diff --git a/demo/demo1.py b/demo/demo1.py
index b4c57e0c6047e4ab6d0feaec9a072a2697989757..681f9282854933abd672805f9aad17772020e11e 100644
--- a/demo/demo1.py
+++ b/demo/demo1.py
@@ -34,7 +34,7 @@ class State:
if __name__ == "__main__":
- input_code_name = 'example_controller1.py'
+ input_code_name = './example_controller1.py'
scenario = Scenario()
car = NPCAgent('car1')
diff --git a/demo/demo2.py b/demo/demo2.py
index 7c8d006f6a2c9bb62dd972e5a2121ee64219dd91..45fa7927341e720c7f6802c82b8e1381e800afcc 100644
--- a/demo/demo2.py
+++ b/demo/demo2.py
@@ -54,8 +54,8 @@ if __name__ == "__main__":
(VehicleMode.Normal, LaneMode.Lane1),
]
)
- # res_list = scenario.simulate(40)
- traces = scenario.verify(40)
+ # res_list = scenario.simulate(40, 0.05)
+ traces = scenario.verify(40, 0.05)
fig = plt.figure(2)
fig = plot_map(tmp_map, 'g', fig)
diff --git a/demo/demo3.py b/demo/demo3.py
index 83ab13376c2c9c88f94e42e8f6f95e038c5005d0..0209421b5ac4862359856d1b42875af9e1ca5241 100644
--- a/demo/demo3.py
+++ b/demo/demo3.py
@@ -3,7 +3,6 @@ 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
@@ -35,14 +34,14 @@ class State:
v = 0.0
vehicle_mode: VehicleMode = VehicleMode.Normal
lane_mode: LaneMode = LaneMode.Lane0
- type_mode: LaneObjectMode = LaneObjectMode.Vehicle
+ type: LaneObjectMode = LaneObjectMode.Vehicle
- def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type_mode: LaneObjectMode):
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
pass
if __name__ == "__main__":
- input_code_name = './demo/example_controller4.py'
+ input_code_name = './example_controller4.py'
scenario = Scenario()
car = CarAgent('car1', file_name=input_code_name)
@@ -76,8 +75,8 @@ if __name__ == "__main__":
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, 'car3', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car4', 1, [2], 'r', fig)
plt.show()
# fig = go.Figure()
diff --git a/demo/demo4.py b/demo/demo4.py
index 098a4de7c690dc639178b87cad4bcebcf13514db..8f6f4bf38ebed12cb357232380376d7a42f2cfa0 100644
--- a/demo/demo4.py
+++ b/demo/demo4.py
@@ -2,8 +2,6 @@ from dryvr_plus_plus.example.example_agent.car_agent import CarAgent, NPCAgent
from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMap3, SimpleMap4, SimpleMap5, SimpleMap6
from dryvr_plus_plus.plotter.plotter2D import *
-from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor3
-from dryvr_plus_plus.scene_verifier.sensor.base_sensor import BaseSensor
import matplotlib.pyplot as plt
import plotly.graph_objects as go
diff --git a/demo/demo5.py b/demo/demo5.py
index 8c9ffdd990c1db4a8bd528114f2ba5f66204eac0..1607ad52e93df835e3cee1aeebf453a527d45a03 100644
--- a/demo/demo5.py
+++ b/demo/demo5.py
@@ -3,7 +3,6 @@ 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
from dryvr_plus_plus.scene_verifier.sensor.base_sensor import BaseSensor
import matplotlib.pyplot as plt
diff --git a/demo/demo6.py b/demo/demo6.py
index b2e6563b9a16357921aeab17038cbce4dcdcbdb0..7532b251c544833f0636f3dadfbcfa52b6cbf00f 100644
--- a/demo/demo6.py
+++ b/demo/demo6.py
@@ -3,7 +3,6 @@ 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, SimpleMap4, SimpleMap5, SimpleMap6
from dryvr_plus_plus.plotter.plotter2D import *
-from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor3
from dryvr_plus_plus.scene_verifier.sensor.base_sensor import BaseSensor
import matplotlib.pyplot as plt
@@ -84,7 +83,7 @@ if __name__ == "__main__":
]
)
# traces = scenario.simulate(80, 0.05)
- traces = scenario.verify(50, 0.05)
+ traces = scenario.verify(80, 0.05)
fig = plt.figure(2)
fig = plot_map(tmp_map, 'g', fig)
diff --git a/dryvr_plus_plus/example/example_sensor/fake_sensor.py b/dryvr_plus_plus/example/example_sensor/fake_sensor.py
index a982ef6b451eca842e460635f1b2fdaff2e933f4..a1d1946af1a958d8abe8e3d85a088b2849ac7b59 100644
--- a/dryvr_plus_plus/example/example_sensor/fake_sensor.py
+++ b/dryvr_plus_plus/example/example_sensor/fake_sensor.py
@@ -25,28 +25,32 @@ def adds(d, thing, attrs, vals):
d[thing + '.' + k].append(v)
def add_states_2d(cont, disc, thing, val):
- state, mode = val
+ state, mode, static = val
adds(cont, thing, ['x','y','theta','v'], state[1:5])
