from interface import Gazebo
import scenic.syntax.translator as translator
"""
Calls on a file and writes the generated scenario to an sdf file
"""
# Input and output file name
fileName = "examples/gazebo/uuv.sc"
worldName = "empty_underwater"
outFile = "examples/gazebo/outputs/uuv_sim.world"
# Load scenario from file
print('Beginning scenario construction...')
startTime = time.time()
scenario = translator.scenarioFromFile(fileName)
totalTime = time.time() - startTime
print(f'Scenario constructed in {totalTime:.2f} seconds.')
Gazebo.write(scenario)
def generateScene():
startTime = time.time()
scene, iterations = scenario.generate(verbosity=3)
totalTime = time.time() - startTime
print(
f' Generated scene in {iterations} iterations, {totalTime:.4g} seconds.'
)
return scene, iterations
import time
from scenic.simulators.gazebo.interface import Gazebo
import scenic.syntax.translator as translator
"""
Calls on a file and writes the generated scenario to an sdf file
"""
# Input and output file name
scenarioFile = "examples/gazebo/uuv.sc"
outFile = "examples/gazebo/outputs/uuv_sim.world"
worldName = "empty_underwater"
# Load scenario from file
print('Beginning scenario construction...')
startTime = time.time()
scenario = translator.scenarioFromFile(scenarioFile)
totalTime = time.time() - startTime
print(f'Scenario constructed in {totalTime:.2f} seconds.')
# Generate a scene from scenario file, then fill out a gazebo world file from scene
startTime = time.time()
scene, iterations = scenario.generate(verbosity=3)
totalTime = time.time() - startTime
print(
f' Generated scene in {iterations} iterations, {totalTime:.4g} seconds.')
output = Gazebo.fill_world(scene, worldName)
# Write generated world to file
with open(outFile, 'w+') as fileObj:
fileObj.write(output)
# Parse arguments and set up configuration
args = parser.parse_args()
delay = args.delay
translator.showInternalBacktrace = args.full_backtrace
translator.dumpTranslatedPython = args.dump_python
translator.dumpFinalAST = args.dump_ast
translator.verbosity = args.verbosity
translator.usePruning = not args.no_pruning
if args.seed is not None:
print(f'Using random seed = {args.seed}')
random.seed(args.seed)
# Load scenario from file
print('Beginning scenario construction...')
startTime = time.time()
scenario = translator.scenarioFromFile(args.scenario)
totalTime = time.time() - startTime
print(f'Scenario constructed in {totalTime:.2f} seconds.')
def generateScene():
startTime = time.time()
scene, iterations = scenario.generate(verbosity=args.verbosity)
if args.verbosity >= 1:
totalTime = time.time() - startTime
print(
f' Generated scene in {iterations} iterations, {totalTime:.4g} seconds.'
)
return scene, iterations
translator.dumpTranslatedPython = args.dump_initial_python
translator.dumpFinalAST = args.dump_ast
translator.dumpASTPython = args.dump_python
translator.verbosity = args.verbosity
translator.usePruning = not args.no_pruning
if args.seed is not None and args.verbosity >= 1:
print(f'Using random seed = {args.seed}')
random.seed(args.seed)
# Load scenario from file
if args.verbosity >= 1:
print('Beginning scenario construction...')
startTime = time.time()
scenario = errors.callBeginningScenicTrace(
lambda: translator.scenarioFromFile(args.scenicFile,
params=dict(args.param),
model=args.model,
scenario=args.scenario))
totalTime = time.time() - startTime
if args.verbosity >= 1:
print(f'Scenario constructed in {totalTime:.2f} seconds.')
