diff --git a/demo/demo3.py b/demo/demo3.py
index c0d57fba325d3328533727a5568e5cf78bdf0e09..dd1bb151fb050fcd5528fef802730fe90a4d873d 100644
--- a/demo/demo3.py
+++ b/demo/demo3.py
@@ -1,10 +1,11 @@
-from dryvr_plus_plus.example.example_agent.car_agent import CarAgent
+from dryvr_plus_plus.example.example_agent.car_agent import CarAgent, NPCAgent
from dryvr_plus_plus.example.example_agent.car_agent import CarAgent
from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMap3, SimpleMap5, SimpleMap6
from dryvr_plus_plus.plotter.plotter2D import *
from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor3
+import matplotlib.pyplot as plt
import plotly.graph_objects as go
import numpy as np
from enum import Enum, auto
@@ -46,11 +47,11 @@ if __name__ == "__main__":
car = CarAgent('car1', file_name=input_code_name)
scenario.add_agent(car)
- car = CarAgent('car2', file_name=input_code_name)
+ car = NPCAgent('car2')
scenario.add_agent(car)
- car = CarAgent('car3', file_name=input_code_name)
+ car = NPCAgent('car3')
scenario.add_agent(car)
- car = CarAgent('car4', file_name=input_code_name)
+ car = NPCAgent('car4')
scenario.add_agent(car)
tmp_map = SimpleMap3()
scenario.set_map(tmp_map)
@@ -74,7 +75,7 @@ if __name__ == "__main__":
# fig = plt.figure(2)
# fig = plot_map(tmp_map, 'g', fig)
- # fig = plot_reachtube_tree(traces, 'car1', 0, [1], 'b', 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)
@@ -84,8 +85,8 @@ if __name__ == "__main__":
# fig = plot_simulation_tree(traces, 'car2', 1, [2], 'r', fig)
# fig = plot_simulation_tree(traces, 'car3', 1, [2], 'r', fig)
# fig = plot_simulation_tree(traces, 'car4', 1, [2], 'r', fig)
-
# plt.show()
+
fig = go.Figure()
fig = plotly_simulation_anime(traces, tmp_map, fig)
diff --git a/demo/demo4.py b/demo/demo4.py
index 39c718c602a1f797b6ea3ea9f7cdbf268cc7aac6..2a9843f25ab4fb06ff8c031e3571f82b65acd670 100644
--- a/demo/demo4.py
+++ b/demo/demo4.py
@@ -5,7 +5,7 @@ from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMa
from dryvr_plus_plus.plotter.plotter2D import *
from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor3
-# import matplotlib.pyplot as plt
+import matplotlib.pyplot as plt
import plotly.graph_objects as go
import numpy as np
from enum import Enum, auto
@@ -84,12 +84,12 @@ if __name__ == "__main__":
# 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], '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)
# for traces in res_list:
# # generate_simulation_anime(traces, tmp_map, fig)
# fig = plot_simulation_tree(traces, 'car1', 1, [2], 'b', fig)
diff --git a/dryvr_plus_plus/scene_verifier/automaton/guard.py b/dryvr_plus_plus/scene_verifier/automaton/guard.py
index 541233310a96df8df9ec19ede97e3b04ebfe9068..0370c8371ac540a4ca3e785c6d38874adb6e42d1 100644
--- a/dryvr_plus_plus/scene_verifier/automaton/guard.py
+++ b/dryvr_plus_plus/scene_verifier/automaton/guard.py
@@ -28,8 +28,10 @@ class NodeSubstituter(ast.NodeTransformer):
def visit_Call(self, node: ast.Call) -> Any:
if node == self.old_node:
+ self.generic_visit(node)
return self.new_node
else:
+ self.generic_visit(node)
return node
class ValueSubstituter(ast.NodeTransformer):
@@ -39,6 +41,7 @@ class ValueSubstituter(ast.NodeTransformer):
self.node = node
def visit_Attribute(self, node: ast.Attribute) -> Any:
+ # Substitute attribute node in the ast
if node == self.node:
return ast.Name(
id = self.val,
@@ -47,6 +50,7 @@ class ValueSubstituter(ast.NodeTransformer):
return node
def visit_Name(self, node: ast.Attribute) -> Any:
+ # Substitute name node in the ast
if node == self.node:
return ast.Name(
id = self.val,
@@ -55,19 +59,24 @@ class ValueSubstituter(ast.NodeTransformer):
return node
def visit_Call(self, node: ast.Call) -> Any:
+ # Substitute call node in the ast
if node == self.node:
if len(self.val) == 1:
+ self.generic_visit(node)
return self.val[0]
elif node.func.id == 'any':
+ self.generic_visit(node)
return ast.BoolOp(
op = ast.Or(),
values = self.val
)
elif node.func.id == 'all':
+ self.generic_visit(node)
return ast.BoolOp(
op = ast.And(),
values = self.val
)
+ self.generic_visit(node)
return node
@@ -811,6 +820,9 @@ class GuardExpressionAst:
# Find the value of the tmp variable in the cont/disc_var_dict
# Add the tmp variables into the cont/disc_var_dict
+ # NOTE: At each time step, for each agent, the variable value mapping and their
+ # sequence in the list is single. Therefore, for the same key, we will always rewrite
+ # its content.
