AutowareAuto ROS2 support

Added support for AutowareAuto ROS2 bridge

docs/conf.py

@@ -38,8 +38,8 @@
 # -- Project information -----------------------------------------------------
 
 project = 'Scenic'
-copyright = '2021, Daniel J. Fremont.'
-author = 'Daniel J. Fremont, Edward Kim, Tommaso Dreossi, Shromona Ghosh, Xiangyu Yue, Alberto L. Sangiovanni-Vincentelli, and Sanjit A. Seshia'
+copyright = '2020, Daniel J. Fremont.'
+author = 'Daniel J. Fremont, Tommaso Dreossi, Shromona Ghosh, Edward Kim, Xiangyu Yue, Alberto L. Sangiovanni-Vincentelli, and Sanjit A. Seshia'
 
 
 # -- General configuration ---------------------------------------------------
@@ -72,9 +72,6 @@
 autodoc_member_order = 'bysource'
 autodoc_mock_imports = ['carla', 'lgsvl']
 autodoc_typehints = 'description'
-autodoc_type_aliases = {
-    'Vectorlike': '`scenic.domains.driving.roads.Vectorlike`',
-}
 napoleon_numpy_docstring = False
 napoleon_use_rtype = False
 napoleon_use_ivar = True
@@ -231,19 +228,24 @@ def object_description(obj):
         return orig_object_description(obj)
 sphinx.ext.autodoc.object_description = object_description
 
-# -- Extension for correctly displaying Scenic code and skipping internals ---
+# TODO switch to type_aliases once Sphinx 3.3 is out;
+# this hack suggested by sjjessop at https://github.com/sphinx-doc/sphinx/issues/6518
+import typing
+orig_get_type_hints = typing.get_type_hints
+def get_type_hints(obj, globals=None, locals=None):
+    if locals is None:
+        locals = {}
+    locals['Vectorlike'] = 'Vectorlike'
+    return orig_get_type_hints(obj, globals, locals)
+typing.get_type_hints = get_type_hints
 
-from scenic.syntax.pygment import ScenicLexer
+# -- Extension for correctly displaying Scenic code and skipping internals ---
 
 def setup(app):
     app.connect('viewcode-find-source', handle_find_source)
     app.connect('autodoc-process-signature', handle_process_signature)
     app.connect('autodoc-skip-member', handle_skip_member)
 
-    # for some reason, the Pygments entry point doesn't work on ReadTheDocs;
-    # so we register the custom lexer here
-    app.add_lexer('scenic', ScenicLexer)
-
     return { 'parallel_read_safe': True }
 
 import importlib
@@ -323,3 +325,13 @@ def scan(self, imported_members):
                                              modname=modname, qualname=qualname)
 
 as_gen.generate_autosummary_content = generate_autosummary_content
+
+# -- Monkeypatch to fix bug in autodoc (temporarily) -------------------------
+
+from sphinx.ext.autodoc import Documenter, Options
+
+orig_init = Documenter.__init__
+def __init__(self, *args, **kwargs):
+    orig_init(self, *args, **kwargs)
+    self.options = Options(self.options)
+Documenter.__init__ = __init__

docs/quickstart.rst

@@ -6,7 +6,7 @@ Getting Started with Scenic
 Installation
 ------------
 
-Scenic requires **Python 3.7** or newer.
+Scenic requires **Python 3.8** or newer.
 You can install Scenic from PyPI by simply running:
 
 .. code-block:: console
@@ -30,7 +30,7 @@ If you will be developing Scenic, add the ``-E dev`` option when invoking Poetry
 
 .. note::
 
-	If you get an error saying that your machine does not have a compatible version, this means that you do not have Python 3.7 or later on your PATH.
+	If you get an error saying that your machine does not have a compatible version, this means that you do not have Python 3.8 or later on your PATH.
 	Install a newer version of Python, either directly from the `Python website <https://www.python.org/downloads/>`_ or using `pyenv <https://github.com/pyenv/pyenv>`_ (e.g. running :command:`pyenv install 3.8.5`).
 	If you install it somewhere that is not on your PATH (so running :command:`python --version` doesn't give you the correct version), you'll need to run :command:`poetry env use /full/path/to/python` before running :command:`poetry install`.
 

