Merge branch 'main' into abanuelos/update-webot-docs

.github/ISSUE_TEMPLATE/2-docs.yml

@@ -1,5 +1,5 @@
 name: Documentation
-description: Report an issue or enhancement related to https://scenic-lang.readthedocs.io/
+description: Report an issue or enhancement related to https://docs.scenic-lang.org/
 labels:
   - "type: documentation"
   - "status: triage"
@@ -14,9 +14,9 @@ body:
     attributes:
       label: Describe the doc issue or enhancement
       description: >
-        Please provide a clear and concise description of what content in https://scenic-lang.readthedocs.io/ has an issue or needs enhancement.
+        Please provide a clear and concise description of what content in https://docs.scenic-lang.org/ has an issue or needs enhancement.
       placeholder: |
-        Link to location in the docs: https://scenic-lang.readthedocs.io/
+        Link to location in the docs: https://docs.scenic-lang.org/
     validations:
       required: true
 

.github/ISSUE_TEMPLATE/config.yml

@@ -1,5 +1,5 @@
 blank_issues_enabled: true
 contact_links:
   - name: Questions
-    url: https://forms.gle/uUhQNuPzQrvvBFJX9
-    about: Send your questions via Google Form
+    url: https://forum.scenic-lang.org/
+    about: Post your questions on our community forum

.github/workflows/run-simulators.yml

@@ -10,13 +10,42 @@ jobs:
       runs-on: ubuntu-latest
       concurrency:
         group: sim
+      outputs:
+        volume_id: ${{ steps.create_volume_step.outputs.volume_id }}
+      env:
+        INSTANCE_ID: ${{ secrets.AWS_EC2_INSTANCE_ID }}
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_DEFAULT_REGION: ${{ secrets.AWS_REGION }}
       steps:
+        - name: Create Volume from Latest Snapshot and Attach to Instance
+          id: create_volume_step
+          run: |
+            #  Retrieve the latest snapshot ID
+            LATEST_SNAPSHOT_ID=$(aws ec2 describe-snapshots --owner-ids self --query 'Snapshots | sort_by(@, &StartTime) | [-1].SnapshotId' --output text)
+            echo "Checking availability for snapshot: $LATEST_SNAPSHOT_ID"
+
+            # Wait for the snapshot to complete
+            aws ec2 wait snapshot-completed --snapshot-ids $LATEST_SNAPSHOT_ID
+            echo "Snapshot is ready."
+
+            # Create a new volume from the latest snapshot
+            volume_id=$(aws ec2 create-volume --snapshot-id $LATEST_SNAPSHOT_ID --availability-zone us-west-1b --volume-type gp3 --size 400 --throughput 250 --query "VolumeId" --output text)
+            echo "Created volume with ID: $volume_id"
+
+            # Set volume_id as output
+            echo "volume_id=$volume_id" >> $GITHUB_OUTPUT
+            cat $GITHUB_OUTPUT
+
+            # Wait until the volume is available
+            aws ec2 wait volume-available --volume-ids $volume_id
+            echo "Volume is now available"
+
+            # Attach the volume to the instance
+            aws ec2 attach-volume --volume-id $volume_id --instance-id $INSTANCE_ID --device /dev/sda1
+            echo "Volume $volume_id attached to instance $INSTANCE_ID as /dev/sda1"
+
         - name: Start EC2 Instance
-          env:
-            INSTANCE_ID: ${{ secrets.AWS_EC2_INSTANCE_ID }}
-            AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-            AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-            AWS_DEFAULT_REGION: ${{ secrets.AWS_REGION }}
           run: |
             # Get the instance state
             instance_state=$(aws ec2 describe-instances --instance-ids $INSTANCE_ID | jq -r '.Reservations[].Instances[].State.Name')
@@ -27,7 +56,7 @@ jobs:
                 sleep 10
                 instance_state=$(aws ec2 describe-instances --instance-ids $INSTANCE_ID | jq -r '.Reservations[].Instances[].State.Name')
             done
-            
+
             # Check if instance state is "stopped"
             if [[ "$instance_state" == "stopped" ]]; then
                 echo "Instance is stopped, starting it..."
@@ -42,34 +71,17 @@ jobs:
                 exit 1
             fi
 
