def test_maneuver():
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)
man = OSC.Maneuver('my maneuver')
man.add_event(event)
OSC.prettyprint(man.get_element())
def test_storyboard_act_input():
egoname = "Ego"
targetname = "target"
init = OSC.Init()
step_time = OSC.TransitionDynamics(OSC.DynamicsShapes.step,
OSC.DynamicsDimension.time, 1)
egospeed = OSC.AbsoluteSpeedAction(0, step_time)
egostart = OSC.TeleportAction(OSC.LanePosition(25, 0, -3, 0))
targetspeed = OSC.AbsoluteSpeedAction(0, step_time)
targetstart = OSC.TeleportAction(OSC.LanePosition(15, 0, -2, 0))
init.add_init_action(egoname, egospeed)
init.add_init_action(egoname, egostart)
init.add_init_action(targetname, targetspeed)
init.add_init_action(targetname, targetstart)
### create an event
# trigcond = OSC.TimeHeadwayCondition(targetname,0.1,OSC.Rule.greaterThan)
# trigger = OSC.EntityTrigger('mytesttrigger',0.2,OSC.ConditionEdge.rising,trigcond,egoname)
trigger = OSC.ValueTrigger(
'starttrigger', 0, OSC.ConditionEdge.rising,
OSC.SimulationTimeCondition(3, OSC.Rule.greaterThan))
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
# sin_time = OSC.TransitionDynamics(OSC.DynamicsShapes.linear,OSC.DynamicsDimension.time,3)
action = OSC.LongitudinalDistanceAction(-4,
egoname,
max_deceleration=3,
max_speed=50)
event.add_action('newspeed', action)
## create the act,
man = OSC.Maneuver('my_maneuver')
man.add_event(event)
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor(targetname)
mangr.add_maneuver(man)
starttrigger = OSC.ValueTrigger(
'starttrigger', 0, OSC.ConditionEdge.rising,
OSC.SimulationTimeCondition(0, OSC.Rule.greaterThan))
act = OSC.Act('my_act', starttrigger)
act.add_maneuver_group(mangr)
## create the storyboard
sb = OSC.StoryBoard(init)
sb.add_act(act)
OSC.prettyprint(sb.get_element())
def test_maneuvergroup():
event = OSC.Event('myfirstevent', 'overwrite')
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)
man = OSC.Maneuver('my maneuver')
man.add_event(event)
OSC.prettyprint(man.get_element())
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor('Ego')
mangr.add_maneuver(man)
OSC.prettyprint(mangr.get_element())
def test_actandstory():
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)
man = OSC.Maneuver('my maneuver')
man.add_event(event)
OSC.prettyprint(man.get_element())
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor('Ego')
mangr.add_maneuver(man)
OSC.prettyprint(mangr.get_element())
act = OSC.Act('my act', trigger)
act.add_maneuver_group(mangr)
OSC.prettyprint(act.get_element())
story = OSC.Story('mystory')
story.add_act(act)
OSC.prettyprint(story.get_element())
def test_storyboard():
init = OSC.Init()
TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step,
OSC.DynamicsDimension.rate, 1)
egospeed = OSC.AbsoluteSpeedAction(10, TD)
init.add_init_action('Ego', egospeed)
init.add_init_action(
'Ego', OSC.TeleportAction(OSC.WorldPosition(1, 2, 3, 0, 0, 0)))
init.add_init_action('Target_1', egospeed)
init.add_init_action(
'Target_1', OSC.TeleportAction(OSC.WorldPosition(1, 5, 3, 0, 0, 0)))
init.add_init_action('Target_2', egospeed)
init.add_init_action(
'Target_2', OSC.TeleportAction(OSC.WorldPosition(10, 2, 3, 0, 0, 0)))
OSC.prettyprint(init.get_element())
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)
man = OSC.Maneuver('my maneuver')
man.add_event(event)
OSC.prettyprint(man.get_element())
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor('Ego')
mangr.add_maneuver(man)
OSC.prettyprint(mangr.get_element())
act = OSC.Act('my act', trigger)
act.add_maneuver_group(mangr)
OSC.prettyprint(act.get_element())
story = OSC.Story('mystory')
story.add_act(act)
OSC.prettyprint(story.get_element())