docs/requirements.txt

@@ -1,59 +1,56 @@
-alabaster==0.7.12; python_version >= "3.6"
+alabaster==0.7.12; python_version >= "3.5"
 antlr4-python3-runtime==4.8
 appdirs==1.4.4; python_version >= "2.7" and python_full_version < "3.0.0" or python_full_version >= "3.5.0"
 astor==0.8.1; (python_version >= "2.7" and python_full_version < "3.0.0") or (python_full_version >= "3.4.0")
 atomicwrites==1.4.0; python_version >= "3.6" and python_full_version < "3.0.0" and sys_platform == "win32" or sys_platform == "win32" and python_version >= "3.6" and python_full_version >= "3.4.0"
 attrs==19.3.0; (python_version >= "2.7" and python_full_version < "3.0.0") or (python_full_version >= "3.4.0")
-babel==2.9.1; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.4.0" and python_version >= "3.6"
-certifi==2021.5.30; python_version >= "3.7" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.7"
-chardet==4.0.0; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.6"
+babel==2.9.0; python_version >= "3.5" and python_full_version < "3.0.0" or python_full_version >= "3.4.0" and python_version >= "3.5"
+certifi==2020.12.5; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.6"
+chardet==4.0.0; python_version >= "3.5" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.5"
 colorama==0.4.4; python_version >= "3.6" and python_full_version < "3.0.0" and sys_platform == "win32" and platform_system == "Windows" or sys_platform == "win32" and python_version >= "3.6" and python_full_version >= "3.5.0" and platform_system == "Windows"
 cycler==0.10.0; python_version >= "3.7"
-decorator==5.0.9; python_version >= "3.5"
-distlib==0.3.2; python_version >= "2.7" and python_full_version < "3.0.0" or python_full_version >= "3.5.0"
-docutils==0.16; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.6"
+distlib==0.3.1; python_version >= "2.7" and python_full_version < "3.0.0" or python_full_version >= "3.5.0"
+docutils==0.16; python_version >= "3.5" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.5"
 dotmap==1.3.23
 filelock==3.0.12; python_version >= "2.7" and python_full_version < "3.0.0" or python_full_version >= "3.5.0"
-idna==2.10; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.6"
-imagesize==1.2.0; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.4.0" and python_version >= "3.6"
-importlib-metadata==3.10.1; python_version < "3.8" and python_version >= "3.6" and (python_version >= "3.6" and python_full_version < "3.0.0" and python_version < "3.8" or python_full_version >= "3.5.0" and python_version < "3.8" and python_version >= "3.6") and (python_version >= "3.6" and python_full_version < "3.0.0" and python_version < "3.8" or python_full_version >= "3.4.0" and python_version >= "3.6" and python_version < "3.8") or python_version >= "3.7" and python_version < "3.8"
+idna==2.10; python_version >= "3.5" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.5"
+imagesize==1.2.0; python_version >= "3.5" and python_full_version < "3.0.0" or python_full_version >= "3.4.0" and python_version >= "3.5"
 iniconfig==1.1.1; python_version >= "3.6"
-jinja2==3.0.1; python_version >= "3.6"
+jinja2==2.11.3; python_version >= "3.5" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.5"
 kiwisolver==1.3.1; python_version >= "3.7"
 mapbox-earcut==0.12.10
-markupsafe==2.0.1; python_version >= "3.6"
-matplotlib==3.4.2; python_version >= "3.7"
-numpy==1.21.0; python_version >= "3.7"
-opencv-python==4.5.2.54; python_version >= "3.6"
+markupsafe==1.1.1; python_version >= "3.5" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.5"
+matplotlib==3.4.1; python_version >= "3.7"
