def test_axels():
fa = OSC.Axle(2,2,2,1,1)
ra = OSC.Axle(1,1,2,1,1)
aa = OSC.Axle(1,1,2,1,1)
axels = OSC.Axles(fa,ra)
axels.add_axle(aa)
OSC.prettyprint(axels.get_element())
def test_entities():
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)
entities.add_entity_bytype('Target_2',OSC.ObjectType.vehicle)
entities.add_entity_byref('Target_3','something')
OSC.prettyprint(entities.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)
OSC.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)
OSC.prettyprint(veh.get_element())
def test_creating_new_catalog():
cf = OSC.CatalogFile()
cf.create_catalog('my_catalog.xml', 'VehicleCatalog',
'My first vehicle catalog', 'Mandolin')
bb = OSC.BoundingBox(2, 5, 1.8, 2.0, 0, 0.9)
fa = OSC.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4)
ba = OSC.Axle(0.523598775598, 0.8, 1.68, 0, 0.4)
white_veh = OSC.Vehicle('car_white', OSC.VehicleCategory.car, bb, fa, ba,
69, 10, 10)
white_veh.add_property_file('../models/car_white.osgb')
white_veh.add_property('control', 'internal')
white_veh.add_property('model_id', '0')
cf.add_to_catalog(white_veh)
OSC.prettyprint(cf.catalog_element)
def test_controller_in_Entities():
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)
prop = OSC.Properties()
prop.add_property('mything','2')
prop.add_property('theotherthing','true')
cnt = OSC.Controller('mycontroler',prop)
entities = OSC.Entities()
entities.add_scenario_object('Ego',veh)
entities.add_scenario_object('Target_1',veh,cnt)
entities.add_entity_bytype('Target_2',OSC.ObjectType.vehicle)
entities.add_entity_byref('Target_3','something')
OSC.prettyprint(entities.get_element())
OSC.prettyprint(veh.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)
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.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)
OSC.prettyprint(sce.get_element())
### create road
road = pyoscx.RoadNetwork(roadfile='../xodr/e6mini.xodr',scenegraph='../models/e6mini.osgb')
### create parameters
paramdec = pyoscx.ParameterDeclarations()
paramdec.add_parameter(pyoscx.Parameter('$HostVehicle',pyoscx.ParameterType.string,'car_white'))
paramdec.add_parameter(pyoscx.Parameter('$TargetVehicle',pyoscx.ParameterType.string,'car_red'))
bb = pyoscx.BoundingBox(2,5,1.8,2.0,0,0.9)
fa = pyoscx.Axle(0.523598775598,0.8,1.68,2.98,0.4)
ba = pyoscx.Axle(0.523598775598,0.8,1.68,0,0.4)
white_veh = pyoscx.Vehicle('car_white',pyoscx.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 = pyoscx.BoundingBox(1.8,4.5,1.5,1.3,0,0.8)
fa = pyoscx.Axle(0.523598775598,0.8,1.68,2.98,0.4)
ba = pyoscx.Axle(0.523598775598,0.8,1.68,0,0.4)
red_veh = pyoscx.Vehicle('car_red',pyoscx.VehicleCategory.car,bb,fa,ba,69,10,10)
red_veh.add_property_file('../models/car_red.osgb')
red_veh.add_property('model_id','2')
def CCRb(distance, decelleration):
# create empty catalog
catalog = pyoscx.Catalog()
# add straight road
road = pyoscx.RoadNetwork(roadfile='../xodr/straight_500m.xodr',
scenegraph='../models/straight_500m.osgb')
# create empty paramdeclaration
paramdec = pyoscx.ParameterDeclarations()
egoname = 'Ego'
targetname = 'Target1'
### create vehicles
ego_width = 2
target_width = 1.8
bb = pyoscx.BoundingBox(ego_width, 5, 1.8, 2.0, 0, 0.9)
fa = pyoscx.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4)
ba = pyoscx.Axle(0.523598775598, 0.8, 1.68, 0, 0.4)
white_veh = pyoscx.Vehicle('car_white', pyoscx.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 = pyoscx.BoundingBox(target_width, 4.5, 1.5, 1.3, 0, 0.8)
