def scenario(self, **kwargs):
road = xosc.RoadNetwork(self.road_file)
egoname = 'Ego'
entities = xosc.Entities()
entities.add_scenario_object(
egoname, xosc.CatalogReference('VehicleCatalog', 'car_white'))
catalog = xosc.Catalog()
catalog.add_catalog('VehicleCatalog', '../xosc/Catalogs/Vehicles')
init = xosc.Init()
init.add_init_action(
egoname, xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0)))
init.add_init_action(
egoname,
xosc.AbsoluteSpeedAction(
kwargs['speed'],
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)))
event = xosc.Event('my event', xosc.Priority.overwrite)
event.add_action(
'lane change',
xosc.AbsoluteLaneChangeAction(
-1,
xosc.TransitionDynamics(xosc.DynamicsShapes.sinusoidal,
xosc.DynamicsDimension.time, 4)))
event.add_trigger(
xosc.ValueTrigger(
'start_trigger ', 0, xosc.ConditionEdge.none,
xosc.SimulationTimeCondition(4, xosc.Rule.greaterThan)))
man = xosc.Maneuver('maneuver')
man.add_event(event)
sb = xosc.StoryBoard(init,
stoptrigger=xosc.ValueTrigger(
'start_trigger ', 0, xosc.ConditionEdge.none,
xosc.SimulationTimeCondition(
13, xosc.Rule.greaterThan), 'stop'))
sb.add_maneuver(man, egoname)
sce = xosc.Scenario('my scenario', 'Mandolin',
xosc.ParameterDeclarations(), entities, sb, road,
catalog)
return sce
xosc.TeleportAction(xosc.LanePosition(15, 0, -2, 0)))
init.add_init_action(yelname, xosc.AbsoluteSpeedAction(30, step_time))
init.add_init_action(yelname,
xosc.TeleportAction(xosc.LanePosition(35, 0, -4, 0)))
### create an event for the red car
r_trigcond = xosc.TimeHeadwayCondition(redname, 0.1, xosc.Rule.greaterThan)
r_trigger = xosc.EntityTrigger('redtrigger', 0.2, xosc.ConditionEdge.rising,
r_trigcond, egoname)
r_event = xosc.Event('first_lane_change', xosc.Priority.overwrite)
r_event.add_trigger(r_trigger)
r_event.add_action(
'lane_change_red',
xosc.AbsoluteLaneChangeAction(
-4,
xosc.TransitionDynamics(xosc.DynamicsShapes.sinusoidal,
xosc.DynamicsDimension.time, 4)))
## create the act for the red car
r_man = xosc.Maneuver('red_maneuver')
r_man.add_event(r_event)
r_mangr = xosc.ManeuverGroup('mangroup_red')
r_mangr.add_actor(redname)
r_mangr.add_maneuver(r_man)
act = xosc.Act(
'red_act',
xosc.ValueTrigger('starttrigger', 0, xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan)))
act.add_maneuver_group(r_mangr)
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_lanechange_abs():
lanechange = OSC.AbsoluteLaneChangeAction(1,TD)
prettyprint(lanechange.get_element())
headway_trigger = xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.none,headway_cond,egoname)
collision_trigger = xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.none,ttc_cond,egoname)
#create the "and" logic
sc_group = xosc.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 = xosc.Event('lanechange',xosc.Priority.overwrite)
lane_change_event.add_action('lanechangeaction',xosc.AbsoluteLaneChangeAction(-3,xosc.TransitionDynamics(xosc.DynamicsShapes.sinusoidal,xosc.DynamicsDimension.time,3)))
# create two separate condition groups
headway_cond_2 = xosc.TimeHeadwayCondition(speedyname,1,xosc.Rule.greaterThan)
headway_trigger_2 = xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.none,headway_cond_2,egoname)
ttc_cond_2 = xosc.TimeToCollisionCondition(3,xosc.Rule.lessThan,entity=targetname)
collision_trigger_2 = xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.none,ttc_cond_2,egoname)
lc_group = xosc.ConditionGroup()
lc_group.add_condition(headway_trigger_2)
lc_group.add_condition(collision_trigger_2)
lane_change_event.add_trigger(lc_group)