Fix requirements inside loops and functions

src/scenic/core/dynamics/scenarios.py

@@ -58,7 +58,7 @@ def __init__(self, *args, **kwargs):
         self._objects = []  # ordered for reproducibility
         self._sampledObjects = self._objects
         self._externalParameters = []
-        self._pendingRequirements = defaultdict(list)
+        self._pendingRequirements = []
         self._requirements = []
         # things needing to be sampled to evaluate the requirements
         self._requirementDeps = set()
@@ -409,9 +409,8 @@ def _registerObject(self, obj):
 
     def _addRequirement(self, ty, reqID, req, line, name, prob):
         """Save a requirement defined at compile-time for later processing."""
-        assert reqID not in self._pendingRequirements
         preq = PendingRequirement(ty, req, line, prob, name, self._ego)
-        self._pendingRequirements[reqID] = preq
+        self._pendingRequirements.append((reqID, preq))
 
     def _addDynamicRequirement(self, ty, req, line, name):
         """Add a requirement defined during a dynamic simulation."""
@@ -429,7 +428,7 @@ def _compileRequirements(self):
         namespace = self._dummyNamespace if self._dummyNamespace else self.__dict__
         requirementSyntax = self._requirementSyntax
         assert requirementSyntax is not None
-        for reqID, requirement in self._pendingRequirements.items():
+        for reqID, requirement in self._pendingRequirements:
             syntax = requirementSyntax[reqID] if requirementSyntax else None
 
             # Catch the simple case where someone has most likely forgotten the "monitor"

src/scenic/core/regions.py

@@ -3275,7 +3275,9 @@ def __init__(self, position, heading, width, length, name=None):
         self.circumcircle = (self.position, self.radius)
 
         super().__init__(
-            polygon=self._makePolygons(position, heading, width, length),
+            polygon=self._makePolygons(
+                self.position, self.heading, self.width, self.length
+            ),
             z=self.position.z,
             name=name,
             additionalDeps=deps,

src/scenic/core/requirements.py

@@ -50,16 +50,21 @@ def __init__(self, ty, condition, line, prob, name, ego):
 
         # condition is an instance of Proposition. Flatten to get a list of atomic propositions.
         atoms = condition.atomics()
-        bindings = {}
+        self.globalBindings = {}  # bindings to global/builtin names
+        self.closureBindings = {}  # bindings to top-level closure variables
+        self.cells = []  # cells used in referenced closures
         atomGlobals = None
         for atom in atoms:
-            bindings.update(getAllGlobals(atom.closure))
+            gbindings, cbindings, closures = getNameBindings(atom.closure)
+            self.globalBindings.update(gbindings)
+            self.closureBindings.update(cbindings)
+            for closure in closures:
+                self.cells.extend(closure.__closure__)
             globs = atom.closure.__globals__
             if atomGlobals is not None:
                 assert globs is atomGlobals
             else:
                 atomGlobals = globs
-        self.bindings = bindings
         self.egoObject = ego
 
     def compile(self, namespace, scenario, syntax=None):
@@ -68,21 +73,28 @@ def compile(self, namespace, scenario, syntax=None):
         While we're at it, determine whether the requirement implies any relations
         we can use for pruning, and gather all of its dependencies.
         """
-        bindings, ego, line = self.bindings, self.egoObject, self.line
+        globalBindings, closureBindings = self.globalBindings, self.closureBindings
+        cells, ego, line = self.cells, self.egoObject, self.line
         condition, ty = self.condition, self.ty
 
         # Convert bound values to distributions as needed
-        for name, value in bindings.items():
-            bindings[name] = toDistribution(value)
+        for name, value in globalBindings.items():
+            globalBindings[name] = toDistribution(value)
+        for name, value in closureBindings.items():
+            closureBindings[name] = toDistribution(value)
+        cells = tuple((cell, toDistribution(cell.cell_contents)) for cell in cells)
+        allBindings = dict(globalBindings)
+        allBindings.update(closureBindings)
 
