def test_lists():
sampler = ScenicSampler.fromScenicCode(
'ego = Object with foo [1, -1, 3.3]', maxIterations=1)
sample = sampler.nextSample()
foo = sample.objects.object0.foo
assert type(foo) is tuple
assert foo == pytest.approx((1, -1, 3.3))
def main():
# path = '../Scenic-devel/examples/carla/pedestrian.scenic'
path = 'fullScenario.scenic'
sampler = ScenicSampler.fromScenario(path)
falsifier_params = DotMap(
n_iters=1,
save_error_table=True,
save_safe_table=True,
error_table_path="failures_file.txt",
)
falsifier_params.fal_thres = 4
# falsifier_params.fal_thres = 7
server_options = DotMap(maxSteps=800, verbosity=0)
falsifier = generic_falsifier(sampler=sampler,
falsifier_params=falsifier_params,
server_class=ScenicServer,
server_options=server_options,
monitor=specification_monitor(specification))
t0 = time.time()
falsifier.run_falsifier()
t = time.time() - t0
print(
f'Generated {len(falsifier.samples)} samples in {t} seconds with 1 worker'
)
print(f'Number of counterexamples: {len(falsifier.error_table.table)}')
def test_webots_road(pathToLocalFile):
path = pathToLocalFile('scenic_road.scenic')
sampler = ScenicSampler.fromScenario(path)
for i in range(3):
sample = sampler.nextSample()
print(f'Sample #{i}:')
print(sample)
def test_quoted_param():
sampler = ScenicSampler.fromScenicCode(
'param "x/y" = (3, 5)\n'
'ego = Object', maxIterations=1)
sample = sampler.nextSample()
v = sampler.paramDictForSample(sample)['x/y']
assert type(v) is float
assert 3 <= v <= 5
def test_params():
sampler = ScenicSampler.fromScenicCode('param x = (3, 5)\n'
'ego = Object',
maxIterations=1)
sample = sampler.nextSample()
x = sample.params.x
assert type(x) is float
assert 3 <= x <= 5
def test_objects():
sampler = ScenicSampler.fromScenicCode('ego = Object at 4 @ 9',
maxIterations=1)
sample = sampler.nextSample()
objects = sample.objects
assert len(objects) == 1
pos = objects.object0.position
assert type(pos) is tuple
assert pos == (4, 9)
def test_object_order():
sampler = ScenicSampler.fromScenicCode(
'ego = Object at 0 @ 0\n'
'for i in range(1, 11):\n'
' Object at 2*i @ 0',
maxIterations=1)
sample = sampler.nextSample()
objects = sample.objects
assert len(objects) == 11
for i, obj in enumerate(objects):
assert obj.position == pytest.approx((2 * i, 0))
def test_driving_dynamic(pathToLocalFile):
path = pathToLocalFile('scenic_driving.scenic')
sampler = ScenicSampler.fromScenario(path)
falsifier_params = DotMap(
n_iters=3,
save_error_table=False,
save_safe_table=False,
)
server_options = DotMap(maxSteps=2, verbosity=3)
falsifier = generic_falsifier(sampler=sampler,
falsifier_params=falsifier_params,
server_class=ScenicServer,
server_options=server_options)
falsifier.run_falsifier()
def test_active_sampling():
sampler = ScenicSampler.fromScenicCode(
'from dotmap import DotMap\n'
'param verifaiSamplerType = "ce"\n'
'ce_params = DotMap(alpha=0.9)\n'
'ce_params.cont.buckets = 2\n'
'param verifaiSamplerParams = ce_params\n'
'ego = Object at VerifaiRange(-1, 1) @ 0',
maxIterations=1)
def f(sample):
return -1 if sample.objects.object0.position[0] < 0 else 1
samples = sampleWithFeedback(sampler, 120, f)
xs = [sample.objects.object0.position[0] for sample in samples]
assert all(-1 <= x <= 1 for x in xs)
assert any(x > 0 for x in xs)
assert 66 <= sum(x < 0 for x in xs[50:])
from verifai.samplers.scenic_sampler import ScenicSampler
from dotmap import DotMap
from verifai.falsifier import generic_falsifier
path_to_scenic_file = 'lane_cones.sc'
sampler = ScenicSampler.fromScenario(path_to_scenic_file)
MAX_ITERS = 20
PORT = 8888
MAXREQS = 5
BUFSIZE = 4096
falsifier_params = DotMap()
falsifier_params.port = PORT
falsifier_params.n_iters = MAX_ITERS
falsifier_params.maxreqs = MAXREQS
falsifier_params.bufsize = BUFSIZE
falsifier_params.save_error_table = False
falsifier_params.save_good_samples = False
falsifier = generic_falsifier(sampler=sampler,
sampler_type='scenic',
falsifier_params=falsifier_params)
falsifier.run_falsifier()
print("Scenic Samples")
for i in falsifier.samples.keys():
print("Sample: ", i)
print(falsifier.samples[i])
def test_active_save_restore(tmpdir):
sampler = ScenicSampler.fromScenicCode(
'param verifaiSamplerType = "halton"\n'
'ego = Object at VerifaiRange(-1, 1) @ 0',
maxIterations=1)
checkSaveRestore(sampler, tmpdir)
def test_save_restore(tmpdir):
sampler = ScenicSampler.fromScenicCode('ego = Object at (-1, 1) @ 0',
maxIterations=1)
checkSaveRestore(sampler, tmpdir)
def test_driving(pathToLocalFile):
path = pathToLocalFile('scenic_driving.scenic')
sampler = ScenicSampler.fromScenario(path)
runSampler(sampler)
def test_webots_road(pathToLocalFile):
path = pathToLocalFile('scenic_road.scenic')
sampler = ScenicSampler.fromScenario(path)
runSampler(sampler)
