Merge branch 'master' of https://github.com/verivital/nnv

code/nnv/examples/Submission/CAV2020/ACC/plot_linear_ACC_reachSets.m

@@ -1,6 +1,7 @@
 % Plot reachable sets for Discrete Linear ACC model
 % Dung Tran: 10/22/2019
 
+path_out = [path_results(), filesep, 'ACC', filesep];
 
 %% System model
 % x1 = lead_car position
@@ -116,17 +117,12 @@
 end
 
 ncs.reach(init_set(1), ref_input, numSteps, 'approx-star', numCores);
-if is_codeocean()
-    path_results = '/results/';
-else
-    path_results = '';
-end
 
-save([path_results, 'linear_ACC_ncs_1.mat'], 'ncs');
+save([path_out, 'linear_ACC_ncs_1.mat'], 'ncs');
 
 ncs.reach(init_set(6), ref_input, numSteps, 'approx-star', numCores);
 
-save([path_results, 'linear_ACC_ncs_6.mat'], 'ncs');
+save([path_out, 'linear_ACC_ncs_6.mat'], 'ncs');
 
 %% Plot output reach sets: actual distance vs. safe distance
 
@@ -135,7 +131,7 @@
 
 figure;
 h1 = subplot(2,1,1);
-load([path_results, 'linear_ACC_ncs_1.mat']);
+load([path_out, 'linear_ACC_ncs_1.mat']);
 map_mat = [1 0 0 -1 0 0 0];
 map_vec = [];
 ncs.plotOutputReachSets('blue', map_mat, map_vec);
@@ -153,7 +149,7 @@
 xticks(h1, [0:5:50])
 
 h2 = subplot(2,1,2);
-load([path_results, 'linear_ACC_ncs_6.mat']);
+load([path_out, 'linear_ACC_ncs_6.mat']);
 map_mat = [1 0 0 -1 0 0 0];
 map_vec = [];
 ncs.plotOutputReachSets('blue', map_mat, map_vec);
@@ -170,6 +166,6 @@
 ylabel(h2, 'Distance');
 xticks(h2, [0:5:50])
 
-saveas(gcf, [path_results, 'plot_linear_ACC_reachSets.png']);
+saveas(gcf, [path_out, 'figure4_plot_linear_ACC_reachSets.png']);
 
 %% END OF SCRIPT

code/nnv/examples/Submission/CAV2020/ACC/reproduce.m

@@ -23,6 +23,8 @@
 
 cd(path_reproduce);
 
+mkdir([path_results(), filesep, 'ACC']);
+
 % set number of cores based on system availability, up to a maximum of 16
 config_parallelism(16);
 

code/nnv/examples/Submission/CAV2020/ACC/verify_linear_ACC.m

@@ -1,6 +1,7 @@
 % Reachability analysis for Discrete Linear ACC model
 % Dung Tran: 9/30/2019
 
+path_out = [path_results(), filesep, 'ACC', filesep];
 
 
 %% System model
@@ -131,12 +132,7 @@
 
 
 %% Save verification results
-if is_codeocean()
-    path_results = '/results/';
-else
-    path_results = '';
-end
-save([path_results, 'linear_ACC.mat'], 'safe_approx', 'VT_approx', 'counterExamples_approx');
+save([path_out, 'linear_ACC.mat'], 'safe_approx', 'VT_approx', 'counterExamples_approx');
 
 %% Print verification results to screen
 fprintf('\n======================================================');
@@ -152,7 +148,7 @@
 
 %% Print verification results to a file
 
-fid = fopen([path_results, 'linear_ACC.txt'], 'wt');
+fid = fopen([path_out, 'table3_linear_ACC.txt'], 'wt');
 
 fprintf(fid,'\n======================================================');
 fprintf(fid,'\nVERIFICATION RESULTS FOR ACC WITH DISCRETE PLANT MODEL');

code/nnv/examples/Submission/CAV2020/ACC/verify_nonlinear_ACC.m

@@ -1,5 +1,7 @@
 load controller_5_20.mat;
 
+path_out = [path_results(), filesep, 'ACC', filesep];
+
 weights = network.weights;
 bias = network.bias;
 n = length(weights);
@@ -115,13 +117,7 @@
     VT(i) = toc(t);
 end
 
-%% Safe verification results
-if is_codeocean()
-    path_results = '/results/';
-else
-    path_results = '';
-end
-save([path_results, 'verify_nonlinear_ACC.mat'], 'safe', 'VT', 'counterExamples');
+save([path_out, 'verify_nonlinear_ACC.mat'], 'safe', 'VT', 'counterExamples');
 
 
 %% Print verification results to screen
@@ -138,7 +134,7 @@
 
 %% Print verification results to a file
 
-fid = fopen([path_results, 'nonlinear_ACC.txt'], 'wt');
+fid = fopen([path_out, 'table3_nonlinear_ACC.txt'], 'wt');
 fprintf(fid,'\n=======================================================');
 fprintf(fid,'\nVERIFICATION RESULTS FOR ACC WITH NONLINEAR PLANT MODEL');
 fprintf(fid,'\n=======================================================');
@@ -168,4 +164,4 @@
 xticks([0:5:50]);
 title('Actual Distance (blue) vs. Safe Distance (red)');
 
-saveas(gcf, [path_results, 'verify_nonlinear_acc_cex.png']);
+saveas(gcf, [path_out, 'verify_nonlinear_acc_cex.png']);

code/run_codeocean.m

@@ -23,7 +23,7 @@
 % run all closed-loop CPS examples
 reproduce % will take ~32.5 minutes (see run 140515 or 152224)
 
-return; % stop here, comment/remove this to run all tests, other examples, etc.
+%return; % stop here, comment/remove this to run all tests, other examples, etc.
 % if you run all these, it will add another ~15 minutes of runtime
 
 cd /code/nnv/tests/set/zono

environment/Dockerfile

@@ -48,6 +48,8 @@ RUN mkdir -p /deps
 RUN ls /codeocean-true
 
 WORKDIR /deps
+# these ls commands are just to force a new build so that the cloned repo is latest and not the cached one in the prior docker container image
+RUN ls
 RUN ls
 RUN ls
 RUN ls