From 54f404509009e7f76c0faccf0f2b358dabb9bf87 Mon Sep 17 00:00:00 2001
From: Eric Vin <evin@ucsc.edu>
Date: Fri, 24 Jan 2025 18:14:28 -0800
Subject: [PATCH] Fixed subtle testing bug

---
 examples/contracts/dev.contract   | 3 ++-
 examples/contracts/highway.scenic | 3 ++-
 src/scenic/contracts/testing.py   | 8 +++++---
 src/scenic/contracts/utils.py     | 4 +++-
 src/scenic/core/simulators.py     | 6 +++++-
 5 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/examples/contracts/dev.contract b/examples/contracts/dev.contract
index 44a7e89b4..44cc70f6f 100644
--- a/examples/contracts/dev.contract
+++ b/examples/contracts/dev.contract
@@ -5,6 +5,7 @@ import random
 from typing import Union
 import numpy
 
+import scenic
 from scenic.core.geometry import normalizeAngle
 from scenic.domains.driving.controllers import PIDLongitudinalController, PIDLateralController
 from scenic.domains.driving.actions import RegulatedControlAction
@@ -396,7 +397,7 @@ cs_safety = compose over car.cs:
             max_brake=MAX_BRAKE,
             max_accel=MAX_ACCEL) using LeanContractProof(localPath("ScenicLean/"), "SafeThrottleFilter", localPath("repl"))
 
-max_braking_force = assume car.cac satisfies MaxBrakingForce(MAX_BRAKE), with correctness 0.99, with confidence 0.99
+max_braking_force = assume car.cac satisfies MaxBrakingForce(MAX_BRAKE), with correctness 0.9, with confidence 0.95
 
 keeps_distance_raw = compose over car:
     use accurate_distance
diff --git a/examples/contracts/highway.scenic b/examples/contracts/highway.scenic
index b185347c2..a063fa81c 100644
--- a/examples/contracts/highway.scenic
+++ b/examples/contracts/highway.scenic
@@ -32,7 +32,8 @@ class EgoCar(Car):
     targetDir[dynamic, final]: float(roadDirection[self.position].yaw)
 
 ego = new EgoCar at roadDirection.followFrom(toVector(leadCar), -STARTING_DISTANCE, stepSize=0.1),
-        with leadDist STARTING_DISTANCE, with behavior FollowLaneBehavior(), with name "EgoCar", with timestep 0.1
+        with leadDist STARTING_DISTANCE,
+        with behavior FollowLaneBehavior(), with name "EgoCar", with timestep 0.1
 
 # Create/activate monitor to store lead distance
 monitor UpdateDistance(tailCar, leadCar):
diff --git a/src/scenic/contracts/testing.py b/src/scenic/contracts/testing.py
index b028be7a0..f1db7fa12 100644
--- a/src/scenic/contracts/testing.py
+++ b/src/scenic/contracts/testing.py
@@ -216,13 +216,17 @@ def testScene(self, scene):
         # Instantiate simulator
         simulator = self.scenario.getSimulator()
 
+        def vw_update_hook():
+            for vw_name, vw in base_value_windows.items():
+                vw.update()
+
         # Step contract till termination
         with simulator.simulateStepped(scene, maxSteps=self.maxSteps) as simulation:
             while not simulation.result or eval_step < sim_step:
                 # If simulation not terminated, advance simulation one time step, catching any rejections
                 if not simulation.result:
                     try:
-                        simulation.advance()
+                        simulation.advance(vw_update_hook)
                     except (
                         RejectSimulationException,
                         RejectionException,
@@ -237,8 +241,6 @@ def testScene(self, scene):
                         continue
 
                     # If the simulation didn't finish, update all base value windows
-                    for vw_name, vw in base_value_windows.items():
-                        vw.update()
 
                     # Increment simulation step
                     sim_step += 1
diff --git a/src/scenic/contracts/utils.py b/src/scenic/contracts/utils.py
index 9e21c52b8..eaf9e2db7 100644
--- a/src/scenic/contracts/utils.py
+++ b/src/scenic/contracts/utils.py
@@ -125,7 +125,9 @@ def leadDistance(source, target, network, maxDistance=250):
     # print(source.position, target.position, hash(network))
 
     # Find all lanes this point could be a part of and recurse on them.
-    viable_lanes = [lane for lane in network.lanes if lane.containsPoint(source.position)]
+    viable_lanes = [
+        lane for lane in network.lanes if lane.containsPoint(toVector(source))
+    ]
 
     return min(
         min(
diff --git a/src/scenic/core/simulators.py b/src/scenic/core/simulators.py
index 3f5c3787d..841f15532 100644
--- a/src/scenic/core/simulators.py
+++ b/src/scenic/core/simulators.py
@@ -440,7 +440,7 @@ def _run(self):
             if self.terminationType:
                 return
 
-    def advance(self):
+    def advance(self, preActionHook=None):
         if self.terminationType or self._cleaned:
             raise TerminatedSimulationException()
 
@@ -530,6 +530,10 @@ def advance(self):
             # Log lastActions
             agent.lastActions = actions
 
+        # Run the preActionHook if provided
+        if preActionHook is not None:
+            preActionHook()
+
         # Execute the actions
         if self.verbosity >= 3:
             for agent, actions in allActions.items():