From dcc18ca2f00042518387e12a7bc9afd2bf039bd0 Mon Sep 17 00:00:00 2001
From: Yangge Li <li213@illinois.edu>
Date: Thu, 21 Apr 2022 16:00:58 -0500
Subject: [PATCH] further refine how variables are stored in ControllerAst,
deciding the interface for setting map and sensor for user
---
example_two_car_lane_switch.py | 42 ++++++++++++++++++----------------
pythonparser.py | 33 ++++++++++++++++++++++----
2 files changed, 50 insertions(+), 25 deletions(-)
diff --git a/example_two_car_lane_switch.py b/example_two_car_lane_switch.py
index 01571762..14b3d14d 100644
--- a/example_two_car_lane_switch.py
+++ b/example_two_car_lane_switch.py
@@ -21,30 +21,30 @@ class State:
def __init__(self):
self.data = []
-def controller(ego_x, ego_y, ego_theta, ego_v, ego_vehicle_mode, ego_lane_mode, others_x, others_y, others_theta, others_v, others_vehicle_mode, others_lane_mode, map):
- # output = ego
- output_vehicle_mode = ego_vehicle_mode
- output_lane_mode = ego_lane_mode
- if ego_vehicle_mode == VehicleMode.Normal:
- if ego_lane_mode == LaneMode.Lane0:
- if others_x - ego_x > 3 and others_x - ego_x < 5 and map.can_swtich_left(ego_lane_mode):
- output_vehicle_mode = VehicleMode.SwitchLeft
- output_lane_mode = map.switch_left(ego_lane_mode)
- if others_x - ego_x > 3 and others_x - ego_x < 5:
- output_vehicle_mode = VehicleMode.SwitchRight
- if ego_vehicle_mode == VehicleMode.SwitchLeft:
- if ego_lane_mode == LaneMode.Lane0:
- if ego_x - others_x > 10:
- output_vehicle_mode = VehicleMode.Normal
- if ego_vehicle_mode == VehicleMode.SwitchRight:
- if ego_lane_mode == LaneMode.Lane0:
- if ego_x - others_x > 10:
- output_vehicle_mode = VehicleMode.Normal
+def controller(ego:State, other:State, map):
+ output = ego
+ if ego.vehicle_mode == VehicleMode.Normal:
+ if ego.lane_mode == LaneMode.Lane0:
+ if other.x - ego.x > 3 and other.x - ego.x < 5 and map.has_left(ego.lane_mode):
+ output.vehicle_mode = VehicleMode.SwitchLeft
+ output.lane_mode = map.left_lane(ego.lane_mode)
+ if other.x - ego.x > 3 and other.x - ego.x < 5:
+ output.vehicle_mode = VehicleMode.SwitchRight
+ if ego.vehicle_mode == VehicleMode.SwitchLeft:
+ if ego.lane_mode == LaneMode.Lane0:
+ if ego.x - other.x > 10:
+ output.vehicle_mode = VehicleMode.Normal
+ if ego.vehicle_mode == VehicleMode.SwitchRight:
+ if ego.lane_mode == LaneMode.Lane0:
+ if ego.x - other.x > 10:
+ output.vehicle_mode = VehicleMode.Normal
- return output_vehicle_mode, output_lane_mode
+ return output
from ourtool.agents.car_agent import CarAgent
from ourtool.scenario.scenario import Scenario
+from user.sensor import SimpleSensor
+from user.map import SimpleMap
import matplotlib.pyplot as plt
import numpy as np
@@ -56,6 +56,8 @@ if __name__ == "__main__":
scenario.add_agent(car)
car = CarAgent('car2', file_name=input_code_name)
scenario.add_agent(car)
+ scenario.add_map(SimpleMap())
+ # scenario.set_sensor(SimpleSensor())
scenario.set_init(
[[0,0,0,1.0], [10,0,0,0.5]],
[
diff --git a/pythonparser.py b/pythonparser.py
index 12857f6e..02d940e6 100644
--- a/pythonparser.py
+++ b/pythonparser.py
@@ -239,7 +239,7 @@ class ControllerAst():
self.code = code
self.tree = ast.parse(code)
- self.statementtree, self.variables, self.modes, self.discrete_variables = self.initalwalktree(code, self.tree)
+ self.statementtree, self.variables, self.modes, self.discrete_variables, self.state_object_dict, self.vars_dict = self.initalwalktree(code, self.tree)
self.vertices = []
self.vertexStrings = []
for vertex in itertools.product(*self.modes.values()):
@@ -250,7 +250,6 @@ class ControllerAst():
self.vertexStrings.append(vertexstring)
self.paths = None
-
'''
Function to populate paths variable with all paths of the controller.
'''
@@ -362,6 +361,8 @@ class ControllerAst():
discrete_vars = []
out = []
mode_dict = {}
+ state_object_dict = {}
+ vars_dict = {}
for node in ast.walk(tree): #don't think we want to walk the whole thing because lose ordering/depth
# Get all the modes
if isinstance(node, ast.ClassDef):
@@ -373,21 +374,43 @@ class ControllerAst():
mode_dict[modeType] = modes
if isinstance(node, ast.ClassDef):
if "State" in node.name:
+ state_object_dict[node.name] = {"cont":[],"disc":[]}
for item in node.body:
if isinstance(item, ast.FunctionDef):
if "init" in item.name:
for arg in item.args.args:
if "self" not in arg.arg:
if "mode" not in arg.arg:
- vars.append(arg.arg)
+ state_object_dict[node.name]['cont'].append(arg.arg)
+ # vars.append(arg.arg)
else:
- discrete_vars.append(arg.arg)
+ state_object_dict[node.name]['disc'].append(arg.arg)
+ # discrete_vars.append(arg.arg)
if isinstance(node, ast.FunctionDef):
if node.name == 'controller':
#print(node.body)
statementtree = self.parsenodelist(code, node.body, False, Tree(), None)
#print(type(node.args))
- return [statementtree, vars, mode_dict, discrete_vars]
+ args = node.args.args
+ for arg in args:
+ if arg.annotation is None:
+ continue
+ arg_annotation = arg.annotation.id
+ arg_name = arg.arg
+ vars_dict[arg_name] = {'cont':[], 'disc':[]}
+ for var in state_object_dict[arg_annotation]['cont']:
+ vars.append(arg_name+"."+var)
+ vars_dict[arg_name]['cont'].append(var)
+ for var in state_object_dict[arg_annotation]['disc']:
+ discrete_vars.append(arg_name+"."+var)
+ vars_dict[arg_name]['disc'].append(var)
+
+ # if "mode" not in arg.arg:
+ # vars.append(arg.arg)
+ # #todo: what to add for return values
+ # else:
+ # discrete_vars.append(arg.arg)
+ return [statementtree, vars, mode_dict, discrete_vars, state_object_dict, vars_dict]
'''
--
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