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_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()
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_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)