variable_name = iter_name + '.' + node.attr
variable_val = None
if variable_name in cont_var_dict:
@@ -820,7 +832,7 @@ class GuardExpressionAst:
variable_val = disc_var_dict[variable_name][iter_pos]
disc_var_dict[tmp_variable_name] = variable_val
- if isinstance(node, ast.Name):
+ elif isinstance(node, ast.Name):
if node.id in targ_name_list:
node:ast.Name
# Find corresponding targ_name in the targ_name_list
diff --git a/parse.py b/parse.py
deleted file mode 100644
index e25b97bcd4eb387064e60803cf3834897e4b3412..0000000000000000000000000000000000000000
--- a/parse.py
+++ /dev/null
@@ -1,141 +0,0 @@
-import ast, copy
-from typing import List, Dict, Optional
-import astunparse
-
-
-class Scope:
- scopes: List[Dict[str, ast.AST]]
- def __init__(self):
- self.scopes = [{}]
-
- def push(self):
- self.scopes = [{}] + self.scopes
-
- def pop(self):
- self.scopes = self.scopes[1:]
-
- def lookup(self, key):
- for scope in self.scopes:
- if key in scope:
- return scope[key]
- return None
-
- def set(self, key, val):
- for scope in self.scopes:
- if key in scope:
- scope[key] = val
- return
- self.scopes[0][key] = val
-
- def dump(self, dump=False):
- ast_dump = lambda node: ast.dump(node, indent=2) if dump else astunparse.unparse(node)
- for scope in self.scopes:
- for k, node in scope.items():
- print(f"{k}: ", end="")
- if isinstance(node, Function):
- print(f"Function args: {node.args} body: {ast_dump(node.body)}")
- else:
- print(ast_dump(node))
- print("===")
-
-class VarSubstituter(ast.NodeTransformer):
- args: Dict[str, ast.expr]
- def __init__(self, args):
- super().__init__()
- self.args = args
-
- def visit_Name(self, node):
- if isinstance(node.ctx, ast.Load) and node.id in self.args:
- return self.args[node.id]
- self.generic_visit(node)
- return node # XXX needed?
-
-class Function:
- args: List[str]
- body: ast.expr
- def __init__(self, args, body):
- self.args = args
- self.body = body
-
- @staticmethod
- def from_func_def(fd: ast.FunctionDef, scope: Scope) -> "Function":
- args = [a.arg for a in fd.args.args]
- scope.push()
- for a in args:
- scope.set(a, ast.Name(a, ctx=ast.Load()))
- ret = None
- for node in fd.body:
- ret = proc(node, scope)
- scope.pop()
- return Function(args, ret)
-
- def apply(self, args: List[ast.expr]) -> ast.expr:
- ret = copy.deepcopy(self.body)
- args = {k: v for k, v in zip(self.args, args)}
- return VarSubstituter(args).visit(ret)
-
-def proc(node: ast.AST, scope: Scope):
- if isinstance(node, ast.Module):
- for node in node.body:
- proc(node, scope)
- elif isinstance(node, ast.For) or isinstance(node, ast.While):
- raise NotImplementedError("loops not supported")
- elif isinstance(node, ast.If):
- node.test = proc(node.test, scope)
- for node in node.body: # FIXME properly handle branching
- proc(node, scope)
- for node in node.orelse:
- proc(node, scope)
- elif isinstance(node, ast.Assign):
- if len(node.targets) == 1:
- target = node.targets[0]
- if isinstance(target, ast.Name):
- scope.set(target.id, proc(node.value, scope))
- elif isinstance(target, ast.Attribute):
- raise NotImplementedError("assign.attr")
- else:
- raise NotImplementedError("unpacking not supported")
- elif isinstance(node, ast.Name) and isinstance(node.ctx, ast.Load):
- return scope.lookup(node.id)
- elif isinstance(node, ast.FunctionDef):
- scope.set(node.name, Function.from_func_def(node, scope))
- elif isinstance(node, ast.ClassDef):
- pass
- elif isinstance(node, ast.UnaryOp):
- return ast.UnaryOp(node.op, proc(node.operand, scope))
- elif isinstance(node, ast.BinOp):
- return ast.BinOp(proc(node.left, scope), node.op, proc(node.right, scope))
- elif isinstance(node, ast.BoolOp):
- return ast.BoolOp(node.op, [proc(val, scope) for val in node.values])
- elif isinstance(node, ast.Compare):
- if len(node.ops) > 1 or len(node.comparators) > 1:
- raise NotImplementedError("too many comparisons")
- return ast.Compare(proc(node.left, scope), node.ops, [proc(node.comparators[0], scope)])
- elif isinstance(node, ast.Call):
- fun = proc(node.func, scope)
- if not isinstance(fun, Function):
- raise Exception("???")
- return fun.apply([proc(a, scope) for a in node.args])
- elif isinstance(node, ast.List):
- return ast.List([proc(e, scope) for e in node.elts])
- elif isinstance(node, ast.Tuple):
- return ast.Tuple([proc(e, scope) for e in node.elts])
- elif isinstance(node, ast.Return):
- return proc(node.value, scope)
- elif isinstance(node, ast.Constant):
- return node # XXX simplification?
-
-def parse(fn: str):
- with open(fn) as f:
- cont = f.read()
- root = ast.parse(cont, fn)
- scope = Scope()
- proc(root, scope)
- scope.dump()
-
-if __name__ == "__main__":
- import sys
- if len(sys.argv) != 2:
- print("usage: parse.py <file.py>")
- sys.exit(1)
- parse(sys.argv[1])
diff --git a/test.py b/test.py
deleted file mode 100644
index 873f5c159b68c4589690be596e7eb045db41b064..0000000000000000000000000000000000000000
--- a/test.py
+++ /dev/null
@@ -1,7 +0,0 @@
-def f(x, b):
- c = x < 3
- d = x + 2 * b
- return d > 10 or c
-x = 10
-y = 20 + x
-z = f(y, x)
\ No newline at end of file