def convert_test(dbc, dbe):
"""Starts a test in DriveBuild to convert xml files to prefab, json and lua files. Moves them automatically to
the scenario folder in the BeamNG trunk folder.
:return: Void.
"""
service = AIExchangeService("localhost", 8383)
service.run_tests("test", "test", Path(dbe), Path(dbc))
print(
colored(
"Converting XML files to BNG files. Moving to scenarios folder...",
"blue"))
# Close BeamNG after converting. If you don't close it, BeamNG will load.
call("C:\\Windows\\System32\\taskkill.exe /f /im BeamNG.research.x64.exe",
shell=True)
# Change it to YOUR DriveBuild user path.
destination_path = "C:\\BeamNG.research_userpath\\drivebuild_*"
matches = glob(destination_path)
if len(matches) > 0:
latest_folder = max(matches, key=os.path.getmtime)
latest_folder = latest_folder + "\\levels\\drivebuild\\scenarios\\*"
matches = glob(latest_folder)
if len(matches) != 0:
latest_file = max(matches, key=os.path.getmtime)
elements = latest_file.split("\\")
filename = elements[-1].split(".")[0]
destination_path = latest_folder[:-1] + filename + "*"
matches = glob(destination_path)
for match in matches:
# Change it to YOUR DriveBuild scenario folder in the BNG trunk folder.
shutil.move(
match,
"D:\\Program Files (x86)\\BeamNG\\levels\\drivebuild\\scenarios"
)
def _start_moose_test():
from drivebuildclient.aiExchangeMessages_pb2 import VehicleID
from drivebuildclient.AIExchangeService import AIExchangeService
from dummy_ai import DummyAI
from os.path import dirname, join
from pathlib import Path
service = AIExchangeService("localhost", 8383)
upload_result = service.run_tests("test", "test", Path(join(dirname(__file__), "scenario")))
if upload_result and upload_result.submissions:
for test_name, sid in upload_result.submissions.items():
vid = VehicleID()
vid.vid = "ego"
DummyAI(service).start(sid, vid)
def main() -> None:
from drivebuildclient.AIExchangeService import AIExchangeService
from drivebuildclient.aiExchangeMessages_pb2 import VehicleID
from common.dummy_ai import DummyAI
from pathlib import Path
from os.path import dirname, join
service = AIExchangeService("localhost", 5000)
upload_result = service.run_tests(
"test", "test", Path(join(dirname(__file__), "providedFiles")))
if upload_result and upload_result.submissions:
for test_name, sid in upload_result.submissions.items():
vid = VehicleID()
vid.vid = "ego"
DummyAI(service).start(sid, vid)
def start(self, sid: SimulationID, vid: VehicleID) -> None:
from drivebuildclient.AIExchangeService import AIExchangeService
from drivebuildclient.aiExchangeMessages_pb2 import SimStateResponse, DataRequest, Control
service = AIExchangeService("localhost", 8383)
while True:
print(sid.sid + ": Test status: " + service.get_status(sid))
# Wait for the simulation to request this AI
sim_state = service.wait_for_simulator_request(sid, vid)
if sim_state is SimStateResponse.SimState.RUNNING: # Check whether simulation is still running
# Request data this AI needs
request = DataRequest()
request.request_ids.extend([]) # Add all IDs of data to be requested
data = service.request_data(sid, vid, request) # Request the actual data
# Calculate commands controlling the car
control = Control()
# Define a control command like
# control.avCommand.accelerate = <Some value between 0.0 and 1.0>
# control.avCommand.steer = <Some value between -1.0 (left) and 1.0 (right)
# control.avCommand.brake = <Some value between 0.0 and 1.0>
service.control(sid, vid, control)
else:
print(sid.sid + ": The simulation is not running anymore (Final state: "
+ SimStateResponse.SimState.Name(sim_state) + ").")
print(sid.sid + ": Final test result: " + service.get_result(sid))
# Clean up everything you have to
break
def onTestFinished(self, sid, vid):
"""This method is called after a test was finished in DriveBuild.
Also updates fitness value of an individual.
:param sid: Simulation ID.
:param vid: Vehicle ID (only one participant).
:return: Void.
"""
# Change service if your configuration differs.
service = AIExchangeService("localhost", 8383)
trace_data = service.get_trace(sid, vid)
distances = []
for i in range(0, len(trace_data)):
distances.append(
trace_data[i]
[3].data["egoLaneDist"].road_center_distance.distance)
ticks = trace_data[-1][2]
self._calculate_fitness_value(distances, ticks)
def _main() -> None:
from pathlib import Path
_configure_asfault()
test = _generate_asfault_test()
lanes = _get_lanes(test)
dbe_content = _generate_dbe(lanes)
temp_dbe_file = NamedTemporaryFile(mode="w",
delete=False,
suffix=".dbe.xml")
temp_dbe_file.write(dbe_content)
temp_dbe_file.close()
