def _create_behavior(self):
"""
After invoking this scenario, cyclist will wait for the user
controlled vehicle to enter trigger distance region,
the cyclist starts crossing the road once the condition meets,
then after 60 seconds, a timeout stops the scenario
"""
root = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE,
name="OccludedObjectCrossing")
lane_width = self._reference_waypoint.lane_width
lane_width = lane_width + (1.25 * lane_width * self._num_lane_changes)
dist_to_trigger = 12 + self._num_lane_changes
# leaf nodes
if self._ego_route is not None:
start_condition = InTriggerDistanceToLocationAlongRoute(
self.ego_vehicles[0], self._ego_route, self.transform.location,
dist_to_trigger)
else:
start_condition = InTimeToArrivalToVehicle(self.other_actors[0],
self.ego_vehicles[0],
self._time_to_reach)
actor_velocity = KeepVelocity(self.other_actors[0],
self._other_actor_target_velocity,
name="walker velocity")
actor_drive = DriveDistance(self.other_actors[0],
0.5 * lane_width,
name="walker drive distance")
actor_start_cross_lane = AccelerateToVelocity(
self.other_actors[0],
1.0,
self._other_actor_target_velocity,
name="walker crossing lane accelerate velocity")
actor_cross_lane = DriveDistance(
self.other_actors[0],
lane_width,
name="walker drive distance for lane crossing ")
actor_stop_crossed_lane = StopVehicle(self.other_actors[0],
self._other_actor_max_brake,
name="walker stop")
ego_pass_machine = DriveDistance(self.ego_vehicles[0],
5,
name="ego vehicle passed prop")
actor_remove = ActorDestroy(self.other_actors[0],
name="Destroying walker")
static_remove = ActorDestroy(self.other_actors[1],
name="Destroying Prop")
end_condition = DriveDistance(self.ego_vehicles[0],
self._ego_vehicle_distance_driven,
name="End condition ego drive distance")
# non leaf nodes
scenario_sequence = py_trees.composites.Sequence()
keep_velocity_other = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE,
name="keep velocity other")
keep_velocity = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE,
name="keep velocity")
# building tree
root.add_child(scenario_sequence)
scenario_sequence.add_child(
ActorTransformSetter(self.other_actors[0],
self.transform,
name='TransformSetterTS3walker',
physics=False))
scenario_sequence.add_child(
ActorTransformSetter(self.other_actors[1],
self.transform2,
name='TransformSetterTS3coca',
physics=False))
scenario_sequence.add_child(
HandBrakeVehicle(self.other_actors[0], True))
scenario_sequence.add_child(start_condition)
scenario_sequence.add_child(
HandBrakeVehicle(self.other_actors[0], False))
scenario_sequence.add_child(keep_velocity)
scenario_sequence.add_child(keep_velocity_other)
scenario_sequence.add_child(actor_stop_crossed_lane)
scenario_sequence.add_child(actor_remove)
scenario_sequence.add_child(static_remove)
scenario_sequence.add_child(end_condition)
keep_velocity.add_child(actor_velocity)
keep_velocity.add_child(actor_drive)
keep_velocity_other.add_child(actor_start_cross_lane)
keep_velocity_other.add_child(actor_cross_lane)
keep_velocity_other.add_child(ego_pass_machine)
return root
def convert_condition_to_atomic(condition, actor_list):
"""
Convert an OpenSCENARIO condition into a Behavior/Criterion atomic
If there is a delay defined in the condition, then the condition is checked after the delay time
passed by, e.g. <Condition name="" delay="5">.
Note: Not all conditions are currently supported.
