def _build_scenario_instances(self, world, ego_vehicle, scenario_definitions, town, scenarios_per_tick=5, timeout=300, debug_mode=False): """ Based on the parsed route and possible scenarios, build all the scenario classes. """ scenario_instance_vec = [] if debug_mode: for scenario in scenario_definitions: loc = carla.Location(scenario['trigger_position']['x'], scenario['trigger_position']['y'], scenario['trigger_position']['z']) + carla.Location(z=2.0) world.debug.draw_point(loc, size=1.0, color=carla.Color(255, 0, 0), life_time=100000) world.debug.draw_string(loc, str(scenario['name']), draw_shadow=False, color=carla.Color(0, 0, 255), life_time=100000, persistent_lines=True) for scenario_number, definition in enumerate(scenario_definitions): # Get the class possibilities for this scenario number scenario_class = NUMBER_CLASS_TRANSLATION[definition['name']] # Create the other actors that are going to appear if definition['other_actors'] is not None: list_of_actor_conf_instances = self._get_actors_instances(definition['other_actors']) else: list_of_actor_conf_instances = [] # Create an actor configuration for the ego-vehicle trigger position egoactor_trigger_position = convert_json_to_transform(definition['trigger_position']) scenario_configuration = ScenarioConfiguration() scenario_configuration.other_actors = list_of_actor_conf_instances scenario_configuration.town = town scenario_configuration.trigger_points = [egoactor_trigger_position] scenario_configuration.subtype = definition['scenario_type'] scenario_configuration.ego_vehicles = [ActorConfigurationData('vehicle.lincoln.mkz2017', ego_vehicle.get_transform(), 'hero')] route_var_name = "ScenarioRouteNumber{}".format(scenario_number) scenario_configuration.route_var_name = route_var_name try: scenario_instance = scenario_class(world, [ego_vehicle], scenario_configuration, criteria_enable=False, timeout=timeout) # Do a tick every once in a while to avoid spawning everything at the same time if scenario_number % scenarios_per_tick == 0: sync_mode = world.get_settings().synchronous_mode if sync_mode: world.tick() else: world.wait_for_tick() scenario_number += 1 except Exception as e: # pylint: disable=broad-except if debug_mode: traceback.print_exc() print("Skipping scenario '{}' due to setup error: {}".format(definition['name'], e)) continue scenario_instance_vec.append(scenario_instance) return scenario_instance_vec
def parse_scenario_configuration(scenario_config_file, scenario_name): """ Parse scenario configuration file and provide a list of ScenarioConfigurations @return If scenario_name starts with "group:" all scenarios within the config file will be returned. Otherwise only the scenario, that matches the scenario_name. """ single_scenario_only = True if scenario_name.startswith("group:"): single_scenario_only = False scenario_name = scenario_name[6:] tree = ET.parse(scenario_config_file) scenario_configurations = [] for scenario in tree.iter("scenario"): new_config = ScenarioConfiguration() new_config.town = scenario.attrib.get('town', None) new_config.name = scenario.attrib.get('name', None) new_config.type = scenario.attrib.get('type', None) new_config.other_actors = [] new_config.ego_vehicles = [] new_config.trigger_points = [] for weather in scenario.iter("weather"): new_config.weather.cloudiness = float(weather.attrib.get("cloudiness", 0)) new_config.weather.precipitation = float(weather.attrib.get("precipitation", 0)) new_config.weather.precipitation_deposits = float(weather.attrib.get("precipitation_deposits", 0)) new_config.weather.wind_intensity = float(weather.attrib.get("wind_intensity", 0.35)) new_config.weather.sun_azimuth_angle = float(weather.attrib.get("sun_azimuth_angle", 0.0)) new_config.weather.sun_altitude_angle = float(weather.attrib.get("sun_altitude_angle", 15.0)) for ego_vehicle in scenario.iter("ego_vehicle"): new_config.ego_vehicles.append(ActorConfiguration(ego_vehicle, 'hero')) new_config.trigger_points.append(new_config.ego_vehicles[-1].transform) for target in scenario.iter("target"): new_config.target = TargetConfiguration(target) for route in scenario.iter("route"): route_conf = RouteConfiguration() route_conf.parse_xml(route) new_config.route = route_conf for other_actor in scenario.iter("other_actor"): new_config.other_actors.append(ActorConfiguration(other_actor, 'scenario')) if single_scenario_only: if new_config.name == scenario_name: scenario_configurations.append(new_config) else: scenario_configurations.append(new_config) return scenario_configurations
def _build_scenario_instances(self, world, ego_vehicle, scenario_definitions, town, timeout=300, debug_mode=False): """ Based on the parsed route and possible scenarios, build all the scenario classes. """ scenario_instance_vec = [] if debug_mode: for scenario in scenario_definitions: loc = carla.Location( scenario['trigger_position']['x'], scenario['trigger_position']['y'], scenario['trigger_position']['z']) + carla.Location(z=2.0) world.debug.draw_point(loc, size=1.0, color=carla.Color(255, 0, 0), life_time=100000) world.debug.draw_string(loc, str(scenario['name']), draw_shadow=False, color=carla.Color(0, 0, 255), life_time=100000, persistent_lines=True) for definition in scenario_definitions: # Get the class possibilities for this scenario number possibility_vec = NUMBER_CLASS_TRANSLATION[definition['name']] scenario_class = possibility_vec[definition['type']] # Create the other actors that are going to appear if definition['other_actors'] is not None: list_of_actor_conf_instances = self._get_actors_instances( definition['other_actors']) else: list_of_actor_conf_instances = [] # Create an actor configuration for the ego-vehicle trigger position egoactor_trigger_position = convert_json_to_transform( definition['trigger_position']) scenario_configuration = ScenarioConfiguration() scenario_configuration.other_actors = list_of_actor_conf_instances scenario_configuration.town = town scenario_configuration.trigger_points = [egoactor_trigger_position] scenario_configuration.ego_vehicles = [ ActorConfigurationData('vehicle.lincoln.mkz2017', ego_vehicle.get_transform(), 'hero') ] try: scenario_instance = scenario_class(world, [ego_vehicle], scenario_configuration, criteria_enable=False, timeout=timeout) except Exception as e: print("Skipping scenario '{}' due to setup error: {}".format( definition['name'], e)) continue scenario_instance_vec.append(scenario_instance) return scenario_instance_vec