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)
prettyprint(axels.get_element())
def test_lane():
lane = pyodrx.Lane()
lane._set_lane_id(1)
prettyprint(lane.get_element())
lane = pyodrx.Lane(pyodrx.LaneType.driving,1,1,1,1,2)
lane._set_lane_id(1)
prettyprint(lane.get_element())
def test_properties():
prop = OSC.Properties()
prop.add_file('myprops.xml')
prettyprint(prop.get_element())
prop.add_property('mything', '2')
prettyprint(prop.get_element())
prop.add_property('theotherthing', 'true')
def test_maneuver():
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())
def test_connection():
con = pyodrx.Connection(1, 2, pyodrx.ContactPoint.start, 5)
con.add_lanelink(1, -1)
con.add_lanelink(2, -2)
prettyprint(con.get_element())
def test_links():
links = pyodrx.links._Links()
prettyprint(links.get_element())
link = pyodrx.links._Link('successor', '1')
links.add_link(link)
prettyprint(links.get_element())
def test_roadmark():
mark = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2)
prettyprint(mark.get_element())
mark = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2, 1, 1, 1,
pyodrx.MarkRule.no_passing,
pyodrx.RoadMarkColor.standard)
prettyprint(mark.get_element())
def test_roadline():
line = pyodrx.RoadLine()
prettyprint(line.get_element())
line = pyodrx.RoadLine(1, 2, 3, 5, 1, pyodrx.MarkRule.no_passing,
pyodrx.RoadMarkColor.standard)
prettyprint(line.get_element())
def test_controller():
prop = OSC.Properties()
prop.add_property('mything', '2')
prop.add_property('theotherthing', 'true')
cnt = OSC.Controller('mycontroler', prop)
prettyprint(cnt.get_element())
def test_lanelinker():
lane = pyodrx.Lane(a=3)
lane._set_lane_id(1)
lane.add_link('successor', '2')
prettyprint(lane.get_element())
def test_environmentaction():
tod = OSC.TimeOfDay(True,2020,10,1,18,30,30)
weather = OSC.Weather(OSC.CloudState.free,100,0,1,OSC.PrecipitationType.dry,1)
rc = OSC.RoadCondition(1)
env = OSC.Environment(tod,weather,rc)
ea = OSC.EnvironmentAction('myaction',env)
prettyprint(ea.get_element())
def test_poly3profileshape():
profile = xodr.elevation._Poly3Profile(0, 0, 0, 0, 0, 0)
prettyprint(profile.get_element('shape'))
profile = xodr.elevation._Poly3Profile(0, 0, 0, 0, 0)
with pytest.raises(ValueError):
prettyprint(profile.get_element('shape'))
def test_lanes():
centerlane = pyodrx.Lane()
ls = pyodrx.LaneSection(0,centerlane)
lanes = pyodrx.Lanes()
lanes.add_lanesection(ls)
lo = pyodrx.LaneOffset(0,1,2,3,4)
lanes.add_laneoffset(lo)
prettyprint(lanes.get_element())
def test_paramdeclaration():
pardec = OSC.ParameterDeclarations()
pardec.add_parameter(
OSC.Parameter('myparam1', OSC.ParameterType.integer, '1'))
pardec.add_parameter(
OSC.Parameter('myparam1', OSC.ParameterType.double, '0.01'))
prettyprint(pardec.get_element())
def test_conditiongroup():
condgr = OSC.ConditionGroup()
trig1 = OSC.EntityTrigger('firsttrigger',1,OSC.ConditionEdge.rising,OSC.RelativeDistanceCondition(10,OSC.Rule.greaterThan,OSC.RelativeDistanceType.longitudinal,'Ego'),'Target')
trig2 = OSC.EntityTrigger('secondtrigger',2,OSC.ConditionEdge.rising,OSC.SpeedCondition(2,OSC.Rule.equalTo),'Target')
condgr.add_condition(trig1)
condgr.add_condition(trig2)
prettyprint(condgr.get_element())
def test_polyline():
