def _setup_scenario_trigger(self, config):
"""
This function creates a trigger maneuver, that has to be finished before the real scenario starts.
This implementation focuses on the first available ego vehicle.
The function can be overloaded by a user implementation inside the user-defined scenario class.
"""
start_location = None
if config.trigger_points and config.trigger_points[0]:
start_location = config.trigger_points[
0].location # start location of the scenario
ego_vehicle_route = CarlaDataProvider.get_ego_vehicle_route()
if start_location:
if ego_vehicle_route:
if config.route_var_name is None: # pylint: disable=no-else-return
return conditions.InTriggerDistanceToLocationAlongRoute(
self.ego_vehicles[0], ego_vehicle_route,
start_location, 5)
else:
check_name = "WaitForBlackboardVariable: {}".format(
config.route_var_name)
return conditions.WaitForBlackboardVariable(
name=check_name,
variable_name=config.route_var_name,
variable_value=True,
var_init_value=False)
return conditions.InTimeToArrivalToLocation(
self.ego_vehicles[0], 2.0, start_location)
return None
def _setup_scenario_trigger(self, config):
start_location = None
if config.trigger_points and config.trigger_points[0]:
# start_waypoint, _ = get_waypoint_in_distance(self._map.get_waypoint(config.trigger_points[0].location), 10)
start_location = config.trigger_points[
0].location # start_waypoint.transform.location
# print("start location set to: {}, {}, {}".format(start_location.x, start_location.y, start_location.z))
ego_vehicle_route = CarlaDataProvider.get_ego_vehicle_route()
if start_location:
if ego_vehicle_route:
if config.route_var_name is None: # pylint: disable=no-else-return
return conditions.InTriggerDistanceToLocationAlongRoute(
self.ego_vehicles[0], ego_vehicle_route,
start_location, 5)
else:
check_name = "WaitForBlackboardVariable: {}".format(
config.route_var_name)
return conditions.WaitForBlackboardVariable(
name=check_name,
variable_name=config.route_var_name,
variable_value=True,
var_init_value=False)
return conditions.InTimeToArrivalToLocation(
self.ego_vehicles[0], 2.0, start_location)
return None