus/scene_verifier/dryvr/common/io.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/common/utils.py b/dryvr_plus_plus/scene_verifier/dryvr/common/utils.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/common/utils.py
rename to dryvr_plus_plus/scene_verifier/dryvr/common/utils.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/__init__.py b/dryvr_plus_plus/scene_verifier/dryvr/core/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/__init__.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/distance.py b/dryvr_plus_plus/scene_verifier/dryvr/core/distance.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/distance.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/distance.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py b/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/dryvrcore.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrmain.py b/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrmain.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/dryvrmain.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/dryvrmain.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/goalchecker.py b/dryvr_plus_plus/scene_verifier/dryvr/core/goalchecker.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/goalchecker.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/goalchecker.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/graph.py b/dryvr_plus_plus/scene_verifier/dryvr/core/graph.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/graph.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/graph.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/guard.py b/dryvr_plus_plus/scene_verifier/dryvr/core/guard.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/guard.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/guard.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/initialset.py b/dryvr_plus_plus/scene_verifier/dryvr/core/initialset.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/initialset.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/initialset.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/initialsetstack.py b/dryvr_plus_plus/scene_verifier/dryvr/core/initialsetstack.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/initialsetstack.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/initialsetstack.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/reachtube.py b/dryvr_plus_plus/scene_verifier/dryvr/core/reachtube.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/reachtube.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/reachtube.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/reset.py b/dryvr_plus_plus/scene_verifier/dryvr/core/reset.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/reset.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/reset.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/core/uniformchecker.py b/dryvr_plus_plus/scene_verifier/dryvr/core/uniformchecker.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/core/uniformchecker.py
rename to dryvr_plus_plus/scene_verifier/dryvr/core/uniformchecker.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/Global_Disc.py b/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/Global_Disc.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/Global_Disc.py
rename to dryvr_plus_plus/scene_verifier/dryvr/discrepancy/Global_Disc.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/PW_Discrepancy.py b/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/PW_Discrepancy.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/PW_Discrepancy.py
rename to dryvr_plus_plus/scene_verifier/dryvr/discrepancy/PW_Discrepancy.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/__init__.py b/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/dryvr/discrepancy/__init__.py
rename to dryvr_plus_plus/scene_verifier/dryvr/discrepancy/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/map/__init__.py b/dryvr_plus_plus/scene_verifier/map/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/map/__init__.py
rename to dryvr_plus_plus/scene_verifier/map/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/map/lane.py b/dryvr_plus_plus/scene_verifier/map/lane.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/map/lane.py
rename to dryvr_plus_plus/scene_verifier/map/lane.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/map/lane_map.py b/dryvr_plus_plus/scene_verifier/map/lane_map.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/map/lane_map.py
rename to dryvr_plus_plus/scene_verifier/map/lane_map.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/map/lane_segment.py b/dryvr_plus_plus/scene_verifier/map/lane_segment.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/map/lane_segment.py
rename to dryvr_plus_plus/scene_verifier/map/lane_segment.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/scenario/__init__.py b/dryvr_plus_plus/scene_verifier/scenario/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/scenario/__init__.py
rename to dryvr_plus_plus/scene_verifier/scenario/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/scenario/scenario.py b/dryvr_plus_plus/scene_verifier/scenario/scenario.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/scenario/scenario.py
rename to dryvr_plus_plus/scene_verifier/scenario/scenario.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/utils/__init__.py b/dryvr_plus_plus/scene_verifier/utils/__init__.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/utils/__init__.py
rename to dryvr_plus_plus/scene_verifier/utils/__init__.py
diff --git a/demo/dryvr_plus_plus/scene_verifier/utils/utils.py b/dryvr_plus_plus/scene_verifier/utils/utils.py
similarity index 100%
rename from demo/dryvr_plus_plus/scene_verifier/utils/utils.py
rename to dryvr_plus_plus/scene_verifier/utils/utils.py
diff --git a/setup.py b/setup.py
index 221cc485..536556a8 100644
--- a/setup.py
+++ b/setup.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python3
-from setuptools import setup
+from setuptools import setup, find_packages
setup(
name='dryvr_plus_plus',
@@ -9,7 +9,7 @@ setup(
maintainer='Yangge Li, Katherine Braught, Haoqing Zhu',
maintainer_email='{li213, braught2, haoqing3}@illinois.edu',
license='Apache-2.0',
- packages=setuptools.find_packages(exclude=["tests", "demo"]),
+ packages=find_packages(exclude=["tests", "demo"]),
python_requires='>=3.8',
install_requires=[
"numpy~=1.22.1",
@@ -24,6 +24,7 @@ setup(
"treelib~=1.6.1",
"z3-solver~=4.8.17.0",
"igraph~=0.9.10",
+ "plotly~=5.8.0"
],
classifiers=[
'Development Status :: 2 - Pre-Alpha',
@@ -32,4 +33,4 @@ setup(
'License :: OSI Approved :: Apache License 2.0',
'Programming Language :: Python :: 3.8',
]
-)
\ No newline at end of file
+)
--
GitLab