Merge pull request #187 from BerkeleyLearnVerify/dynamics-refactor

Refactor dynamics.py; fix message for rejected simulations

Author: dfremont

docs/conf.py

@@ -202,7 +202,8 @@ def maketable(items, columns=5, gap=4):
 )
 from sphinx.ext.autodoc import ClassDocumenter, FunctionDocumenter
 
-from scenic.core.dynamics import Behavior, DynamicScenario, Monitor
+from scenic.core.dynamics.behaviors import Behavior, Monitor
+from scenic.core.dynamics.scenarios import DynamicScenario
 
 
 class ScenicBehavior(PyFunction):
@@ -557,7 +558,8 @@ def key(entry):
 
 from sphinx.ext.autodoc import ClassDocumenter
 
-from scenic.core.dynamics import Behavior, DynamicScenario
+from scenic.core.dynamics.behaviors import Behavior
+from scenic.core.dynamics.scenarios import DynamicScenario
 
 orig_add_directive_header = ClassDocumenter.add_directive_header
 

src/scenic/core/dynamics/__init__.py

@@ -0,0 +1,18 @@
+"""Support for dynamic behaviors and modular scenarios.
+
+A few classes are exposed here for external use, including:
+
+* `Action`;
+* `GuardViolation`, `InvariantViolation`, and `PreconditionViolation`;
+* `StuckBehaviorWarning`.
+
+Everything else defined in the submodules is an implementation detail and
+should not be used outside of Scenic (it may change at any time).
+"""
+
+from .actions import Action
+from .guards import GuardViolation, InvariantViolation, PreconditionViolation
+from .utils import RejectSimulationException, StuckBehaviorWarning
+
+#: Timeout in seconds after which a `StuckBehaviorWarning` will be raised.
+stuckBehaviorWarningTimeout = 10

src/scenic/core/dynamics/actions.py

@@ -0,0 +1,65 @@
+"""Actions taken by dynamic agents."""
+
+import abc
+
+
+class Action(abc.ABC):
+    """An :term:`action` which can be taken by an agent for one step of a simulation."""
+
+    def canBeTakenBy(self, agent):
+        """Whether this action is allowed to be taken by the given agent.
+
+        The default implementation always returns True.
+        """
+        return True
+
+    @abc.abstractmethod
+    def applyTo(self, agent, simulation):
+        """Apply this action to the given agent in the given simulation.
+
+        This method should call simulator APIs so that the agent will take this action
+        during the next simulated time step. Depending on the simulator API, it may be
+        necessary to batch each agent's actions into a single update: in that case you
+        can have this method set some state on the agent, then apply the actual update
+        in an overridden implementation of `Simulation.executeActions`. For examples,
+        see the CARLA interface: `scenic.simulators.carla.actions` has some CARLA-specific
+        actions which directly call CARLA APIs, while the generic steering and braking
+        actions from `scenic.domains.driving.actions` are implemented using the batching
+        approach (see for example the ``setThrottle`` method of the class
+        `scenic.simulators.carla.model.Vehicle`, which sets state later read by
+        ``CarlaSimulation.executeActions`` in `scenic.simulators.carla.simulator`).
+        """
+        raise NotImplementedError
+
+
+class _EndSimulationAction(Action):
+    """Special action indicating it is time to end the simulation.
+
+    Only for internal use.
+    """
+
+    def __init__(self, line):
+        self.line = line
+
+    def __str__(self):
+        return f'"terminate simulation" executed on line {self.line}'
+
+    def applyTo(self, agent, simulation):
+        assert False
+
+
+class _EndScenarioAction(Action):
+    """Special action indicating it is time to end the current scenario.
+
+    Only for internal use.
+    """
+
+    def __init__(self, scenario, line):
+        self.scenario = scenario
+        self.line = line
+
+    def __str__(self):
+        return f'"terminate" executed on line {self.line}'
+
+    def applyTo(self, agent, simulation):
+        assert False