sb = OSC.StoryBoard(init)
sb.add_story(story)
OSC.prettyprint(sb.get_element())
def test_scenario():
catalog = OSC.Catalog()
catalog.add_catalog('VehicleCatalog', 'Catalogs/VehicleCatalogs')
catalog.add_catalog('ControllerCatalog', 'Catalogs/ControllerCatalogs')
roadfile = 'Databases/SampleDatabase.xodr'
road = OSC.RoadNetwork(roadfile)
trigcond = OSC.TimeToCollisionCondition(10,
'equalTo',
True,
freespace=False,
position=OSC.WorldPosition())
trigger = OSC.EntityTrigger('mytesttrigger', 0.2, 'rising', trigcond,
'Target_1')
event = OSC.Event('myfirstevent', 'overwrite')
event.add_trigger(trigger)
TD = OSC.TransitionDynamics('step', 'rate', 1)
lanechangeaction = OSC.AbsoluteLaneChangeAction(1, TD)
OSC.prettyprint(lanechangeaction.get_element())
speedaction = OSC.AbsoluteSpeedAction(50, TD)
event.add_action('newspeed', speedaction)
man = OSC.Maneuver('my maneuver')
man.add_event(event)
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor('Ego')
mangr.add_maneuver(man)
act = OSC.Act('my act', trigger)
act.add_maneuver_group(mangr)
story = OSC.Story('mystory')
story.add_act(act)
bb = OSC.BoundingBox(2, 5, 1.5, 1.5, 0, 0.2)
fa = OSC.Axel(2, 2, 2, 1, 1)
ba = OSC.Axel(1, 1, 2, 1, 1)
veh = OSC.Vehicle('mycar', 'vehicle', bb, fa, ba, 150, 10, 10)
entities = OSC.Entities()
entities.add_scenario_object('Ego', veh)
entities.add_scenario_object('Target_1', veh)
init = OSC.Init()
egospeed = OSC.AbsoluteSpeedAction(10, TD)
init.add_init_action('Ego', egospeed)
init.add_init_action(
'Ego', OSC.TeleportAction(OSC.WorldPosition(1, 2, 3, 0, 0, 0)))
init.add_init_action('Target_1', egospeed)
init.add_init_action(
'Target_1', OSC.TeleportAction(OSC.WorldPosition(1, 5, 3, 0, 0, 0)))
sb = OSC.StoryBoard(init)
sb.add_story(story)
sce = OSC.Scenario('myscenario',
'Mandolin',
OSC.ParameterDeclarations(),
entities=entities,
storyboard=sb,
roadnetwork=road,
catalog=catalog)
OSC.prettyprint(sce.get_element())
def CCRm(ego_speedvalue,offset):
# create empty catalog
catalog = pyoscx.Catalog()
# add straight road
road = pyoscx.RoadNetwork(roadfile='../xodr/straight_500m.xodr',scenegraph='../models/straight_500m.osgb')
# create empty paramdeclaration
paramdec = pyoscx.ParameterDeclarations()
egoname = 'Ego'
targetname = 'Target1'
### create vehicles
ego_width = 2
target_width = 1.8
bb = pyoscx.BoundingBox(ego_width,5,1.8,2.0,0,0.9)
fa = pyoscx.Axel(30,0.8,1.68,2.98,0.4)
ba = pyoscx.Axel(30,0.8,1.68,0,0.4)
white_veh = pyoscx.Vehicle('car_white',pyoscx.VehicleCategory.car,bb,fa,ba,69,10,10)
white_veh.add_property_file('../models/car_white.osgb')
white_veh.add_property('control','internal')
white_veh.add_property('model_id','0')
bb = pyoscx.BoundingBox(target_width,4.5,1.5,1.3,0,0.8)
fa = pyoscx.Axel(30,0.8,1.68,2.98,0.4)
ba = pyoscx.Axel(30,0.8,1.68,0,0.4)
red_veh = pyoscx.Vehicle('car_red',pyoscx.VehicleCategory.car,bb,fa,ba,69,10,10)
red_veh.add_property_file('../models/car_red.osgb')
red_veh.add_property('model_id','2')
## create entities
entities = pyoscx.Entities()
entities.add_scenario_object(egoname,white_veh)
entities.add_scenario_object(targetname,red_veh)
# create init (0 starting speed)
init = pyoscx.Init()
step_time = pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,pyoscx.DynamicsDimension.time,1)
# caluclate correct offset based on target vehicle width
cal_offset = offset/100*target_width
egospeed = pyoscx.AbsoluteSpeedAction(0,step_time)
egostart = pyoscx.TeleportAction(pyoscx.LanePosition(25,cal_offset,-1,1))
startpos = 25 + (ego_speedvalue-20)/3.6* (acceleration_time+ttc_at_speed)
targetspeed = pyoscx.AbsoluteSpeedAction(0,step_time)
targetstart = pyoscx.TeleportAction(pyoscx.LanePosition(startpos,0,-1,1))
init.add_init_action(egoname,egospeed)