-            # wait for status checks to pass 
-            TIMEOUT=120  # Timeout in seconds
-            START_TIME=$(date +%s)
-            END_TIME=$((START_TIME + TIMEOUT))
-            while true; do
-                response=$(aws ec2 describe-instance-status --instance-ids $INSTANCE_ID)
-                system_status=$(echo "$response" | jq -r '.InstanceStatuses[0].SystemStatus.Status')
-                instance_status=$(echo "$response" | jq -r '.InstanceStatuses[0].InstanceStatus.Status')
-
-                if [[ "$system_status" == "ok" && "$instance_status" == "ok" ]]; then
-                    echo "Both SystemStatus and InstanceStatus are 'ok'"
-                    exit 0
-                fi
-
-                CURRENT_TIME=$(date +%s)
-                if [[ "$CURRENT_TIME" -ge "$END_TIME" ]]; then
-                    echo "Timeout: Both SystemStatus and InstanceStatus have not reached 'ok' state within $TIMEOUT seconds."
-                    exit 1
-                fi
-
-                sleep 10  # Check status every 10 seconds
-            done
+            # Wait for instance status checks to pass
+            echo "Waiting for instance status checks to pass..."
+            aws ec2 wait instance-status-ok --instance-ids $INSTANCE_ID
+            echo "Instance is now ready for use."
+
 
     check_simulator_version_updates:
       name: check_simulator_version_updates
       runs-on: ubuntu-latest
       needs: start_ec2_instance
-      steps: 
+      steps:
         - name: Check for Simulator Version Updates
           env:
             PRIVATE_KEY: ${{ secrets.SSH_PRIVATE_KEY }}
@@ -109,11 +121,11 @@ jobs:
                 echo "NVIDIA Driver is not set"
                 exit 1
               fi
-            '  
+            '
         - name: NVIDIA Driver is not set
           if: ${{ failure() }}
           run: |
-            echo "NVIDIA SMI is not working, please run the steps here on the instance:" 
+            echo "NVIDIA SMI is not working, please run the steps here on the instance:"
             echo "https://scenic-lang.atlassian.net/wiki/spaces/KAN/pages/2785287/Setting+Up+AWS+VM?parentProduct=JSW&initialAllowedFeatures=byline-contributors.byline-extensions.page-comments.delete.page-reactions.inline-comments.non-licensed-share&themeState=dark%253Adark%2520light%253Alight%2520spacing%253Aspacing%2520colorMode%253Alight&locale=en-US#Install-NVIDIA-Drivers"
 
     run_carla_simulators:
@@ -128,17 +140,17 @@ jobs:
             USER_NAME: ${{secrets.SSH_USERNAME}}
           run: |
             echo "$PRIVATE_KEY" > private_key && chmod 600 private_key
-            ssh -o StrictHostKeyChecking=no -i private_key ${USER_NAME}@${HOSTNAME} '
+            ssh -o StrictHostKeyChecking=no -o ServerAliveInterval=60 -o ServerAliveCountMax=3 -i private_key ${USER_NAME}@${HOSTNAME} '
               cd /home/ubuntu/actions/Scenic &&
               source venv/bin/activate &&
               carla_versions=($(find /software -maxdepth 1 -type d -name 'carla*')) &&
               for version in "${carla_versions[@]}"; do
-                echo "============================= CARLA $version ============================="  
+                echo "============================= CARLA $version ============================="
                 export CARLA_ROOT="$version"
-                pytest tests/simulators/carla/test_carla.py
+                pytest tests/simulators/carla
               done
             '
-            
+
     run_webots_simulators:
       name: run_webots_simulators
       runs-on: ubuntu-latest
@@ -160,42 +172,48 @@ jobs:
               for version in "${webots_versions[@]}"; do
                 echo "============================= Webots $version ============================="
                 export WEBOTS_ROOT="$version"
-                pytest tests/simulators/webots/test_webots.py
+                pytest tests/simulators/webots
               done
+              kill %1
             '
-      
+
     stop_ec2_instance:
       name: stop_ec2_instance
       runs-on: ubuntu-latest
-      needs: [run_carla_simulators, run_webots_simulators]
-      steps:       
+      needs: [start_ec2_instance, check_simulator_version_updates, check_nvidia_smi, run_carla_simulators, run_webots_simulators]
+      if: always()
+      env:
+        VOLUME_ID: ${{ needs.start_ec2_instance.outputs.volume_id }}
+        INSTANCE_ID: ${{ secrets.AWS_EC2_INSTANCE_ID }}
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_DEFAULT_REGION: ${{ secrets.AWS_REGION }}
+      steps:
         - name: Stop EC2 Instance
-          env:
-            INSTANCE_ID: ${{ secrets.AWS_EC2_INSTANCE_ID }}
-            AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-            AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-            AWS_DEFAULT_REGION: ${{ secrets.AWS_REGION }}
           run: |
-            # Get the instance state
+            # Get the instance state and stop it if running
             instance_state=$(aws ec2 describe-instances --instance-ids $INSTANCE_ID | jq -r '.Reservations[].Instances[].State.Name')
-
-            # If the machine is pending wait for it to fully start
-            while [ "$instance_state" == "pending" ]; do
-                echo "Instance is pending startup, waiting for it to fully start..."
-                sleep 10
-                instance_state=$(aws ec2 describe-instances --instance-ids $INSTANCE_ID | jq -r '.Reservations[].Instances[].State.Name')
-            done
-            
-            # Check if instance state is "stopped"
             if [[ "$instance_state" == "running" ]]; then
-                echo "Instance is running, stopping it..."
-                aws ec2 stop-instances --instance-ids $INSTANCE_ID
-            elif [[ "$instance_state" == "stopping" ]]; then
-                echo "Instance is stopping..."
+              echo "Instance is running, stopping it..."
+              aws ec2 stop-instances --instance-ids $INSTANCE_ID
+              aws ec2 wait instance-stopped --instance-ids $INSTANCE_ID
+              echo "Instance has stopped."
             elif [[ "$instance_state" == "stopped" ]]; then
-                echo "Instance is already stopped..."
-                exit 0
+              echo "Instance is already stopped."
             else
-                echo "Unknown instance state: $instance_state"
-                exit 1
+              echo "Unexpected instance state: $instance_state"
+              exit 1
             fi
+
+        - name: Detach Volume
+          run: |
+            # Detach the volume
+            aws ec2 detach-volume --volume-id $VOLUME_ID
+            aws ec2 wait volume-available --volume-ids $VOLUME_ID
+            echo "Volume $VOLUME_ID detached."
+
+        - name: Delete Volume
+          run: |
+            # Delete the volume after snapshot is complete
+            aws ec2 delete-volume --volume-id $VOLUME_ID
+            echo "Volume $VOLUME_ID deleted."

