def test_trafficdefinition():
prop = OSC.Properties()
prop.add_file('mycontrollerfile.xml')
controller = OSC.Controller('mycontroller', prop)
traffic = OSC.TrafficDefinition('my traffic')
traffic.add_controller(controller, 0.5)
traffic.add_controller(
OSC.CatalogReference('ControllerCatalog', 'my controller'), 0.5)
traffic.add_vehicle(OSC.VehicleCategory.car, 0.9)
traffic.add_vehicle(OSC.VehicleCategory.bicycle, 0.1)
prettyprint(traffic.get_element())
def test_trafficsinkaction():
prop = OSC.Properties()
prop.add_file('mycontrollerfile.xml')
controller = OSC.Controller('mycontroller',prop)
traffic = OSC.TrafficDefinition('my traffic')
traffic.add_controller(controller,0.5)
traffic.add_controller(OSC.CatalogReference('ControllerCatalog','my controller'),0.5)
traffic.add_vehicle(OSC.VehicleCategory.car,0.9)
traffic.add_vehicle(OSC.VehicleCategory.bicycle,0.1)
sink_action = OSC.TrafficSinkAction(10,10,OSC.WorldPosition(),traffic)
prettyprint(sink_action.get_element())
def scenario(self, **kwargs):
road = xosc.RoadNetwork(self.road_file)
egoname = 'Ego'
entities = xosc.Entities()
entities.add_scenario_object(
egoname, xosc.CatalogReference('VehicleCatalog', 'car_white'))
catalog = xosc.Catalog()
catalog.add_catalog('VehicleCatalog', '../xosc/Catalogs/Vehicles')
init = xosc.Init()
init.add_init_action(
egoname, xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0)))
init.add_init_action(
egoname,
xosc.AbsoluteSpeedAction(
kwargs['speed'],
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)))
event = xosc.Event('my event', xosc.Priority.overwrite)
event.add_action(
'lane change',
xosc.AbsoluteLaneChangeAction(
-1,
xosc.TransitionDynamics(xosc.DynamicsShapes.sinusoidal,
xosc.DynamicsDimension.time, 4)))
event.add_trigger(
xosc.ValueTrigger(
'start_trigger ', 0, xosc.ConditionEdge.none,
xosc.SimulationTimeCondition(4, xosc.Rule.greaterThan)))
man = xosc.Maneuver('maneuver')
man.add_event(event)
sb = xosc.StoryBoard(init,
stoptrigger=xosc.ValueTrigger(
'start_trigger ', 0, xosc.ConditionEdge.none,
xosc.SimulationTimeCondition(
13, xosc.Rule.greaterThan), 'stop'))
sb.add_maneuver(man, egoname)
sce = xosc.Scenario('my scenario', 'Mandolin',
xosc.ParameterDeclarations(), entities, sb, road,
catalog)
return sce
def test_catalog_reader_pedestrian(tmpdir):
tmpcatalog = os.path.join(tmpdir,'my_catalog.xosc')
cf = xosc.CatalogFile()
cf.create_catalog(tmpcatalog,'PedestrianCatalog','My first vehicle catalog','Mandolin')
bb = xosc.BoundingBox(2,5,1.8,2.0,0,0.9)
peddler = xosc.Pedestrian('dude','dude-model',80,xosc.PedestrianCategory.pedestrian,bb)
peddler.add_property_file('../models/car_white.osgb')
cf.add_to_catalog(peddler)
cf.dump()
ped = xosc.CatalogReader(xosc.CatalogReference('my_catalog','dude'),tmpdir)
assert ped.boundingbox.boundingbox.height == peddler.boundingbox.boundingbox.height
assert ped.boundingbox.center.x == peddler.boundingbox.center.x
assert ped.mass == peddler.mass
assert ped.name == peddler.name
def test_catalog_reader_vehicle(tmpdir):
tmpcatalog = os.path.join(tmpdir,'my_catalog.xosc')
cf = xosc.CatalogFile()
cf.create_catalog(tmpcatalog,'VehicleCatalog','My first vehicle catalog','Mandolin')
bb = xosc.BoundingBox(2,5,1.8,2.0,0,0.9)
fa = xosc.Axle(0.523598775598,0.8,1.68,2.98,0.4)
ba = xosc.Axle(0.523598775598,0.8,1.68,0,0.4)
white_veh = xosc.Vehicle('car_white',xosc.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')
cf.add_to_catalog(white_veh)
cf.dump()
veh = xosc.CatalogReader(xosc.CatalogReference('my_catalog','car_white'),tmpdir)
assert veh.boundingbox.boundingbox.height == white_veh.boundingbox.boundingbox.height
assert veh.boundingbox.center.x == white_veh.boundingbox.center.x
assert veh.name == white_veh.name
### create road
road = xosc.RoadNetwork(roadfile='../xodr/e6mini.xodr',
scenegraph='../models/e6mini.osgb')
### create parameters
paramdec = xosc.ParameterDeclarations()
## create entities
egoname = 'Ego'
redname = 'Target1'
yelname = 'Target2'
entities = xosc.Entities()
entities.add_scenario_object(
egoname, xosc.CatalogReference('VehicleCatalog', 'car_white'))
entities.add_scenario_object(
redname, xosc.CatalogReference('VehicleCatalog', 'car_red'))
entities.add_scenario_object(
yelname, xosc.CatalogReference('VehicleCatalog', 'car_yellow'))
### create init
init = xosc.Init()
step_time = xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)
init.add_init_action(egoname, xosc.AbsoluteSpeedAction(30, step_time))
init.add_init_action(egoname,
xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0)))
init.add_init_action(redname, xosc.AbsoluteSpeedAction(40, step_time))