positionlist = []
positionlist.append(OSC.RelativeLanePosition(10, 0.5, -3, 'Ego'))
positionlist.append(OSC.RelativeLanePosition(10, 1, -3, 'Ego'))
positionlist.append(OSC.RelativeLanePosition(10, -1, -3, 'Ego'))
positionlist.append(OSC.RelativeLanePosition(10, 0, -3, 'Ego'))
prettyprint(positionlist[0].get_element())
polyline = OSC.Polyline([0, 0.5, 1, 1.5], positionlist)
prettyprint(polyline.get_element())
def test_trajectory():
positionlist = []
positionlist.append(OSC.RelativeLanePosition(10, 0.5, -3, 'Ego'))
positionlist.append(OSC.RelativeLanePosition(10, 1, -3, 'Ego'))
prettyprint(positionlist[0].get_element())
polyline = OSC.Polyline([0, 0.5], positionlist)
traj = OSC.Trajectory('my_trajectory', False)
traj.add_shape(polyline)
prettyprint(traj.get_element())
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_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_road_type():
rt = pyodrx.opendrive._Type(pyodrx.RoadType.motorway, 0, 'SE')
prettyprint(rt.get_element())
rt = pyodrx.opendrive._Type(pyodrx.RoadType.motorway,
0,
'SE',
speed='no limit')
prettyprint(rt.get_element())
def test_miscobj():
bb = OSC.BoundingBox(2, 5, 1.5, 1.5, 0, 0.2)
veh = OSC.MiscObject('mycar', 100, OSC.MiscObjectCategory.obstacle, bb)
prettyprint(veh.get_element())
veh.add_property_file('propfile.xml')
veh.add_property('myprop', '12')
param = OSC.Parameter('mypar', OSC.ParameterType.integer, '1')
veh.add_parameter(param)
prettyprint(veh.get_element())
def test_assign_controller_action():
prop = OSC.Properties()
prop.add_property('mything','2')
prop.add_property('theotherthing','true')
cnt = OSC.Controller('mycontroller',prop)
aca = OSC.AssignControllerAction(cnt)
prettyprint(aca.get_element())
def test_arc():
arc = pyodrx.Arc(1,length = 1)
p = arc.get_element()
prettyprint(p)
arc = pyodrx.Arc(1,angle = 1)
p = arc.get_element()
prettyprint(p)
def test_link():
link = pyodrx.links._Link('successor', '1')
prettyprint(link.get_element())
link = pyodrx.links._Link('successor',
'1',
element_type=pyodrx.ElementType.road,
contact_point=pyodrx.ContactPoint.start)
prettyprint(link.get_element())
def test_relativeobjectposition():
pos = OSC.RelativeObjectPosition('Ego', 1, 2, 0)
prettyprint(pos.get_element())
pos = OSC.RelativeObjectPosition('Target',
1,
2,
0,
orientation=OSC.Orientation(h=0.2))
prettyprint(pos.get_element())
def test_repeated_object():
object1 = pyodrx.Object(s=10.0,
t=-2,
dynamic=pyodrx.Dynamic.no,
orientation=pyodrx.Orientation.positive,
zOffset=0.00,
height=1.0,
Type=pyodrx.ObjectType.pole)
object1.repeat(100, 50)
road = pyodrx.create_straight_road(0)
road.add_object(object1)
prettyprint(road.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_pedestrian():
bb = OSC.BoundingBox(2, 5, 1.5, 1.5, 0, 0.2)
veh = OSC.Pedestrian('myped', 'ped', 100,
OSC.PedestrianCategory.pedestrian, bb)
prettyprint(veh.get_element())
veh.add_property_file('propfile.xml')
veh.add_property('myprop', '12')
param = OSC.Parameter('mypar', OSC.ParameterType.integer, '1')
veh.add_parameter(param)
prettyprint(veh.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')
prettyprint(entities.get_element())
def test_trafficdefinition():
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)
prettyprint(traffic.get_element())