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, world, ego_vehicle, scenario_definitions, town,
scenarios_per_tick=5, timeout=300, debug_mode=False):
"""
Based on the parsed route and possible scenarios, build all the scenario classes.
"""
scenario_instance_vec = []
if debug_mode:
for scenario in scenario_definitions:
loc = carla.Location(scenario['trigger_position']['x'],
scenario['trigger_position']['y'],
scenario['trigger_position']['z']) + carla.Location(z=2.0)
world.debug.draw_point(loc, size=1.0, color=carla.Color(255, 0, 0), life_time=100000)
world.debug.draw_string(loc, str(scenario['name']), draw_shadow=False,
color=carla.Color(0, 0, 255), life_time=100000, persistent_lines=True)
for scenario_number, definition in enumerate(scenario_definitions):
# Get the class possibilities for this scenario number
scenario_class = NUMBER_CLASS_TRANSLATION[definition['name']]
# Create the other actors that are going to appear
if definition['other_actors'] is not None:
list_of_actor_conf_instances = self._get_actors_instances(definition['other_actors'])
else:
list_of_actor_conf_instances = []
# Create an actor configuration for the ego-vehicle trigger position
egoactor_trigger_position = convert_json_to_transform(definition['trigger_position'])
scenario_configuration = ScenarioConfiguration()
scenario_configuration.other_actors = list_of_actor_conf_instances
scenario_configuration.town = town
scenario_configuration.trigger_points = [egoactor_trigger_position]
scenario_configuration.subtype = definition['scenario_type']
scenario_configuration.ego_vehicles = [ActorConfigurationData('vehicle.lincoln.mkz2017',
ego_vehicle.get_transform(),
'hero')]
route_var_name = "ScenarioRouteNumber{}".format(scenario_number)
scenario_configuration.route_var_name = route_var_name
try:
scenario_instance = scenario_class(world, [ego_vehicle], scenario_configuration,
criteria_enable=False, timeout=timeout)
# Do a tick every once in a while to avoid spawning everything at the same time
if scenario_number % scenarios_per_tick == 0:
sync_mode = world.get_settings().synchronous_mode
if sync_mode:
world.tick()
else:
world.wait_for_tick()
scenario_number += 1
except Exception as e: # pylint: disable=broad-except
if debug_mode:
traceback.print_exc()
print("Skipping scenario '{}' due to setup error: {}".format(definition['name'], e))
continue
scenario_instance_vec.append(scenario_instance)
return scenario_instance_vec
def parse_scenario_configuration(scenario_config_file, scenario_name):
"""
Parse scenario configuration file and provide a list of
ScenarioConfigurations @return
If scenario_name starts with "group:" all scenarios within
the config file will be returned. Otherwise only the scenario,
that matches the scenario_name.
"""
single_scenario_only = True
if scenario_name.startswith("group:"):
single_scenario_only = False
scenario_name = scenario_name[6:]
tree = ET.parse(scenario_config_file)
scenario_configurations = []
for scenario in tree.iter("scenario"):
new_config = ScenarioConfiguration()
new_config.town = scenario.attrib.get('town', None)
new_config.name = scenario.attrib.get('name', None)
new_config.type = scenario.attrib.get('type', None)
new_config.other_actors = []
new_config.ego_vehicles = []
new_config.trigger_points = []
for weather in scenario.iter("weather"):
new_config.weather.cloudiness = float(weather.attrib.get("cloudiness", 0))
new_config.weather.precipitation = float(weather.attrib.get("precipitation", 0))
new_config.weather.precipitation_deposits = float(weather.attrib.get("precipitation_deposits", 0))
new_config.weather.wind_intensity = float(weather.attrib.get("wind_intensity", 0.35))
new_config.weather.sun_azimuth_angle = float(weather.attrib.get("sun_azimuth_angle", 0.0))
new_config.weather.sun_altitude_angle = float(weather.attrib.get("sun_altitude_angle", 15.0))
for ego_vehicle in scenario.iter("ego_vehicle"):
new_config.ego_vehicles.append(ActorConfiguration(ego_vehicle, 'hero'))
new_config.trigger_points.append(new_config.ego_vehicles[-1].transform)
for target in scenario.iter("target"):
new_config.target = TargetConfiguration(target)
for route in scenario.iter("route"):
route_conf = RouteConfiguration()
route_conf.parse_xml(route)
new_config.route = route_conf
for other_actor in scenario.iter("other_actor"):
new_config.other_actors.append(ActorConfiguration(other_actor, 'scenario'))
if single_scenario_only:
if new_config.name == scenario_name:
scenario_configurations.append(new_config)
else:
scenario_configurations.append(new_config)
return scenario_configurations
def _build_scenario_instances(self,
world,
ego_vehicle,
scenario_definitions,
town,
timeout=300,
debug_mode=False):
"""
Based on the parsed route and possible scenarios, build all the scenario classes.
"""
scenario_instance_vec = []
if debug_mode:
for scenario in scenario_definitions:
loc = carla.Location(
scenario['trigger_position']['x'],
scenario['trigger_position']['y'],
scenario['trigger_position']['z']) + carla.Location(z=2.0)
world.debug.draw_point(loc,
size=1.0,
color=carla.Color(255, 0, 0),
life_time=100000)
world.debug.draw_string(loc,
str(scenario['name']),
draw_shadow=False,
color=carla.Color(0, 0, 255),
life_time=100000,
persistent_lines=True)
for definition in scenario_definitions:
# Get the class possibilities for this scenario number
possibility_vec = NUMBER_CLASS_TRANSLATION[definition['name']]
scenario_class = possibility_vec[definition['type']]
# Create the other actors that are going to appear
if definition['other_actors'] is not None:
list_of_actor_conf_instances = self._get_actors_instances(
definition['other_actors'])
else:
list_of_actor_conf_instances = []
# Create an actor configuration for the ego-vehicle trigger position
egoactor_trigger_position = convert_json_to_transform(
definition['trigger_position'])
scenario_configuration = ScenarioConfiguration()
scenario_configuration.other_actors = list_of_actor_conf_instances
scenario_configuration.town = town
scenario_configuration.trigger_points = [egoactor_trigger_position]
scenario_configuration.ego_vehicles = [
ActorConfigurationData('vehicle.lincoln.mkz2017',
ego_vehicle.get_transform(), 'hero')
]
try:
scenario_instance = scenario_class(world, [ego_vehicle],
scenario_configuration,
criteria_enable=False,
timeout=timeout)
except Exception as e:
print("Skipping scenario '{}' due to setup error: {}".format(
definition['name'], e))
continue
scenario_instance_vec.append(scenario_instance)
return scenario_instance_vec
