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 load_scenario(self, scenario):
"""
Load a new scenario
"""
self.restart()
self.scenario = scenario.scenario
self.scenario_tree = self.scenario.scenario_tree
self.ego_vehicle = scenario.ego_vehicle
self.other_actors = scenario.other_actors
CarlaDataProvider.register_actor(self.ego_vehicle)
CarlaDataProvider.register_actors(self.other_actors)
def load_scenario(self, scenario, agent=None):
"""
Load a new scenario
"""
self._reset()
self._agent = AgentWrapper(agent, self._challenge_mode) if agent else None
self.scenario_class = scenario
self.scenario = scenario.scenario
self.scenario_tree = self.scenario.scenario_tree
self.ego_vehicles = scenario.ego_vehicles
self.other_actors = scenario.other_actors
#print(self.other_actors)
CarlaDataProvider.register_actors(self.ego_vehicles)
CarlaDataProvider.register_actors(self.other_actors)
# To print the scenario tree uncomment the next line
# py_trees.display.render_dot_tree(self.scenario_tree)
if self._agent is not None:
self._agent.setup_sensors(self.ego_vehicles[0], self._debug_mode, self._track)