"""
atomic = None
delay_atomic = None
condition_name = condition.attrib.get('name')
if condition.attrib.get('delay') is not None and str(
condition.attrib.get('delay')) != '0':
delay = float(condition.attrib.get('delay'))
delay_atomic = TimeOut(delay)
if condition.find('ByEntity') is not None:
trigger_actor = None # A-priori validation ensures that this will be not None
triggered_actor = None
for triggering_entities in condition.find('ByEntity').iter(
'TriggeringEntities'):
for entity in triggering_entities.iter('Entity'):
for actor in actor_list:
if entity.attrib.get(
'name', None) == actor.attributes['role_name']:
trigger_actor = actor
break
for entity_condition in condition.find('ByEntity').iter(
'EntityCondition'):
if entity_condition.find('EndOfRoad') is not None:
raise NotImplementedError(
"EndOfRoad conditions are not yet supported")
elif entity_condition.find('Collision') is not None:
atomic = py_trees.meta.inverter(
CollisionTest(trigger_actor,
terminate_on_failure=True,
name=condition_name))
elif entity_condition.find('Offroad') is not None:
raise NotImplementedError(
"Offroad conditions are not yet supported")
elif entity_condition.find('TimeHeadway') is not None:
raise NotImplementedError(
"TimeHeadway conditions are not yet supported")
elif entity_condition.find('TimeToCollision') is not None:
ttc_condition = entity_condition.find('TimeToCollision')
condition_rule = ttc_condition.attrib.get('rule')
condition_operator = OpenScenarioParser.operators[
condition_rule]
condition_value = ttc_condition.attrib.get('value')
condition_target = ttc_condition.find('Target')
if condition_target.find('Position'):
position = condition_target.find('Position')
atomic = InTimeToArrivalToOSCPosition(
trigger_actor, position, condition_value,
condition_operator)
else:
for actor in actor_list:
if ttc_condition.attrib.get(
'entity',
None) == actor.attributes['role_name']:
triggered_actor = actor
break
if triggered_actor is None:
raise AttributeError(
"Cannot find actor '{}' for condition".format(
ttc_condition.attrib.get('entity', None)))
atomic = InTimeToArrivalToVehicle(
trigger_actor, triggered_actor, condition_value,
condition_operator)
elif entity_condition.find('Acceleration') is not None:
raise NotImplementedError(
"Acceleration conditions are not yet supported")
elif entity_condition.find('StandStill') is not None:
ss_condition = entity_condition.find('StandStill')
duration = float(ss_condition.attrib.get('duration'))
atomic = StandStill(trigger_actor, condition_name,
duration)
elif entity_condition.find('Speed') is not None:
s_condition = entity_condition.find('Speed')
value = float(s_condition.attrib.get('value'))
if s_condition.attrib.get('rule') != "greater_than":
raise NotImplementedError(
"Speed condition with the given specification is not yet supported"
)
atomic = AccelerateToVelocity(trigger_actor, value,
condition_name)
elif entity_condition.find('RelativeSpeed') is not None:
raise NotImplementedError(
"RelativeSpeed conditions are not yet supported")
elif entity_condition.find('TraveledDistance') is not None:
distance_condition = entity_condition.find(
'TraveledDistance')
distance_value = float(
distance_condition.attrib.get('value'))
atomic = DriveDistance(trigger_actor,
distance_value,
name=condition_name)
elif entity_condition.find('ReachPosition') is not None:
rp_condition = entity_condition.find('ReachPosition')
distance_value = float(
rp_condition.attrib.get('tolerance'))
position = rp_condition.find('Position')
atomic = InTriggerDistanceToOSCPosition(
trigger_actor,
position,
distance_value,
name=condition_name)
elif entity_condition.find('Distance') is not None:
distance_condition = entity_condition.find('Distance')
distance_value = float(
distance_condition.attrib.get('value'))
distance_rule = distance_condition.attrib.get('rule')
distance_operator = OpenScenarioParser.operators[
distance_rule]
if distance_condition.find('Position') is not None:
position = distance_condition.find('Position')
atomic = InTriggerDistanceToOSCPosition(
trigger_actor,
position,
distance_value,
distance_operator,
name=condition_name)
elif entity_condition.find('RelativeDistance') is not None:
distance_condition = entity_condition.find(
'RelativeDistance')
distance_value = float(
distance_condition.attrib.get('value'))
if distance_condition.attrib.get('type') == "inertial":
for actor in actor_list:
if distance_condition.attrib.get(
'entity',
None) == actor.attributes['role_name']:
triggered_actor = actor
break
if triggered_actor is None:
raise AttributeError(
"Cannot find actor '{}' for condition".format(
distance_condition.attrib.get(
'entity', None)))
condition_rule = distance_condition.attrib.get('rule')
condition_operator = OpenScenarioParser.operators[
condition_rule]
atomic = InTriggerDistanceToVehicle(
