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)
prettyprint(route.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])
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')
prettyprint(routepos.get_element())
routepos = OSC.RoutePositionInRoadCoordinates(route, 1, 3)
prettyprint(routepos.get_element())
routepos = OSC.RoutePositionInLaneCoordinates(route, 1, 'a', 2)
prettyprint(routepos.get_element())
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_init():
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)))
prettyprint(init.get_element())
def test_trafficsourceaction():
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)
prettyprint(source_action.get_element())
source_action = OSC.TrafficSourceAction(10,10,OSC.WorldPosition(),traffic)
prettyprint(source_action.get_element())
def test_storyboard_story_input():
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)))
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)
prettyprint(man.get_element())
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor('Ego')
mangr.add_maneuver(man)
prettyprint(mangr.get_element())
act = OSC.Act('my act', trigger)
act.add_maneuver_group(mangr)
prettyprint(act.get_element())
story = OSC.Story('mystory')
story.add_act(act)
prettyprint(story.get_element())
sb = OSC.StoryBoard(init)
sb.add_story(story)
prettyprint(sb.get_element())
def test_aqcuire_position_route():
ara = OSC.AcquirePositionAction(OSC.WorldPosition(1,1,0,0,0,0))
prettyprint(ara.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_teleport():
teleport = OSC.TeleportAction(OSC.WorldPosition())
prettyprint(teleport.get_element())
def test_addEntity():
prettyprint(OSC.AddEntityAction('my new thingy',OSC.WorldPosition()).get_element())
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')
prettyprint(asa.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)
prettyprint(asa.get_element())
def test_waypoint():
wp = OSC.Waypoint(OSC.WorldPosition(), OSC.RouteStrategy.shortest)
prettyprint(wp.get_element())
def test_distancecondition():
cond = OSC.DistanceCondition(1,OSC.Rule.lessThan,OSC.WorldPosition(),True,False)
prettyprint(cond.get_element())
def test_timetocollisioncondition():
cond = OSC.TimeToCollisionCondition(value=20,alongroute=True,rule=OSC.Rule.equalTo,entity='Ego')
prettyprint(cond.get_element())
cond = OSC.TimeToCollisionCondition(value=20,alongroute=True,rule=OSC.Rule.equalTo,position=OSC.WorldPosition())
prettyprint(cond.get_element())
def test_worldposition_noinput():
pos = OSC.WorldPosition()
pos.get_attributes()
p = pos.get_element()
prettyprint(p)
def test_worldposition_input():
pos = OSC.WorldPosition(x=1, y=2, z=1.123)
pos.get_attributes()
p = pos.get_element()
prettyprint(p)
import pytest
from scenariogeneration import xosc as OSC
from scenariogeneration import prettyprint
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)
def test_reachpositioncondition():
cond = OSC.ReachPositionCondition(OSC.WorldPosition(),0.01)
prettyprint(cond.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,
OSC.Rule.equalTo,
True,
freespace=False,
position=OSC.WorldPosition())
trigger = OSC.EntityTrigger('mytesttrigger', 0.2, OSC.ConditionEdge.rising,
trigcond, 'Target_1')
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step,
OSC.DynamicsDimension.rate, 1)
lanechangeaction = OSC.AbsoluteLaneChangeAction(1, TD)
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.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)
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)
prettyprint(sce.get_element())
def test_entitytrigger():
trigcond = OSC.TimeToCollisionCondition(10,OSC.Rule.equalTo,True,freespace=False,position=OSC.WorldPosition())
trigger = OSC.EntityTrigger('mytesttrigger',0.2,OSC.ConditionEdge.rising,trigcond,'Target_1')
prettyprint(trigger.get_element())
def test_clothoid():
clot = OSC.Clothoid(1, 0.1, 10, OSC.WorldPosition(), 0, 1)
prettyprint(clot.get_element())
clot = OSC.Clothoid(1, 0.1, 10, OSC.WorldPosition())
prettyprint(clot.get_element())
