changes to scenarios

examples/airsim/demoDrone.scenic

@@ -67,6 +67,9 @@ behavior FindAdversary(speed = 5):
     interrupt when self can see drone1:
         # when I can see adversary, follow it
         do Follow(drone1)
+    # interrupt when distance from self to drone1 < 10:
+    #     # when I can see adversary (i'm within 10 meters of it), follow it
+    #     do Follow(drone1)
     interrupt when distance from self to drone1 < 2:
         # when I get within 2 meters of adversary, terminate scenario
         terminate

examples/airsim/flyFromBlockToBlock.scenic

@@ -1,8 +1,10 @@
 # NOTE: add your world info path here
-# param worldInfoPath = "[YOUR PATH HERE]"
+param worldInfoPath = "C:/Users/piegu/Scenic/examples/airsim/worldInfo/droneBlocks"
 
 model scenic.simulators.airsim.model
 
+# Spawns 10 arbritrary static obstacles on the ground
+# drone patrols to these positions uniformly randomly
 
 platforms = []
 ground = getPrexistingObj("ground")
@@ -27,5 +29,7 @@ for plat in platforms:
     point = new Point on plat
     points.append(point.position)
 
-drone1 = new Drone at Uniform(*points) + (0,0,1),
-    with behavior Patrol(points,True)
+ego = new Drone at Uniform(*points) + (0,0,1),
+    with behavior Patrol(points,True)
+
+terminate after 30 seconds

examples/airsim/followDrone.scenic

@@ -1,7 +1,9 @@
 import math
 
 # NOTE: add your world info path here
-# param worldInfoPath = "[YOUR PATH HERE]"
+param worldInfoPath = "C:/Users/piegu/Scenic/examples/airsim/worldInfo/droneBlocks"
+
+# Spawns 1 drone (ego) that patrols specific points, drone 2 follows ego
 
 param timestep = .1
 
@@ -24,10 +26,20 @@ behavior Follow(target, speed = 5,tolerance = 2, offset = (0,0,1)):
             take SetVelocity(velocity)
         wait
 
+behavior Patrol(positions, loop=True, smooth = False, speed = 5,tolerance = 2):
+    while True:
+        for pos in positions:
+            do FlyToPosition(pos,speed=speed,pidMode= not smooth,tolerance=tolerance)
+
+        if not loop:
+            return
 
-
-drone1 = new Drone at (0,0,0),
+ego = new Drone at (0,0,0),
     with behavior Patrol([(-1,2,2),(1,4,2),(-1,4,2),(-1,2,4),(1,2,4),(1,4,4),(-1,4,4)],True)
 
 drone2 = new Drone at (0,1,0),
-    with behavior Follow(drone1)
+    with behavior Follow(ego)
+
+terminate after 10 seconds
+
+record final (distance to drone2) as dist

examples/airsim/multi_drone.scenic

@@ -1,12 +1,46 @@
 # NOTE: add your world info path here
-# param worldInfoPath = "[YOUR PATH HERE]"
+param worldInfoPath = "C:/Users/piegu/Scenic/examples/airsim/worldInfo/droneBlocks"
+
+# Spawns 3 drones that fly to random positions
+
 
 model scenic.simulators.airsim.model
 
+# Flies the drone to a position
+behavior FlyToPosition(newPos, speed = 5,tolerance = 1,pidMode = True):
+    # pidMode is true if we want the drone to slow down as it reaches its destination
+
+    client = simulation().client
 
-ground = getPrexistingObj("ground")
+    
 
+    if pidMode:
+        newPos = scenicToAirsimVector(toVector(newPos))
+        do waitForPromise(createPromise(
+            client.moveToPositionAsync(
+                newPos.x_val,
+                newPos.y_val,
+                newPos.z_val,
+                velocity=speed,
+                vehicle_name=self.realObjName,
+            )
+        ))
+    else:
+        while True:
+            direction = newPos -self.position 
+            distance = magnitude(direction)
+
+            if distance < tolerance:
+                break
+            direction= (direction/distance)*speed
+            take SetVelocity(direction)
+            wait
+
+
+    return
 
 for i in range(3):
     new Drone at (Range(-10,10),Range(-10,10),Range(0,10)),
-        with behavior FlyToPosition((Range(-10,10),Range(-10,10),Range(0,10)))
+        with behavior FlyToPosition((Range(-30,10),Range(-30,10),Range(0,30)))
+
+terminate after 10 seconds

src/scenic/simulators/airsim/simulator.py

@@ -21,6 +21,7 @@
 )
 from scenic.core.type_support import toVector
 from scenic.core.vectors import Orientation, Vector
+# TODO: Uncomment this out to use PX4 drones/MAVSDK.
 # import scenic.simulators.airsim.MavsdkUtils as mavutils
 from scenic.syntax.veneer import verbosePrint
 

src/scenic/simulators/airsim/simulatorCar.py

@@ -85,15 +85,15 @@ def setup(self):
 
         # move all cars  to offscreen position
         self.client.simPause(False)
-        for i, car in enumerate(self.startCars):
-            newPose = airsim.Pose(
-                position_val=scenicToAirsimVector(self.simulator.idleStoragePos)
-                + airsim.Vector3r(i, 0, 0)
-            )
-            self.client.enableApiControl(True, car)
-            self.client.simSetVehiclePose(
-                vehicle_name=car, pose=newPose, ignore_collision=False
-            )
+        # for i, car in enumerate(self.startCars):
+        #     newPose = airsim.Pose(
+        #         position_val=scenicToAirsimVector(self.simulator.idleStoragePos)
+        #         + airsim.Vector3r(i, 0, 0)
+        #     )
+        #     self.client.enableApiControl(True, car)
+        #     self.client.simSetVehiclePose(
+        #         vehicle_name=car, pose=newPose, ignore_collision=False
+        #     )
 
         self.client.simPause(True)
 

src/scenic/simulators/airsim/verifai_sampler.py

@@ -13,13 +13,13 @@
 #             return True
 #         super().__init__(specification)
 
-path_to_scenic_script = 'C:/Users/piegu/Scenic/examples/airsim/multi_drone.scenic'
+path_to_scenic_script = 'C:/Users/piegu/Scenic/examples/airsim/followDrone.scenic'
 sampler = ScenicSampler.fromScenario(path_to_scenic_script)
 
 class confidence_spec(specification_monitor):
     def __init__(self):
-        def specification(traj):
-            return bool(traj['yTrue'] == traj['yPred'])
+        def specification(simulation):
+            return simulation.result.records['dist'] < 3
         super().__init__(specification)
 
 MAX_ITERS = 1
@@ -38,7 +38,7 @@ def specification(traj):
 
 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()