added test.scenic to test verifai problems

examples/airsim/test.scenic

@@ -0,0 +1,80 @@
+# ------------------------------------------------------ PROBLEM 1 ------------------------------------------------------
+""" import math
+
+# NOTE: add your world info path here
+param worldInfoPath = "C:/Users/piegu/Scenic/examples/airsim/worldInfo/droneBlocks"
+
+# drone1 patrols to every location in points. ego spawns somehwere in the center area and tries to catch it before time ends
+
+model scenic.simulators.airsim.model
+
+behavior Catch(target, speed = 5,tolerance = 1, offset = (0,0,0)):
+    try:
+        while True:
+            targetPosition = target.position + offset
+            
+            velocity = targetPosition-self.position
+            distance = magnitude(velocity)
+            velocity = (velocity / distance) * speed
+            if distance > tolerance:
+                take SetVelocity(velocity)
+            wait
+    interrupt when (distance from self to drone1) < 3:
+        print("Caught drone1!")
+        terminate
+
+behavior Patrol(positions, loop=True, smooth = False, speed = 5,tolerance = 2):
+    while True:
+        pos = VerifaiOptions(positions)
+        do FlyToPosition(pos,speed=speed,pidMode= not smooth,tolerance=tolerance)
+           
+        if not loop:
+            return
+
+centerArea = RectangularRegion(Vector(0,0,0), 0, 30, 30)
+
+points = [(-1,2,2),(1,4,2),(-1,4,2),(-1,2,4),(1,2,4),(1,4,4),(-1,4,4)]
+
+drone1 = new Drone at (0,0,0),
+    with behavior Patrol(points,True)
+
+ego = new Drone in centerArea,
+    with behavior Catch(drone1)
+
+terminate after 2 seconds """
+
+# ------------------------------------------------------ PROBLEM 2 ------------------------------------------------------
+""" import math
+
+# NOTE: add your world info path here
+param worldInfoPath = "C:/Users/piegu/Scenic/examples/airsim/worldInfo/droneBlocks"
+
+model scenic.simulators.airsim.model
+
+centerArea = RectangularRegion(Vector(0,0,0), 0, 30, 30)
+
+ego = new Drone in centerArea
+
+drone1 = new Drone in centerArea
+
+terminate after 2 seconds """
+
+
+# ------------------------------------------------------ PROBLEM 3 ------------------------------------------------------
+# NOTE: add your world info path here
+""" param worldInfoPath = "C:/Users/piegu/Scenic/examples/airsim/worldInfo/droneBlocks"
+
+model scenic.simulators.airsim.model
+
+
+centerArea = RectangularRegion(Vector(0,200,30), 0, 100,100)
+
+ego = new Drone at (0,0,0) 
+
+obj1 = new StaticObj in centerArea, 
+        with assetName "Cone", # use * to pick a random asset in assets
+        with width Range(3,10),
+        with length Range(3,10),
+        with height 10
+
+terminate after 2 seconds """

src/scenic/simulators/airsim/verifai_sampler.py

@@ -5,7 +5,7 @@
 from verifai.monitor import specification_monitor
 import math
 
-path_to_scenic_script = 'C:/Users/piegu/Scenic/examples/airsim/catchDrone.scenic'
+path_to_scenic_script = 'C:/Users/piegu/Scenic/examples/airsim/test.scenic'
 sampler = ScenicSampler.fromScenario(path_to_scenic_script)
 
 class confidence_spec(specification_monitor):
@@ -38,7 +38,7 @@ def specification(simulation):
 
 falsifier = generic_falsifier(sampler=sampler,
                               falsifier_params=falsifier_params,
-                              monitor=confidence_spec(),
+                            #   monitor=confidence_spec(),
                               server_class=ScenicServer,
                               server_options=server_options)
 falsifier.run_falsifier()