def test_conditiongroup():
condgr = OSC.ConditionGroup()
trig1 = OSC.EntityTrigger('firsttrigger',1,OSC.ConditionEdge.rising,OSC.RelativeDistanceCondition(10,OSC.Rule.greaterThan,'Ego'),'Target')
trig2 = OSC.EntityTrigger('secondtrigger',2,OSC.ConditionEdge.rising,OSC.SpeedCondition(2,OSC.Rule.equalTo),'Target')
condgr.add_condition(trig1)
condgr.add_condition(trig2)
OSC.prettyprint(condgr.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_trigger():
condgr = OSC.ConditionGroup()
trig1 = OSC.EntityTrigger('firsttrigger',1,OSC.ConditionEdge.rising,OSC.RelativeDistanceCondition(10,OSC.Rule.greaterThan,OSC.RelativeDistanceType.longitudinal,'Ego'),'Target')
trig2 = OSC.EntityTrigger('secondtrigger',2,OSC.ConditionEdge.rising,OSC.SpeedCondition(2,OSC.Rule.equalTo),'Target')
condgr.add_condition(trig1)
condgr.add_condition(trig2)
condgr2 = OSC.ConditionGroup()
trig3 = OSC.EntityTrigger('thirdtrigger',1,OSC.ConditionEdge.rising,OSC.RelativeDistanceCondition(10,OSC.Rule.greaterThan,OSC.RelativeDistanceType.longitudinal,'Ego'),'Target')
trig4 = OSC.EntityTrigger('forthtrigger',2,OSC.ConditionEdge.rising,OSC.SpeedCondition(2,OSC.Rule.equalTo),'Target')
condgr2.add_condition(trig3)
condgr2.add_condition(trig4)
trig = OSC.Trigger()
trig.add_conditiongroup(condgr)
trig.add_conditiongroup(condgr2)
OSC.prettyprint(trig.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())
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')
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')
egostart = pyoscx.TeleportAction(pyoscx.LanePosition(25,0,-3,0))
targetspeed = pyoscx.AbsoluteSpeedAction(40,step_time)
targetstart = pyoscx.TeleportAction(pyoscx.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 = pyoscx.TimeHeadwayCondition(targetname,0.4,pyoscx.Rule.greaterThan)
trigger = pyoscx.EntityTrigger('mytesttrigger',0.2,pyoscx.ConditionEdge.rising,trigcond,egoname)
event = pyoscx.Event('myfirstevent',pyoscx.Priority.overwrite)
event.add_trigger(trigger)
positionlist = []
positionlist.append(pyoscx.RelativeLanePosition(0,0,0,targetname))
positionlist.append(pyoscx.RelativeLanePosition(20,0.5,0,targetname))
positionlist.append(pyoscx.RelativeLanePosition(40,-0.5,0,targetname))
positionlist.append(pyoscx.RelativeLanePosition(60,-1,0,targetname))
polyline = pyoscx.Polyline([0,0.5,1,1.5],positionlist)
traj = pyoscx.Trajectory('my_trajectory',False)
traj.add_shape(polyline)
event.add_action(
'speedaction',
pyoscx.AbsoluteSpeedAction(
10,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 3)))
# create two trigger conditions
trig_cond1 = pyoscx.TimeToCollisionCondition(2,
pyoscx.Rule.lessThan,
entity=targetname)
trig_cond2 = pyoscx.TimeHeadwayCondition(speedyname, 1,
pyoscx.Rule.greaterThan)
collision_trigger = pyoscx.EntityTrigger('trigger', 0,
pyoscx.ConditionEdge.none, trig_cond1,
egoname)
headway_trigger = pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.none,
trig_cond2, egoname)
# create two separate condition groups
col_group = pyoscx.ConditionGroup()
col_group.add_condition(collision_trigger)
head_group = pyoscx.ConditionGroup()
head_group.add_condition(headway_trigger)
# create trigger and add the two conditiongroups (or logic)
trigger = pyoscx.Trigger()
trigger.add_conditiongroup(col_group)
import pytest
import pyoscx as OSC
TD = OSC.TransitionDynamics('step', 'rate', 1)
speedaction = OSC.AbsoluteSpeedAction(50, TD)
trigcond = OSC.TimeToCollisionCondition(
10,
'equalTo',
position=OSC.WorldPosition(),
freespace=False,
)
trigger = OSC.EntityTrigger('mytesttrigger', 0.2, 'rising', trigcond,
'Target_1')
def test_event():
event = OSC.Event('myfirstevent', 'overwrite')
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)
def test_maneuver():
event = OSC.Event('myfirstevent', 'overwrite')
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)
man = OSC.Maneuver('my maneuver')
slowdown_event = pyoscx.Event('speedchange', pyoscx.Priority.overwrite)
slowdown_event.add_action(
'speedaction',
pyoscx.AbsoluteSpeedAction(
9,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.sinusoidal,
pyoscx.DynamicsDimension.time, 1)))
# create two trigger conditions
ttc_cond = pyoscx.TimeToCollisionCondition(3,
pyoscx.Rule.lessThan,