### create road
road = xosc.RoadNetwork(roadfile='../xodr/e6mini.xodr',
scenegraph='../models/e6mini.osgb')
### create parameters
paramdec = xosc.ParameterDeclarations()
## create entities
egoname = 'Ego'
speedyname = 'speedy_gonzales'
targetname = 'Target'
entities = xosc.Entities()
entities.add_scenario_object(
egoname, xosc.CatalogReference('VehicleCatalog', 'car_white'))
entities.add_scenario_object(
speedyname, xosc.CatalogReference('VehicleCatalog', 'car_blue'))
entities.add_scenario_object(
targetname, xosc.CatalogReference('VehicleCatalog', 'car_yellow'))
### create init
init = xosc.Init()
init.add_init_action(egoname,
xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0)))
init.add_init_action(
egoname,
xosc.AbsoluteSpeedAction(
15,
catalog = xosc.Catalog()
catalog.add_catalog('VehicleCatalog','../xosc/Catalogs/Vehicles')
### create road
road = xosc.RoadNetwork(roadfile="../xodr/e6mini.xodr",scenegraph="../models/e6mini.osgb")
### create parameters
paramdec = xosc.ParameterDeclarations()
## create entities
egoname = 'Ego'
targetname = 'Target'
entities = xosc.Entities()
entities.add_scenario_object(egoname,xosc.CatalogReference('VehicleCatalog','car_red'))
entities.add_scenario_object(targetname,xosc.CatalogReference('VehicleCatalog','car_blue'))
### create init
init = xosc.Init()
init.add_init_action(egoname,xosc.TeleportAction(xosc.LanePosition(50,0,-2,0)))
init.add_init_action(egoname,xosc.AbsoluteSpeedAction(10,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
init.add_init_action(targetname,xosc.TeleportAction(xosc.LanePosition(30,0,-3,0)))
init.add_init_action(targetname,xosc.AbsoluteSpeedAction(20,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
## target action
road = xosc.RoadNetwork(roadfile='../xodr/straight_500m.xodr',scenegraph='../models/straight_500m.osgb')
### create parameters
paramdec = xosc.ParameterDeclarations()
## loop to create cars, init and their reset actions
egoname = 'Ego'
targetname = 'Target'
entities = xosc.Entities()
init = xosc.Init()
act = xosc.Act('indef traffic')
for i in range(20):
entities.add_scenario_object(targetname+str(i),xosc.CatalogReference('VehicleCatalog','car_yellow'))
init.add_init_action(targetname+str(i),xosc.TeleportAction(xosc.LanePosition(100+i*20,0,-1,1)))
init.add_init_action(targetname+str(i),xosc.AbsoluteSpeedAction(60,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
event = xosc.Event('speedchange',xosc.Priority.overwrite,maxexecution=10)
event.add_action('restart',xosc.TeleportAction(xosc.LanePosition(0,0,-1,1)))
trig_cond = xosc.EndOfRoadCondition(0)
event.add_trigger(xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.rising,trig_cond,targetname+str(i)))
man = xosc.Maneuver('mymaneuver')
man.add_event(event)
catalog = xosc.Catalog()
catalog.add_catalog('VehicleCatalog','../xosc/Catalogs/Vehicles')
### create road
road = xosc.RoadNetwork(roadfile='../xodr/e6mini.xodr',scenegraph='../models/e6mini.osgb')
### create parameters
paramdec = xosc.ParameterDeclarations()
## create entities
egoname = 'Ego'
speedyname = 'speedy_gonzales'
targetname = 'Target'
entities = xosc.Entities()
entities.add_scenario_object(egoname,xosc.CatalogReference('VehicleCatalog','car_white'))
entities.add_scenario_object(speedyname,xosc.CatalogReference('VehicleCatalog','car_blue'))
entities.add_scenario_object(targetname,xosc.CatalogReference('VehicleCatalog','car_yellow'))
### create init
init = xosc.Init()
init.add_init_action(egoname,xosc.TeleportAction(xosc.LanePosition(50,0,-2,0)))
init.add_init_action(egoname,xosc.AbsoluteSpeedAction(15,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
# change speed of this to have different outcome
init.add_init_action(speedyname,xosc.TeleportAction(xosc.LanePosition(10,0,-3,0)))
def test_catalogreference():
catref = OSC.CatalogReference('VehicleCatalog', 'S60')
prettyprint(catref.get_element())
catref.add_parameter_assignment('stuffs', 1)
prettyprint(catref.get_element())
### create road
road = xosc.RoadNetwork(roadfile="../xodr/fabriksgatan.xodr",
scenegraph="../models/fabriksgatan.osgb")
### create parameters
paramdec = xosc.ParameterDeclarations()
## create entities
egoname = 'Ego'
targetname = 'Target'
entities = xosc.Entities()
entities.add_scenario_object(
egoname, xosc.CatalogReference('VehicleCatalog', 'car_red'))
### create init
init = xosc.Init()
init.add_init_action(egoname,
xosc.TeleportAction(xosc.LanePosition(50, 0, 1, 0)))
init.add_init_action(
egoname,
xosc.AbsoluteSpeedAction(
10,
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)))
# create a router