fixing existing dryvr examples

.gitignore

@@ -207,3 +207,7 @@ fabric.properties
 
 # Sonarlint plugin
 .idea/sonarlint
+.vscode/
+# output/
+# config
+# output.txt
\ No newline at end of file

examples/AF_rendezvous/rendezvous_sim.py

@@ -163,29 +163,29 @@ def plot_total_force(arr):
 # - Each step is timed so that it is obvious what the limiting functions are.
 ###########################
 def TC_Simulate(curLabel, initCondition, transiteTime):
-    print "\n~~~ Starting Simulation ~~~"
+    print("\n~~~ Starting Simulation ~~~")
     start = dt.datetime.now()
 
     time = dt.datetime.now()
     arr = generate_trace(curLabel, initCondition, transiteTime)
-    print '\tGenerated Trace:', (dt.datetime.now() - time).total_seconds() * 1000, 'ms'
+    print('\tGenerated Trace:', (dt.datetime.now() - time).total_seconds() * 1000, 'ms')
 
     time = dt.datetime.now()
     arr = add_variables(arr)
-    print '\tAdded Variables:', (dt.datetime.now() - time).microseconds / 1000, 'ms'
+    print('\tAdded Variables:', (dt.datetime.now() - time).microseconds / 1000, 'ms')
 
     time = dt.datetime.now()
     arr = calculate_acceleration(arr)
-    print '\tCalculated Acceleration:', (dt.datetime.now() - time).microseconds / 1000, 'ms'
+    print('\tCalculated Acceleration:', (dt.datetime.now() - time).microseconds / 1000, 'ms')
 
     time = dt.datetime.now()
     arr = compact_trace(arr, 100)
-    print '\tCompacted Trace:', (dt.datetime.now() - time).microseconds / 1000, 'ms'
+    print('\tCompacted Trace:', (dt.datetime.now() - time).microseconds / 1000, 'ms')
 
     time = dt.datetime.now()
     arr = calculate_forces(arr)
-    print '\tCalculated Forces:', (dt.datetime.now() - time).microseconds / 1000, 'ms'
+    print('\tCalculated Forces:', (dt.datetime.now() - time).microseconds / 1000, 'ms')
 
-    print "Completed:", (dt.datetime.now() - start).total_seconds() * 1000, 'ms'
-    print "Trace Length:", len(arr)
+    print("Completed:", (dt.datetime.now() - start).total_seconds() * 1000, 'ms')
+    print("Trace Length:", len(arr))
     return arr

examples/BM_15/BM_15.py

@@ -70,7 +70,7 @@ if __name__ == "__main__":
 
     sol = TC_Simulate("Default", [0.0060145, -0.0009624, 0.0177578, -0.0047553, 0.0177717, -0.0122932, -0.0026115, -0.0122392, 0.0014043, -0.0219818, -0.0396104, -0.0042632, -0.0070418, -0.009347, 0.0022889], 10.0)
     for s in sol:
-		print(s)
+        print(s)
 
     # time = [row[0] for row in sol]
 

examples/BM_48/BM_48.py

@@ -135,7 +135,7 @@ if __name__ == "__main__":
 
     sol = TC_Simulate("Default", [0.0002, 0.0002, 0.0002, 0.0002, 0.0002, 0.0002, 0.0002, 0.0002, 0.0002, 0.0002, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 10.0)
     for s in sol:
-		print(s)
+        print(s)
 
     # time = [row[0] for row in sol]
 

examples/billiard/billiard_sim.py

@@ -21,7 +21,7 @@ def TC_Simulate(Modes,initialCondition,time_bound):
 	return Final_trace
 if __name__ == "__main__":
     trace = TC_Simulate("normal", [0,0,1,1], 5)
-    print trace
+    print(trace)
 
     trace = TC_Simulate("normal;normal", [0,0,1,0,0,0,0,1], 5)
-    print trace
+    print(trace)

examples/c2e2wrapper.py

@@ -41,6 +41,7 @@ def invokeSimulator(modeNum, simFile, initial, timeStep, remainTime):
 	result = []
 	for line in f:
 		line = map(float,line.strip().split(' '))
+		line = list(line)
 		if not result:
 			result.append(line)
 		elif line[0] == result[-1][0]:

