def main(beamng, scenario_name):
# Find a scenario in the smallgrid level called 'Case4'
level = 'smallgrid'
scenario = Scenario(level, scenario_name)
# Update the scenario instance with its path
scenario.find(beamng)
bng = beamng.open(launch=True)
bng.hide_hud()
bng.set_deterministic() # Set simulator to be deterministic mode
# Load and start the scenario
bng.load_scenario(scenario)
# Gets vehicles placed in the scenario
vehicle_bng = 'BeamNGVehicle'
vehicles = create_vehicle(bng.find_objects_class(vehicle_bng))
# bng.set_steps_per_second(10)
for vehicle in vehicles:
bng.connect_vehicle(vehicle)
assert vehicle.skt
bng.step(75, wait=True)
bng.start_scenario()
for _ in range(64):
bng.step(30)
s1 = bng.poll_sensors(vehicles[0])
s2 = bng.poll_sensors(vehicles[1])
print(s1)
print(s2)
print('------')
def test_find_scenario(beamng):
with beamng as bng:
scenario = Scenario('west_coast_usa', 'derby_asphalt')
scenario.find(bng)
assert scenario.get_info_path() is not None
bng.load_scenario(scenario)
assert bng.get_scenario_name(
) == 'scenarios.west_coast_usa.derby_asphalt.title'
def execute_scenario(self, bng):
scenario = Scenario(self.level, self.scenario)
# Update the scenario instance with its path
scenario.find(bng)
# Configures BeamNG client
bng.open(launch=True)
bng.hide_hud()
bng.set_deterministic() # Set simulator to be deterministic mode
# Load and start the scenario
bng.load_scenario(scenario)
# Gets vehicles placed in the scenario
vehicle_bng = 'BeamNGVehicle'
self.create_vehicle(bng.find_objects_class(vehicle_bng))
# bng.set_steps_per_second(10)
for car in self.cars:
vehicle = car.vehicle
bng.connect_vehicle(vehicle)
assert vehicle.skt
# Wait for 50 steps before start
waiting_steps = 50
bng.step(waiting_steps, wait=True)
bng.start_scenario() # Start scenario
accident_log = {}
for _ in range(self.timeout):
empty = not bool(accident_log)
if empty:
# Collects sensor data every 30 steps
bng.step(30)
for car in self.cars:
vehicle = car.vehicle
sensor = bng.poll_sensors(vehicle)['damage']
if (sensor['damage'] != 0): # Crash detected
print("Crash detected!")
self.isCrash = True
accident_log.update(
{vehicle.vid: sensor['part_damage']})
car.damage = sensor['part_damage']
else:
self.write_log(accident_log) # Write log file
waiting_steps = 175
bng.step(waiting_steps, wait=True)
print("Within time!")
break
# Timeout
if not self.isCrash:
print("Timed out!")
self.close_scenario(bng)
def test_find_scenario(beamng):
with beamng as bng:
scenario = Scenario('west_coast_usa', 'derby_asphalt')
assert scenario.find(bng) is not None
bng.load_scenario(scenario)
assert 'derby' in bng.get_scenario_name().lower()
try:
bng.start_scenario()
assert True
except socket.timeout:
assert False
