def osc_fixture():
parameters = xosc.ParameterDeclarations()
parameters.add_parameter(xosc.Parameter('param1',xosc.ParameterType.string,'hej'))
parameters.add_parameter(xosc.Parameter('param2',xosc.ParameterType.integer,1))
parameters.add_parameter(xosc.Parameter('param3',xosc.ParameterType.boolean,True))
catalog = xosc.Catalog()
catalog.add_catalog('VehicleCatalog','Catalogs/VehicleCatalogs')
catalog.add_catalog('ControllerCatalog','Catalogs/ControllerCatalogs')
roadfile = 'Databases/SampleDatabase.xodr'
road = xosc.RoadNetwork(roadfile)
bb = xosc.BoundingBox(2,5,1.5,1.5,0,0.2)
fa = xosc.Axle(2,2,2,1,1)
ba = xosc.Axle(1,1,2,1,1)
veh = xosc.Vehicle('mycar',xosc.VehicleCategory.car,bb,fa,ba,150,10,10)
entities = xosc.Entities()
entities.add_scenario_object('Ego',veh)
init = xosc.Init()
egospeed = xosc.AbsoluteSpeedAction(10,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.distance,3))
init.add_init_action('Ego',egospeed)
init.add_init_action('Ego',xosc.TeleportAction(xosc.WorldPosition(1,2,3,0,0,0)))
sb = xosc.StoryBoard(init)
return xosc.Scenario('myscenario','Mandolin',parameters,entities=entities,storyboard = sb,roadnetwork=road,catalog=catalog)
def test_paramdeclaration():
pardec = OSC.ParameterDeclarations()
pardec.add_parameter(
OSC.Parameter('myparam1', OSC.ParameterType.integer, '1'))
pardec.add_parameter(
OSC.Parameter('myparam1', OSC.ParameterType.double, '0.01'))
prettyprint(pardec.get_element())
def test_miscobj():
bb = OSC.BoundingBox(2, 5, 1.5, 1.5, 0, 0.2)
veh = OSC.MiscObject('mycar', 100, OSC.MiscObjectCategory.obstacle, bb)
prettyprint(veh.get_element())
veh.add_property_file('propfile.xml')
veh.add_property('myprop', '12')
param = OSC.Parameter('mypar', OSC.ParameterType.integer, '1')
veh.add_parameter(param)
prettyprint(veh.get_element())
def test_pedestrian():
bb = OSC.BoundingBox(2, 5, 1.5, 1.5, 0, 0.2)
veh = OSC.Pedestrian('myped', 'ped', 100,
OSC.PedestrianCategory.pedestrian, bb)
prettyprint(veh.get_element())
veh.add_property_file('propfile.xml')
veh.add_property('myprop', '12')
param = OSC.Parameter('mypar', OSC.ParameterType.integer, '1')
veh.add_parameter(param)
prettyprint(veh.get_element())
def test_vehicle():
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)
prettyprint(veh.get_element())
veh.add_property_file('propfile.xml')
veh.add_property('myprop', '12')
veh.add_axle(ba)
param = OSC.Parameter('mypar', OSC.ParameterType.integer, '1')
veh.add_parameter(param)
prettyprint(veh.get_element())
import os
from scenariogeneration import xosc, prettyprint
### create catalogs
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()
paramdec.add_parameter(
xosc.Parameter('$HostVehicle', xosc.ParameterType.string, 'car_white'))
paramdec.add_parameter(
xosc.Parameter('$TargetVehicle', xosc.ParameterType.string, 'car_red'))
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('model_id', '0')
bb = xosc.BoundingBox(1.8, 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)
ego_man = xosc.Maneuver('ego_maneuver')
ego_man.add_event(ego_start_event)
ego_man.add_event(ego_event)
ego_mangr = xosc.ManeuverGroup('mangroup')
ego_mangr.add_actor(egoname)
ego_mangr.add_maneuver(ego_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)
act.add_maneuver_group(ego_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)
## create the storyboard
sb = xosc.StoryBoard(init,xosc.ValueTrigger('stop_simulation',0,xosc.ConditionEdge.rising,xosc.SimulationTimeCondition(15,xosc.Rule.greaterThan),'stop'))
sb.add_story(story)
## create the scenario
sce = xosc.Scenario('adapt_speed_example','Mandolin',paramdec,entities=entities,storyboard = sb,roadnetwork=road,catalog=catalog)
# Print the resulting xml
prettyprint(sce.get_element())
# write the OpenSCENARIO file as xosc using current script name
sce.write_xml(os.path.basename(__file__).replace('.py','.xosc'))
def test_parameter():
param = OSC.Parameter('stuffs', OSC.ParameterType.integer, '1')
prettyprint(param.get_element())