def __init__(self, world, ego_vehicles, config, randomize=False, debug_mode=False, criteria_enable=True,
timeout=80):
"""
Setup all relevant parameters and create scenario
"""
self._world = world
self._map = CarlaDataProvider.get_map()
self._target_vel = 5 # 6.9
self._brake_value = 0.5
self._ego_distance = 110
self._traffic_light = None
self._other_actor_transform = None
self._blackboard_queue_name = 'SignalizedJunctionLeftTurn/actor_flow_queue'
self._queue = py_trees.blackboard.Blackboard().set(self._blackboard_queue_name, Queue())
self._initialized = True
super(SignalizedJunctionLeftTurn, self).__init__("TurnLeftAtSignalizedJunction",
ego_vehicles,
config,
world,
debug_mode,
criteria_enable=criteria_enable)
self._traffic_light = CarlaDataProvider.get_next_traffic_light(self.ego_vehicles[0], False)
traffic_light_other = CarlaDataProvider.get_next_traffic_light(self.other_actors[0], False)
if self._traffic_light is None or traffic_light_other is None:
raise RuntimeError("No traffic light for the given location found")
self._traffic_light.set_state(carla.TrafficLightState.Green)
self._traffic_light.set_green_time(self.timeout)
# other vehicle's traffic light
traffic_light_other.set_state(carla.TrafficLightState.Green)
traffic_light_other.set_green_time(self.timeout)
def __init__(self,
world,
ego_vehicles,
config,
randomize=False,
debug_mode=False,
criteria_enable=True,
timeout=180):
"""
Setup all relevant parameters and create scenario
and instantiate scenario manager
"""
self._other_actor_transform = None
# Timeout of scenario in seconds
self.timeout = timeout
super(OppositeVehicleRunningRedLight,
self).__init__("OppositeVehicleRunningRedLight",
ego_vehicles,
config,
world,
debug_mode,
criteria_enable=criteria_enable)
self._traffic_light = CarlaDataProvider.get_next_traffic_light(
self.ego_vehicles[0], False)
if self._traffic_light is None:
print(
"No traffic light for the given location of the ego vehicle found"
)
sys.exit(-1)
self._traffic_light.set_state(carla.TrafficLightState.Green)
self._traffic_light.set_green_time(self.timeout)
# other vehicle's traffic light
traffic_light_other = CarlaDataProvider.get_next_traffic_light(
self.other_actors[0], False)
if traffic_light_other is None:
print(
"No traffic light for the given location of the other vehicle found"
)
sys.exit(-1)
traffic_light_other.set_state(carla.TrafficLightState.Red)
traffic_light_other.set_red_time(self.timeout)
def __init__(
self,
world,
ego_vehicles,
config,
randomize=False,
debug_mode=False,
criteria_enable=True,
timeout=80,
):
"""
Setup all relevant parameters and create scenario
"""
self._target_vel = 6.9
self._brake_value = 0.5
self._ego_distance = 40
self._traffic_light = None
self._other_actor_transform = None
self._other_actor_transform2 = None
self._pedestrian_transform = None
# Timeout of scenario in seconds
self.timeout = timeout
super(RightTurn, self).__init__(
"RightTurn",
ego_vehicles,
config,
world,
debug_mode,
criteria_enable=criteria_enable,
)
self._traffic_light = CarlaDataProvider.get_next_traffic_light(
self.ego_vehicles[0], False)
if self._traffic_light is None:
print(
"No traffic light for the given location of the ego vehicle found"
)
sys.exit(-1)
self._traffic_light.set_state(carla.TrafficLightState.Red)
self._traffic_light.set_red_time(self.timeout)
# other vehicle's traffic light
traffic_light_other = CarlaDataProvider.get_next_traffic_light(
self.other_actors[0], False)
if traffic_light_other is None:
print(
"No traffic light for the given location of the other vehicle found"
)
sys.exit(-1)
traffic_light_other.set_state(carla.TrafficLightState.Green)
traffic_light_other.set_green_time(self.timeout)
def __init__(self,
world,
ego_vehicles,
config,
randomize=False,
debug_mode=False,
