changing file structure

.gitignore

@@ -24,3 +24,4 @@ docs/source/_autosummary/
 gif/
 debug/
 build/
+.python-version

demo/fp_demos/brusselator.py

@@ -5,7 +5,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario, ScenarioConfig
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType

demo/fp_demos/buckling_col.py

@@ -5,7 +5,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario, ScenarioConfig
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType

demo/fp_demos/cardiac_cell_agent.py

@@ -4,7 +4,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType

demo/fp_demos/fp_tests/bouncing_ball.py

@@ -4,7 +4,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType

demo/fp_demos/fp_tests/mp4_p2.py

@@ -4,7 +4,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from vehicle_controller import VehicleMode

demo/fp_demos/helicopter.py

@@ -5,7 +5,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario, ScenarioConfig
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType
@@ -145,6 +145,7 @@ def decisionLogic(ego: State, other: State):
 
     trace = scenario.verify(20, 0.01)
 
+    wrap_to_pi(5)
     # is false, should be false
     print(f'Fixed points exists? {fixed_points_fix(trace, 20, 0.01)}')
 

demo/fp_demos/jet_engine.py

@@ -5,7 +5,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario, ScenarioConfig
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType

demo/fp_demos/lin_thermo.py

@@ -5,7 +5,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario, ScenarioConfig
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType

demo/fp_demos/nav_sys.py

@@ -5,7 +5,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario, ScenarioConfig
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType

demo/fp_demos/power_train.py

@@ -5,7 +5,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario, ScenarioConfig
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType

demo/fp_demos/robot.py

@@ -5,7 +5,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario, ScenarioConfig
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType

demo/fp_demos/total_motion.py

@@ -5,7 +5,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario, ScenarioConfig
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType

demo/highway_brake/mp0.py

@@ -4,7 +4,7 @@
 from scipy.integrate import ode 
 
 from verse import BaseAgent, Scenario
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from vehicle_controller import VehicleMode, PedestrianMode

demo/intersection/intersection.py

@@ -2,7 +2,7 @@
 from typing import Dict, Optional, Tuple
 from verse.agents.example_agent import CarAgentDebounced
 from verse.analysis.analysis_tree import AnalysisTree, first_transitions
-from verse.analysis.utils import wrap_to_pi
+from verse.utils.utils import wrap_to_pi
 from verse.map.example_map.intersection import Intersection
 from verse.scenario.scenario import Benchmark, Scenario
 

tutorial/tutorial_agent.py

@@ -9,7 +9,7 @@
 from verse import BaseAgent
 from verse import LaneMap
 from verse.map.lane_map_3d import LaneMap_3d
-from verse.analysis.utils import wrap_to_pi
+from verse.utils.utils import wrap_to_pi
 from verse.analysis.analysis_tree import TraceType
 
 

verse/agents/example_agent/car_agent.py

@@ -6,7 +6,7 @@
 
 from verse import BaseAgent
 from verse import LaneMap
-from verse.analysis.utils import wrap_to_pi
+from verse.utils.utils import wrap_to_pi
 from verse.analysis.analysis_tree import TraceType
 from verse.parser import ControllerIR
 

verse/analysis/analysis_tree.py

@@ -543,9 +543,9 @@ def get_leaf_nodes(self, root):
     # helper method
     def collect_leaf_nodes(self, node, leafs):
         if node is not None:
-            if len(node.children) == 0:
+            if len(node.child) == 0: ###
                 leafs.append(node)
-            for n in node.children:
+            for n in node.child: ###
                 self.collect_leaf_nodes(n, leafs)
 
     # get the height of the tree

verse/analysis/simulator.py

@@ -14,7 +14,7 @@
 
 from verse.agents.base_agent import BaseAgent
 from verse.analysis.incremental import CachedSegment, SimTraceCache, convert_sim_trans, to_simulate
-from verse.analysis.utils import dedup
+from verse.utils.utils import dedup
 from verse.map.lane_map import LaneMap
 from verse.parser.parser import ModePath, find, unparse
 from verse.analysis.incremental import (
@@ -219,7 +219,7 @@ def simulate_one(
                     trace = node.agent[agent_id].TC_simulate(
                         mode, init, remain_time, consts.time_step, consts.lane_map
                     )
-                    trace[:, 0] += node.start_time
+                    trace[:, 0] += node.start_time ### breakpoints here
                     node.trace[agent_id] = trace
         # pp(("cached_segments", cached_segments.keys()))
         # TODO: for now, make sure all the segments comes from the same node; maybe we can do

verse/analysis/verifier.py

@@ -19,7 +19,7 @@
     combine_all,
 )
 from verse.analysis.incremental import CachedRTTrans, combine_all, reach_trans_suit
-from verse.analysis.utils import dedup
+from verse.utils.utils import dedup
 from verse.map.lane_map import LaneMap
 from verse.parser.parser import find, ModePath, unparse
 from verse.agents.base_agent import BaseAgent

verse/automaton/guard.py

@@ -6,7 +6,7 @@
 from z3 import *
 
 from verse.map import LaneMap, AbstractLane
-from verse.analysis.utils import *
+from verse.utils.utils import *
 from verse.agents.base_agent import BaseAgent
 from verse.parser import Reduction, ReductionType, unparse
 

verse/map/lane_segment.py

@@ -2,7 +2,7 @@
 from abc import ABCMeta, abstractmethod
 from typing import Tuple, List, Optional
 
