def setup_cars(sim_connection: SimConnection, ego_speed: float):
lgsvl_sim = sim_connection.connect()
# Placing the sedan
sedan_state = spawn_state(lgsvl_sim)
sedan_state = CarControl.place_car_from_the_point(dimension="vertical",
distance=15,
state=sedan_state)
sedan_state = CarControl.place_car_from_the_point(dimension="horizontal",
distance=-8,
state=sedan_state)
sedan_state = CarControl.rotate_car_by_degree(state=sedan_state,
degree=-45)
sedan = load_npc(lgsvl_sim, "Sedan", sedan_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
ego_state = CarControl.drive_ego_car(ego_state, [("vertical", ego_speed)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
return {
"sedan": sedan,
"ego": ego,
}
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)
'Localization', 'Transform', 'Routing', 'Prediction', 'Planning',
'Control'
]
destination = spawns[0].destinations[0]
dv.setup_apollo(destination.position.x, destination.position.z, modules)
endOfRoad = destination
POVState = lgsvl.AgentState()
sedan_state = POVState
sedan_state = CarControl.place_car_from_the_point(dimension="vertical",
distance=25,
state=sedan_state)
sedan_state = CarControl.place_car_from_the_point(dimension="horizontal",
distance=-3,
state=sedan_state)
sedan_state = CarControl.rotate_car_by_degree(state=sedan_state,
degree=180)
POV = sim.add_agent("Sedan", lgsvl.AgentType.NPC, sedan_state)
def on_collision(agent1, agent2, contact):
raise lgsvl.evaluator.TestException(
"Ego collided with {}".format(agent2))
ego.on_collision(on_collision)
POV.on_collision(on_collision)
try:
t0 = time.time()
sim.run(5) # The EGO should start moving first
POV.follow_closest_lane(True, MAX_POV_SPEED, False)
while True:
sim.run(0.5)
def test_EGO_encroach_NPC_speed_20_with_apollo(self):
LGSVL__APOLLO_HOST = config("LGSVL__APOLLO_HOST")
LGSVL__APOLLO_PORT = int(config("LGSVL__APOLLO_PORT"))
LGSVL__DREAMVIEW_HOST = config("LGSVL__DREAMVIEW_HOST")
MODULES = [
'Recorder', 'Localization', 'Perception', 'Transform', 'Routing',
'Prediction', 'Planning', 'Traffic Light', 'Control'
]
TARGET = Vector(4.85003185272217, -0.0120296478271484,
22.7699680328369)
COLLISIONS = []
SEDAN_WPS = [
Vector(-3.15000438690186, 0, 37.7700042724609),
Vector(4.85003137588501, -0.0120288729667664, 22.7699680328369)
]
NPC_SPEED = 10
sim_connection = SimConnection(scene="CubeTown")
lgsvl_sim = sim_connection.connect()
# Placing the sedan
sedan_state = spawn_state(lgsvl_sim)
sedan_state = CarControl.place_car_from_the_point(dimension="vertical",
distance=15,
state=sedan_state)
sedan_state = CarControl.place_car_from_the_point(
dimension="horizontal", distance=-8, state=sedan_state)
sedan_state = CarControl.rotate_car_by_degree(state=sedan_state,
degree=-45)
sedan = load_npc(lgsvl_sim, "Sedan", sedan_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
# ego_state = CarControl.drive_ego_car(ego_state, [("vertical", 3)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
def on_collision(agent1, agent2, contact):
COLLISIONS.append([agent1, agent2, contact])
sim_connection.sim.close()
print("Exception: {} collided with {}".format(agent1, agent2))
ego.on_collision(on_collision)
sedan.on_collision(on_collision)
try:
ego.connect_bridge(LGSVL__APOLLO_HOST, LGSVL__APOLLO_PORT)
dv = lgsvl.dreamview.Connection(lgsvl_sim, ego,
LGSVL__DREAMVIEW_HOST)
dv.set_hd_map("CubeTown")
dv.set_vehicle("Lincoln2017MKZ (Apollo 5.0)")
dv.setup_apollo(TARGET.x, TARGET.z, MODULES)
# Start the scenario
waypoints = []
for point in SEDAN_WPS:
waypoints.append(
lgsvl.DriveWaypoint(point, NPC_SPEED,
sedan.state.transform.rotation))
sedan.follow(waypoints)
sim_connection.execute(timeout=15)
except Exception:
sim_connection.sim.close()
self.fail("Failed!")
sim_connection.sim.close()
self.assertTrue(True, True)