triggered_actor,
trigger_actor,
distance_value,
condition_operator,
name=condition_name)
else:
raise NotImplementedError(
"RelativeDistance condition with the given specification is not yet supported"
)
elif condition.find('ByState') is not None:
state_condition = condition.find('ByState')
if state_condition.find('AtStart') is not None:
element_type = state_condition.find('AtStart').attrib.get(
'type')
element_name = state_condition.find('AtStart').attrib.get(
'name')
atomic = OSCStartEndCondition(element_type,
element_name,
rule="START",
name="AtStartCondition")
elif state_condition.find('AfterTermination') is not None:
element_type = state_condition.find(
'AfterTermination').attrib.get('type')
element_name = state_condition.find(
'AfterTermination').attrib.get('name')
condition_rule = state_condition.find(
'AfterTermination').attrib.get('rule')
atomic = OSCStartEndCondition(element_type,
element_name,
condition_rule,
name="AfterTerminationCondition")
elif state_condition.find('Command') is not None:
raise NotImplementedError(
"ByState Command conditions are not yet supported")
elif state_condition.find('Signal') is not None:
raise NotImplementedError(
"ByState Signal conditions are not yet supported")
elif state_condition.find('Controller') is not None:
raise NotImplementedError(
"ByState Controller conditions are not yet supported")
else:
raise AttributeError("Unknown ByState condition")
elif condition.find('ByValue') is not None:
value_condition = condition.find('ByValue')
if value_condition.find('Parameter') is not None:
parameter_condition = value_condition.find('Parameter')
arg_name = parameter_condition.attrib.get('name')
value = parameter_condition.attrib.get('value')
if value != '':
arg_value = float(value)
else:
arg_value = 0
parameter_condition.attrib.get('rule')
if condition_name in globals():
criterion_instance = globals()[condition_name]
else:
raise AttributeError(
"The condition {} cannot be mapped to a criterion atomic"
.format(condition_name))
for triggered_actor in actor_list:
if arg_name != '':
atomic = criterion_instance(triggered_actor, arg_value)
else:
atomic = criterion_instance(triggered_actor)
elif value_condition.find('SimulationTime') is not None:
simtime_condition = value_condition.find('SimulationTime')
value = float(simtime_condition.attrib.get('value'))
rule = simtime_condition.attrib.get('rule')
atomic = SimulationTimeCondition(value, success_rule=rule)
elif value_condition.find('TimeOfDay') is not None:
raise NotImplementedError(
"ByValue TimeOfDay conditions are not yet supported")
else:
raise AttributeError("Unknown ByValue condition")
else:
raise AttributeError("Unknown condition")
if delay_atomic is not None and atomic is not None:
new_atomic = py_trees.composites.Sequence("delayed sequence")
new_atomic.add_child(delay_atomic)
new_atomic.add_child(atomic)
else:
new_atomic = atomic
return new_atomic
def _create_behavior(self):
"""
The scenario defined after is a "follow leading vehicle" scenario. After
invoking this scenario, it will wait for the user controlled vehicle to
enter the start region, then make the other actor to drive until reaching
the next intersection. Finally, the user-controlled vehicle has to be close
enough to the other actor to end the scenario.
If this does not happen within 60 seconds, a timeout stops the scenario
"""
root = py_trees.composites.Parallel(
"Running random scenario",
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
root.add_child(StandStill(self.ego_vehicles[0], "scenario ended", 3.0))
root.add_child(
InTriggerDistanceToLocation(self.ego_vehicles[0],
carla.Location(200, -250, 0), 10))
for (scenario, actor_dict) in self.scenario_list:
if scenario == "VehiclesAhead":
wait_for_trigger = InTriggerDistanceToLocation(
self.ego_vehicles[0],
actor_dict.trigger.transform.location, 10)
start_transform = ActorTransformSetter(
self.other_actors[actor_dict.index],
actor_dict.start_transform)
keep_driving = WaypointFollower(
self.other_actors[actor_dict.index],
actor_dict.speed,
avoid_collision=True)
drive = py_trees.composites.Parallel(
"Driving for a distance",
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
drive_success = DriveDistance(
self.other_actors[actor_dict.index],
random.randint(50, 100))
drive.add_child(drive_success)
drive.add_child(keep_driving)
stand = StandStill(self.other_actors[actor_dict.index],
"stand still", random.randint(1, 5))
stop = StopVehicle(self.other_actors[actor_dict.index], 1.0)
accelerate = AccelerateToVelocity(
self.other_actors[actor_dict.index], 1.0, actor_dict.speed)
# Build behavior tree
sequence = py_trees.composites.Sequence(
"VehiclesAhead behavior sequence")
sequence.add_child(wait_for_trigger)
sequence.add_child(start_transform)
