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)
prettyprint(sb.get_element())
def test_maneuvergroup():
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)
prettyprint(man.get_element())
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor('Ego')
mangr.add_maneuver(man)
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)
prettyprint(man.get_element())
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor('Ego')
mangr.add_maneuver(man)
prettyprint(mangr.get_element())
act = OSC.Act('my act', trigger)
act.add_maneuver_group(mangr)
prettyprint(act.get_element())
story = OSC.Story('mystory')
story.add_act(act)
prettyprint(story.get_element())
def test_storyboard_story_input():
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)))
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)
prettyprint(man.get_element())
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor('Ego')
mangr.add_maneuver(man)
prettyprint(mangr.get_element())
act = OSC.Act('my act', trigger)
act.add_maneuver_group(mangr)
prettyprint(act.get_element())
story = OSC.Story('mystory')
story.add_act(act)
prettyprint(story.get_element())
sb = OSC.StoryBoard(init)
sb.add_story(story)
prettyprint(sb.get_element())
r_trigger = xosc.EntityTrigger('redtrigger', 0.2, xosc.ConditionEdge.rising,
r_trigcond, egoname)
r_event = xosc.Event('first_lane_change', xosc.Priority.overwrite)
r_event.add_trigger(r_trigger)
r_event.add_action(
'lane_change_red',
xosc.AbsoluteLaneChangeAction(
-4,
xosc.TransitionDynamics(xosc.DynamicsShapes.sinusoidal,
xosc.DynamicsDimension.time, 4)))
## create the act for the red car
r_man = xosc.Maneuver('red_maneuver')
r_man.add_event(r_event)
r_mangr = xosc.ManeuverGroup('mangroup_red')
r_mangr.add_actor(redname)
r_mangr.add_maneuver(r_man)
act = xosc.Act(
'red_act',
xosc.ValueTrigger('starttrigger', 0, xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan)))
act.add_maneuver_group(r_mangr)
## create an event for the yellow car
y_trigcond = xosc.TimeHeadwayCondition(redname, 0.5, xosc.Rule.greaterThan)
y_trigger = xosc.EntityTrigger('yellow_trigger', 0, xosc.ConditionEdge.rising,
y_trigcond, yelname)
polyline = xosc.Polyline([0, 0.5, 1, 1.5], positionlist)
traj = xosc.Trajectory('my_trajectory', False)
traj.add_shape(polyline)
trajact = xosc.FollowTrajectoryAction(traj, xosc.FollowMode.position,
xosc.ReferenceContext.relative, 1, 0)
event.add_action('newspeed', trajact)
## create the act
man = xosc.Maneuver('my_maneuver')
man.add_event(event)
mangr = xosc.ManeuverGroup('mangroup')
mangr.add_actor('$owner')
mangr.add_maneuver(man)
starttrigger = xosc.ValueTrigger(
'starttrigger', 0, xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan))
act = xosc.Act('my_act', starttrigger)
act.add_maneuver_group(mangr)
## create the story
storyparam = xosc.ParameterDeclarations()
storyparam.add_parameter(
xosc.Parameter('$owner', xosc.ParameterType.string, targetname))
story = xosc.Story('mystory', storyparam)
story.add_act(act)
def CCRm(ego_speedvalue, offset):
# create empty catalog
catalog = xosc.Catalog()
# add straight road
road = xosc.RoadNetwork(roadfile='../xodr/straight_500m.xodr',
scenegraph='../models/straight_500m.osgb')
# create empty paramdeclaration
paramdec = xosc.ParameterDeclarations()
egoname = 'Ego'
targetname = 'Target1'
### create vehicles
ego_width = 2
target_width = 1.8
bb = xosc.BoundingBox(ego_width, 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('model_id', '0')
bb = xosc.BoundingBox(target_width, 4.5, 1.5, 1.3, 0, 0.8)
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)
red_veh = xosc.Vehicle('car_red', xosc.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 = xosc.Entities()
entities.add_scenario_object(egoname, white_veh)
entities.add_scenario_object(targetname, red_veh)
# create init (0 starting speed)
init = xosc.Init()
step_time = xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)
# caluclate correct offset based on target vehicle width
cal_offset = offset / 100 * target_width
egospeed = xosc.AbsoluteSpeedAction(0, step_time)
egostart = xosc.TeleportAction(xosc.LanePosition(25, cal_offset, -1, 1))
startpos = 25 + (ego_speedvalue - 20) / 3.6 * (acceleration_time +
ttc_at_speed)