continuous=True, # continuous traffic flow or single vehicle scenario
v=6,
criteria_enable=True,
timeout=80):
"""
Setup all relevant parameters and create scenario
"""
self._world = world
self._map = CarlaDataProvider.get_map()
self._target_vel = v
self._brake_value = 0.5
self._ego_distance = 110
self._traffic_light = None
self._other_actor_transform = None
self._blackboard_queue_name = 'SignalizedJunctionLeftTurn/actor_flow_queue'
self._queue = py_trees.blackboard.Blackboard().set(self._blackboard_queue_name, Queue())
self._initialized = True
super(VerificationScenario, self).__init__(name='VerificationScenario',
ego_vehicles=ego_vehicles,
config=config,
world=world,
debug_mode=debug_mode,
terminate_on_failure=True,
criteria_enable=criteria_enable,
)
self._traffic_light = CarlaDataProvider.get_next_traffic_light(self.ego_vehicles[0], False)
traffic_light_other = CarlaDataProvider.get_next_traffic_light(self.other_actors[0], False)
if self._traffic_light is None or traffic_light_other is None:
raise RuntimeError("No traffic light for the given location found")
self._traffic_light.set_state(carla.TrafficLightState.Green)
self._traffic_light.set_green_time(self.timeout)
# other vehicle's traffic light
traffic_light_other.set_state(carla.TrafficLightState.Green)
traffic_light_other.set_green_time(self.timeout)
# ================ additional class attributes ================
self.continuous_scenario = continuous
# init params for traffic flow
self._target_vel
def update(self):
master_scenario_command = self.blackboard.get(
'master_scenario_command')
if master_scenario_command and master_scenario_command == 'scenarios_stop_request':
new_status = py_trees.common.Status.SUCCESS
return new_status
else:
new_status = py_trees.common.Status.RUNNING
# find a suitable target
if not self.target_traffic_light:
traffic_light = CarlaDataProvider.get_next_traffic_light(
self.ego_vehicle, use_cached_location=False)
if not traffic_light:
# nothing else to do in this iteration...
return new_status
base_transform = traffic_light.get_transform()
area_loc = carla.Location(
base_transform.transform(
traffic_light.trigger_volume.location))
distance_to_traffic_light = area_loc.distance(
self.ego_vehicle.get_location())
if self.debug:
print("[{}] distance={}".format(traffic_light.id,
distance_to_traffic_light))
if distance_to_traffic_light < self.MAX_DISTANCE_TRAFFIC_LIGHT:
self.target_traffic_light = traffic_light
self.intervention = random.random(
) > self.RANDOM_VALUE_INTERVENTION
if self.intervention:
if self.debug:
print(
"--- We are going to affect the following intersection"
)
loc = self.target_traffic_light.get_location()
CarlaDataProvider.get_world().debug.draw_point(
loc + carla.Location(z=1.0),
size=0.5,
color=carla.Color(255, 255, 0),
life_time=50000)
self.annotations = CarlaDataProvider.annotate_trafficlight_in_group(
self.target_traffic_light)
else:
if not self.reset_annotations:
if self.intervention:
# the light has not been manipulated yet
choice = random.choice(self.INTERSECTION_CONFIGURATIONS)
self.reset_annotations = CarlaDataProvider.update_light_states(
self.target_traffic_light,
self.annotations,
choice,
freeze=True)
else:
# the traffic light has been manipulated...
base_transform = self.target_traffic_light.get_transform()
area_loc = carla.Location(
base_transform.transform(
self.target_traffic_light.trigger_volume.location))
distance_to_traffic_light = area_loc.distance(
self.ego_vehicle.get_location())
if self.debug:
print("++ distance={}".format(distance_to_traffic_light))
if distance_to_traffic_light > self.MAX_DISTANCE_TRAFFIC_LIGHT:
if self.reset_annotations:
CarlaDataProvider.reset_lights(self.reset_annotations)
self.target_traffic_light = None
self.reset_annotations = None
self.annotations = None
self.intervention = False
return new_status