.gitignore

@@ -139,3 +139,5 @@ dmypy.json
 
 # generated parser
 src/scenic/syntax/parser.py
+
+simulation.gif

README.md

@@ -1,21 +1,21 @@
-# Scenic
+[<img src="https://docs.scenic-lang.org/en/latest/_static/logo-full.svg" alt="Scenic Logo" height="100">](https://scenic-lang.org/)
 
-[![Documentation Status](https://readthedocs.org/projects/scenic-lang/badge/?version=latest)](https://scenic-lang.readthedocs.io/en/latest/?badge=latest)
+[![Documentation Status](https://readthedocs.org/projects/scenic-lang/badge/?version=latest)](https://docs.scenic-lang.org/en/latest/?badge=latest)
 [![Tests Status](https://github.com/BerkeleyLearnVerify/Scenic/actions/workflows/run-tests.yml/badge.svg)](https://github.com/BerkeleyLearnVerify/Scenic/actions/workflows/run-tests.yml)
 [![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)
 
 A compiler and scenario generator for Scenic, a domain-specific probabilistic programming language for modeling the environments of cyber-physical systems.
-Please see the [documentation](https://scenic-lang.readthedocs.io/) for installation instructions, as well as tutorials and other information about the Scenic language, its implementation, and its interfaces to various simulators.
+Please see the [documentation](https://docs.scenic-lang.org/) for installation instructions, as well as tutorials and other information about the Scenic language, its implementation, and its interfaces to various simulators.
 
 For an overview of the language and some of its applications, see our [2022 journal paper](https://link.springer.com/article/10.1007/s10994-021-06120-5) on Scenic 2, which extends our [PLDI 2019 paper](https://arxiv.org/abs/1809.09310) on Scenic 1.
 The new syntax and features of Scenic 3 are described in our [CAV 2023 paper](https://arxiv.org/abs/2307.03325).
-Our [Publications](https://scenic-lang.readthedocs.io/en/latest/publications.html) page lists additional relevant publications.
+Our [Publications](https://docs.scenic-lang.org/en/latest/publications.html) page lists additional relevant publications.
 
