def test_rel_sync_action():
asa = OSC.RelativeSynchronizeAction('Ego',
OSC.WorldPosition(0, 0, 0, 0, 0, 0),
OSC.WorldPosition(10, 0, 0, 0, 0, 0),
20, 'delta')
OSC.prettyprint(asa.get_element())
def test_assign_route():
route = OSC.Route('myroute')
route.add_waypoint(OSC.WorldPosition(0, 0, 0, 0, 0, 0),
OSC.RouteStrategy.shortest)
route.add_waypoint(OSC.WorldPosition(1, 1, 0, 0, 0, 0),
OSC.RouteStrategy.shortest)
OSC.AssignRouteAction(route)
def test_route():
route = OSC.Route('myroute')
route.add_waypoint(OSC.WorldPosition(0, 0, 0, 0, 0, 0), 'closest')
route.add_waypoint(OSC.WorldPosition(1, 1, 0, 0, 0, 0), 'closest')
OSC.prettyprint(route.get_element())
def test_route():
route = OSC.Route('myroute')
route.add_waypoint(OSC.WorldPosition(0,0,0,0,0,0),OSC.RouteStrategy.shortest)
route.add_waypoint(OSC.WorldPosition(1,1,0,0,0,0),OSC.RouteStrategy.shortest)
OSC.prettyprint(route.get_element())
def test_abs_sync_action():
asa = OSC.AbsoluteSynchronizeAction('Ego',
OSC.WorldPosition(0, 0, 0, 0, 0, 0),
OSC.WorldPosition(10, 0, 0, 0, 0, 0),
20)
OSC.prettyprint(asa.get_element())
def test_nurbs():
cp1 = OSC.ControlPoint(OSC.WorldPosition(),1,0.1)
cp2 = OSC.ControlPoint(OSC.WorldPosition(),2,0.2)
cp3 = OSC.ControlPoint(OSC.WorldPosition(),3,0.3)
nurb = OSC.Nurbs(2)
nurb.add_control_point(cp1)
nurb.add_control_point(cp2)
nurb.add_control_point(cp3)
nurb.add_knots([5,4,3,2,1])
OSC.prettyprint(nurb.get_element())
def test_route_position():
route = OSC.Route('myroute')
route.add_waypoint(OSC.WorldPosition(), OSC.RouteStrategy.shortest)
route.add_waypoint(OSC.WorldPosition(1, 1, 1), OSC.RouteStrategy.shortest)
routepos = OSC.RoutePositionOfCurrentEntity(route, 'Ego')
OSC.prettyprint(routepos.get_element())
routepos = OSC.RoutePositionInRoadCoordinates(route, 1, 3)
OSC.prettyprint(routepos.get_element())
routepos = OSC.RoutePositionInLaneCoordinates(route, 1, 'a', 2)
OSC.prettyprint(routepos.get_element())
def test_trafficswarmaction():
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)
source_action = OSC.TrafficSourceAction(10, 10, OSC.WorldPosition(),
traffic, 100)
OSC.prettyprint(source_action.get_element())
swarm_action = OSC.TrafficSwarmAction(10, 20, 10, 2, 10, 'Ego', traffic)
OSC.prettyprint(swarm_action.get_element())
swarm_action = OSC.TrafficSwarmAction(10, 20, 10, 2, 10, 'Ego', traffic,
10)
OSC.prettyprint(swarm_action.get_element())
def test_init():
init = OSC.Init()
TD = OSC.TransitionDynamics('step', 'time', 0)
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())
def test_entitytrigger():
trigcond = OSC.TimeToCollisionCondition(10,
'equalTo',
True,
freespace=False,
position=OSC.WorldPosition())
trigger = OSC.EntityTrigger('mytesttrigger', 0.2, 'rising', trigcond,
'Target_1')
OSC.prettyprint(trigger.get_element())
def test_timetocollisioncondition():
cond = OSC.TimeToCollisionCondition(value=20,
alongroute=True,
rule='equalTo',
entity='Ego')
OSC.prettyprint(cond.get_element())
cond = OSC.TimeToCollisionCondition(value=20,
alongroute=True,
rule='equalTo',
position=OSC.WorldPosition())
OSC.prettyprint(cond.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 test_waypoint():
wp = OSC.Waypoint(OSC.WorldPosition(),OSC.RouteStrategy.shortest)
OSC.prettyprint(wp.get_element())
import pytest
import pyoscx as OSC
TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step,
OSC.DynamicsDimension.rate, 1)
speedaction = OSC.AbsoluteSpeedAction(50, TD)
trigcond = OSC.TimeToCollisionCondition(
10,
OSC.Rule.equalTo,
position=OSC.WorldPosition(),
freespace=False,
)
trigger = OSC.EntityTrigger('mytesttrigger', 0.2, OSC.ConditionEdge.rising,
trigcond, 'Target_1')
def test_event():
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)
def test_maneuver():
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)
man = OSC.Maneuver('my maneuver')
def test_aqcuire_position_route():
ara = OSC.AssingRouteAction(OSC.WorldPosition(1,1,0,0,0,0))
OSC.prettyprint(ara.get_element())
def test_waypoint():
wp = OSC.Waypoint(OSC.WorldPosition(), 'fastest')
OSC.prettyprint(wp.get_element())
def test_worldposition_input():
pos = OSC.WorldPosition(x=1, y=2, z=1.123)
pos.get_attributes()
p = pos.get_element()
OSC.prettyprint(p)
def test_reachpositioncondition():
cond = OSC.ReachPositionCondition(OSC.WorldPosition(), 0.01)
OSC.prettyprint(cond.get_element())
import pyoscx
route = pyoscx.Route('myroute')
route.add_waypoint(pyoscx.WorldPosition(), 'shortest')
route.add_waypoint(pyoscx.WorldPosition(1, 1, 1), 'shortest')
# routepos = pyoscx.RoutePositionOfCurrentEntity(route,'Ego')
# routepos = pyoscx.RoutePositionInRoadCoordinates(route,1,3)
routepos = pyoscx.RoutePositionInLaneCoordinates(route, 1, 'a', 2)
pyoscx.prettyprint(routepos.get_element())
### create catalogs
catalog = pyoscx.Catalog()
catalog.add_catalog('VehicleCatalog', '../xosc/Catalogs/Vehicles')
### create road
road = pyoscx.RoadNetwork(roadfile='../xodr/e6mini.xodr',
scenegraph='../models/e6mini.osgb')
### create parameters
paramdec = pyoscx.ParameterDeclarations()
paramdec.add_parameter(pyoscx.Parameter('$HostVehicle', 'string', 'car_white'))
paramdec.add_parameter(pyoscx.Parameter('$TargetVehicle', 'string', 'car_red'))
## create entities
egoname = 'Ego'
targetname = 'Target'
def test_addEntity():
OSC.prettyprint(OSC.AddEntityAction('my new thingy',OSC.WorldPosition()).get_element())
def test_distancecondition():
cond = OSC.DistanceCondition(1, 'lessThan', OSC.WorldPosition(), True,
False)
OSC.prettyprint(cond.get_element())
def test_clothoid():
clot = OSC.Clothoid(1,0.1,10,OSC.WorldPosition(),0,1)
OSC.prettyprint(clot.get_element())
clot = OSC.Clothoid(1,0.1,10,OSC.WorldPosition())
OSC.prettyprint(clot.get_element())
def test_worldposition_noinput():
pos = OSC.WorldPosition()
pos.get_attributes()
p = pos.get_element()
OSC.prettyprint(p)
def test_teleport():
teleport = OSC.TeleportAction(OSC.WorldPosition())
OSC.prettyprint(teleport.get_element())