if args.simulate:
simulator = errors.callBeginningScenicTrace(scenario.getSimulator)
def generateScene():
startTime = time.time()
scene, iterations = errors.callBeginningScenicTrace(
lambda: scenario.generate(verbosity=args.verbosity))
if args.verbosity >= 1:
totalTime = time.time() - startTime
def main():
args = setup_arg_parser()
setup_logging(args.verbose)
delay = args.delay
errors.showInternalBacktrace = args.full_backtrace
if args.pdb:
errors.postMortemDebugging = True
errors.showInternalBacktrace = True
translator.dumpTranslatedPython = args.dump_initial_python
translator.dumpFinalAST = args.dump_ast
translator.dumpASTPython = args.dump_python
translator.verbosity = 3 if args.verbose else 1
translator.usePruning = not args.no_pruning
if args.seed is not None:
logger.info(f'Using random seed = {args.seed}')
random.seed(args.seed)
with open(args.input, 'r') as f:
input_objects = yaml.load(f)
input_dir = os.path.dirname(args.input)
models_dir = input_objects.get('models_dir', '')
if not args.load:
load_module('gzscenic/base.scenic')
if args.dump:
with open(args.dump, 'w') as f:
f.write('from gzscenic.base import *\n\n')
for obj in input_objects['models']:
print(generate_model(obj, input_dir, models_dir, args.dump))
else:
if args.load.rpartition('.')[-1] not in ['sc', 'scenic']:
raise Exception('The file to be loaded needs to be .sc or .scenic')
load_module(args.load)
# Load scenario from file
logger.info('Beginning scenario construction...')
startTime = time.time()
scenario = errors.callBeginningScenicTrace(
lambda: translator.scenarioFromFile(args.scenicFile,
params=dict(args.param),
model=args.model,
scenario=args.scenario))
totalTime = time.time() - startTime
logger.info(f'Scenario constructed in {totalTime:.2f} seconds.')
if not args.noplt:
import matplotlib.pyplot as plt
success_count = 0
while not args.scenes_num or success_count < args.scenes_num:
scene, _ = generateScene(scenario, args)
if not args.noplt:
if delay is None:
scene.show(zoom=args.zoom)
else:
scene.show(zoom=args.zoom, block=False)
plt.pause(delay)
plt.clf()
scene_to_sdf(scene, input_dir, input_objects['world'], models_dir,
args.outputPath)
success_count += 1
"sim/weather/runway_friction", "sim/weather/wind_direction_degt[0]",
"sim/weather/wind_speed_kt[0]"
]
def run_sampler(sampler, xp_client, samples=10):
for _ in range(samples):
scene, _ = sampler.generate()
params = scene.params
wind_speed = scene.params['wind_speed']
wind_direction = scene.params['wind_direction']
friction = scene.params['friction']
print(wind_speed, wind_direction, friction)
xp_client.sendDREFs(condition_drefs,
[friction, wind_direction, wind_speed])
time.sleep(5)
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('-s',
'--scenario',
help='Scenic scenario to run',
default='conditions.sc')
args = parser.parse_args()
sampler = translator.scenarioFromFile(args.scenario)
client = XPlaneConnect()
run_sampler(sampler, client, samples=10)
pass
params[name] = value
translator.dumpTranslatedPython = args.dump_initial_python
translator.dumpFinalAST = args.dump_ast
translator.dumpASTPython = args.dump_python
translator.verbosity = args.verbosity
translator.usePruning = not args.no_pruning
if args.seed is not None and args.verbosity >= 1:
print(f'Using random seed = {args.seed}')
random.seed(args.seed)
# Load scenario from file
if args.verbosity >= 1:
print('Beginning scenario construction...')
startTime = time.time()
scenario = errors.callBeginningScenicTrace(lambda: translator.scenarioFromFile(
args.scenicFile, params=params, model=args.model, scenario=args.scenario))
totalTime = time.time() - startTime
if args.verbosity >= 1:
print(f'Scenario constructed in {totalTime:.2f} seconds.')
if args.simulate:
simulator = errors.callBeginningScenicTrace(scenario.getSimulator)
def generateScene():
startTime = time.time()
scene, iterations = errors.callBeginningScenicTrace(
lambda: scenario.generate(verbosity=args.verbosity))
if args.verbosity >= 1:
totalTime = time.time() - startTime
print(