init.add_init_action(egoname,egostart)
init.add_init_action(targetname,targetspeed)
init.add_init_action(targetname,targetstart)
# create start trigger
trigger = pyoscx.ValueTrigger('starttrigger',0,pyoscx.ConditionEdge.rising,pyoscx.SimulationTimeCondition(1,pyoscx.Rule.greaterThan))
# accelerate cars to wanted velocity
eventego = pyoscx.Event('egospeedchange',pyoscx.Priority.overwrite)
eventego.add_trigger(trigger)
ego_action = pyoscx.AbsoluteSpeedAction(ego_speedvalue/3.6,pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,pyoscx.DynamicsDimension.time,acceleration_time))
eventego.add_action('newspeed',ego_action)
event_tar = pyoscx.Event('targetspeedchange',pyoscx.Priority.overwrite)
event_tar.add_trigger(trigger)
target_action = pyoscx.AbsoluteSpeedAction(20/3.6,pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,pyoscx.DynamicsDimension.time,acceleration_time))
event_tar.add_action('targetspeed',target_action)
# create maneuvers/maneuvergroups
ego_man = pyoscx.Maneuver('ego man')
ego_man.add_event(eventego)
tar_man = pyoscx.Maneuver('target man')
tar_man.add_event(event_tar)
egomangr = pyoscx.ManeuverGroup('egomangr')
egomangr.add_actor(egoname)
egomangr.add_maneuver(ego_man)
tarmangr = pyoscx.ManeuverGroup('tarmangr')
tarmangr.add_actor(targetname)
tarmangr.add_maneuver(tar_man)
# create act
act = pyoscx.Act('ccrm act',pyoscx.ValueTrigger('starttrigger',0,pyoscx.ConditionEdge.rising,pyoscx.SimulationTimeCondition(0,pyoscx.Rule.greaterThan)))
act.add_maneuver_group(egomangr)
act.add_maneuver_group(tarmangr)
# create story
story = pyoscx.Story('mystory')
story.add_act(act)
## create the storyboard
sb = pyoscx.StoryBoard(init,pyoscx.ValueTrigger('stop_simulation',0,pyoscx.ConditionEdge.rising,pyoscx.SimulationTimeCondition(ttc_at_speed*2+acceleration_time,pyoscx.Rule.greaterThan),'stop'))
sb.add_story(story)
## create and return the scenario
sce = pyoscx.Scenario('CCRm_v: ' +str(ego_speedvalue) + ', offset: ' + str(offset),'Mandolin',paramdec,entities=entities,storyboard = sb,roadnetwork=road,catalog=catalog)
return sce
r_trigcond = pyoscx.TimeHeadwayCondition(redname, 0.1, pyoscx.Rule.greaterThan)
r_trigger = pyoscx.EntityTrigger('redtrigger', 0.2,
pyoscx.ConditionEdge.rising, r_trigcond,
egoname)
r_event = pyoscx.Event('first_lane_change', pyoscx.Priority.overwrite)
r_event.add_trigger(r_trigger)
r_event.add_action(
'lane_change_red',
pyoscx.AbsoluteLaneChangeAction(
-4,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.sinusoidal,
pyoscx.DynamicsDimension.time, 4)))
## create the act for the red car
r_man = pyoscx.Maneuver('red_maneuver')
r_man.add_event(r_event)
r_mangr = pyoscx.ManeuverGroup('mangroup_red')
r_mangr.add_actor(redname)
r_mangr.add_maneuver(r_man)
act = pyoscx.Act(
'red_act',
pyoscx.ValueTrigger(
'starttrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(0, pyoscx.Rule.greaterThan)))
act.add_maneuver_group(r_mangr)
## create an event for the yellow car
pyoscx.DynamicsDimension.time, 1)))
## target action
tar_action = pyoscx.AbsoluteSynchronizeAction(
egoname, pyoscx.LanePosition(200, 0, -1, 0),
pyoscx.LanePosition(200, 0, -2, 0), 10)
tar_event = pyoscx.Event('target_event', pyoscx.Priority.overwrite)
tar_event.add_trigger(
pyoscx.ValueTrigger(
'ego_start', 0, pyoscx.ConditionEdge.none,
pyoscx.SimulationTimeCondition(3, pyoscx.Rule.greaterThan)))
tar_event.add_action('tar_action', tar_action)
tar_man = pyoscx.Maneuver('target_man')
tar_man.add_event(tar_event)
tar_man_gr = pyoscx.ManeuverGroup('target_man_gr')
tar_man_gr.add_maneuver(tar_man)
tar_man_gr.add_actor(targetname)
## act
act = pyoscx.Act(
'myact',
pyoscx.ValueTrigger(
'start', 0, pyoscx.ConditionEdge.none,