entity=targetname)
headway_cond = pyoscx.TimeHeadwayCondition(speedyname, 1, pyoscx.Rule.lessThan)
headway_trigger = pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.none,
headway_cond, egoname)
collision_trigger = pyoscx.EntityTrigger('trigger', 0,
pyoscx.ConditionEdge.none, ttc_cond,
egoname)
#create the "and" logic
sc_group = pyoscx.ConditionGroup()
sc_group.add_condition(collision_trigger)
sc_group.add_condition(headway_trigger)
slowdown_event.add_trigger(sc_group)
# create the optional lanechange event
lane_change_event = pyoscx.Event('lanechange', pyoscx.Priority.overwrite)
egospeed = pyoscx.AbsoluteSpeedAction(30, step_time)
egostart = pyoscx.TeleportAction(pyoscx.LanePosition(25, 0, -3, 0))
targetspeed = pyoscx.AbsoluteSpeedAction(40, step_time)
targetstart = pyoscx.TeleportAction(pyoscx.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 = pyoscx.TimeHeadwayCondition(targetname, 0.1, 'greaterThan')
trigger = pyoscx.EntityTrigger('mytesttrigger', 0.2, 'rising', trigcond,
egoname)
event = pyoscx.Event('myfirstevent', 'overwrite')
event.add_trigger(trigger)
sin_time = pyoscx.TransitionDynamics('linear', 'time', 3)
action = pyoscx.LongitudinalDistanceAction(-4,
egoname,
max_deceleration=3,
max_speed=50)
event.add_action('newspeed', action)
## create the act,
man = pyoscx.Maneuver('my_maneuver')
man.add_event(event)
pyoscx.DynamicsDimension.time, 8))
egostart = pyoscx.TeleportAction(pyoscx.LanePosition(25, 0, -3, 0))
targetspeed = pyoscx.AbsoluteSpeedAction(15, step_time)
targetstart = pyoscx.TeleportAction(pyoscx.RoadPosition(30, -5, 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 = pyoscx.RelativeSpeedCondition(0, pyoscx.Rule.lessThan, egoname)
trigger = pyoscx.EntityTrigger('mytesttrigger', 0.2, pyoscx.ConditionEdge.none,
trigcond, targetname)
event = pyoscx.Event('myfirstevent', pyoscx.Priority.overwrite)
event.add_trigger(trigger)
sin_time = pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,
pyoscx.DynamicsDimension.time, 5)
action = pyoscx.RelativeLaneChangeAction(
-8, targetname,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,
pyoscx.DynamicsDimension.time, 6), -10)
event.add_action('newspeed', action)
## create the maneuver
man = pyoscx.Maneuver('my_maneuver')
man.add_event(event)
targetname + str(i),
pyoscx.AbsoluteSpeedAction(
60,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 1)))
event = pyoscx.Event('speedchange',
pyoscx.Priority.overwrite,
maxexecution=10)
event.add_action('restart',
pyoscx.TeleportAction(pyoscx.LanePosition(0, 0, -1, 1)))
trig_cond = pyoscx.EndOfRoadCondition(0)
event.add_trigger(
pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.rising,
trig_cond, targetname + str(i)))
man = pyoscx.Maneuver('mymaneuver')
man.add_event(event)
mangr = pyoscx.ManeuverGroup('mangr', maxexecution=3)
mangr.add_maneuver(man)
mangr.add_actor(targetname + str(i))
act.add_maneuver_group(mangr)
## create the storyboard
sb = pyoscx.StoryBoard(
init,
pyoscx.ValueTrigger(
'stop_simulation', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(100, pyoscx.Rule.greaterThan), 'stop'))
### create init
init = pyoscx.Init()
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)
pyoscx.AbsoluteSpeedAction(
10,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 1)))
## do lanechange
lc_cond = pyoscx.ReachPositionCondition(pyoscx.LanePosition(40, 0, -4, 0), 1)
lc_event = pyoscx.Event('lanechange', pyoscx.Priority.parallel)
lc_event.add_action(
'lanechangeaction',
pyoscx.RelativeLaneChangeAction(
-1, targetname,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.sinusoidal,
pyoscx.DynamicsDimension.time, 3)))
lc_event.add_trigger(
pyoscx.EntityTrigger('lanechangetrigger', 0, pyoscx.ConditionEdge.none,
lc_cond, egoname))
event = pyoscx.Event('speedchange', pyoscx.Priority.parallel)
event.add_action(
'speedaction',
pyoscx.AbsoluteSpeedAction(
10,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,
pyoscx.DynamicsDimension.time, 3)))
trig_cond = pyoscx.RelativeDistanceCondition(
5, pyoscx.Rule.lessThan, pyoscx.RelativeDistanceType.lateral, targetname)
event.add_trigger(
pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.none, trig_cond,
egoname))
man = pyoscx.Maneuver('mymaneuver')
