def test_invalid_weather(
self
): # Check that the API/Unity properly handles unexpected inputs
with SimConnection() as sim:
rain = sim.weather.rain
fog = sim.weather.fog
wetness = sim.weather.wetness
self.assertAlmostEqual(rain, 0)
self.assertAlmostEqual(fog, 0)
self.assertAlmostEqual(wetness, 0)
sim.weather = lgsvl.WeatherState(rain=1.4, fog=-3, wetness="a")
rain = sim.weather.rain
fog = sim.weather.fog
wetness = sim.weather.wetness
self.assertAlmostEqual(rain, 1)
self.assertAlmostEqual(fog, 0)
self.assertAlmostEqual(wetness, 0)
sim.weather = lgsvl.WeatherState(rain=True, fog=0, wetness=0)
rain = sim.weather.rain
self.assertAlmostEqual(rain, 0)
def test_reset_weather(
self): # Check that reset sets the weather variables back to 0
with SimConnection() as sim:
rain = sim.weather.rain
fog = sim.weather.fog
wetness = sim.weather.wetness
self.assertAlmostEqual(rain, 0)
self.assertAlmostEqual(fog, 0)
self.assertAlmostEqual(wetness, 0)
sim.weather = lgsvl.WeatherState(rain=0.5, fog=0.3, wetness=0.8)
rain = sim.weather.rain
fog = sim.weather.fog
wetness = sim.weather.wetness
self.assertAlmostEqual(rain, 0.5)
self.assertAlmostEqual(fog, 0.3)
self.assertAlmostEqual(wetness, 0.8)
sim.reset()
rain = sim.weather.rain
fog = sim.weather.fog
wetness = sim.weather.wetness
self.assertAlmostEqual(rain, 0)
self.assertAlmostEqual(fog, 0)
self.assertAlmostEqual(wetness, 0)
def test_weather(
self
): # Check that the weather state can be read properly and changed
with SimConnection() as sim:
rain = sim.weather.rain
fog = sim.weather.fog
wetness = sim.weather.wetness
self.assertAlmostEqual(rain, 0)
self.assertAlmostEqual(fog, 0)
self.assertAlmostEqual(wetness, 0)
sim.weather = lgsvl.WeatherState(rain=0.5,
fog=0.3,
wetness=0.8,
cloudiness=0,
damage=0)
rain = sim.weather.rain
fog = sim.weather.fog
wetness = sim.weather.wetness
self.assertAlmostEqual(rain, 0.5)
self.assertAlmostEqual(fog, 0.3)
self.assertAlmostEqual(wetness, 0.8)
def step(self, waypoint):
'''
move npc to new waypoint, adjust to new weather and time of day
return reward (1/ttc) & done
'''
self.npc.follow([waypoint])
sim.weather = lgsvl.WeatherState(rain=self.rain_rate,
fog=self.fog_rate,
wetness=self.wetness_rate)
# sim.set_time_of_day(self.timeofday)
if self.collided:
reward = 100
done = True
else:
reward = 1 / self.calculate_ttc()
done = False
return reward, done
sim = cf.Simulator()
startTime = time.time()
index = 1
while len(scenarios) > 0:
before = time.time()
cur = scenarios.pop(0)
# Load Map
cf.LoadOrResetScene(sim, "BorregasAve")
# Weather
if "Weather" in cur:
sim.weather = lgsvl.WeatherState(cur["Weather"]["Rain"],
cur["Weather"]["Fog"],
cur["Weather"]["Wetness"])
# Weather
if "Time" in cur:
sim.set_time_of_day(cur["Time"]["TimeOfDay"])
# TrafficLight
if "TrafficLight" not in cur:
cf.All_Green_Light(sim)
else:
pass
# TODO
# Log duration and index
print("scenario: ", index)
for time in time_of_day:
for weatherInfo in weather:
# ego vehicle
state = copy.deepcopy(lgsvl.AgentState())
state.transform = copy.deepcopy(spawns[0])
state.velocity = ego_speed * forward
ego = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
print("ego spawn", state.transform)
turn()
#set time of day
sim.set_time_of_day(time)
#set weather of day ## rainy day
sim.weather = lgsvl.WeatherState(rain=weatherInfo[0], fog=weatherInfo[1], wetness=weatherInfo[2])
vehicles = {
ego: "EGO",
}
input("Press Enter to run next scenario")
print("The time is {} ".format(time_of_day))
print("The weather condition is rain={}, fog={}, wetness={}".format(weatherInfo[0],weatherInfo[1],weatherInfo[2]))
