def __init__(self, actor, control_py_module, args, scenario_file_path):
# use importlib to import the control module
if not control_py_module:
if isinstance(actor, carla.Walker):
self.control_instance = PedestrianControl(actor)
elif isinstance(actor, carla.Vehicle):
self.control_instance = NpcVehicleControl(actor)
else:
# use ExternalControl for all misc objects to handle all actors the same way
self.control_instance = ExternalControl(actor)
else:
if scenario_file_path:
sys.path.append(scenario_file_path)
if ".py" in control_py_module:
module_name = os.path.basename(control_py_module).split('.')[0]
sys.path.append(os.path.dirname(control_py_module))
module_control = importlib.import_module(module_name)
control_class_name = module_control.__name__.title().replace('_', '')
else:
sys.path.append(os.path.dirname(__file__))
module_control = importlib.import_module(control_py_module)
control_class_name = control_py_module.split('.')[-1].title().replace('_', '')
self.control_instance = getattr(module_control, control_class_name)(actor, args)
class ActorControl(object):
"""
This class provides a wrapper (access mechanism) for user-defined actor controls.
The controllers are loaded via importlib. Therefore, the module name of the controller
has to match the control class name (e.g. my_own_control.py and MyOwnControl()).
At the moment only controllers implemented in Python are supported, or controllers that
are completely implemented outside of ScenarioRunner (see ExternalControl).
This wrapper is for example used to realize the OpenSCENARIO controllers.
Note:
If no controllers are provided in OpenSCENARIO a default controller for vehicles and
pedestrians is instantiated. For vehicles the NpcVehicleControl is used, for pedestrians
it is the PedestrianControl.
Args:
actor (carla.Actor): Actor that should be controlled by the controller.
control_py_module (string): Fully qualified path to the controller python module.
args (dict): A dictionary containing all parameters of the controller as (key, value) pairs.
scenario_file_path (string): Path to search for the controller implementation.
Attributes:
control_instance: Instance of the user-defined controller.
_last_longitudinal_command: Timestamp of the last issued longitudinal control command (e.g. target speed).
Defaults to None. Used to avoid that 2 longitudinal control commands are issued at the same time.
_last_waypoint_command: Timestamp of the last issued waypoint control command.
Defaults to None. Used to avoid that 2 waypoint control commands are issued at the same time.
"""
control_instance = None
_last_longitudinal_command = None
_last_waypoint_command = None
_last_lane_offset_command = None
def __init__(self, actor, control_py_module, args, scenario_file_path):
# use importlib to import the control module
if not control_py_module:
if isinstance(actor, carla.Walker):
self.control_instance = PedestrianControl(actor)
elif isinstance(actor, carla.Vehicle):
self.control_instance = NpcVehicleControl(actor)
else:
# use ExternalControl for all misc objects to handle all actors the same way
self.control_instance = ExternalControl(actor)
else:
if scenario_file_path:
sys.path.append(scenario_file_path)
if ".py" in control_py_module:
module_name = os.path.basename(control_py_module).split('.')[0]
sys.path.append(os.path.dirname(control_py_module))
module_control = importlib.import_module(module_name)
control_class_name = module_control.__name__.title().replace('_', '')
else:
sys.path.append(os.path.dirname(__file__))
module_control = importlib.import_module(control_py_module)
control_class_name = control_py_module.split('.')[-1].title().replace('_', '')
self.control_instance = getattr(module_control, control_class_name)(actor, args)
def reset(self):
"""
Reset the controller
"""
self.control_instance.reset()
def update_target_speed(self, target_speed, start_time=None):
"""
Update the actor's target speed.
Args:
target_speed (float): New target speed [m/s].
start_time (float): Start time of the new "maneuver" [s].
"""
self.control_instance.update_target_speed(target_speed)
if start_time:
self._last_longitudinal_command = start_time
def update_waypoints(self, waypoints, start_time=None):
"""
Update the actor's waypoints
Args:
waypoints (List of carla.Transform): List of new waypoints.
start_time (float): Start time of the new "maneuver" [s].
"""
self.control_instance.update_waypoints(waypoints)
if start_time:
self._last_waypoint_command = start_time
def update_offset(self, offset, start_time=None):
"""
Update the actor's offset
Args:
offset (float): Value of the new offset.
start_time (float): Start time of the new "maneuver" [s].
"""
self.control_instance.update_offset(offset)
if start_time:
self._last_waypoint_command = start_time
self._last_lane_offset_command = start_time
def check_reached_waypoint_goal(self):
"""
Check if the actor reached the end of the waypoint list
returns:
True if the end was reached, False otherwise.
"""
return self.control_instance.check_reached_waypoint_goal()
def get_last_longitudinal_command(self):
"""
Get timestamp of the last issued longitudinal control command (target_speed)
returns:
Timestamp of last longitudinal control command
"""
return self._last_longitudinal_command
def get_last_waypoint_command(self):
"""
Get timestamp of the last issued waypoint control command
returns:
Timestamp of last waypoint control command
"""
return self._last_waypoint_command
def get_last_lane_offset_command(self):
"""
Get timestamp of the last issued lane offset control command
returns:
Timestamp of last lane offset control command
"""
return self._last_lane_offset_command
def set_init_speed(self):
"""
Update the actor's initial speed setting
"""
self.control_instance.set_init_speed()
def run_step(self):
"""
Execute on tick of the controller's control loop
"""
self.control_instance.run_step()