         # Check whether requirement implies any relations used for pruning
         canPrune = condition.check_constrains_sampling()
         if canPrune:
-            relations.inferRelationsFrom(syntax, bindings, ego, line)
+            relations.inferRelationsFrom(syntax, allBindings, ego, line)
 
         # Gather dependencies of the requirement
         deps = set()
-        for value in bindings.values():
+        cellVals = (value for cell, value in cells)
+        for value in itertools.chain(allBindings.values(), cellVals):
             if needsSampling(value):
                 deps.add(value)
             if needsLazyEvaluation(value):
@@ -93,7 +105,7 @@ def compile(self, namespace, scenario, syntax=None):
 
         # If this requirement contains the CanSee specifier, we will need to sample all objects
         # to meet the dependencies.
-        if "CanSee" in bindings:
+        if "CanSee" in globalBindings:
             deps.update(scenario.objects)
 
         if ego is not None:
@@ -102,13 +114,18 @@ def compile(self, namespace, scenario, syntax=None):
 
         # Construct closure
         def closure(values, monitor=None):
-            # rebind any names referring to sampled objects
+            # rebind any names referring to sampled objects (for require statements,
+            # rebind all names, since we want their values at the time the requirement
+            # was created)
             # note: need to extract namespace here rather than close over value
             # from above because of https://github.com/uqfoundation/dill/issues/532
             namespace = condition.atomics()[0].closure.__globals__
-            for name, value in bindings.items():
-                if value in values:
+            for name, value in globalBindings.items():
+                if ty == RequirementType.require or value in values:
                     namespace[name] = values[value]
+            for cell, value in cells:
+                cell.cell_contents = values[value]
+
             # rebind ego object, which can be referred to implicitly
             boundEgo = None if ego is None else values[ego]
             # evaluate requirement condition, reporting errors on the correct line
@@ -132,24 +149,34 @@ def closure(values, monitor=None):
         return CompiledRequirement(self, closure, deps, condition)
 
 
-def getAllGlobals(req, restrictTo=None):
+def getNameBindings(req, restrictTo=None):
     """Find all names the given lambda depends on, along with their current bindings."""
     namespace = req.__globals__
     if restrictTo is not None and restrictTo is not namespace:
-        return {}
+        return {}, {}, ()
     externals = inspect.getclosurevars(req)
-    assert not externals.nonlocals  # TODO handle these
-    globs = dict(externals.builtins)
-    for name, value in externals.globals.items():
-        globs[name] = value
-        if inspect.isfunction(value):
-            subglobs = getAllGlobals(value, restrictTo=namespace)
-            for name, value in subglobs.items():
-                if name in globs:
-                    assert value is globs[name]
-                else:
-                    globs[name] = value
-    return globs
+    globalBindings = externals.builtins
+
+    closures = set()
+    if externals.nonlocals:
+        closures.add(req)
+
+    def handleFunctions(bindings):
+        for value in bindings.values():
+            if inspect.isfunction(value):
+                if value.__closure__ is not None:
+                    closures.add(value)
+                subglobs, _, _ = getNameBindings(value, restrictTo=namespace)
+                for name, value in subglobs.items():
+                    if name in globalBindings:
+                        assert value is globalBindings[name]
+                    else:
+                        globalBindings[name] = value
+
+    globalBindings.update(externals.globals)
+    handleFunctions(externals.globals)
+    handleFunctions(externals.nonlocals)
+    return globalBindings, externals.nonlocals, closures
 
 
 class BoundRequirement:

src/scenic/syntax/compiler.py

@@ -1359,11 +1359,12 @@ def createRequirementLike(
         """Create a call to a function that implements requirement-like features, such as `record` and `terminate when`.
 
