def _mission2trap(self, road_network, mission, default_zone_dist=6):
if not (hasattr(mission, "start") and hasattr(mission, "goal")):
raise ValueError(f"Value {mission} is not a mission!")
activation_delay = mission.start_time
patience = mission.entry_tactic.wait_to_hijack_limit_s
zone = mission.entry_tactic.zone
default_entry_speed = mission.entry_tactic.default_entry_speed
n_lane = None
if default_entry_speed is None:
n_lane = n_lane or road_network.nearest_lane(
mission.start.position)
default_entry_speed = n_lane.getSpeed()
if zone is None:
n_lane = n_lane or road_network.nearest_lane(
mission.start.position)
lane_speed = n_lane.getSpeed()
start_edge_id = n_lane.getEdge().getID()
start_lane = n_lane.getIndex()
lane_length = n_lane.getLength()
start_pos = mission.start.position
vehicle_offset_into_lane = road_network.offset_into_lane(
n_lane, (start_pos[0], start_pos[1]))
vehicle_offset_into_lane = clip(vehicle_offset_into_lane, 1e-6,
lane_length - 1e-6)
drive_distance = lane_speed * default_zone_dist
start_offset_in_lane = vehicle_offset_into_lane - drive_distance
start_offset_in_lane = clip(start_offset_in_lane, 1e-6,
lane_length - 1e-6)
length = max(1e-6, vehicle_offset_into_lane - start_offset_in_lane)
zone = MapZone(
start=(start_edge_id, start_lane, start_offset_in_lane),
length=length,
n_lanes=1,
)
trap = Trap(
geometry=zone.to_geometry(road_network),
# TODO: Make reactivation and activation delay configurable through
# scenario studio
reactivation_time=-1,
remaining_time_to_reactivation=activation_delay,
patience=patience,
mission=mission,
exclusion_prefixes=mission.entry_tactic.exclusion_prefixes,
default_entry_speed=default_entry_speed,
)
return trap
def _mission2trap(self, road_map, mission, default_zone_dist=6):
if not (hasattr(mission, "start") and hasattr(mission, "goal")):
raise ValueError(f"Value {mission} is not a mission!")
activation_delay = mission.start_time
patience = mission.entry_tactic.wait_to_hijack_limit_s
zone = mission.entry_tactic.zone
default_entry_speed = mission.entry_tactic.default_entry_speed
n_lane = None
if default_entry_speed is None:
n_lane = road_map.nearest_lane(mission.start.point)
assert n_lane, "mission must start in a lane"
default_entry_speed = n_lane.speed_limit
if zone is None:
n_lane = n_lane or road_map.nearest_lane(mission.start.point)
assert n_lane, "mission must start in a lane"
lane_speed = n_lane.speed_limit
start_road_id = n_lane.road.road_id
start_lane = n_lane.index
lane_length = n_lane.length
start_pos = mission.start.position
vehicle_offset_into_lane = n_lane.offset_along_lane(
MapPoint(x=start_pos[0], y=start_pos[1]))
vehicle_offset_into_lane = clip(vehicle_offset_into_lane, 1e-6,
lane_length - 1e-6)
drive_distance = lane_speed * default_zone_dist
start_offset_in_lane = vehicle_offset_into_lane - drive_distance
start_offset_in_lane = clip(start_offset_in_lane, 1e-6,
lane_length - 1e-6)
length = max(1e-6, vehicle_offset_into_lane - start_offset_in_lane)
zone = MapZone(
start=(start_road_id, start_lane, start_offset_in_lane),
length=length,
n_lanes=1,
)
trap = Trap(
geometry=zone.to_geometry(road_map),
remaining_time_to_activation=activation_delay,
patience=patience,
mission=mission,
exclusion_prefixes=mission.entry_tactic.exclusion_prefixes,
default_entry_speed=default_entry_speed,
)
return trap