# stop_condition = py_trees.composites.Parallel("stop condition",
# policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
# stop_condition.add_child(keep_driving)
# stop_condition.add_child(drive_success)
if actor_dict.stop:
sequence.add_child(drive)
sequence.add_child(stop)
sequence.add_child(accelerate)
sequence.add_child(keep_driving) #stop_condition
print("lead vehicle stop behavior added")
else:
sequence.add_child(keep_driving) #stop_condition
sequence.add_child(
ActorDestroy(self.other_actors[actor_dict.index]))
root.add_child(sequence)
elif scenario == "StationaryObstaclesAhead":
lane_width = self.ego_vehicles[0].get_world().get_map(
).get_waypoint(self.ego_vehicles[0].get_location()).lane_width
lane_width = lane_width + (1.25 * lane_width)
sequence = py_trees.composites.Sequence(
"StationaryObstaclesAhead behavior sequence")
# actor_stand = TimeOut(15)
# actor_removed = ActorDestroy(self.other_actors[num_actors])
# end_condition = DriveDistance(self.ego_vehicles[0], self._ego_vehicle_distance_driven)
sequence.add_child(
ActorTransformSetter(self.other_actors[actor_dict.index],
actor_dict.start_transform))
sequence.add_child(TimeOut(120))
root.add_child(sequence)
elif scenario == "CutIn":
sequence = py_trees.composites.Sequence("CarOn_{}_Lane".format(
actor_dict.direction))
car_visible = ActorTransformSetter(
self.other_actors[actor_dict.index],
actor_dict.start_transform)
sequence.add_child(
InTriggerDistanceToLocation(
self.ego_vehicles[0],
actor_dict.trigger.transform.location, 10))
sequence.add_child(car_visible)
# accelerate
accelerate = AccelerateToCatchUp(
self.other_actors[actor_dict.index],
self.ego_vehicles[0],
throttle_value=1,
delta_velocity=actor_dict.delta_speed,
trigger_distance=actor_dict.trigger_distance,
max_distance=100)
sequence.add_child(accelerate)
# lane_change
# lane_change = None
if actor_dict.direction == 'left':
lane_change = LaneChange(
self.other_actors[actor_dict.index],
speed=actor_dict.lane_change_speed,
direction='right',
distance_same_lane=50,
distance_other_lane=10)
sequence.add_child(lane_change)
else:
lane_change = LaneChange(
self.other_actors[actor_dict.index],
speed=actor_dict.lane_change_speed,
direction='left',
distance_same_lane=50,
distance_other_lane=10)
sequence.add_child(lane_change)
sequence.add_child(
WaypointFollower(self.other_actors[actor_dict.index],
target_speed=20,
avoid_collision=True))
endcondition = DriveDistance(
self.other_actors[actor_dict.index], 150)
parallel = py_trees.composites.Sequence(
"Behavior",
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
parallel.add_child(sequence)
parallel.add_child(endcondition)
root.add_child(parallel)
elif scenario == "DynamicObstaclesAhead":
lane_width = actor_dict.trigger.lane_width
lane_width = lane_width + (1.25 * lane_width *
actor_dict.num_lane_changes)
start_condition = InTimeToArrivalToVehicle(
self.other_actors[actor_dict.index], self.ego_vehicles[0],
actor_dict.time_to_reach)
# actor_velocity = KeepVelocity(self.other_actors[actor_dict.index],
# actor_dict.speed,
# name="walker velocity")
# actor_drive = DriveDistance(self.other_actors[actor_dict.index],
# 0.5 * lane_width,
# name="walker drive distance")
actor_start_cross_lane = AccelerateToVelocity(
self.other_actors[actor_dict.index],
1.0,
actor_dict.speed,
name="walker crossing lane accelerate velocity")
actor_cross_lane = DriveDistance(
self.other_actors[actor_dict.index],
lane_width,
name="walker drive distance for lane crossing ")
actor_stop_cross_lane = StopVehicle(
self.other_actors[actor_dict.index],
1.0,
name="walker stop")
ego_pass_machine = DriveDistance(
self.ego_vehicles[0], 5, name="ego vehicle passed walker")
# actor_remove = ActorDestroy(self.other_actors[actor_dict.index],
# name="Destroying walker")
scenario_sequence = py_trees.composites.Sequence()
keep_velocity_other = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE,
name="keep velocity other")
keep_velocity = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE,
name="keep velocity")
scenario_sequence.add_child(
ActorTransformSetter(self.other_actors[actor_dict.index],
actor_dict.start_transform,
name='TransformSetterTS3walker',
physics=False))
# scenario_sequence.add_child(HandBrakeVehicle(self.other_actors[actor_dict.index], True))
scenario_sequence.add_child(start_condition)
# scenario_sequence.add_child(HandBrakeVehicle(self.other_actors[actor_dict.index], False))
# scenario_sequence.add_child(keep_velocity)
scenario_sequence.add_child(keep_velocity_other)
scenario_sequence.add_child(actor_stop_cross_lane)
# keep_velocity.add_child(actor_velocity)
# keep_velocity.add_child(actor_drive)
keep_velocity_other.add_child(actor_start_cross_lane)
# keep_velocity_other.add_child(actor_cross_lane)
# keep_velocity_other.add_child(ego_pass_machine)
root.add_child(scenario_sequence)
return root