def run(self):
# Setup environment
lgsvl_sim = self.simConnection.connect()
control = lgsvl.NPCControl()
ego_control = lgsvl.VehicleControl()
# Placing the school_bus
school_bus_state = spawn_state(lgsvl_sim)
school_bus_state = CarControl.place_car_on_the_point(
state=school_bus_state, sim=lgsvl_sim, point=self.npc_source)
school_bus = load_npc(lgsvl_sim, "SchoolBus", school_bus_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
ego_state = CarControl.place_car_from_the_point(dimension="horizontal",
distance=-6,
state=ego_state)
ego_state = CarControl.drive_ego_car(ego_state,
[("vertical", self.ego_speed)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
# Callback collision function
ego.on_collision(self.on_collision)
school_bus.on_collision(self.on_collision)
# Set waypoints for School Bus
waypoints = []
for point in [self.npc_source, self.npc_target]:
waypoints.append(
lgsvl.DriveWaypoint(point, self.npc_speed,
school_bus.state.transform.rotation))
try:
# Start the scenario
# The School Bus is parked on the street
control.headlights = 2
control.e_stop = True
school_bus.apply_control(control)
# Let the ego running for 2 seconds
self.simConnection.execute(timeout=2)
# The school bus turns on signal to prepare for the turn
control.headlights = 0 # turn off headlight
control.turn_signal_left = True
school_bus.apply_control(control)
self.simConnection.execute(timeout=2)
# Brake the ego
CarControl.brake_ego(ego=ego,
control=ego_control,
brake_value=self.ego_brake,
sticky=True)
# The school bus starts to turn right
school_bus.follow(waypoints)
self.simConnection.execute(timeout=10)
except Exception:
print("Failed!")
def test_EGO_exit_park_with_incoming_NPC(self):
NPC_START = lgsvl.geometry.Vector(120, -0.0120140314102173, -2)
NPC_TARGET = lgsvl.geometry.Vector(60, -0.0121138095855713, -2)
NPC_SPEED = 4
VEHICLE_SET = [
{
"name": "Sedan",
"load_vehicle": load_npc,
"distance": 0,
"type": "Sedan"
},
{
"name": "Ego",
"load_vehicle": load_ego,
"distance": 10,
"type": "Lincoln2017MKZ (Apollo 5.0)"
},
{
"name": "SUV",
"load_vehicle": load_npc,
"distance": 5,
"type": "SUV"
},
{
"name": "Jeep",
"load_vehicle": load_npc,
"distance": 20,
"type": "Jeep"
},
]
# Setup environment
sim_connection = SimConnection()
lgsvl_sim = sim_connection.connect()
scenario = Scenario(sim_connection)
# Setup vehicles position
sedan, ego, suv, jeep = scenario.generate_vehicles(
lgsvl_sim, VEHICLE_SET)
# Setup a new NPC
NPC_state = spawn_state(lgsvl_sim)
NPC_state = CarControl.place_car_on_the_point(sim=lgsvl_sim,
point=NPC_START,
state=NPC_state)
NPC_state = CarControl.rotate_car_by_degree(state=NPC_state,
degree=-90)
NPC = load_npc(lgsvl_sim, "Sedan", NPC_state)
NPC.on_collision(scenario.on_collision)
waypointsCommand = [
lgsvl.DriveWaypoint(NPC_START, NPC_SPEED,
NPC_state.transform.rotation),
lgsvl.DriveWaypoint(NPC_TARGET, NPC_SPEED,
NPC_state.transform.rotation)
]
# Delay the scenario for 2s
sim_connection.execute(timeout=2)
try:
NPC.follow(waypointsCommand)
scenario.drive_ego(sim_connection, ego)
except Exception:
sim_connection.sim.close()
self.fail("Failed!")
# Passed!
sim_connection.sim.close()
self.assertTrue(True, True)