# FIXME Choose lane based on some ranking?
dbc_content = _generate_dbc(lanes[0], basename(temp_dbe_file.name))
temp_dbc_file = NamedTemporaryFile(mode="w",
delete=False,
suffix=".dbc.xml")
temp_dbc_file.write(dbc_content)
temp_dbc_file.close()
service = AIExchangeService("defender.fim.uni-passau.de", 8383)
submission_result = service.run_tests("test", "test",
Path(temp_dbe_file.name),
Path(temp_dbc_file.name))
if submission_result and submission_result.submissions:
for test_name, sid in submission_result.submissions.items():
vid = VehicleID()
vid.vid = "ego"
while True:
sim_state = service.wait_for_simulator_request(sid, vid)
if sim_state != SimStateResponse.SimState.RUNNING:
break
print("Result of \"" + test_name + "\": " +
service.get_result(sid))
break # NOTE Assume only one test was uploaded
else:
_LOGGER.warning("DriveBuild denied running the given test.")
remove(temp_dbe_file.name)
remove(temp_dbc_file.name)
def main():
print("parameters: ")
for i in range(1, len(sys.argv)):
print(sys.argv[i])
data_request_path = sys.argv[1]
ai_path = sys.argv[2]
working_directory = sys.argv[3]
"""
data_request_path = "C:\\sbse4tac-ws-2019-self-driving-car-e2edriving\\ai\\data_requests.py"
ai_path = "C:\\sbse4tac-ws-2019-self-driving-car-e2edriving\\run_db.py"
working_directory = "C:\\sbse4tac-ws-2019-self-driving-car-e2edriving"
"""
service = AIExchangeService("localhost", 8383)
vid = VehicleID()
vid.vid = "ego"
tg = TestGenerator()
tg.set_difficulty("easy")
while True:
for paths in tg.getTest():
criteria = paths[1]
environment = paths[0]
# edit the xml
spec = importlib.util.spec_from_file_location(
"AI", data_request_path)
foo = importlib.util.module_from_spec(spec)
# Actually run the import
spec.loader.exec_module(foo)
# get ai element
double_backslash_dbc_path = str(criteria).replace(
"\\", "\\" + "\\")
tree = parse(double_backslash_dbc_path)
root = tree.getroot()
for i in range(0, len(root.getchildren())):
if root.getchildren(
)[i].tag == "{http://drivebuild.com}participants":
participant_block = root.getchildren()[i].getchildren()[0]
for j in range(0, len(participant_block)):
part_child = participant_block.getchildren()[j]
if part_child.tag == "{http://drivebuild.com}ai":
pass
part_child.clear()
foo.add_data_requests(part_child, "ego")
pass
# write the changed xml
# TODO pretty print
f = open(double_backslash_dbc_path, "w")
f.write(tostring(root, pretty_print=True).decode("utf-8"))
f.close()
# ai: _Element = ai_tag.makeelement(_tag="speed")
submission_result = service.run_tests("test", "test", environment,
criteria)
# Interact with a simulation
if submission_result and submission_result.submissions:
for test_name, sid in submission_result.submissions.items():
ai_process = subprocess.Popen([env_path, ai_path, sid.sid],
cwd=working_directory)
sim_state = service.wait_for_simulator_request(sid, vid)
while sim_state is SimStateResponse.SimState.RUNNING:
sleep(5)
sim_state = service.wait_for_simulator_request(
sid, vid)
# TODO Use a trap or try except to ensure we kill the process
kill_process(ai_process)
sleep(5)
tg.onTestFinished(sid, vid)
control.avCommand.steer = steer
control.avCommand.brake = brake
service.control(sid, vid_obj, control) # control()
else:
print(sid.sid + ": The simulation is not running anymore (State: "
+ SimStateResponse.SimState.Name(sim_state) + ").")
print(sid.sid + ": Final result: " + service.get_result(sid))
break
if __name__ == "__main__":
from drivebuildclient.AIExchangeService import AIExchangeService
from drivebuildclient.aiExchangeMessages_pb2 import SimStateResponse, Control, SimulationID, VehicleID, DataRequest
from keyboard import is_pressed
service = AIExchangeService("localhost", 8383)
# Send tests
submission_result = service.run_tests("test", "test", Path("criteriaA.dbc.xml"), Path("environmentA.dbe.xml"))
# Interact with a simulation
if submission_result and submission_result.submissions:
for test_name, sid in submission_result.submissions.items():
ego_requests = ["egoPosition", "egoSpeed", "egoSteeringAngle", "egoFrontCamera", "egoLidar", "egoLaneDist"]
non_ego_requests = ["nonEgoPosition", "nonEgoSpeed", "nonEgoSteeringAngle", "nonEgoLeftCamera", "nonEgoLidar",
"nonEgoLaneDist"]
ego_vehicle = Thread(target=_handle_vehicle, args=(sid, "ego", ego_requests))
ego_vehicle.start()
non_ego_vehicle = Thread(target=_handle_vehicle, args=(sid, "nonEgo", non_ego_requests))
non_ego_vehicle.start()
ego_vehicle.join()