+numpy==1.20.2; python_version >= "3.7"
+opencv-python==4.5.1.48; python_version >= "3.6"
 packaging==20.9; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.6"
-pillow==8.2.0; python_version >= "3.6"
+pillow==8.1.2; python_version >= "3.6"
 pluggy==0.13.1; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.6"
 py==1.10.0; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.6"
 pygame==2.0.1
-pygments==2.9.0; python_version >= "3.6"
+pygments==2.8.1; python_version >= "3.5"
 pynverse==0.1.4.4
 pyparsing==2.4.7; python_version >= "3.7" and python_full_version < "3.0.0" or python_full_version >= "3.4.0" and python_version >= "3.7"
-pyproj==3.1.0; python_version >= "3.7"
-pytest-randomly==3.8.0; python_version >= "3.6"
-pytest==6.2.4; python_version >= "3.6"
+pyproj==3.0.1; python_version >= "3.6"
+pytest-randomly==3.5.0; python_version >= "3.5"
+pytest==6.2.2; python_version >= "3.6"
 python-dateutil==2.8.1; python_version >= "3.7" and python_full_version < "3.0.0" or python_full_version >= "3.3.0" and python_version >= "3.7"
-pytz==2021.1; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.4.0" and python_version >= "3.6"
-requests==2.25.1; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.6"
+pytz==2021.1; python_version >= "3.5" and python_full_version < "3.0.0" or python_full_version >= "3.4.0" and python_version >= "3.5"
+requests==2.25.1; python_version >= "3.5" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.5"
 scipy==1.6.1; python_version >= "3.7"
 shapely==1.7.1
-six==1.16.0; python_version >= "3.7" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.7"
-snowballstemmer==2.1.0; python_version >= "3.6"
-sphinx-rtd-theme==0.5.2
-sphinx==4.0.2; python_version >= "3.6"
-sphinxcontrib-applehelp==1.0.2; python_version >= "3.6"
-sphinxcontrib-devhelp==1.0.2; python_version >= "3.6"
-sphinxcontrib-htmlhelp==2.0.0; python_version >= "3.6"
-sphinxcontrib-jsmath==1.0.1; python_version >= "3.6"
-sphinxcontrib-qthelp==1.0.3; python_version >= "3.6"
-sphinxcontrib-serializinghtml==1.1.5; python_version >= "3.6"
+six==1.15.0; python_version >= "3.7" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.7"
+snowballstemmer==2.1.0; python_version >= "3.5"
+sphinx-rtd-theme==0.4.3
+sphinx==3.5.3; python_version >= "3.5"
+sphinxcontrib-applehelp==1.0.2; python_version >= "3.5"
+sphinxcontrib-devhelp==1.0.2; python_version >= "3.5"
+sphinxcontrib-htmlhelp==1.0.3; python_version >= "3.5"
+sphinxcontrib-jsmath==1.0.1; python_version >= "3.5"
+sphinxcontrib-qthelp==1.0.3; python_version >= "3.5"
+sphinxcontrib-serializinghtml==1.1.4; python_version >= "3.5"
 toml==0.10.2; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version >= "3.6"
-tox==3.23.1; (python_version >= "2.7" and python_full_version < "3.0.0") or (python_full_version >= "3.5.0")
-typing-extensions==3.10.0.0; python_version >= "3.7" and python_version < "3.8"
-urllib3==1.26.6; python_version >= "3.6" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version < "4" and python_version >= "3.6"
-virtualenv==20.4.7; python_version >= "2.7" and python_full_version < "3.0.0" or python_full_version >= "3.5.0"
-zipp==3.4.1; python_version >= "3.7" and python_version < "3.8"
+tox==3.23.0; (python_version >= "2.7" and python_full_version < "3.0.0") or (python_full_version >= "3.5.0")
+urllib3==1.26.4; python_version >= "3.5" and python_full_version < "3.0.0" or python_full_version >= "3.5.0" and python_version < "4" and python_version >= "3.5"
+virtualenv==20.4.3; python_version >= "2.7" and python_full_version < "3.0.0" or python_full_version >= "3.5.0"
+wrapt==1.12.1