fa = pyoscx.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4)
ba = pyoscx.Axle(0.523598775598, 0.8, 1.68, 0, 0.4)
red_veh = pyoscx.Vehicle('car_red', pyoscx.VehicleCategory.car, bb, fa, ba,
69, 10, 10)
red_veh.add_property_file('../models/car_red.osgb')
red_veh.add_property('model_id', '2')
## create entities
entities = pyoscx.Entities()
entities.add_scenario_object(egoname, white_veh)
entities.add_scenario_object(targetname, red_veh)
# create init (0 starting speed)
init = pyoscx.Init()
step_time = pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 1)
# caluclate correct offset based on target vehicle width
cal_offset = 0
egospeed = pyoscx.AbsoluteSpeedAction(0, step_time)
egostart = pyoscx.TeleportAction(pyoscx.LanePosition(
25, cal_offset, -1, 1))
targetspeed = pyoscx.AbsoluteSpeedAction(0, step_time)
targetstart = pyoscx.TeleportAction(
pyoscx.LanePosition(25 + distance, 0, -1, 1))
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 start trigger
trigger = pyoscx.ValueTrigger(
'starttrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(1, pyoscx.Rule.greaterThan))
# accelerate cars to wanted velocity
eventego = pyoscx.Event('egospeedchange', pyoscx.Priority.overwrite)
eventego.add_trigger(trigger)
ego_action = pyoscx.AbsoluteSpeedAction(
50 / 3.6,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,
pyoscx.DynamicsDimension.time,
acceleration_time))
eventego.add_action('newspeed', ego_action)
event_tar = pyoscx.Event('targetspeedchange', pyoscx.Priority.overwrite)
event_tar.add_trigger(trigger)
target_action = pyoscx.LongitudinalDistanceAction(-distance, egoname)
event_tar.add_action('targetspeed', target_action)
# trigger here could be changed to speed but tested for esmini at the point where speed condition was not implemented
target_slowingdown_trigger = pyoscx.ValueTrigger(
'slowingdowntrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(6, pyoscx.Rule.greaterThan))
target_slowingdown_action = pyoscx.AbsoluteSpeedAction(
0,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,
pyoscx.DynamicsDimension.rate,
abs(decelleration)))
event_tar_slowdown = pyoscx.Event('target slowing down',
pyoscx.Priority.overwrite)
event_tar_slowdown.add_trigger(target_slowingdown_trigger)
event_tar_slowdown.add_action('slowdownaction', target_slowingdown_action)
# create maneuvers/maneuvergroups
ego_man = pyoscx.Maneuver('ego man')
ego_man.add_event(eventego)
tar_man = pyoscx.Maneuver('target man')
tar_man.add_event(event_tar)
tar_man.add_event(event_tar_slowdown)
egomangr = pyoscx.ManeuverGroup('egomangr')
egomangr.add_actor(egoname)
egomangr.add_maneuver(ego_man)
tarmangr = pyoscx.ManeuverGroup('tarmangr')
tarmangr.add_actor(targetname)
tarmangr.add_maneuver(tar_man)
# create act
act = pyoscx.Act(
'ccrm act',
pyoscx.ValueTrigger(
'starttrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(0, pyoscx.Rule.greaterThan)))
act.add_maneuver_group(egomangr)
act.add_maneuver_group(tarmangr)
# create story
story = pyoscx.Story('mystory')
story.add_act(act)
## create the storyboard
sb = pyoscx.StoryBoard(
init,
pyoscx.ValueTrigger(
'stop_simulation', 2, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(
acceleration_time +
np.ceil(np.sqrt(2 * distance / abs(decelleration))) +
distance / 50, pyoscx.Rule.greaterThan), 'stop'))
sb.add_story(story)
## create and return the scenario
sce = pyoscx.Scenario('CCRb, distance: ' + str(distance) +