 Scenic was initially designed and implemented by Daniel J. Fremont, Tommaso Dreossi, Shromona Ghosh, Xiangyu Yue, Alberto L. Sangiovanni-Vincentelli, and Sanjit A. Seshia.
 Additionally, Edward Kim made major contributions to Scenic 2, and Eric Vin, Shun Kashiwa, Matthew Rhea, and Ellen Kalvan to Scenic 3.
-Please see our [Credits](https://scenic-lang.readthedocs.io/en/latest/credits.html) page for details and more contributors.
+Please see our [Credits](https://docs.scenic-lang.org/en/latest/credits.html) page for details and more contributors.
 
-If you have any problems using Scenic, please submit an issue to [our GitHub repository](https://github.com/BerkeleyLearnVerify/Scenic).
+If you have any problems using Scenic, please submit an issue to [our GitHub repository](https://github.com/BerkeleyLearnVerify/Scenic) or start a conversation on our [community forum](https://forum.scenic-lang.org/).
 
 The repository is organized as follows:
 

codecov.yml

@@ -1,25 +1,32 @@
-codecov:
-  coverage:
-    precision: 2
-    round: down
-    range: "70...100"
-    status:
-      project:
-        default:
-          target: 80%
-          threshold: 1%
-        changes:
-          target: 80%
-          threshold: 1%
-  comment:
-    layout: "reach, diff, flags, files"
-    behavior: default
+codecov: 
   require_ci_to_pass: true
-  ignore:
-    - "src/scenic/simulators/**"
-    - "tests/**"
-    - "!src/scenic/simulators/newtonian/**"
-    - "!src/scenic/simulators/utils/**"
+
+coverage:
+  precision: 2
+  round: down
+  range: "70...100"
+  status:
+    project:
+      default:
+        target: 80%
+        threshold: 5%
+    patch:
+      default:
+        target: 80%
+        threshold: 5%
+ignore:
+  - "tests/"
+  - "docs/"
+  - "src/scenic/simulators/airsim/"
+  - "src/scenic/simulators/carla/"
+  - "src/scenic/simulators/gta/"
+  - "src/scenic/simulators/lgsvl/"
+  - "src/scenic/simulators/webots/"
+  - "src/scenic/simulators/xplane/"
+  - "!**/*.py"
+comment:
+  layout: "reach, diff, flags, files"
+  behavior: default
 cli:
   plugins:
     pycoverage:

docs/_static/custom.css

@@ -12,6 +12,12 @@ pre {tab-size: 4;}
 .wy-table-responsive table td, .wy-table-responsive table th {white-space: normal;}
 /* Increase maximum body width to support 100-character lines */
 .wy-nav-content {max-width:900px;}
+/* Make SVG logo render at the correct size */
+.wy-side-nav-search .wy-dropdown > a img.logo, .wy-side-nav-search > a img.logo {
+    width: 100%;
+}
+/* Modify background color behind logo to make it more readable */
+.wy-side-nav-search {background-color:#48ac92}
 /* Shrink the sidebar to 270 pixels wide */
 .wy-tray-container li, .wy-menu-vertical, .wy-side-nav-search, .wy-nav-side,
 .rst-versions {width:270px;}

docs/conf.py

@@ -15,6 +15,7 @@
 sphinx._buildingScenicDocs = True
 
 from scenic.core.simulators import SimulatorInterfaceWarning
+import scenic.syntax.compiler
 from scenic.syntax.translator import CompileOptions
 import scenic.syntax.veneer as veneer
 
@@ -151,6 +152,13 @@
     "custom.css",
 ]
 
+html_logo = "images/logo-full.svg"
+html_favicon = "images/favicon.ico"
+
+html_theme_options = {
+    "logo_only": True,
+}
+
 # -- Generate lists of keywords for the language reference -------------------
 
 import itertools
@@ -178,6 +186,10 @@ def maketable(items, columns=5, gap=4):
 with open("_build/keywords_soft.txt", "w") as outFile:
     for row in maketable(ScenicParser.SOFT_KEYWORDS):
         outFile.write(row + "\n")
+with open("_build/builtin_names.txt", "w") as outFile:
+    for row in maketable(scenic.syntax.compiler.builtinNames):
+        outFile.write(row + "\n")
+
 
 # -- Monkeypatch ModuleAnalyzer to handle Scenic modules ---------------------
 

docs/credits.rst

@@ -18,6 +18,7 @@ Shun Kashiwa developed the auto-generated parser for Scenic 3.0 and its support
 
 The Scenic tool and example scenarios have benefitted from additional code contributions from:
 
+	* Armando Bañuelos
 	* Johnathan Chiu
 	* Greg Crow
 	* Francis Indaheng