         Args:
-            functionName (str): Name of the requirement-like function to call. Its signature must be `(reqId: int, body: () -> bool, lineno: int, name: str | None)`
+            functionName (str): Name of the requirement-like function to call. Its signature
+                must be `(reqId: int, body: () -> bool, lineno: int, name: str | None)`
             body (ast.AST): AST node to evaluate for checking the condition
             lineno (int): Line number in the source code
-            name (Optional[str], optional): Optional name for requirements. Defaults to None.
-            prob (Optional[float], optional): Optional probability for requirements. Defaults to None.
+            name (Optional[str]): Optional name for requirements. Defaults to None.
+            prob (Optional[float]): Optional probability for requirements. Defaults to None.
         """
         propTransformer = PropositionTransformer(self.filename)
         newBody, self.nextSyntaxId = propTransformer.transform(body, self.nextSyntaxId)
@@ -1374,7 +1375,7 @@ def createRequirementLike(
             value=ast.Call(
                 func=ast.Name(functionName, loadCtx),
                 args=[
-                    ast.Constant(requirementId),  # requirement IDre
+                    ast.Constant(requirementId),  # requirement ID
                     newBody,  # body
                     ast.Constant(lineno),  # line number
                     ast.Constant(name),  # requirement name

tests/syntax/test_requirements.py

@@ -19,6 +19,87 @@ def test_requirement():
     assert all(0 <= x <= 10 for x in xs)
 
 
+def test_requirement_in_loop():
+    scenario = compileScenic(
+        """
+        ego = new Object at Range(-10, 10) @ Range(-10, 10)
+        for i in range(2):
+            require ego.position[i] >= 0
+        """
+    )
+    poss = [sampleEgo(scenario, maxIterations=150).position for i in range(60)]
+    assert all(0 <= pos.x <= 10 and 0 <= pos.y <= 10 for pos in poss)
+
+
+def test_requirement_in_function():
+    scenario = compileScenic(
+        """
+        ego = new Object at Range(-10, 10) @ Range(-10, 10)
+        def f(i):
+            require ego.position[i] >= 0
+        for i in range(2):
+            f(i)
+        """
+    )
+    poss = [sampleEgo(scenario, maxIterations=150).position for i in range(60)]
+    assert all(0 <= pos.x <= 10 and 0 <= pos.y <= 10 for pos in poss)
+
+
+def test_requirement_in_function_helper():
+    scenario = compileScenic(
+        """
+        ego = new Object at Range(-10, 10) @ Range(-10, 10)
+        m = 0
+        def f():
+            assert m == 0
+            return ego.y + m
+        def g():
+            require ego.x < f()
+        g()
+        m = -100
+        """
+    )
+    poss = [sampleEgo(scenario, maxIterations=60).position for i in range(60)]
+    assert all(pos.x < pos.y for pos in poss)
+
+
+def test_requirement_in_function_random_local():
+    scenario = compileScenic(
+        """
+        ego = new Object at Range(-10, 10) @ 0
+        def f():
+            local = Range(0, 1)
+            require ego.x < local
+        f()
+        """
+    )
+    xs = [sampleEgo(scenario, maxIterations=60).position.x for i in range(60)]
+    assert all(-10 <= x <= 1 for x in xs)
+
+
+def test_requirement_in_function_random_cell():
+    scenario = compileScenic(
+        """
+        ego = new Object at Range(-10, 10) @ 0
+        def f(i):
+            def g():
+                return i
+            return g
+        g = f(Range(0, 1))  # global function with a cell containing a random value
+        def h():
+            local = Uniform(True, False)
+            def inner():  # local function likewise
+                return local
+            require (g() >= 0) and ((ego.x < -5) if inner() else (ego.x > 5))
+        h()
+        """
+    )
+    xs = [sampleEgo(scenario, maxIterations=150).position.x for i in range(60)]
+    assert all(x < -5 or x > 5 for x in xs)
+    assert any(x < -5 for x in xs)
+    assert any(x > 5 for x in xs)
+
+
 def test_soft_requirement():
     scenario = compileScenic(
         """