def getSquareRoadScenario():
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
squareRoadScenario = Scenario('smallgrid', 'Straight_Foward_Test')
testRoad = Road('track_editor_C_center', rid='Test_Road', looped=True)
roadNode = [(0, 0, 0, 7), (250, 0, 0, 7), (250, 250, 0, 7), (0, 250, 0, 7)]
testRoad.nodes.extend(roadNode)
testVehicle = Vehicle('Test_Vehicule',
model='etkc',
licence='LIFLAB',
colour='Blue')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
testVehicle.attach_sensor('electrics', electrics)
# Create a Damage sensor and attach it to the vehicle if module is selected
damage = Damage()
testVehicle.attach_sensor('damage', damage)
# Create a Gforce sensor and attach it to the vehicle if module is selected
gForce = GForces()
testVehicle.attach_sensor('GForces', gForce)
squareRoadScenario.add_road(testRoad)
squareRoadScenario.add_vehicle(testVehicle, pos=(0, 0, 0), rot=(0, 0, -90))
scenarioDict = {
'beamng': beamng,
'scenario': squareRoadScenario,
'vehicule': testVehicle
}
return scenarioDict
def getStrangeScenario():
beamNGPAth = getBeamngDirectory()
beamng = BeamNGpy(
'localhost', 64256,
home=beamNGPAth) # This is the host & port used to communicate over
wallCrashScenario = Scenario('smallgrid', 'road_test')
wall = StaticObject(
name="Crash_Test_Wall",
pos=(10, 0, 0),
rot=(0, 0, 0),
scale=(1, 10, 1),
shape='/levels/smallgrid/art/shapes/misc/gm_alpha_barrier.dae')
testRoad = Road('track_editor_A_center', rid='Test_Road')
roadNode = [(-10, 0, 0, 7), (20, 0, 62)]
testRoad.nodes.extend(roadNode)
testVehicle = Vehicle('Test_Vehicule',
model='etkc',
licence='LIFLAB',
colour='Blue')
wallCrashScenario.add_road(testRoad)
wallCrashScenario.add_object(wall)
wallCrashScenario.add_vehicle(testVehicle,
pos=(0, 0, 0),
rot=(0, 180, -90))
scenarioDict = {
'beamng': beamng,
'scenario': wallCrashScenario,
'vehicule': testVehicle
}
return scenarioDict
def getStaticScenario(testName):
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
staticScenario = Scenario('smallgrid', str(testName))
testVehicle = Vehicle('Test_Vehicule',
model=SelectCar(),
licence='LIFLAB',
colour='Blue')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
testVehicle.attach_sensor('electrics', electrics)
# Create a Damage sensor and attach it to the vehicle if module is selected
damage = Damage()
testVehicle.attach_sensor('damage', damage)
# Create a Gforce sensor and attach it to the vehicle if module is selected
gForce = GForces()
testVehicle.attach_sensor('GForces', gForce)
staticScenario.add_vehicle(testVehicle, (0, 0, 0), (0, 0, -90))
scenarioDict = {
'beamng': beamng,
'scenario': staticScenario,
'vehicule': testVehicle
}
return scenarioDict
def getWallCrashScenario(testName):
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
wallCrashScenario = Scenario('smallgrid', str(testName))
wall = StaticObject(
name="Crash_Test_Wall",
pos=(420, 0, 0),
rot=(0, 0, 0),
scale=(1, 10, 75),
shape='/levels/smallgrid/art/shapes/misc/gm_alpha_barrier.dae')
testRoad = Road('track_editor_B_center', rid='Test_Road')
roadNode = [(-2, 0, 0, 7), (420, 0, 0, 7)]
testRoad.nodes.extend(roadNode)
testVehicle = Vehicle('Test_Vehicule',
model=SelectCar(),
licence='LIFLAB',
colour='Blue')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
testVehicle.attach_sensor('electrics', electrics)
# Create a Damage sensor and attach it to the vehicle if module is selected
damage = Damage()
testVehicle.attach_sensor('damage', damage)
# Create a Gforce sensor and attach it to the vehicle if module is selected
gForce = GForces()
testVehicle.attach_sensor('GForces', gForce)
wallCrashScenario.add_road(testRoad)
wallCrashScenario.add_object(wall)
wallCrashScenario.add_vehicle(testVehicle, pos=(0, 0, 0), rot=(0, 0, -90))
scenarioDict = {
'beamng': beamng,
'scenario': wallCrashScenario,
'vehicule': testVehicle
}
return scenarioDict
def main():
beamng = BeamNGpy('localhost', 64256,getBeamngDirectory())
scenario = Scenario('smallgrid', 'road_test')
vehicle = Vehicle('LIF_Mobile', model='etkc', licence='LIFLAB', colour='Blue')
ramp = StaticObject(name='pyramp', pos=(250,0, 0), rot=(0, 0, 90), scale=(0.5, 0.5, 0.5),
shape='/levels/west_coast_usa/art/shapes/objects/ramp_massive.dae')
ring = ProceduralRing(name='pyring', pos=(380, 0, 60), rot=(0, 0, 0), radius=5, thickness=2.5)
wall= StaticObject(name="trumps_wall",pos=(420,0,0),rot=(0,0,0), scale=(1,10,75),
shape='/levels/smallgrid/art/shapes/misc/gm_alpha_barrier.dae')
road_c = Road('track_editor_B_center', rid='jump_road')
roadC_Nodes=[(-2,0,0,10),(420,0,0,7)]
road_c.nodes.extend(roadC_Nodes)
scenario.add_road(road_c)
scenario.add_procedural_mesh(ring)
scenario.add_object(ramp)
scenario.add_object(wall)
scenario.add_vehicle(vehicle,(0,0,0),(0,0,-90))
scenario.make(beamng)
bng = beamng.open(launch=True)
try:
bng.load_scenario(scenario)
bng.start_scenario()
input('Press enter when done...')
