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())
init.add_init_action(yelname, pyoscx.AbsoluteSpeedAction(30, step_time))
init.add_init_action(yelname,
pyoscx.TeleportAction(pyoscx.LanePosition(35, 0, -4, 0)))
### create an event for the red car
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)))
step_time = pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,pyoscx.DynamicsDimension.time,1)
init.add_init_action(egoname,pyoscx.AbsoluteSpeedAction(30,step_time))
init.add_init_action(egoname,pyoscx.TeleportAction(pyoscx.LanePosition(25,0,-3,0)))
init.add_init_action(redname,pyoscx.AbsoluteSpeedAction(40,step_time))
init.add_init_action(redname,pyoscx.TeleportAction(pyoscx.LanePosition(15,0,-2,0)))
init.add_init_action(yelname,pyoscx.AbsoluteSpeedAction(30,step_time))
init.add_init_action(yelname,pyoscx.TeleportAction(pyoscx.LanePosition(35,0,-4,0)))
### create an event for the red car
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
def test_lanechange_abs():
lanechange = OSC.AbsoluteLaneChangeAction(1,TD)
OSC.prettyprint(lanechange.get_element())
step_time = pyoscx.TransitionDynamics('step','time',1)
init.add_init_action(egoname,pyoscx.AbsoluteSpeedAction(30,step_time))
init.add_init_action(egoname,pyoscx.TeleportAction(pyoscx.LanePosition(25,0,-3,0)))
init.add_init_action(redname,pyoscx.AbsoluteSpeedAction(40,step_time))
init.add_init_action(redname,pyoscx.TeleportAction(pyoscx.LanePosition(15,0,-2,0)))
init.add_init_action(yelname,pyoscx.AbsoluteSpeedAction(30,step_time))
init.add_init_action(yelname,pyoscx.TeleportAction(pyoscx.LanePosition(35,0,-4,0)))
### create an event for the red car
r_trigcond = pyoscx.TimeHeadwayCondition(redname,0.1,'greaterThan')
r_trigger = pyoscx.EntityTrigger('redtrigger',0.2,'rising',r_trigcond,egoname)
r_event = pyoscx.Event('first_lane_change','overwrite')
r_event.add_trigger(r_trigger)
r_event.add_action('lane_change_red',pyoscx.AbsoluteLaneChangeAction(-4,pyoscx.TransitionDynamics('sinusoidal','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,'rising',pyoscx.SimulationTimeCondition(0,'greaterThan')))
act.add_maneuver_group(r_mangr)
## create an event for the yellow car