examples/cars_fix/Car_Dynamic_Single.py

@@ -185,11 +185,11 @@ def Car_simulate(Mode,initial,time_bound):
     return trace
 
 if __name__ == "__main__":
-    print "start test"
+    print("start test")
     # 16.67*3.6 = 60km/hr
     traj = Car_simulate("TurnRight", [0.0,0.0,0.0,21.16], "10")
     for line in traj:
-        print line
+        print(line)
     # # x = [16.67, 4.17, 30.0, 20.0, 25.0, 10.0,8.0,5.0,3.0,27.5,17.5,2,12.5,1]
     # # y = [0.014,0.22,0.0043,0.0097,0.0061,0.039,0.069,0.155,0.43,0.0052,0.0125,0.97,0.025,4.03]
     # speed = 30

examples/cars_fix/simulate.py

@@ -25,8 +25,8 @@ def simulate(g,initialCondition,Time_horizon):
 	simResult = []
 
 	while remainTime>0:
-		print '-----------------------------------------------------'
-		print 'Current State', g.vs[Current_Vertex]['label']
+		print('-----------------------------------------------------')
+		print('Current State', g.vs[Current_Vertex]['label'])
 
 		Current_successors = g.successors(Current_Vertex)
 		if len(Current_successors)==0:

examples/navigation/nav_ode.py

@@ -51,6 +51,6 @@ def TC_Simulate(Mode,initialCondition,time_bound):
     return trace
 
 if __name__ == "__main__":
-    ret = TC_simulate("Zone3", [0.5, 0.5, 0.0, 0.0], 2)
+    ret = TC_Simulate("Zone3", [0.5, 0.5, 0.0, 0.0], 2)
     for r in ret:
-        print r
+        print(r)

examples/newcars/Car_Sim.py

@@ -16,10 +16,10 @@ def TC_Simulate(Modes,initialCondition,time_bound):
 				Final_trace = trace
 			else:
 				if len(trace)!=len(Final_trace):
-					print len(trace), len(Final_trace)
+					print(len(trace), len(Final_trace))
 					for i in range(min(len(trace), len(Final_trace))):
-						print trace[i][0], Final_trace[i][0]
-					print Final_trace
+						print(trace[i][0], Final_trace[i][0])
+					print(Final_trace)
 				Final_trace = np.concatenate((Final_trace, trace[:,1:6]), axis=1)
 	else:
 		print('Number of cars does not match the initial condition')
@@ -30,15 +30,15 @@ if __name__ == "__main__":
 
 	sol = TC_Simulate("Dec", [0, 0, 0, 1, 0.0], 30)
 	# for line in sol:
-	# 	print line
+	# 	print(line
 	#nextsol = TC_Simulate("TurnRight",sol[-1][1:],50)#2.4
 
 	#finalsol = TC_Simulate("Const",nextsol[-1][1:],1.5)
-	#print sol
+	#print(sol
 	#for i in sol:
-	#	print i
+	#	print(i
 	#for j in nextsol:
-	#	print j
+	#	print(j
 
 	#nextsoltime = [(row[0]+sol[-1][0]) for row in nextsol]
 	#sxnext = [row[1] for row in nextsol]

examples/rrtcars/Car_Sim.py

@@ -17,7 +17,7 @@ def TC_Simulate(Modes,initialCondition,time_bound):
 def main():
 	t = TC_Simulate("TurnLeft", [0,15,0,0], 10)
 	for line in t:
-		print line
+		print(line)
 if __name__ == "__main__":
 	main()
 

examples/spiking_neuron/spiking_neuron.py

@@ -46,7 +46,7 @@ if __name__ == "__main__":
 
     sol = TC_Simulate("Default", [-50, 0.0], 100.0)
     for s in sol:
-		print(s)
+        print(s)
 
     # time = [row[0] for row in sol]
 

examples/vehicle_platoon_3/vehicle_dynamic.py

@@ -69,6 +69,6 @@ if __name__ == "__main__":
 
     sol = TC_Simulate("l1", [1.0, 1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0], 2.0)
     for s in sol:
-		print(s)
+        print(s)
 
