step_time = pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 1)
init.add_init_action(egoname, pyoscx.AbsoluteSpeedAction(30, step_time))
init.add_init_action(egoname,
pyoscx.TeleportAction(pyoscx.LanePosition(25, 0, -3, 0)))
init.add_init_action(redname, pyoscx.AbsoluteSpeedAction(40, step_time))
init.add_init_action(redname,
pyoscx.TeleportAction(pyoscx.LanePosition(15, 0, -2, 0)))
init.add_init_action(yelname, pyoscx.AbsoluteSpeedAction(30, step_time))
init.add_init_action(yelname,
pyoscx.TeleportAction(pyoscx.LanePosition(35, 0, -4, 0)))
### create an event for the red car
r_trigcond = pyoscx.TimeHeadwayCondition(redname, 0.1, pyoscx.Rule.greaterThan)
r_trigger = pyoscx.EntityTrigger('redtrigger', 0.2,
pyoscx.ConditionEdge.rising, r_trigcond,
egoname)
r_event = pyoscx.Event('first_lane_change', pyoscx.Priority.overwrite)
r_event.add_trigger(r_trigger)
r_event.add_action(
'lane_change_red',
pyoscx.AbsoluteLaneChangeAction(
-4,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.sinusoidal,
pyoscx.DynamicsDimension.time, 4)))
## create the act for the red car
r_man = pyoscx.Maneuver('red_maneuver')
r_man.add_event(r_event)
def test_timeheadwaycondition():
cond = OSC.TimeHeadwayCondition('Ego', 20, 'equalTo', True, False)
OSC.prettyprint(cond.get_element())
egospeed = pyoscx.AbsoluteSpeedAction(30,step_time)
egostart = pyoscx.TeleportAction(pyoscx.LanePosition(25,0,-3,0))
targetspeed = pyoscx.AbsoluteSpeedAction(40,step_time)
targetstart = pyoscx.TeleportAction(pyoscx.LanePosition(15,0,-2,0))
init.add_init_action(egoname,egospeed)
init.add_init_action(egoname,egostart)
init.add_init_action(targetname,targetspeed)
init.add_init_action(targetname,targetstart)
### create an event
trigcond = pyoscx.TimeHeadwayCondition(targetname,0.4,pyoscx.Rule.greaterThan)
trigger = pyoscx.EntityTrigger('mytesttrigger',0.2,pyoscx.ConditionEdge.rising,trigcond,egoname)
event = pyoscx.Event('myfirstevent',pyoscx.Priority.overwrite)
event.add_trigger(trigger)
positionlist = []
positionlist.append(pyoscx.RelativeLanePosition(0,0,0,targetname))
positionlist.append(pyoscx.RelativeLanePosition(20,0.5,0,targetname))
positionlist.append(pyoscx.RelativeLanePosition(40,-0.5,0,targetname))
positionlist.append(pyoscx.RelativeLanePosition(60,-1,0,targetname))
polyline = pyoscx.Polyline([0,0.5,1,1.5],positionlist)
### create the action
event = pyoscx.Event('speedchange', pyoscx.Priority.overwrite)
event.add_action(
'speedaction',
pyoscx.AbsoluteSpeedAction(
10,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 3)))
# create two trigger conditions
trig_cond1 = pyoscx.TimeToCollisionCondition(2,
pyoscx.Rule.lessThan,
entity=targetname)
trig_cond2 = pyoscx.TimeHeadwayCondition(speedyname, 1,
pyoscx.Rule.greaterThan)
collision_trigger = pyoscx.EntityTrigger('trigger', 0,
pyoscx.ConditionEdge.none, trig_cond1,
egoname)
headway_trigger = pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.none,
trig_cond2, egoname)
# create two separate condition groups
col_group = pyoscx.ConditionGroup()
col_group.add_condition(collision_trigger)
head_group = pyoscx.ConditionGroup()
