def _create_condition_container(self, node, name='Conditions Group', sequence=None,
maneuver=None, success_on_all=True):
"""
This is a generic function to handle conditions utilising ConditionGroups
Each ConditionGroup is represented as a Sequence of Conditions
The ConditionGroups are grouped under a SUCCESS_ON_ONE Parallel
"""
parallel_condition_groups = py_trees.composites.Parallel(name,
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
for condition_group in node.iter("ConditionGroup"):
if success_on_all:
condition_group_sequence = py_trees.composites.Parallel(
name="Condition Group", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL)
else:
condition_group_sequence = py_trees.composites.Parallel(
name="Condition Group", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
for condition in condition_group.iter("Condition"):
criterion = OpenScenarioParser.convert_condition_to_atomic(
condition, self.other_actors + self.ego_vehicles)
if sequence is not None and maneuver is not None:
xml_path = get_xml_path(self.config.story, sequence) + '>' + \
get_xml_path(maneuver, condition) # See note in get_xml_path
else:
xml_path = get_xml_path(self.config.story, condition)
criterion = oneshot_behavior(variable_name=xml_path, behaviour=criterion)
condition_group_sequence.add_child(criterion)
if condition_group_sequence.children:
parallel_condition_groups.add_child(condition_group_sequence)
return parallel_condition_groups
def _create_condition_container(self, node, name='Conditions Group', oneshot=False):
"""
This is a generic function to handle conditions utilising ConditionGroups
Each ConditionGroup is represented as a Sequence of Conditions
The ConditionGroups are grouped under a SUCCESS_ON_ONE Parallel
If oneshot is set to True, oneshot_behaviour will be applied to conditions
"""
parallel_condition_groups = py_trees.composites.Parallel(name,
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
for condition_group in node.iter("ConditionGroup"):
condition_group_sequence = py_trees.composites.Sequence(
name="Condition Group")
for condition in condition_group.iter("Condition"):
criterion = OpenScenarioParser.convert_condition_to_atomic(
condition, self.other_actors + self.ego_vehicles)
if oneshot:
criterion = oneshot_behavior(criterion)
condition_group_sequence.add_child(criterion)
if condition_group_sequence.children:
parallel_condition_groups.add_child(condition_group_sequence)
return parallel_condition_groups
def _create_test_criteria(self):
"""
A list of all test criteria will be created that is later used
in parallel behavior tree.
"""
parallel_criteria = py_trees.composites.Parallel("EndConditions (Criteria Group)",
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
for condition in self.config.criteria.iter("Condition"):
criterion = OpenScenarioParser.convert_condition_to_atomic(condition, self.ego_vehicles)
parallel_criteria.add_child(criterion)
return parallel_criteria
def _create_test_criteria(self):
"""
A list of all test criteria will be created that is later used
in parallel behavior tree.
"""
parallel_criteria = py_trees.composites.Parallel("EndConditions (Criteria Group)",
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
criteria = []
for endcondition in self.config.storyboard.iter("StopTrigger"):
for condition in endcondition.iter("Condition"):
if condition.attrib.get('name').startswith('criteria_'):
criteria.append(condition)
for condition in criteria:
criterion = OpenScenarioParser.convert_condition_to_atomic(condition, self.ego_vehicles)
parallel_criteria.add_child(criterion)
return parallel_criteria
def _create_behavior(self):
"""
Basic behavior do nothing, i.e. Idle
"""
story_behavior = py_trees.composites.Sequence("Story")
for act in self.config.story.iter("Act"):
if act.attrib.get('name') != 'Behavior':
continue
parallel_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE,
name="Maneuver + EndConditions Group")
for sequence in act.iter("Sequence"):
sequence_behavior = py_trees.composites.Sequence()
repetitions = sequence.attrib.get('numberOfExecutions', 1)
actor_ids = []
for actor in sequence.iter("Actors"):
for entity in actor.iter("Entity"):
for k, _ in enumerate(self.other_actors):
if entity.attrib.get(
'name', None
) == self.config.other_actors[k].rolename:
actor_ids.append(k)
break
tmp_sequence_behavior = py_trees.composites.Sequence(
name=sequence.attrib.get('name'))
for maneuver in sequence.iter("Maneuver"):
maneuver_sequence = py_trees.composites.Sequence(
name="Maneuver " + maneuver.attrib.get('name'))
for event in maneuver.iter("Event"):
event_sequence = py_trees.composites.Sequence(
name="Event " + event.attrib.get('name'))
parallel_actions = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.
SUCCESS_ON_ALL,
name="Actions")
for child in event.iter():
if child.tag == "Action":
for actor_id in actor_ids:
maneuver_behavior = OpenScenarioParser.convert_maneuver_to_atomic(
child, self.other_actors[actor_id])
parallel_actions.add_child(
maneuver_behavior)
if child.tag == "StartConditions":
# There is always on StartConditions block per Event
for condition in child.iter('Condition'):
condition_behavior = OpenScenarioParser.convert_condition_to_atomic(
condition,
self.other_actors + self.ego_vehicles)
condition_behavior.name += " for {}".format(
parallel_actions.name)
if condition_behavior:
event_sequence.add_child(
condition_behavior)
event_sequence.add_child(parallel_actions)
maneuver_sequence.add_child(event_sequence)
tmp_sequence_behavior.add_child(maneuver_sequence)
for _ in range(int(repetitions)):
sequence_behavior.add_child(tmp_sequence_behavior)
if sequence_behavior.children:
parallel_behavior.add_child(sequence_behavior)
for conditions in act.iter("Conditions"):
start_condition_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
name="StartConditions Group")
for start_condition in conditions.iter("Start"):
for condition in start_condition.iter('Condition'):
condition_behavior = OpenScenarioParser.convert_condition_to_atomic(
condition, self.other_actors + self.ego_vehicles)
oneshot_idiom = oneshot_behavior(
name=condition_behavior.name,
variable_name=condition_behavior.name,
behaviour=condition_behavior)
start_condition_behavior.add_child(oneshot_idiom)
for end_condition in conditions.iter("End"):
for condition in end_condition.iter('Condition'):
condition_behavior = OpenScenarioParser.convert_condition_to_atomic(
condition, self.other_actors + self.ego_vehicles)
parallel_behavior.add_child(condition_behavior)
for end_condition in conditions.iter("Cancel"):
for condition in end_condition.iter('Condition'):
condition_behavior = OpenScenarioParser.convert_condition_to_atomic(
condition, self.other_actors + self.ego_vehicles)
parallel_behavior.add_child(condition_behavior)
if start_condition_behavior.children:
story_behavior.add_child(start_condition_behavior)
if parallel_behavior.children:
story_behavior.add_child(parallel_behavior)
# Build behavior tree
# sequence.add_child(maneuver_behavior)
return story_behavior