   
\ No newline at end of file

input/daginput/input_autopassingUnsafe.json

 {
     "vertex":["Acc1;Const","TurnLeft;Const","Acc2;Const","Dec;Const","TurnRight;Const","Const;Const","Acc1;Acc1","Dec;Acc1","TurnRight;Acc1","Acc1;Dec","Const;Dec","TurnRight;Const"],
     "edge":[[0,1],[1,2],[2,3],[3,4],[4,5],[1,6],[6,7],[7,8],[8,5],[1,9],[9,10],[10,11],[11,5]],
-    "guards":[
+    "variables":["car1_x","car1_y","car1_vx","car1_vy","car2_x","car2_y","car2_vx","car2_vy"],
+	"guards":[
         "And(t>5.0,t<=6.0)",
         "And(t>10.0,t<=12.0)",
 		"And(t>5.0,t<=6.0)",

input/daginput/input_breakSplit.json

@@ -4,7 +4,7 @@
     "variables":["car1_x","car1_y","car1_vx","car1_vy","car2_x","car2_y","car2_vx","car2_vy"],
     "guards":[
         "And(t>1.0,t<=2.0)",
-        "And(t>2,5,t<=3.5)"
+        "And(t>2.5,t<=3.5)"
     ],
     "initialSet":[[0.0,-3.0,0.0,1.0,0.0,-23.0,0.0,0.0],[0.0,3.0,0.0,1.0,0.0,-14.0,0.0,0.0]],
     "unsafeSet":"@Allmode:And(car1_y-car2_y<3)",

main.py

@@ -13,6 +13,9 @@ with open(sys.argv[-1], 'r') as f:
 	data = json.load(f)
 simFunction = importSimFunction(data["directory"])
 safety, reach = verify(data, simFunction)
-lines = reach.raw.split("\n")
-print(type(lines[0]), lines[0])
-initNode, y_min, y_max = parse(lines)
+if safety == 'SAFE':
+	lines = reach.raw.split("\n")
+	print(type(lines[0]), lines[0])
+	initNode, y_min, y_max = parse(lines)
+# elif safety == 'UNSAFE':
+	# print('')
\ No newline at end of file

src/common/utils.py

@@ -65,6 +65,8 @@ def randomPoint(lower, upper):
         random point (either float or list of float)
 
     """
+    # random.seed(4)
+
     if isinstance(lower, int) or isinstance(lower, float):
         return random.uniform(lower, upper)
 

src/core/dryvrcore.py

@@ -268,6 +268,7 @@ def calc_bloated_tube(
         Bloated reach tube
 
     """
+    random.seed(4)
     cur_center = calcCenterPoint(initial_set[0], initial_set[1])
     cur_delta = calcDelta(initial_set[0], initial_set[1])
     traces = [sim_func(mode_label, cur_center, time_horizon)]

src/discrepancy/Global_Disc.py

@@ -8,7 +8,8 @@ import scipy as sp
 import scipy.spatial
 
 _TRUE_MIN_CONST = -10
-_EPSILON = 1.0e-100
+_EPSILON = 1.0e-6
+_SMALL_EPSILON = 1e-10
 
 
 def get_reachtube_segment(training_traces: np.ndarray, initial_radii: np.ndarray, method='PWGlobal') -> np.array:
@@ -105,7 +106,7 @@ def all_sensitivities_calc(training_traces: np.ndarray, initial_radii: np.ndarra
     normalizing_initial_set_radii[np.where(normalizing_initial_set_radii == 0)] = 1.0
     for cur_dim_ind in range(1, ndims):
         normalized_initial_points: np.array = training_traces[:, 0, 1:] / normalizing_initial_set_radii
-        initial_distances = sp.spatial.distance.pdist(normalized_initial_points, 'chebyshev')
+        initial_distances = sp.spatial.distance.pdist(normalized_initial_points, 'chebyshev') + _SMALL_EPSILON
         for cur_time_ind in range(1, trace_len):
             y_points[cur_dim_ind - 1, cur_time_ind - 1] = np.max((sp.spatial.distance.pdist(
                 np.reshape(training_traces[:, cur_time_ind, cur_dim_ind],