-from verse.analysis.utils import wrap_to_pi, Vector, get_class_path, to_serializable
+from verse.utils.utils import wrap_to_pi, Vector, get_class_path, to_serializable
 
 
 class LineType:

verse/map/lane_segment_3d.py

@@ -4,7 +4,7 @@
 from typing import Tuple, List, Optional, Union
 from math import pi, cos, sin, acos, asin, atan, tan
 
-from verse.analysis.utils import (
+from verse.utils.utils import (
     wrap_to_pi,
     Vector,
     get_class_path,

verse/parser/parser.py

@@ -756,7 +756,7 @@ def proc(node: ast.AST, env: Env) -> Any:
     # Data massaging
     elif isinstance(node, ast.For) or isinstance(node, ast.While):
         raise NotImplementedError("loops not supported")
-    elif isinstance(node, ast.If):
+    elif isinstance(node, ast.If): # add error message/assert message if else is called
         if is_main_check(node):
             return START_OF_MAIN
         test = proc(node.test, env)

verse/plotter/plotter2D.py

@@ -66,6 +66,7 @@ def simulation_tree(
     scale_type="trace",
     label_mode="None",
     sample_rate=1,
+    plot_color=None,
 ):
     '''This function adds the traces of a simulation as a 2D plot to a plotly graph object.
         Parameters:
@@ -94,7 +95,7 @@ def simulation_tree(
     i = 0
     for agent_id in agent_list:
         fig = simulation_tree_single(
-            root, agent_id, fig, x_dim, y_dim, scheme_list[i], print_dim_list
+            root, agent_id, fig, x_dim, y_dim, scheme_list[i], print_dim_list, plot_color
         )
         i = (i + 1) % num_theme
     if scale_type == "trace":
@@ -1036,13 +1037,16 @@ def simulation_tree_single(
     y_dim: int = 2,
     color=None,
     print_dim_list=None,
+    plot_color = None
 ):
     """It statically shows the simulation traces of one given agent."""
     if isinstance(root, AnalysisTree):
         root = root.root
     global color_cnt
     queue = [root]
     color_id = 0
+    if plot_color is None:
+        plot_color = colors
     if color == None:
         color = list(scheme_dict.keys())[color_cnt]
         color_cnt = (color_cnt + 1) % num_theme
@@ -1072,7 +1076,7 @@ def simulation_tree_single(
                 x=trace[:, x_dim],
                 y=trace[:, y_dim],
                 mode="lines",
-                line_color=colors[scheme_dict[color]][color_id],
+                line_color=plot_color[scheme_dict[color]][color_id],
                 text=[
                     ["{:.2f}".format(trace[i, j]) for j in print_dim_list]
                     for i in range(trace.shape[0])

verse/scenario/scenario.py

@@ -6,7 +6,7 @@
 from verse.agents.base_agent import BaseAgent
 from verse.analysis import Simulator, Verifier, AnalysisTreeNode, AnalysisTree, ReachabilityMethod
 from verse.analysis.analysis_tree import AnalysisTreeNodeType
-from verse.analysis.utils import sample_rect
+from verse.utils.utils import sample_rect
 from verse.parser.parser import ControllerIR
 from verse.sensor.base_sensor import BaseSensor
 from verse.map.lane_map import LaneMap

verse/utils/__init__.py

@@ -1,2 +1,2 @@
-from . import fixed_points
-from .fixed_points import *
+# from . import fixed_points
+# from .fixed_points import *

verse/utils/fixed_points.py

@@ -2,7 +2,7 @@
 import numpy as np 
 from scipy.integrate import ode 
 from verse import BaseAgent, Scenario,  ScenarioConfig
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType

verse/utils/fixed_points_deprecated.py

@@ -2,7 +2,7 @@
 import numpy as np 
 from scipy.integrate import ode 
 from verse import BaseAgent, Scenario,  ScenarioConfig
-from verse.analysis.utils import wrap_to_pi 
+from verse.utils.utils import wrap_to_pi 
 from verse.analysis.analysis_tree import TraceType, AnalysisTree 
 from verse.parser import ControllerIR
 from verse.analysis import AnalysisTreeNode, AnalysisTree, AnalysisTreeNodeType