examples/driving/OAS_Scenarios/oas_scenario_04.scenic

@@ -4,8 +4,8 @@ The ego vehicle follows the lead car which suddenly stops
 """
 
 #SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../tests/formats/opendrive/maps/CARLA/Town07.xodr')  # or other CARLA map that definitely works
-param carla_map = 'Town07'
+param map = localPath('../../../tests/formats/opendrive/maps/LGSVL/cubetown.xodr')  # or other CARLA map that definitely works
+param lgsvl_map = 'CubeTown'
 model scenic.domains.driving.model
 
 #CONSTANTS
@@ -49,4 +49,4 @@ other = Car on select_lane.centerline,
 		with behavior LeadCarBehavior()
 
 ego = Car following roadDirection from other for INITIAL_DISTANCE_APART,
-		with behavior FollowLeadCarBehavior()
+		with behavior FollowLeadCarBehavior()

examples/driving/OAS_Scenarios/oas_scenario_28.scenic

@@ -6,8 +6,8 @@ because it is closer to the intersection.
 """
 
 #SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../tests/formats/opendrive/maps/CARLA/Town05.xodr')  # or other CARLA map that definitely works
-param carla_map = 'Town05'
+param map = localPath('../../../tests/formats/opendrive/maps/LGSVL/cubetown.xodr')  # or other CARLA map that definitely works
+param carla_map = 'CubeTown'
 model scenic.domains.driving.model
 
 param time_step = 1.0/10

examples/driving/OAS_Scenarios/oas_scenario_29.scenic

@@ -6,8 +6,8 @@ has the right of the way and makes a left turn first because it is closer to the
 """
 
 #SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../tests/formats/opendrive/maps/CARLA/Town05.xodr')  # or other CARLA map that definitely works
-param carla_map = 'Town05'
+param map = localPath('../../../tests/formats/opendrive/maps/LGSVL/cubetown.xodr')  # or other CARLA map that definitely works
+param lgsvl_map = 'CubeTown'
 model scenic.domains.driving.model
 
 # Constants

examples/driving/badlyParkedCarPullingIn.scenic

@@ -1,5 +1,5 @@
-param map = localPath('../../tests/formats/opendrive/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../tests/formats/opendrive/maps/LGSVL/cubetown.xodr')
+param lgsvl_map = 'CubeTown'
 param time_step = 1.0/10
 
 model scenic.domains.driving.model
@@ -10,7 +10,9 @@ behavior PullIntoRoad():
     do FollowLaneBehavior(laneToFollow=ego.lane)
 
 ego = Car with behavior DriveAvoidingCollisions(avoidance_threshold=5)
-
+x = 10
+print('lgsvl--', x)
+x =x+10
 rightCurb = ego.laneGroup.curb
 spot = OrientedPoint on visible rightCurb
 badAngle = Uniform(1.0, -1.0) * Range(10, 20) deg

examples/lgsvl/carla_challenge_10.scenic

@@ -5,8 +5,8 @@
 # param map = localPath('maps/borregasave.xodr')
 # param lgsvl_map = 'BorregasAve'
 
-param map = localPath('../carla/OpenDrive/Town03.xodr')
-param carla_map = 'Town03'
+param map = localPath('maps/cubetown.xodr')
+param lgsvl_map = 'CubeTown'
 param time_step = 1.0/10
 
 model scenic.simulators.lgsvl.model
@@ -143,4 +143,4 @@ actorCar = Car following roadDirection from pos2 by -actorDist,
 
 terminate when ego in egoManeuver.endLane
 terminate when actorCar in actorTurn.endLane
-terminate when simulation().currentTime > MAX_TIME
+terminate when simulation().currentTime > MAX_TIME

examples/lgsvl/sample.scenic

@@ -0,0 +1,9 @@
+param map = localPath('../../tests/formats/opendrive/maps/LGSVL/cubetown.xodr')
+param lgsvl_map = 'CubeTown'
+param time_step = 1.0/10
+
+model scenic.domains.driving.model
+from scenic.simulators.lgsvl.model import Car
+
+ego = Car
+Car

examples/lgsvl/scenic-cut-in-new.scenic

@@ -1,18 +1,19 @@
 
-param map = localPath('maps/Straight2LaneSame.xodr')
-param lgsvl_map = 'Straight2LaneSame'
-param apolloHDMap = 'Straight2LaneSame'
+param map = localPath('maps/cubeTown.xodr')
+param lgsvl_map = 'cubeTown'
+param apolloHDMap = 'cubeTown'
 param time_step = 1.0/2
 
 model scenic.simulators.lgsvl.model
 
 
-egoStartPos = OrientedPoint on road
+egoStartPos = Point on road
 egoDestination = follow roadDirection from egoStartPos for 100
 require egoDestination in road
 