src/scenic/core/dynamics/behaviors.py

@@ -0,0 +1,156 @@
+"""Behaviors and monitors."""
+
+import functools
+import inspect
+import itertools
+import sys
+import warnings
+
+from scenic.core.distributions import Samplable, toDistribution
+import scenic.core.dynamics as dynamics
+from scenic.core.errors import InvalidScenarioError
+from scenic.core.type_support import CoercionFailure
+from scenic.core.utils import alarm
+
+from .invocables import Invocable
+from .utils import StuckBehaviorWarning
+
+
+class Behavior(Invocable, Samplable):
+    """Dynamic behaviors of agents.
+
+    Behavior statements are translated into definitions of subclasses of this class.
+    """
+
+    _noActionsMsg = (
+        'does not take any actions (perhaps you forgot to use "take" or "do"?)'
+    )
+
+    def __init_subclass__(cls):
+        if "__signature__" in cls.__dict__:
+            # We're unpickling a behavior; skip this step.
+            return
+
+        if cls.__module__ is not __name__:
+            import scenic.syntax.veneer as veneer
+
+            if veneer.currentScenario:
+                veneer.currentScenario._behaviors.append(cls)
+
+            target = cls.makeGenerator
+            target = functools.partial(target, 0, 0)  # account for Scenic-inserted args
+            cls.__signature__ = inspect.signature(target)
+
+    def __init__(self, *args, **kwargs):
+        args = tuple(toDistribution(arg) for arg in args)
+        kwargs = {name: toDistribution(arg) for name, arg in kwargs.items()}
+
+        # Validate arguments to the behavior
+        sig = inspect.signature(self.makeGenerator)
+        sig.bind(None, *args, **kwargs)  # raises TypeError on incompatible arguments
+        Samplable.__init__(self, itertools.chain(args, kwargs.values()))
+        Invocable.__init__(self, *args, **kwargs)
+
+        if not inspect.isgeneratorfunction(self.makeGenerator):
+            raise InvalidScenarioError(f"{self} {self._noActionsMsg}")
+
+    @classmethod
+    def _canCoerceType(cls, ty):
+        return issubclass(ty, cls) or ty in (type, type(None))
+
+    @classmethod
+    def _coerce(cls, thing):
+        if thing is None or isinstance(thing, cls):
+            return thing
+        elif issubclass(thing, cls):
+            return thing()
+        else:
+            raise CoercionFailure(f"expected type of behavior, got {thing}")
+
+    def sampleGiven(self, value):
+        args = (value[arg] for arg in self._args)
+        kwargs = {name: value[val] for name, val in self._kwargs.items()}
+        return type(self)(*args, **kwargs)
+
+    def _assignTo(self, agent):
+        if self._agent and agent is self._agent._dynamicProxy:
+            # Assigned again (e.g. by override) to same agent; do nothing.
+            return
+        if self._isRunning:
+            raise InvalidScenarioError(
+                f"tried to reuse behavior object {self} already assigned to {self._agent}"
+            )
+        self._start(agent)
+
+    def _start(self, agent):
+        super()._start()
+        self._agent = agent
+        self._runningIterator = self.makeGenerator(agent, *self._args, **self._kwargs)
+        self._checkAllPreconditions()
+
+    def _step(self):
+        import scenic.syntax.veneer as veneer
+
+        super()._step()
+        assert self._runningIterator
+
+        def alarmHandler(signum, frame):
+            if sys.gettrace():
+                return  # skip the warning if we're in the debugger
+            warnings.warn(
+                f"the behavior {self} is taking a long time to take an action; "
+                "maybe you have an infinite loop with no take/wait statements?",
+                StuckBehaviorWarning,
+            )
+
+        timeout = dynamics.stuckBehaviorWarningTimeout
+        with veneer.executeInBehavior(self), alarm(timeout, alarmHandler):
+            try:
+                actions = self._runningIterator.send(None)
+            except StopIteration:
+                actions = ()  # behavior ended early
+        return actions
+
+    def _stop(self, reason=None):
+        super()._stop(reason)
+        self._agent = None
+        self._runningIterator = None
+
+    @property
+    def _isFinished(self):
+        return self._runningIterator is None
+
+    def _invokeInner(self, agent, subs):
+        import scenic.syntax.veneer as veneer
+
+        assert len(subs) == 1
+        sub = subs[0]
+        if not isinstance(sub, Behavior):
+            raise TypeError(f"expected a behavior, got {sub}")
+        sub._start(agent)
+        with veneer.executeInBehavior(sub):
+            try:
+                yield from sub._runningIterator
+            finally:
+                if sub._isRunning:
+                    sub._stop()
+
+    def __repr__(self):
+        items = itertools.chain(
+            (repr(arg) for arg in self._args),
+            (f"{key}={repr(val)}" for key, val in self._kwargs.items()),
+        )
+        allArgs = ", ".join(items)
+        return f"{self.__class__.__name__}({allArgs})"
+
+
+class Monitor(Behavior):
+    """Monitors for dynamic simulations.
+
+    Monitor statements are translated into definitions of subclasses of this class.
+    """
+
+    _noActionsMsg = 'does not take any actions (perhaps you forgot to use "wait"?)'
+
+    def _start(self):
+        return super()._start(None)

src/scenic/core/dynamics/guards.py

@@ -0,0 +1,42 @@
+"""Preconditions and invariants of behaviors and scenarios."""
+
+
+class GuardViolation(Exception):
+    """Abstract exception raised when a guard of a behavior is violated.
+
+    This will never be raised directly; either of the subclasses `PreconditionViolation`
+    or `InvariantViolation` will be used, as appropriate.
+    """
+
+    violationType = "guard"
+
+    def __init__(self, behavior, lineno):
+        self.behaviorName = behavior.__class__.__name__
+        self.lineno = lineno
+
+    def __str__(self):
+        return (
+            f"violated {self.violationType} of {self.behaviorName} on line {self.lineno}"
+        )
+
+
+class PreconditionViolation(GuardViolation):
+    """Exception raised when a precondition is violated.
+
+    Raised when a precondition is violated when invoking a behavior
+    or when a precondition encounters a `RejectionException`, so that
+    rejections count as precondition violations.
+    """
+
+    violationType = "precondition"
+
+
+class InvariantViolation(GuardViolation):
+    """Exception raised when an invariant is violated.
+
+    Raised when an invariant is violated when invoking/resuming a behavior
+    or when an invariant encounters a `RejectionException`, so that
+    rejections count as invariant violations.
+    """
+
+    violationType = "invariant"