pyoscx.SimulationTimeCondition(0, pyoscx.Rule.greaterThan)))
act.add_maneuver_group(tar_man_gr)
## create the storyboard
polyline = pyoscx.Polyline([0,0.5,1,1.5],positionlist)
traj = pyoscx.Trajectory('my_trajectory',False)
traj.add_shape(polyline)
trajact = pyoscx.FollowTrajectoryAction(traj,pyoscx.FollowMode.position,pyoscx.ReferenceContext.relative,1,0)
event.add_action('newspeed',trajact)
## create the act
man = pyoscx.Maneuver('my_maneuver')
man.add_event(event)
mangr = pyoscx.ManeuverGroup('mangroup')
mangr.add_actor('$owner')
mangr.add_maneuver(man)
starttrigger = pyoscx.ValueTrigger('starttrigger',0,pyoscx.ConditionEdge.rising,pyoscx.SimulationTimeCondition(0,pyoscx.Rule.greaterThan))
act = pyoscx.Act('my_act',starttrigger)
act.add_maneuver_group(mangr)
## create the story
storyparam = pyoscx.ParameterDeclarations()
storyparam.add_parameter(pyoscx.Parameter('$owner',pyoscx.ParameterType.string,targetname))
story = pyoscx.Story('mystory',storyparam)
story.add_act(act)
def CCRb(distance, decelleration):
# create empty catalog
catalog = pyoscx.Catalog()
# add straight road
road = pyoscx.RoadNetwork(roadfile='../xodr/straight_500m.xodr',
scenegraph='../models/straight_500m.osgb')
# create empty paramdeclaration
paramdec = pyoscx.ParameterDeclarations()
egoname = 'Ego'
targetname = 'Target1'
### create vehicles
ego_width = 2
target_width = 1.8
bb = pyoscx.BoundingBox(ego_width, 5, 1.8, 2.0, 0, 0.9)
fa = pyoscx.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4)
ba = pyoscx.Axle(0.523598775598, 0.8, 1.68, 0, 0.4)
white_veh = pyoscx.Vehicle('car_white', pyoscx.VehicleCategory.car, bb, fa,
ba, 69, 10, 10)
white_veh.add_property_file('../models/car_white.osgb')
white_veh.add_property('model_id', '0')
bb = pyoscx.BoundingBox(target_width, 4.5, 1.5, 1.3, 0, 0.8)
fa = pyoscx.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4)
ba = pyoscx.Axle(0.523598775598, 0.8, 1.68, 0, 0.4)
red_veh = pyoscx.Vehicle('car_red', pyoscx.VehicleCategory.car, bb, fa, ba,
69, 10, 10)
red_veh.add_property_file('../models/car_red.osgb')
red_veh.add_property('model_id', '2')
## create entities
entities = pyoscx.Entities()
entities.add_scenario_object(egoname, white_veh)
entities.add_scenario_object(targetname, red_veh)
# create init (0 starting speed)
init = pyoscx.Init()
step_time = pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 1)
# caluclate correct offset based on target vehicle width
cal_offset = 0
egospeed = pyoscx.AbsoluteSpeedAction(0, step_time)
egostart = pyoscx.TeleportAction(pyoscx.LanePosition(
25, cal_offset, -1, 1))
targetspeed = pyoscx.AbsoluteSpeedAction(0, step_time)
targetstart = pyoscx.TeleportAction(
pyoscx.LanePosition(25 + distance, 0, -1, 1))
init.add_init_action(egoname, egospeed)
init.add_init_action(egoname, egostart)
init.add_init_action(targetname, targetspeed)
init.add_init_action(targetname, targetstart)
# create start trigger
trigger = pyoscx.ValueTrigger(
'starttrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(1, pyoscx.Rule.greaterThan))
# accelerate cars to wanted velocity
eventego = pyoscx.Event('egospeedchange', pyoscx.Priority.overwrite)
eventego.add_trigger(trigger)
ego_action = pyoscx.AbsoluteSpeedAction(
50 / 3.6,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,
pyoscx.DynamicsDimension.time,
acceleration_time))
eventego.add_action('newspeed', ego_action)
event_tar = pyoscx.Event('targetspeedchange', pyoscx.Priority.overwrite)
event_tar.add_trigger(trigger)
target_action = pyoscx.LongitudinalDistanceAction(-distance, egoname)
event_tar.add_action('targetspeed', target_action)
# trigger here could be changed to speed but tested for esmini at the point where speed condition was not implemented
target_slowingdown_trigger = pyoscx.ValueTrigger(
'slowingdowntrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(6, pyoscx.Rule.greaterThan))
target_slowingdown_action = pyoscx.AbsoluteSpeedAction(
0,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,
pyoscx.DynamicsDimension.rate,
abs(decelleration)))
event_tar_slowdown = pyoscx.Event('target slowing down',
pyoscx.Priority.overwrite)
event_tar_slowdown.add_trigger(target_slowingdown_trigger)
event_tar_slowdown.add_action('slowdownaction', target_slowingdown_action)
# create maneuvers/maneuvergroups
ego_man = pyoscx.Maneuver('ego man')
ego_man.add_event(eventego)
tar_man = pyoscx.Maneuver('target man')
tar_man.add_event(event_tar)
tar_man.add_event(event_tar_slowdown)
egomangr = pyoscx.ManeuverGroup('egomangr')
egomangr.add_actor(egoname)
egomangr.add_maneuver(ego_man)
tarmangr = pyoscx.ManeuverGroup('tarmangr')
tarmangr.add_actor(targetname)
tarmangr.add_maneuver(tar_man)
# create act
act = pyoscx.Act(
'ccrm act',
pyoscx.ValueTrigger(
'starttrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(0, pyoscx.Rule.greaterThan)))
act.add_maneuver_group(egomangr)
act.add_maneuver_group(tarmangr)
# create story
story = pyoscx.Story('mystory')
story.add_act(act)
## create the storyboard
sb = pyoscx.StoryBoard(
init,
pyoscx.ValueTrigger(
'stop_simulation', 2, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(
acceleration_time +
np.ceil(np.sqrt(2 * distance / abs(decelleration))) +
distance / 50, pyoscx.Rule.greaterThan), 'stop'))
sb.add_story(story)
## create and return the scenario
sce = pyoscx.Scenario('CCRb, distance: ' + str(distance) +
', decelleration: ' + str(decelleration),
'Mandolin',
paramdec,
entities=entities,
storyboard=sb,
roadnetwork=road,
catalog=catalog)
return sce
ttc_cond_2 = pyoscx.TimeToCollisionCondition(3,
pyoscx.Rule.lessThan,
entity=targetname)
collision_trigger_2 = pyoscx.EntityTrigger('trigger', 0,
pyoscx.ConditionEdge.none,
ttc_cond_2, egoname)
lc_group = pyoscx.ConditionGroup()
lc_group.add_condition(headway_trigger_2)
lc_group.add_condition(collision_trigger_2)
lane_change_event.add_trigger(lc_group)
## create the storyboard
man = pyoscx.Maneuver('slow down maneuver')
man.add_event(slowdown_event)
man.add_event(lane_change_event)
sb = pyoscx.StoryBoard(
init,
pyoscx.ValueTrigger(
'stop_simulation', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(20, pyoscx.Rule.greaterThan), 'stop'))
sb.add_maneuver(man, egoname)
## create the scenario
sce = pyoscx.Scenario('adaptspeed_example',
'User',
paramdec,
# create a router
ego_route = pyoscx.Route('ego_route')
ego_route.add_waypoint(pyoscx.LanePosition(30,0,1,0),pyoscx.RouteStrategy.fastest)
ego_route.add_waypoint(pyoscx.LanePosition(10,0,-1,1),pyoscx.RouteStrategy.fastest)
# create action
ego_action = pyoscx.AssignRouteAction(ego_route)
ego_event = pyoscx.Event('ego_event',pyoscx.Priority.overwrite)
ego_event.add_action('ego_route',ego_action)
ego_event.add_trigger(pyoscx.ValueTrigger('target_start',0,pyoscx.ConditionEdge.none,pyoscx.SimulationTimeCondition(1,pyoscx.Rule.greaterThan)))
## create the storyboard
ego_man = pyoscx.Maneuver('ego_man')
ego_man.add_event(ego_event)
sb = pyoscx.StoryBoard(init,pyoscx.ValueTrigger('stop_simulation',0,pyoscx.ConditionEdge.rising,pyoscx.SimulationTimeCondition(10,pyoscx.Rule.greaterThan),'stop'))
sb.add_maneuver(ego_man,egoname)
## create the scenario
sce = pyoscx.Scenario('adaptspeed_example','User',paramdec,entities=entities,storyboard = sb,roadnetwork=road,catalog=catalog)
# display the scenario
pyoscx.prettyprint(sce.get_element())
pyoscx.esminiRunner(sce,esminipath='/home/mander76/local/scenario_creation/esmini')