-ego = EgoCar at egoStartPos,
-             with behavior DriveTo(egoDestination)
+ego = Car at egoStartPos,
+     with behavior DriveTo(egoDestination)
+print("***** : ",ego)
 
 npcStartPos = egoStartPos offset by -3.5 @ 0
 
@@ -31,7 +32,7 @@ waypoints = [npcWP0, npcWP1, npcWP2, npcWP3]
 
 npc = Car at npcStartPos,
           with behavior FollowWaypoints(waypoints),
-          with lgsvlName Uniform('Sedan', 'SUV', 'Hatchback', 'Jeep')
+          with lgsvlName Uniform('Sedan')
 
 # Require NPC to be headed approximately the same way as the ego
 require abs(relative heading of npc) <= 20 deg

pyproject.toml

@@ -22,7 +22,7 @@ classifiers = [
 ]
 
 [tool.poetry.dependencies]
-python = "^3.7"
+python = "^3.8"
 dotmap = "^1.3.13"
 shapely = "^1.7.0"
 mapbox_earcut = "^0.12.10"
@@ -33,18 +33,17 @@ opencv-python = "^4.2.0.34"
 numpy = "^1.18.2"
 pillow = "^8.1.1"
 pynverse = "^0.1.4"
-pygame = "^2.0.1"
+pygame = "^2.0.0.dev6"
 attrs = "^19.3.0"
-decorator = "^5.0.9"
-importlib_metadata = { version = "^3.7", python = "~3.7" }
+wrapt = "^1.12.1"
 
 pyproj = {version = "^3.0.0", optional = true}
 
 pytest-randomly = {version = "^3.2.1", optional = true}
 pytest = {version = "^6.0.0", optional = true}
-sphinx = {version = ">=3.3.0, <5", optional = true}
+sphinx = {version = "^3.1.0", optional = true}
 tox = {version = "^3.14.0", optional = true}
-sphinx_rtd_theme = {version = "^0.5.2", optional = true}
+sphinx_rtd_theme = {version = "^0.4.3", optional = true}
 astor = {version = "^0.8.1", optional = true}
 
 [tool.poetry.extras]

src/scenic/__main__.py

@@ -6,11 +6,7 @@
 import time
 import argparse
 import random
-
-if sys.version_info >= (3, 8):
-    from importlib import metadata
-else:
-    import importlib_metadata as metadata
+import importlib.metadata
 
 import scenic.syntax.translator as translator
 import scenic.core.errors as errors
@@ -40,6 +36,8 @@
                      type=int, default=None)
 simOpts.add_argument('--count', help='number of successful simulations to run (default infinity)',
                      type=int, default=0)
+simOpts.add_argument('--mycmd',help='testing (default none)',  #sneha
+                     type=float,default=0.0)
 simOpts.add_argument('--max-sims-per-scene', type=int, default=1, metavar='N',
                      help='max # of rejected simulations before sampling a new scene (default 1)')
 
@@ -59,7 +57,7 @@
                        action='store_true')
 debugOpts.add_argument('--pdb', action='store_true',
                        help='enter interactive debugger on errors (implies "-b")')
-ver = metadata.version('scenic')
+ver = importlib.metadata.version('scenic')
 debugOpts.add_argument('--version', action='version', version=f'Scenic {ver}',
                        help='print Scenic version information and exit')
 debugOpts.add_argument('--dump-initial-python', help='dump initial translated Python',
@@ -170,7 +168,7 @@ def runSimulation(scene):
                 else:
                     scene.show(zoom=args.zoom, block=False)
                     plt.pause(delay)
-                    plt.clf()
+                    plt.clf() 
     else:   # Gather statistics over the specified number of scenes
         its = []
         startTime = time.time()