- adds(disc, thing, ["vehicle_mode", "lane_mode", "type"], mode)
+ adds(disc, thing, ["vehicle_mode", "lane_mode"], mode)
+ adds(disc, thing, ['type'], static)
def add_states_3d(cont, disc, thing, val):
- state, mode = val
+ state, mode, static = val
transp = np.transpose(np.array(state)[:, 1:5])
assert len(transp) == 4
adds(cont, thing, ["x", "y", "theta", "v"], transp)
- adds(disc, thing, ["vehicle_mode", "lane_mode", "type"], mode)
+ adds(disc, thing, ["vehicle_mode", "lane_mode"], mode)
+ adds(disc, thing, ['type'], static)
def set_states_2d(cnts, disc, thing, val):
- state, mode = val
+ state, mode, static = val
sets(cnts, thing, ["x", "y", "theta", "v"], state[1:5])
- sets(disc, thing, ["vehicle_mode", "lane_mode", "type"], mode)
+ sets(disc, thing, ["vehicle_mode", "lane_mode"], mode)
+ sets(disc, thing, ['type'], static)
def set_states_3d(cnts, disc, thing, val):
- state, mode = val
+ state, mode, static = val
transp = np.transpose(np.array(state)[:, 1:5])
assert len(transp) == 4
sets(cnts, thing, ["x", "y", "theta", "v"], transp)
- sets(disc, thing, ["vehicle_mode", "lane_mode", "type"], mode)
+ sets(disc, thing, ["vehicle_mode", "lane_mode"], mode)
+ sets(disc, thing, ['type'], static)
class FakeSensor2:
def sense(self, scenario, agent, state_dict, lane_map):
@@ -87,65 +91,3 @@ class FakeSensor2:
if "sign" in state_dict:
set_states_3d(cnts, disc, "sign", state_dict["sign"])
return cnts, disc, {}
-
-class FakeSensor3:
- def sense(self, scenario, agent, state_dict, lane_map):
- cont = {}
- disc = {}
- len_dict = {'others':len(state_dict)-1}
- tmp = np.array(state_dict['car1'][0])
- if tmp.ndim < 2:
- for agent_id in state_dict:
- if agent_id == agent.id:
- set_states_2d(cont, disc, 'ego', state_dict[agent_id])
- else:
- add_states_2d(cont, disc, 'others', state_dict[agent_id])
- else:
- for agent_id in state_dict:
- if agent_id == agent.id:
- set_states_3d(cont, disc, "ego", state_dict[agent_id])
- else:
- add_states_3d(cont, disc, 'others', state_dict[agent_id])
- return cont, disc, len_dict
-
-
-def set_states_2d_ball(cnts, disc, thing, val):
- state, mode = val
- sets(cnts, thing, ["x", "y", "vx", "vy"], state[1:5])
- sets(disc, thing, ["ball_mode", "lane_mode"], mode)
-def set_states_3d_ball(cnts, disc, thing, val):
- state, mode = val
- transp = np.transpose(np.array(state)[:, 1:5])
- assert len(transp) == 4
- sets(cnts, thing, ["x", "y", "vx", "vy"], transp)
- sets(disc, thing, ["ball_mode", "lane_mode"], mode)
-def add_states_2d_ball(cont, disc, thing, val):
- state, mode = val
- adds(cont, thing, ['x','y','vx','vy'], state[1:5])
- adds(disc, thing, ["ball_mode", "lane_mode", "type"], mode)
-def add_states_3d_ball(cont, disc, thing, val):
- state, mode = val
- transp = np.transpose(np.array(state)[:, 1:5])
- assert len(transp) == 4
- adds(cont, thing, ['x','y','vx','vy'], transp)
- adds(disc, thing, ["ball_mode", "lane_mode", "type"], mode)
-
-class FakeSensor4:
- def sense(self, scenario, agent, state_dict, lane_map):
- cont = {}
- disc = {}
- len_dict = {'others':len(state_dict)-1}
- tmp = np.array(list(state_dict.values())[0])
- if tmp.ndim < 2:
- for agent_id in state_dict:
- if agent_id == agent.id:
- set_states_2d_ball(cont, disc, 'ego', state_dict[agent_id])
- else:
- add_states_2d_ball(cont, disc, 'others', state_dict[agent_id])
- else:
- for agent_id in state_dict:
- if agent_id == agent.id:
- set_states_3d_ball(cont, disc, "ego", state_dict[agent_id])
- else:
- add_states_3d_ball(cont, disc, 'others', state_dict[agent_id])
- return cont, disc, len_dict
\ No newline at end of file
diff --git a/dryvr_plus_plus/scene_verifier/scenario/scenario.py b/dryvr_plus_plus/scene_verifier/scenario/scenario.py
index f9e94fe6bd1ecbd8dea4c1e188aa888615e75217..286b7e9165cf53c2c71a28e60b55565ccaa63703 100644
--- a/dryvr_plus_plus/scene_verifier/scenario/scenario.py
+++ b/dryvr_plus_plus/scene_verifier/scenario/scenario.py
@@ -143,7 +143,7 @@ class Scenario:
lhs = reset_variable
rhs = expr
for lhs_idx, cts_variable in enumerate(agent.controller.state_defs[agent.controller.ego_type].cont):
- if "output."+cts_variable == lhs:
+ if cts_variable == lhs:
break
# substituting low variables