def _build_background_scenario(self, world, ego_vehicle, town_name, timeout=300, debug_mode=False):
"""
Create the BackgroundActivity scenario
"""
scenario_configuration = ScenarioConfiguration()
scenario_configuration.route = None
scenario_configuration.town = town_name
model = 'vehicle.*'
transform = carla.Transform()
if town_name == 'Town01' or town_name == 'Town02':
amount = 120
elif town_name == 'Town03' or town_name == 'Town05':
amount = 120
elif town_name == 'Town04':
amount = 200
elif town_name == 'Town06' or town_name == 'Town07':
amount = 150
elif town_name == 'Town08':
amount = 180
elif town_name == 'Town09':
amount = 350
else:
amount = 0
actor_configuration_instance = ActorConfigurationData(
model, transform, rolename='background', autopilot=True, random=True, amount=amount)
scenario_configuration.other_actors = [actor_configuration_instance]
return BackgroundActivity(world, [ego_vehicle], scenario_configuration,
timeout=timeout, debug_mode=debug_mode)
def _build_master_scenario(self,
world,
ego_vehicle,
route,
town_name,
timeout=300,
debug_mode=False):
"""
Create the MasterScenario
"""
# We have to find the target.
# we also have to convert the route to the expected format
master_scenario_configuration = ScenarioConfiguration()
master_scenario_configuration.target = route[-1][
0] # Take the last point and add as target.
master_scenario_configuration.route = convert_transform_to_location(
route)
master_scenario_configuration.town = town_name
# TODO THIS NAME IS BIT WEIRD SINCE THE EGO VEHICLE IS ALREADY THERE, IT IS MORE ABOUT THE TRANSFORM
master_scenario_configuration.ego_vehicle = ActorConfigurationData(
'vehicle.lincoln.mkz2017', ego_vehicle.get_transform(), 'hero')
master_scenario_configuration.trigger_points = [
ego_vehicle.get_transform()
]
# Provide an initial blackboard entry to ensure all scenarios are running correctly
blackboard = py_trees.blackboard.Blackboard()
blackboard.set('master_scenario_command', 'scenarios_running')
return MasterScenario(world, [ego_vehicle],
master_scenario_configuration,
timeout=timeout,
debug_mode=debug_mode)
def _build_background(self, background_definition, timeout):
"""
Build background scenario. Adding pedestrians and vehicles wandering
around.
:param background_definition:
:param timeout:
:return:
"""
scenario_configuration = ScenarioConfiguration()
scenario_configuration.route = None
scenario_configuration.town = self._town_name
# TODO The random seed should be set.
# Also the crossing factor should be specified on the benchmark itself.
configuration_instances_vehicles = []
configuration_instances_walkers = []
# If there are walkers there should be cross factors otherwise it is 0
cross_factor = 0.0
if 'walker.*' in background_definition:
model = 'walker'
transform = carla.Transform()
autopilot = True
random_location = True
actor_configuration_instance = ActorConfigurationData(model, transform,
autopilot=autopilot,
random=random_location,
amount=int(
background_definition[
'walker.*']),
category='walker')
configuration_instances_walkers.append(actor_configuration_instance)
if "cross_factor" not in background_definition:
raise ValueError(" If there are walkers on the json file "
"background scenario there must also be a cross factor")
cross_factor = background_definition["cross_factor"]
if 'vehicle.*' in background_definition:
model = 'vehicle'
transform = carla.Transform()
autopilot = True
random_location = True
actor_configuration_instance = ActorConfigurationData(model, transform,
autopilot=autopilot,
random=random_location,
amount=int(background_definition[
"vehicle.*"]),
category='vehicle')
configuration_instances_vehicles.append(actor_configuration_instance)
scenario_configuration.other_actors = configuration_instances_vehicles + \
configuration_instances_walkers
return BackgroundActivity(self.world, self._ego_actor, scenario_configuration,
cross_factor=cross_factor,
timeout=timeout, debug_mode=False)
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_trafficlight_scenario(self, world, ego_vehicle, town_name, timeout=300, debug_mode=False):
"""
Create scenario for traffic light manipulation
"""
scenario_configuration = ScenarioConfiguration()
scenario_configuration.route = None
scenario_configuration.town = town_name
return TrafficLightScenario(world, [ego_vehicle], scenario_configuration,
timeout=timeout, debug_mode=debug_mode)
def build_master_scenario(self, route, town_name, timeout, terminate_on_collision):
# We have to find the target.
# we also have to convert the route to the expected format
master_scenario_configuration = ScenarioConfiguration()
master_scenario_configuration.target = route[-1][0] # Take the last point and add as target.
master_scenario_configuration.route = convert_transform_to_location(route)
master_scenario_configuration.town = town_name
master_scenario_configuration.ego_vehicle = ActorConfigurationData('vehicle.lincoln.mkz2017',
self._ego_actor.get_transform())
master_scenario_configuration.trigger_point = self._ego_actor.get_transform()
CarlaDataProvider.register_actor(self._ego_actor)
return MasterScenario(self.world, [self._ego_actor], master_scenario_configuration,
timeout=timeout, terminate_on_collision=terminate_on_collision)
def _build_background_scenario(self,
world,
ego_vehicle,
town_name,
timeout=300,
debug_mode=False):
"""
Create the BackgroundActivity scenario
"""
scenario_configuration = ScenarioConfiguration()
scenario_configuration.route = None
scenario_configuration.town = town_name
return BackgroundActivity(world, [ego_vehicle],
scenario_configuration,
timeout=timeout,
debug_mode=debug_mode)