def _build_master_scenario(self,
world,
ego_vehicle,
route,
town_name,
timeout=300,
debug_mode=False):
"""
Create the MasterScenario
"""
# We have to find the target.
# we also have to convert the route to the expected format
master_scenario_configuration = ScenarioConfiguration()
master_scenario_configuration.target = route[-1][
0] # Take the last point and add as target.
master_scenario_configuration.route = convert_transform_to_location(
route)
master_scenario_configuration.town = town_name
# TODO THIS NAME IS BIT WEIRD SINCE THE EGO VEHICLE IS ALREADY THERE, IT IS MORE ABOUT THE TRANSFORM
master_scenario_configuration.ego_vehicle = ActorConfigurationData(
'vehicle.lincoln.mkz2017', ego_vehicle.get_transform(), 'hero')
master_scenario_configuration.trigger_points = [
ego_vehicle.get_transform()
]
# Provide an initial blackboard entry to ensure all scenarios are running correctly
blackboard = py_trees.blackboard.Blackboard()
blackboard.set('master_scenario_command', 'scenarios_running')
return MasterScenario(world, [ego_vehicle],
master_scenario_configuration,
timeout=timeout,
debug_mode=debug_mode)
def build_scenario_instances(self, scenario_definition_vec, timeout):
"""
Based on the parsed route and possible scenarios, build all the scenario classes.
:param scenario_definition_vec: the dictionary defining the scenarios
:param town: the town where scenarios are going to be
:return:
"""
list_instanced_scenarios = []
if scenario_definition_vec is None:
return list_instanced_scenarios
for scenario_name in scenario_definition_vec:
# The BG activity encapsulates several scenarios that contain vehicles going arround
if scenario_name == 'background_activity': # BACKGROUND ACTIVITY SPECIAL CASE
background_definition = scenario_definition_vec[scenario_name]
background = self._build_background(background_definition, timeout)
list_instanced_scenarios.append(background)
else:
# Sample the scenarios to be used for this route instance.
# tehre can be many instances of the same scenario
scenario_definition_instances = scenario_definition_vec[scenario_name]
if scenario_definition_instances is None:
raise ValueError(" Not Implemented ")
for scenario_definition in scenario_definition_instances:
# TODO scenario 4 is out
#ScenarioClass = number_class_translation[scenario_name][0]
egoactor_trigger_position = convert_json_to_transform(
scenario_definition)
scenario_configuration = ScenarioConfiguration()
scenario_configuration.other_actors = None # TODO the other actors are maybe needed
scenario_configuration.town = self._town_name
scenario_configuration.trigger_point = egoactor_trigger_position
scenario_configuration.ego_vehicle = ActorConfigurationData(
'vehicle.lincoln.mkz2017',
self._ego_actor.get_transform())
try:
scenario_instance = ScenarioClass(self.world, self._ego_actor,
scenario_configuration,
criteria_enable=False, timeout=timeout)
except Exception as e:
print("Skipping scenario '{}' due to setup error: {}".format(
'Scenario3', e))
continue
# registering the used actors on the data provider so they can be updated.
CarlaDataProvider.register_actors(scenario_instance.other_actors)
list_instanced_scenarios.append(scenario_instance)
return list_instanced_scenarios
def build_master_scenario(self, route, town_name, timeout, terminate_on_collision):
# We have to find the target.
# we also have to convert the route to the expected format
master_scenario_configuration = ScenarioConfiguration()
master_scenario_configuration.target = route[-1][0] # Take the last point and add as target.
master_scenario_configuration.route = convert_transform_to_location(route)
master_scenario_configuration.town = town_name
master_scenario_configuration.ego_vehicle = ActorConfigurationData('vehicle.lincoln.mkz2017',
self._ego_actor.get_transform())
master_scenario_configuration.trigger_point = self._ego_actor.get_transform()
CarlaDataProvider.register_actor(self._ego_actor)
return MasterScenario(self.world, [self._ego_actor], master_scenario_configuration,
timeout=timeout, terminate_on_collision=terminate_on_collision)
