def test_entitytrigger():
trigcond = OSC.TimeToCollisionCondition(10,OSC.Rule.equalTo,True,freespace=False,position=OSC.WorldPosition())
trigger = OSC.EntityTrigger('mytesttrigger',0.2,OSC.ConditionEdge.rising,trigcond,'Target_1')
prettyprint(trigger.get_element())
def test_timetocollisioncondition():
cond = OSC.TimeToCollisionCondition(value=20,alongroute=True,rule=OSC.Rule.equalTo,entity='Ego')
prettyprint(cond.get_element())
cond = OSC.TimeToCollisionCondition(value=20,alongroute=True,rule=OSC.Rule.equalTo,position=OSC.WorldPosition())
prettyprint(cond.get_element())
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)))
### create the action
event = xosc.Event('speedchange', xosc.Priority.overwrite)
event.add_action(
'speedaction',
xosc.AbsoluteSpeedAction(
10,
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 3)))
# create two trigger conditions
trig_cond1 = xosc.TimeToCollisionCondition(2,
xosc.Rule.lessThan,
entity=targetname)
trig_cond2 = xosc.TimeHeadwayCondition(speedyname, 1, xosc.Rule.greaterThan)
collision_trigger = xosc.EntityTrigger('trigger', 0, xosc.ConditionEdge.none,
trig_cond1, egoname)
headway_trigger = xosc.EntityTrigger('trigger', 0, xosc.ConditionEdge.none,
trig_cond2, egoname)
# create two separate condition groups
col_group = xosc.ConditionGroup()
col_group.add_condition(collision_trigger)
head_group = xosc.ConditionGroup()
head_group.add_condition(headway_trigger)
def test_scenario():
catalog = OSC.Catalog()
catalog.add_catalog('VehicleCatalog', 'Catalogs/VehicleCatalogs')
catalog.add_catalog('ControllerCatalog', 'Catalogs/ControllerCatalogs')
roadfile = 'Databases/SampleDatabase.xodr'
road = OSC.RoadNetwork(roadfile)
trigcond = OSC.TimeToCollisionCondition(10,
OSC.Rule.equalTo,
True,
freespace=False,
position=OSC.WorldPosition())
trigger = OSC.EntityTrigger('mytesttrigger', 0.2, OSC.ConditionEdge.rising,
trigcond, 'Target_1')
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step,
OSC.DynamicsDimension.rate, 1)
lanechangeaction = OSC.AbsoluteLaneChangeAction(1, TD)
prettyprint(lanechangeaction.get_element())
speedaction = OSC.AbsoluteSpeedAction(50, TD)
event.add_action('newspeed', speedaction)
man = OSC.Maneuver('my maneuver')
man.add_event(event)
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor('Ego')
mangr.add_maneuver(man)
act = OSC.Act('my act', trigger)
act.add_maneuver_group(mangr)
story = OSC.Story('mystory')
story.add_act(act)
bb = OSC.BoundingBox(2, 5, 1.5, 1.5, 0, 0.2)
fa = OSC.Axle(2, 2, 2, 1, 1)
ba = OSC.Axle(1, 1, 2, 1, 1)
veh = OSC.Vehicle('mycar', OSC.VehicleCategory.car, bb, fa, ba, 150, 10,
10)
entities = OSC.Entities()
entities.add_scenario_object('Ego', veh)
entities.add_scenario_object('Target_1', veh)
init = OSC.Init()
egospeed = OSC.AbsoluteSpeedAction(10, TD)
init.add_init_action('Ego', egospeed)
init.add_init_action(
'Ego', OSC.TeleportAction(OSC.WorldPosition(1, 2, 3, 0, 0, 0)))
init.add_init_action('Target_1', egospeed)
init.add_init_action(
'Target_1', OSC.TeleportAction(OSC.WorldPosition(1, 5, 3, 0, 0, 0)))
sb = OSC.StoryBoard(init)
sb.add_story(story)
sce = OSC.Scenario('myscenario',
'Mandolin',
OSC.ParameterDeclarations(),
entities=entities,
storyboard=sb,
roadnetwork=road,
catalog=catalog)
prettyprint(sce.get_element())
init.add_init_action(egoname,xosc.AbsoluteSpeedAction(15,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
# change speed of this to have different outcome
init.add_init_action(speedyname,xosc.TeleportAction(xosc.LanePosition(10,0,-3,0)))
init.add_init_action(speedyname,xosc.AbsoluteSpeedAction(speed_of_outer_car,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
init.add_init_action(targetname,xosc.TeleportAction(xosc.LanePosition(100,0,-2,0)))
init.add_init_action(targetname,xosc.AbsoluteSpeedAction(10,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
### create the "optional" slowdown event
slowdown_event = xosc.Event('speedchange',xosc.Priority.overwrite)
slowdown_event.add_action('speedaction',xosc.AbsoluteSpeedAction(9,xosc.TransitionDynamics(xosc.DynamicsShapes.sinusoidal,xosc.DynamicsDimension.time,1)))
# create two trigger conditions
ttc_cond = xosc.TimeToCollisionCondition(3,xosc.Rule.lessThan,entity=targetname)
headway_cond = xosc.TimeHeadwayCondition(speedyname,1,xosc.Rule.lessThan)
headway_trigger = xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.none,headway_cond,egoname)
collision_trigger = xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.none,ttc_cond,egoname)
#create the "and" logic
sc_group = xosc.ConditionGroup()
sc_group.add_condition(collision_trigger)
sc_group.add_condition(headway_trigger)
slowdown_event.add_trigger(sc_group)
# create the optional lanechange event
lane_change_event = xosc.Event('lanechange',xosc.Priority.overwrite)
import pytest
from scenariogeneration import xosc as OSC
from scenariogeneration import prettyprint
TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step,
OSC.DynamicsDimension.rate, 1)
speedaction = OSC.AbsoluteSpeedAction(50, TD)
trigcond = OSC.TimeToCollisionCondition(
10,
OSC.Rule.equalTo,
position=OSC.WorldPosition(),
freespace=False,
)
trigger = OSC.EntityTrigger('mytesttrigger', 0.2, OSC.ConditionEdge.rising,
trigcond, 'Target_1')
def test_event():
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)
def test_maneuver():
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)