trigger = xosc.EntityTrigger('mytesttrigger', 0.2, xosc.ConditionEdge.none,
trigcond, egoname)
event = xosc.Event('myfirstevent', xosc.Priority.overwrite)
event.add_trigger(trigger)
sin_time = xosc.TransitionDynamics(xosc.DynamicsShapes.linear,
xosc.DynamicsDimension.time, 3)
action = xosc.LongitudinalDistanceAction(-4,
egoname,
max_deceleration=3,
max_speed=50)
event.add_action('newspeed', action)
## create the act,
man = xosc.Maneuver('my_maneuver')
man.add_event(event)
mangr = xosc.ManeuverGroup('mangroup')
mangr.add_actor('$owner')
mangr.add_maneuver(man)
starttrigger = xosc.ValueTrigger(
'starttrigger', 0, xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan))
act = xosc.Act('my_act', starttrigger)
act.add_maneuver_group(mangr)
## create the story
storyparam = xosc.ParameterDeclarations()
storyparam.add_parameter(
xosc.Parameter('$owner', xosc.ParameterType.string, targetname))
headway_cond_2 = xosc.TimeHeadwayCondition(speedyname,1,xosc.Rule.greaterThan)
headway_trigger_2 = xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.none,headway_cond_2,egoname)
ttc_cond_2 = xosc.TimeToCollisionCondition(3,xosc.Rule.lessThan,entity=targetname)
collision_trigger_2 = xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.none,ttc_cond_2,egoname)
lc_group = xosc.ConditionGroup()
lc_group.add_condition(headway_trigger_2)
lc_group.add_condition(collision_trigger_2)
lane_change_event.add_trigger(lc_group)
## create the storyboard
man = xosc.Maneuver('slow down maneuver')
man.add_event(slowdown_event)
man.add_event(lane_change_event)
sb = xosc.StoryBoard(init,xosc.ValueTrigger('stop_simulation',0,xosc.ConditionEdge.rising,xosc.SimulationTimeCondition(20,xosc.Rule.greaterThan),'stop'))
sb.add_maneuver(man,egoname)
## create the scenario
sce = xosc.Scenario('adaptspeed_example','User',paramdec,entities=entities,storyboard = sb,roadnetwork=road,catalog=catalog)
# Print the resulting xml
prettyprint(sce.get_element())
# write the OpenSCENARIO file as xosc using current script name
ego_route.add_waypoint(xosc.LanePosition(30, 0, 1, 0),
xosc.RouteStrategy.fastest)
ego_route.add_waypoint(xosc.LanePosition(10, 0, -1, 1),
xosc.RouteStrategy.fastest)
# create action
ego_action = xosc.AssignRouteAction(ego_route)
ego_event = xosc.Event('ego_event', xosc.Priority.overwrite)
ego_event.add_action('ego_route', ego_action)
ego_event.add_trigger(
xosc.ValueTrigger('target_start', 0, xosc.ConditionEdge.none,
xosc.SimulationTimeCondition(1, xosc.Rule.greaterThan)))
## create the storyboard
ego_man = xosc.Maneuver('ego_man')
ego_man.add_event(ego_event)
sb = xosc.StoryBoard(
init,
xosc.ValueTrigger('stop_simulation', 0, xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(10, xosc.Rule.greaterThan),
'stop'))
sb.add_maneuver(ego_man, egoname)
## create the scenario
sce = xosc.Scenario('adaptspeed_example',
'User',
paramdec,
entities=entities,
storyboard=sb,