def test_storyboard_act_input(): egoname = "Ego" targetname = "target" init = OSC.Init() step_time = OSC.TransitionDynamics(OSC.DynamicsShapes.step, OSC.DynamicsDimension.time, 1) egospeed = OSC.AbsoluteSpeedAction(0, step_time) egostart = OSC.TeleportAction(OSC.LanePosition(25, 0, -3, 0)) targetspeed = OSC.AbsoluteSpeedAction(0, step_time) targetstart = OSC.TeleportAction(OSC.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 = OSC.TimeHeadwayCondition(targetname,0.1,OSC.Rule.greaterThan) # trigger = OSC.EntityTrigger('mytesttrigger',0.2,OSC.ConditionEdge.rising,trigcond,egoname) trigger = OSC.ValueTrigger( 'starttrigger', 0, OSC.ConditionEdge.rising, OSC.SimulationTimeCondition(3, OSC.Rule.greaterThan)) event = OSC.Event('myfirstevent', OSC.Priority.overwrite) event.add_trigger(trigger) # sin_time = OSC.TransitionDynamics(OSC.DynamicsShapes.linear,OSC.DynamicsDimension.time,3) action = OSC.LongitudinalDistanceAction(-4, egoname, max_deceleration=3, max_speed=50) event.add_action('newspeed', action) ## create the act, man = OSC.Maneuver('my_maneuver') man.add_event(event) mangr = OSC.ManeuverGroup('mangroup') mangr.add_actor(targetname) mangr.add_maneuver(man) starttrigger = OSC.ValueTrigger( 'starttrigger', 0, OSC.ConditionEdge.rising, OSC.SimulationTimeCondition(0, OSC.Rule.greaterThan)) act = OSC.Act('my_act', starttrigger) act.add_maneuver_group(mangr) ## create the storyboard sb = OSC.StoryBoard(init) sb.add_act(act) prettyprint(sb.get_element())
def test_actandstory(): 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())
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())
'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) ## create an event for the yellow car y_trigcond = xosc.TimeHeadwayCondition(redname, 0.5, xosc.Rule.greaterThan) y_trigger = xosc.EntityTrigger('yellow_trigger', 0, xosc.ConditionEdge.rising, y_trigcond, yelname) y_event = xosc.Event('yellow_lanechange', xosc.Priority.overwrite) y_event.add_trigger(y_trigger) y_event.add_action( 'lane_change_yellow', xosc.AbsoluteLaneChangeAction(
trajact = xosc.FollowTrajectoryAction(traj, xosc.FollowMode.position, xosc.ReferenceContext.relative, 1, 0) event.add_action('newspeed', trajact) ## create the act man = xosc.Maneuver('my_maneuver') man.add_event(event) mangr = xosc.ManeuverGroup('mangroup') mangr.add_actor('$owner') mangr.add_maneuver(man) starttrigger = xosc.ValueTrigger( 'starttrigger', 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan)) act = xosc.Act('my_act', starttrigger) act.add_maneuver_group(mangr) ## create the story storyparam = xosc.ParameterDeclarations() storyparam.add_parameter( xosc.Parameter('$owner', xosc.ParameterType.string, targetname)) story = xosc.Story('mystory', storyparam) story.add_act(act) ## create the storyboard sb = xosc.StoryBoard(init) sb.add_story(story) ## create the scenario sce = xosc.Scenario('trajectory_example',
def CCRm(ego_speedvalue, offset): # create empty catalog catalog = xosc.Catalog() # add straight road road = xosc.RoadNetwork(roadfile='../xodr/straight_500m.xodr', scenegraph='../models/straight_500m.osgb') # create empty paramdeclaration paramdec = xosc.ParameterDeclarations() egoname = 'Ego' targetname = 'Target1' ### create vehicles ego_width = 2 target_width = 1.8 bb = xosc.BoundingBox(ego_width, 5, 1.8, 2.0, 0, 0.9) fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4) ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4) white_veh = xosc.Vehicle('car_white', xosc.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 = xosc.BoundingBox(target_width, 4.5, 1.5, 1.3, 0, 0.8) fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4) ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4) red_veh = xosc.Vehicle('car_red', xosc.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 = xosc.Entities() entities.add_scenario_object(egoname, white_veh) entities.add_scenario_object(targetname, red_veh) # create init (0 starting speed) init = xosc.Init() step_time = xosc.TransitionDynamics(xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1) # caluclate correct offset based on target vehicle width cal_offset = offset / 100 * target_width egospeed = xosc.AbsoluteSpeedAction(0, step_time) egostart = xosc.TeleportAction(xosc.LanePosition(25, cal_offset, -1, 1)) startpos = 25 + (ego_speedvalue - 20) / 3.6 * (acceleration_time + ttc_at_speed) targetspeed = xosc.AbsoluteSpeedAction(0, step_time) targetstart = xosc.TeleportAction(xosc.