finally:
bng.close()
import time
import sys
import json
import seaborn as sns
from beamngpy import BeamNGpy, Vehicle, Scenario
from beamngpy.sensors import GForces
from beamngpy.sensors import Electrics
from beamngpy.sensors import Damage
from VehicleData import VehicleData
from BeamHome import getBeamngDirectory
from ActualisationTime import getActualisationTime
sns.set() # Make seaborn set matplotlib styling
beamNGPAth= getBeamngDirectory()
testTime=None
dataRate=None
#if normal mode with the right number of arguments
if len(sys.argv)==3: #Command line execution
testTime=int(sys.argv[1])#Time lenght of the test in seconds
dataRate=int(sys.argv[2])#Number of data aquisition per second
else:
raise Exception('Wrong number of arguments. This program takes 2 arguments and it received the following number of argument: {}.'.format(len(sys.argv)-1))
print(str(testTime))
print(str(dataRate))
actualisationTime=getActualisationTime(dataRate)
from BeamHome import getBeamngDirectory
import matplotlib
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.pyplot import imshow
from PIL import Image
from shapely.geometry import Polygon
from beamngpy import BeamNGpy, Vehicle, Scenario, Road
from beamngpy.sensors import Camera
from getAIScript import getAIScript
beamng = BeamNGpy('localhost', 64256, getBeamngDirectory())
scenario = Scenario('smallgrid', 'vehicle_bbox_example')
road = Road('track_editor_A_center', rid='main_road')
orig = (0, -2, 0)
goal = (1150, -22, 0)
nodes = [(*orig, 7), (*goal, 7)]
road.nodes.extend(nodes)
scenario.add_road(road)
vehicle = Vehicle('ego_vehicle', model='etk800', licence='PYTHON')
overhead = Camera((0, -10, 5), (0, 1, -0.75), 60, (1024, 1024))
vehicle.attach_sensor('overhead', overhead)
scenario.add_vehicle(vehicle, pos=orig, rot=(0, 0, -90))
scenario.make(beamng)
bng = beamng.open(launch=True)
try:
bng.load_scenario(scenario)
def getDonutScenario():
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
donutScenario = Scenario('smallgrid', 'road_test')
concreteWallSide1 = StaticObject(
name="Crash_Test_Wall",
pos=(20, 10, 0),
rot=(0, 0, 0),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
concreteWallSide2 = StaticObject(
name="Crash_Test_Wall2",
pos=(35, -5, 0),
rot=(0, 0, 90),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
concreteWallSide3 = StaticObject(
name="Crash_Test_Wall3",
pos=(20, -20, 0),
rot=(0, 0, 0),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
concreteWallSide4 = StaticObject(
name="Crash_Test_Wall4",
pos=(5, -5, 0),
rot=(0, 0, 90),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
testRoad = Road('track_editor_C_center', rid='Test_Road')
roadNode = [(*(-25, 25, 0), 45), (*(15, 25, 0), 45)]
testRoad.nodes.extend(roadNode)
testVehicle = Vehicle('Test_Vehicule',
model='etkc',
licence='LIFLAB',
colour='Blue')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
testVehicle.attach_sensor('electrics', electrics)
# Create a Damage sensor and attach it to the vehicle if module is selected
damage = Damage()
testVehicle.attach_sensor('damage', damage)
# Create a Gforce sensor and attach it to the vehicle if module is selected
gForce = GForces()
testVehicle.attach_sensor('GForces', gForce)
donutScenario.add_vehicle(testVehicle, pos=(20, 0, 0), rot=(0, 0, 0))
donutScenario.add_object(concreteWallSide1)
donutScenario.add_object(concreteWallSide2)
donutScenario.add_object(concreteWallSide3)
donutScenario.add_object(concreteWallSide4)
donutScenario.add_road(testRoad)
scenarioDict = {
'beamng': beamng,
'scenario': donutScenario,
'vehicule': testVehicle
}
return scenarioDict