targetspeed = xosc.AbsoluteSpeedAction(0, step_time)
targetstart = xosc.TeleportAction(xosc.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 = xosc.ValueTrigger(
'starttrigger', 0, xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(1, xosc.Rule.greaterThan))
# accelerate cars to wanted velocity
eventego = xosc.Event('egospeedchange', xosc.Priority.overwrite)
eventego.add_trigger(trigger)
ego_action = xosc.AbsoluteSpeedAction(
ego_speedvalue / 3.6,
xosc.TransitionDynamics(xosc.DynamicsShapes.linear,
xosc.DynamicsDimension.time,
acceleration_time))
eventego.add_action('newspeed', ego_action)
event_tar = xosc.Event('targetspeedchange', xosc.Priority.overwrite)
event_tar.add_trigger(trigger)
target_action = xosc.AbsoluteSpeedAction(
20 / 3.6,
xosc.TransitionDynamics(xosc.DynamicsShapes.linear,
xosc.DynamicsDimension.time,
acceleration_time))
event_tar.add_action('targetspeed', target_action)
# create maneuvers/maneuvergroups
ego_man = xosc.Maneuver('ego man')
ego_man.add_event(eventego)
tar_man = xosc.Maneuver('target man')
tar_man.add_event(event_tar)
egomangr = xosc.ManeuverGroup('egomangr')
egomangr.add_actor(egoname)
egomangr.add_maneuver(ego_man)
tarmangr = xosc.ManeuverGroup('tarmangr')
tarmangr.add_actor(targetname)
tarmangr.add_maneuver(tar_man)
# create act
act = xosc.Act(
'ccrm act',
xosc.ValueTrigger(
'starttrigger', 0, xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan)))
act.add_maneuver_group(egomangr)
act.add_maneuver_group(tarmangr)
# create story
story = xosc.Story('mystory')
story.add_act(act)
## create the storyboard
sb = xosc.StoryBoard(
init,
xosc.ValueTrigger(
'stop_simulation', 0, xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(ttc_at_speed * 2 + acceleration_time,
xosc.Rule.greaterThan), 'stop'))
sb.add_story(story)
## create and return the scenario
sce = xosc.Scenario('CCRm_v: ' + str(ego_speedvalue) + ', offset: ' +
str(offset),
'Mandolin',
paramdec,
entities=entities,
storyboard=sb,
roadnetwork=road,
catalog=catalog)
return sce
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
tar_action = xosc.AbsoluteSynchronizeAction(egoname,xosc.LanePosition(200,0,-1,0),xosc.LanePosition(200,0,-2,0),10,target_tolerance_master=1,target_tolerance=1)
tar_event = xosc.Event('target_event',xosc.Priority.overwrite)
tar_event.add_trigger(xosc.ValueTrigger('ego_start',0,xosc.ConditionEdge.none,xosc.SimulationTimeCondition(3,xosc.Rule.greaterThan)))
tar_event.add_action('tar_action',tar_action)
tar_man = xosc.Maneuver('target_man')
tar_man.add_event(tar_event)
tar_man_gr = xosc.ManeuverGroup('target_man_gr')
tar_man_gr.add_maneuver(tar_man)
tar_man_gr.add_actor(targetname)
## act
act = xosc.Act('myact',xosc.ValueTrigger('start',0,xosc.ConditionEdge.none,xosc.SimulationTimeCondition(0,xosc.Rule.greaterThan)))
act.add_maneuver_group(tar_man_gr)
## create the storyboard
sb = xosc.StoryBoard(init,xosc.ValueTrigger('stop_simulation',0,xosc.ConditionEdge.rising,xosc.SimulationTimeCondition(20,xosc.Rule.greaterThan),'stop'))
sb.add_act(act)
## create the scenario
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)
mangr = xosc.ManeuverGroup('mangr',maxexecution=3)
mangr.add_maneuver(man)
mangr.add_actor(targetname+str(i))
act.add_maneuver_group(mangr)
## create the storyboard
sb = xosc.StoryBoard(init,xosc.ValueTrigger('stop_simulation',0,xosc.ConditionEdge.rising,xosc.SimulationTimeCondition(100,xosc.Rule.greaterThan),'stop'))
sb.add_act(act)
## create the scenario
sce = xosc.Scenario('adaptspeed_example','User',paramdec,entities=entities,storyboard = sb,roadnetwork=road,catalog=catalog)
# Print the resulting xml
prettyprint(sce.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,
OSC.Rule.equalTo,
True,
freespace=False,
position=OSC.WorldPosition())
trigger = OSC.EntityTrigger('mytesttrigger', 0.2, OSC.ConditionEdge.rising,
trigcond, 'Target_1')
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step,
OSC.DynamicsDimension.rate, 1)
lanechangeaction = OSC.AbsoluteLaneChangeAction(1, TD)
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.Axle(2, 2, 2, 1, 1)
ba = OSC.Axle(1, 1, 2, 1, 1)
veh = OSC.Vehicle('mycar', OSC.VehicleCategory.car, 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)
prettyprint(sce.get_element())