', decelleration: ' + str(decelleration),
'Mandolin',
paramdec,
entities=entities,
storyboard=sb,
roadnetwork=road,
catalog=catalog)
return sce
def test_axel():
ba = OSC.Axle(1,1,2,1,1)
OSC.prettyprint(ba.get_element())
def CCRs(ego_speedvalue, offset):
# create empty catalog
catalog = pyoscx.Catalog()
# add straight road
road = pyoscx.RoadNetwork(roadfile='../xodr/straight_500m.xodr',
scenegraph='../models/straight_500m.osgb')
# create empty paramdeclaration
paramdec = pyoscx.ParameterDeclarations()
egoname = 'Ego'
targetname = 'Target1'
### create vehicles
ego_width = 2
target_width = 1.8
bb = pyoscx.BoundingBox(ego_width, 5, 1.8, 2.0, 0, 0.9)
fa = pyoscx.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4)
ba = pyoscx.Axle(0.523598775598, 0.8, 1.68, 0, 0.4)
white_veh = pyoscx.Vehicle('car_white', pyoscx.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 = pyoscx.BoundingBox(target_width, 4.5, 1.5, 1.3, 0, 0.8)
fa = pyoscx.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4)
ba = pyoscx.Axle(0.523598775598, 0.8, 1.68, 0, 0.4)
red_veh = pyoscx.Vehicle('car_red', pyoscx.VehicleCategory.car, bb, fa, ba,
69, 10, 10)
red_veh.add_property_file('../models/car_red.osgb')
red_veh.add_property('model_id', '2')
## create entities
entities = pyoscx.Entities()
entities.add_scenario_object(egoname, white_veh)
entities.add_scenario_object(targetname, red_veh)
# create init (0 starting speed)
init = pyoscx.Init()
step_time = pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 1)
# caluclate correct offset based on target vehicle width
cal_offset = offset / 100 * target_width
egospeed = pyoscx.AbsoluteSpeedAction(0, step_time)
egostart = pyoscx.TeleportAction(pyoscx.LanePosition(
25, cal_offset, -1, 1))
startpos = 25 + ego_speedvalue / 3.6 * (acceleration_time + ttc_at_speed)
targetspeed = pyoscx.AbsoluteSpeedAction(0, step_time)
targetstart = pyoscx.TeleportAction(pyoscx.LanePosition(
startpos, 0, -1, 1))
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 start trigger
trigger = pyoscx.ValueTrigger(
'starttrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(1, pyoscx.Rule.greaterThan))
# accelerate cars to wanted velocity
eventego = pyoscx.Event('egospeedchange', pyoscx.Priority.overwrite)
eventego.add_trigger(trigger)
ego_action = pyoscx.AbsoluteSpeedAction(
ego_speedvalue / 3.6,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,
pyoscx.DynamicsDimension.time,
acceleration_time))
eventego.add_action('newspeed', ego_action)
# create maneuvers/maneuvergroups
ego_man = pyoscx.Maneuver('ego man')
ego_man.add_event(eventego)
egomangr = pyoscx.ManeuverGroup('egomangr')
egomangr.add_actor(egoname)
egomangr.add_maneuver(ego_man)
# create act
act = pyoscx.Act(
'ccrm act',
pyoscx.ValueTrigger(
'starttrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(0, pyoscx.Rule.greaterThan)))
act.add_maneuver_group(egomangr)
# create story
story = pyoscx.Story('mystory')
story.add_act(act)
## create the storyboard
sb = pyoscx.StoryBoard(
init,
pyoscx.ValueTrigger(
'stop_simulation', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(
ttc_at_speed * 2 + acceleration_time, pyoscx.Rule.greaterThan),
'stop'))
sb.add_story(story)
## create and return the scenario
sce = pyoscx.Scenario('CCRs v: ' + str(ego_speedvalue) + ', offset: ' +
str(offset),
'Mandolin',
paramdec,
entities=entities,
storyboard=sb,
roadnetwork=road,
catalog=catalog)
return sce