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 = xosc.ValueTrigger( 'starttrigger', 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(1, xosc.Rule.greaterThan)) # accelerate cars to wanted velocity eventego = xosc.Event('egospeedchange', xosc.Priority.overwrite) eventego.add_trigger(trigger) ego_action = xosc.AbsoluteSpeedAction( ego_speedvalue / 3.6, xosc.TransitionDynamics(xosc.DynamicsShapes.linear, xosc.DynamicsDimension.time, acceleration_time)) eventego.add_action('newspeed', ego_action) event_tar = xosc.Event('targetspeedchange', xosc.Priority.overwrite) event_tar.add_trigger(trigger) target_action = xosc.AbsoluteSpeedAction( 20 / 3.6, xosc.TransitionDynamics(xosc.DynamicsShapes.linear, xosc.DynamicsDimension.time, acceleration_time)) event_tar.add_action('targetspeed', target_action) # create maneuvers/maneuvergroups ego_man = xosc.Maneuver('ego man') ego_man.add_event(eventego) tar_man = xosc.Maneuver('target man') tar_man.add_event(event_tar) egomangr = xosc.ManeuverGroup('egomangr') egomangr.add_actor(egoname) egomangr.add_maneuver(ego_man) tarmangr = xosc.ManeuverGroup('tarmangr') tarmangr.add_actor(targetname) tarmangr.add_maneuver(tar_man) # create act act = xosc.Act( 'ccrm act', xosc.ValueTrigger( 'starttrigger', 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan))) act.add_maneuver_group(egomangr) act.add_maneuver_group(tarmangr) # create story story = xosc.Story('mystory') story.add_act(act) ## create the storyboard sb = xosc.StoryBoard( init, xosc.ValueTrigger( 'stop_simulation', 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(ttc_at_speed * 2 + acceleration_time, xosc.Rule.greaterThan), 'stop')) sb.add_story(story) ## create and return the scenario sce = xosc.Scenario('CCRm_v: ' + str(ego_speedvalue) + ', offset: ' + str(offset), 'Mandolin', paramdec, entities=entities, storyboard=sb, roadnetwork=road, catalog=catalog) return sce
tar_action = xosc.AbsoluteSynchronizeAction(egoname,xosc.LanePosition(200,0,-1,0),xosc.LanePosition(200,0,-2,0),10,target_tolerance_master=1,target_tolerance=1) tar_event = xosc.Event('target_event',xosc.Priority.overwrite) tar_event.add_trigger(xosc.ValueTrigger('ego_start',0,xosc.ConditionEdge.none,xosc.SimulationTimeCondition(3,xosc.Rule.greaterThan))) tar_event.add_action('tar_action',tar_action) tar_man = xosc.Maneuver('target_man') tar_man.add_event(tar_event) tar_man_gr = xosc.ManeuverGroup('target_man_gr') tar_man_gr.add_maneuver(tar_man) tar_man_gr.add_actor(targetname) ## act act = xosc.Act('myact',xosc.ValueTrigger('start',0,xosc.ConditionEdge.none,xosc.SimulationTimeCondition(0,xosc.Rule.greaterThan))) act.add_maneuver_group(tar_man_gr) ## create the storyboard sb = xosc.StoryBoard(init,xosc.ValueTrigger('stop_simulation',0,xosc.ConditionEdge.rising,xosc.SimulationTimeCondition(20,xosc.Rule.greaterThan),'stop')) sb.add_act(act) ## create the scenario sce = xosc.Scenario('adaptspeed_example','User',paramdec,entities=entities,storyboard = sb,roadnetwork=road,catalog=catalog) # Print the resulting xml prettyprint(sce.get_element()) # write the OpenSCENARIO file as xosc using current script name
catalog.add_catalog('VehicleCatalog','../xosc/Catalogs/Vehicles') ### create road road = xosc.RoadNetwork(roadfile='../xodr/straight_500m.xodr',scenegraph='../models/straight_500m.osgb') ### create parameters paramdec = xosc.ParameterDeclarations() ## loop to create cars, init and their reset actions egoname = 'Ego' targetname = 'Target' entities = xosc.Entities() init = xosc.Init() act = xosc.Act('indef traffic') for i in range(20): entities.add_scenario_object(targetname+str(i),xosc.CatalogReference('VehicleCatalog','car_yellow')) init.add_init_action(targetname+str(i),xosc.TeleportAction(xosc.LanePosition(100+i*20,0,-1,1))) init.add_init_action(targetname+str(i),xosc.AbsoluteSpeedAction(60,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1))) event = xosc.Event('speedchange',xosc.Priority.overwrite,maxexecution=10) event.add_action('restart',xosc.TeleportAction(xosc.LanePosition(0,0,-1,1))) trig_cond = xosc.EndOfRoadCondition(0) event.add_trigger(xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.rising,trig_cond,targetname+str(i))) man = xosc.Maneuver('mymaneuver')
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())