def generateScene():
startTime = time.time()
scene, iterations = errors.callBeginningScenicTrace(
lambda: scenario.generate(verbosity=args.verbosity)
)
if args.verbosity >= 1:
totalTime = time.time() - startTime
print(f' Generated scene in {iterations} iterations, {totalTime:.4g} seconds.')
if args.show_params:
for param, value in scene.params.items():
print(f' Parameter "{param}": {value}')
return scene, iterations
def generateScene(scenario, args):
startTime = time.time()
verbosity = 3 if args.verbose else 1
scene, iterations = errors.callBeginningScenicTrace(
lambda: scenario.generate(verbosity=verbosity))
totalTime = time.time() - startTime
logger.debug(
f' Generated scene in {iterations} iterations, {totalTime:.4g} seconds.'
)
if args.show_params:
for param, value in scene.params.items():
logger.debug(f' Parameter "{param}": {value}')
return scene, iterations
def runSimulation(scene):
startTime = time.time()
if args.verbosity >= 1:
print(f' Beginning simulation of {scene.dynamicScenario}...')
try:
result = errors.callBeginningScenicTrace(
lambda: simulator.simulate(scene, maxSteps=args.time, verbosity=args.verbosity,
maxIterations=args.max_sims_per_scene)
)
except SimulationCreationError as e:
if args.verbosity >= 1:
print(f' Failed to create simulation: {e}')
return False
if args.verbosity >= 1:
totalTime = time.time() - startTime
print(f' Ran simulation in {totalTime:.4g} seconds.')
return result is not None
translator.dumpTranslatedPython = args.dump_initial_python
translator.dumpFinalAST = args.dump_ast
translator.dumpASTPython = args.dump_python
translator.verbosity = args.verbosity
translator.usePruning = not args.no_pruning
if args.seed is not None and args.verbosity >= 1:
print(f'Using random seed = {args.seed}')
random.seed(args.seed)
# Load scenario from file
if args.verbosity >= 1:
print('Beginning scenario construction...')
startTime = time.time()
scenario = errors.callBeginningScenicTrace(
lambda: translator.scenarioFromFile(args.scenicFile,
params=dict(args.param),
model=args.model,
scenario=args.scenario))
totalTime = time.time() - startTime
if args.verbosity >= 1:
print(f'Scenario constructed in {totalTime:.2f} seconds.')
if args.simulate:
simulator = errors.callBeginningScenicTrace(scenario.getSimulator)
def generateScene():
startTime = time.time()
scene, iterations = errors.callBeginningScenicTrace(
lambda: scenario.generate(verbosity=args.verbosity))
if args.verbosity >= 1:
def main():
args = setup_arg_parser()
setup_logging(args.verbose)
delay = args.delay
errors.showInternalBacktrace = args.full_backtrace
if args.pdb:
errors.postMortemDebugging = True
errors.showInternalBacktrace = True
translator.dumpTranslatedPython = args.dump_initial_python
translator.dumpFinalAST = args.dump_ast
translator.dumpASTPython = args.dump_python
translator.verbosity = 3 if args.verbose else 1
translator.usePruning = not args.no_pruning
if args.seed is not None:
logger.info(f'Using random seed = {args.seed}')
random.seed(args.seed)
with open(args.input, 'r') as f:
input_objects = yaml.load(f)
input_dir = os.path.dirname(args.input)
models_dir = input_objects.get('models_dir', '')
if not args.load:
load_module('gzscenic/base.scenic')
if args.dump:
with open(args.dump, 'w') as f:
f.write('from gzscenic.base import *\n\n')
for obj in input_objects['models']:
print(generate_model(obj, input_dir, models_dir, args.dump))
else:
if args.load.rpartition('.')[-1] not in ['sc', 'scenic']:
raise Exception('The file to be loaded needs to be .sc or .scenic')
load_module(args.load)
# Load scenario from file
logger.info('Beginning scenario construction...')
startTime = time.time()
scenario = errors.callBeginningScenicTrace(
lambda: translator.scenarioFromFile(args.scenicFile,
params=dict(args.param),
model=args.model,
scenario=args.scenario))
totalTime = time.time() - startTime
logger.info(f'Scenario constructed in {totalTime:.2f} seconds.')
if not args.noplt:
import matplotlib.pyplot as plt
success_count = 0
while not args.scenes_num or success_count < args.scenes_num:
scene, _ = generateScene(scenario, args)
if not args.noplt:
if delay is None:
scene.show(zoom=args.zoom)
else:
scene.show(zoom=args.zoom, block=False)
plt.pause(delay)
plt.clf()
scene_to_sdf(scene, input_dir, input_objects['world'], models_dir,
args.outputPath)
success_count += 1