head_group.add_condition(headway_trigger)
### create the "optional" slowdown event
slowdown_event = pyoscx.Event('speedchange', pyoscx.Priority.overwrite)
slowdown_event.add_action(
'speedaction',
pyoscx.AbsoluteSpeedAction(
9,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.sinusoidal,
pyoscx.DynamicsDimension.time, 1)))
# create two trigger conditions
ttc_cond = pyoscx.TimeToCollisionCondition(3,
pyoscx.Rule.lessThan,
entity=targetname)
headway_cond = pyoscx.TimeHeadwayCondition(speedyname, 1, pyoscx.Rule.lessThan)
headway_trigger = pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.none,
headway_cond, egoname)
collision_trigger = pyoscx.EntityTrigger('trigger', 0,
pyoscx.ConditionEdge.none, ttc_cond,
egoname)
#create the "and" logic
sc_group = pyoscx.ConditionGroup()
sc_group.add_condition(collision_trigger)
sc_group.add_condition(headway_trigger)
slowdown_event.add_trigger(sc_group)
step_time = pyoscx.TransitionDynamics('step', 'time', 1)
egospeed = pyoscx.AbsoluteSpeedAction(30, step_time)
egostart = pyoscx.TeleportAction(pyoscx.LanePosition(25, 0, -3, 0))
targetspeed = pyoscx.AbsoluteSpeedAction(40, step_time)
targetstart = pyoscx.TeleportAction(pyoscx.LanePosition(15, 0, -2, 0))
init.add_init_action(egoname, egospeed)
init.add_init_action(egoname, egostart)
init.add_init_action(targetname, targetspeed)
init.add_init_action(targetname, targetstart)
### create an event
trigcond = pyoscx.TimeHeadwayCondition(targetname, 0.1, 'greaterThan')
trigger = pyoscx.EntityTrigger('mytesttrigger', 0.2, 'rising', trigcond,
egoname)
event = pyoscx.Event('myfirstevent', 'overwrite')
event.add_trigger(trigger)
sin_time = pyoscx.TransitionDynamics('linear', 'time', 3)
action = pyoscx.LongitudinalDistanceAction(-4,
egoname,
max_deceleration=3,
max_speed=50)
event.add_action('newspeed', action)
## create the act,
### create init
init = pyoscx.Init()
step_time = pyoscx.TransitionDynamics('step','time',1)
init.add_init_action(egoname,pyoscx.AbsoluteSpeedAction(30,step_time))
init.add_init_action(egoname,pyoscx.TeleportAction(pyoscx.LanePosition(25,0,-3,0)))
init.add_init_action(redname,pyoscx.AbsoluteSpeedAction(40,step_time))
init.add_init_action(redname,pyoscx.TeleportAction(pyoscx.LanePosition(15,0,-2,0)))
init.add_init_action(yelname,pyoscx.AbsoluteSpeedAction(30,step_time))
init.add_init_action(yelname,pyoscx.TeleportAction(pyoscx.LanePosition(35,0,-4,0)))
### create an event for the red car
r_trigcond = pyoscx.TimeHeadwayCondition(redname,0.1,'greaterThan')
r_trigger = pyoscx.EntityTrigger('redtrigger',0.2,'rising',r_trigcond,egoname)
r_event = pyoscx.Event('first_lane_change','overwrite')
r_event.add_trigger(r_trigger)
r_event.add_action('lane_change_red',pyoscx.AbsoluteLaneChangeAction(-4,pyoscx.TransitionDynamics('sinusoidal','time',4)))
## create the act for the red car
r_man = pyoscx.Maneuver('red_maneuver')
r_man.add_event(r_event)
r_mangr = pyoscx.ManeuverGroup('mangroup_red')
r_mangr.add_actor(redname)
r_mangr.add_maneuver(r_man)
act = pyoscx.Act('red_act',pyoscx.ValueTrigger('starttrigger',0,'rising',pyoscx.SimulationTimeCondition(0,'greaterThan')))