def run(self):
# Setup environment
lgsvl_sim = self.simConnection.connect()
control = lgsvl.NPCControl()
ego_control = lgsvl.VehicleControl()
# Placing the school_bus
school_bus_state = spawn_state(lgsvl_sim)
school_bus_state = CarControl.place_car_on_the_point(
state=school_bus_state, sim=lgsvl_sim, point=self.npc_source)
school_bus = load_npc(lgsvl_sim, "SchoolBus", school_bus_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
ego_state = CarControl.place_car_from_the_point(dimension="horizontal",
distance=-6,
state=ego_state)
ego_state = CarControl.drive_ego_car(ego_state,
[("vertical", self.ego_speed)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
# Callback collision function
ego.on_collision(self.on_collision)
school_bus.on_collision(self.on_collision)
# Set waypoints for School Bus
waypoints = []
for point in [self.npc_source, self.npc_target]:
waypoints.append(
lgsvl.DriveWaypoint(point, self.npc_speed,
school_bus.state.transform.rotation))
try:
# Start the scenario
# The School Bus is parked on the street
control.headlights = 2
control.e_stop = True
school_bus.apply_control(control)
# Let the ego running for 2 seconds
self.simConnection.execute(timeout=2)
# The school bus turns on signal to prepare for the turn
control.headlights = 0 # turn off headlight
control.turn_signal_left = True
school_bus.apply_control(control)
self.simConnection.execute(timeout=2)
# Brake the ego
CarControl.brake_ego(ego=ego,
control=ego_control,
brake_value=self.ego_brake,
sticky=True)
# The school bus starts to turn right
school_bus.follow(waypoints)
self.simConnection.execute(timeout=10)
except Exception:
print("Failed!")
def test_set_lights_exceptions(self):
with SimConnection() as sim:
npc = self.create_NPC(sim, "Sedan")
control = lgsvl.NPCControl()
control.headlights = 2
npc.apply_control(control)
with self.assertRaises(ValueError):
control.headlights = 15
npc.apply_control(control)
def test_set_hazards_exceptions(self):
with SimConnection() as sim:
npc = self.create_NPC(sim, "HatchBack")
control = lgsvl.NPCControl()
control.hazards = 5
with self.assertRaises(TypeError) as e:
npc.apply_control(control)
self.assertIn("input a bool: True (on), False (off)",
repr(e.exception))
def test_e_stop(self):
with SimConnection() as sim:
sim.add_agent("XE_Rigged-apollo_3_5", lgsvl.AgentType.EGO,
spawnState(sim, 1))
npc = self.create_NPC(sim, "Jeep")
npc.follow_closest_lane(True, 30)
sim.run(2)
self.assertGreater(npc.state.speed, 0)
control = lgsvl.NPCControl()
control.e_stop = True
npc.apply_control(control)
sim.run(2)
self.assertAlmostEqual(npc.state.speed, 0, delta=0.01)
control.e_stop = False
npc.apply_control(control)
sim.run(2)
self.assertGreater(npc.state.speed, 0)
def test_set_lights_exceptions(self):
with SimConnection() as sim:
npc = self.create_NPC(sim, "Sedan")
#npc.set_lights(2)
control = lgsvl.NPCControl()
control.headlights = 2
npc.apply_control(control)
with self.assertRaises(TypeError) as e:
control.headlights = 5.0
npc.apply_control(control)
self.assertIn("input an integer: 0 (off), 1 (low), or 2 (high)",
repr(e.exception))
with self.assertRaises(ValueError) as e:
control.headlights = 15
npc.apply_control(control)
self.assertIn("unsupported intensity value", repr(e.exception))
def test_e_stop(self):
with SimConnection() as sim:
npc = self.create_NPC(sim, "Jeep")
npc.follow_closest_lane(True, 30)
sim.run(2)
self.assertGreater(npc.state.speed, 0)
control = lgsvl.NPCControl()
control.e_stop = True
npc.apply_control(control)
sim.run(2)
self.assertAlmostEqual(npc.state.speed, 0, delta=4)
control.e_stop = False
npc.apply_control(control)
sim.run(2)
self.assertGreater(npc.state.speed, 0)
with self.assertRaises(TypeError) as e:
control.e_stop = 5
npc.apply_control(control)
self.assertIn("input a bool: True (stop), False (continue)",
repr(e.exception))
def test_e_stop(self):
with SimConnection(60) as sim:
state = lgsvl.AgentState()
state.transform = sim.map_point_on_lane(
lgsvl.Vector(78.962, -3.363, -40.292))
sim.add_agent(lgsvl.wise.DefaultAssets.ego_jaguar2015xe_apollo5,
lgsvl.AgentType.EGO, state)
forward = lgsvl.utils.transform_to_forward(state.transform)
state.transform.position = state.position + 10 * forward
npc = sim.add_agent("Jeep", lgsvl.AgentType.NPC, state)
npc.follow_closest_lane(True, 10)
sim.run(2)
self.assertGreater(npc.state.speed, 0)
control = lgsvl.NPCControl()
control.e_stop = True
npc.apply_control(control)
sim.run(2)
self.assertAlmostEqual(npc.state.speed, 0, delta=0.01)
control.e_stop = False
npc.apply_control(control)
sim.run(2)
self.assertGreater(npc.state.speed, 0)
# Run Simulator for at most 30 seconds for the AD stack to to initialize
sim.run(30)
# If a Control message was not received, then the AD stack is not ready and the scenario should not continue
if not controlReceived:
raise Exception("AD stack is not ready")
sys.exit()
# NPC will follow the HD map at a max speed of 11.176 m/s (25 mph)
npc.follow_closest_lane(follow=True, max_speed=11.176)
# Run Simulation for 10 seconds
sim.run(10)
# Force the NPC to come to a stop
control = lgsvl.NPCControl()
control.e_stop = True
npc.apply_control(control)
# Simulation will run for 10 seconds
# NPC will be stopped for this time
sim.run(10)
# NPC told to resume following the HD map
npc.follow_closest_lane(True, 11.176)
# Simulation runs for another 10 seconds
sim.run(10)