sim.run(time_limit = 8.0)
sim.reset()
else:
sim.load("BorregasAve")
spawns = sim.get_spawn()
state = lgsvl.AgentState()
state.transform = spawns[0]
sim.add_agent(env.str("LGSVL__VEHICLE_0", "Lincoln2017MKZ (Apollo 5.0)"), lgsvl.AgentType.EGO, state)
print(sim.weather)
input("Press Enter to set rain to 80%")
# Each weather variable is a float from 0 to 1
# There is no default value so each varible must be specified
sim.weather = lgsvl.WeatherState(rain=0.8, fog=0, wetness=0, cloudiness=0, damage=0)
print(sim.weather)
sim.run(5)
input("Press Enter to set fog to 50%")
sim.weather = lgsvl.WeatherState(rain=0, fog=0.5, wetness=0, cloudiness=0, damage=0)
print(sim.weather)
sim.run(5)
input("Press Enter to set wetness to 50%")
sim.weather = lgsvl.WeatherState(rain=0, fog=0, wetness=0.5, cloudiness=0, damage=0)
print(sim.weather)
sim = cf.Simulator()
cf.LoadOrResetScene(sim, "BorregasAve")
spawns = sim.get_spawn()
state = lgsvl.AgentState()
state.transform = spawns[0]
a = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
print(sim.weather)
input("Press Enter to set rain to 80%")
# Each weather variable is a float from 0 to 1
# There is no default value so each varible must be specified
sim.weather = lgsvl.WeatherState(rain=0.8, fog=0, wetness=0)
print(sim.weather)
sim.run(5)
input("Press Enter to set fog to 50%")
sim.weather = lgsvl.WeatherState(rain=0, fog=0.5, wetness=0)
print(sim.weather)
sim.run(5)
input("Press Enter to set wetness to 50%")
sim.weather = lgsvl.WeatherState(rain=0, fog=0, wetness=0.5)
print(sim.weather)
import os
import lgsvl
sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
if sim.current_scene == "Borregas Avenue":
sim.reset()
else:
sim.load("Borregas Avenue")
spawns = sim.get_spawn()
state = lgsvl.AgentState()
state.transform = spawns[0]
state.transform.position.y = state.transform.position.y
state.transform.position.x = state.transform.position.x
state.transform.position.z = state.transform.position.z
forward = lgsvl.utils.transform_to_forward(spawns[0])
state.velocity = 5 * forward
agent = sim.add_agent("Lexus", lgsvl.AgentType.EGO, state)
agent.connect_bridge(os.environ.get("BRIDGE_HOST", "127.0.0.1"), 9090)
sim.weather = lgsvl.WeatherState(rain=0.8, fog=0.6, wetness=0.6)
sim.set_time_of_day(12)
sim.run(time_limit=30.0)
print("Bridge connected:", ego.bridge_connected)
# The EGO is now looking for a bridge at the specified IP and port
ego.connect_bridge("127.0.0.1", 9090)
print("Waiting for connection...")
while not ego.bridge_connected:
time.sleep(1)
print("Bridge connected:", ego.bridge_connected)
print("Initializing simulation")
sim.run(1)
input("Press Enter to run")
sim.run(1)
ttc()
sim.run(1)
ttc()
input("Press Enter to change weather")
sim.weather = lgsvl.WeatherState(rain=0.9, fog=0.3, wetness=0.1)
sim.run(1)
ttc()
sim.run(1)
ttc()
sim.run(1)
ttc()
sim.run(1)
ttc()
sim.run(1)
ttc()
sim.run(1)
ttc()
sim.run(1)
ttc()
sim.run(1)
# Scenario
cf = config.Config()
sim = cf.Simulator()
cf.LoadOrResetScene(sim, "BorregasAve")
spawns = sim.get_spawn()
state = lgsvl.AgentState()
state.transform = spawns[0]
a = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
startTime = time.time()
while len(queue) > 0:
before = time.time()
cur = queue.pop(0)
sim.weather = lgsvl.WeatherState(cur["weather"]["rain"],
cur["weather"]["fog"],
cur["weather"]["wetness"])
print(sim.weather)
sim.run(1)
# Time of day can be set from 0 ... 24
sim.set_time_of_day(cur["time"]["time_of_day"])
print("Time of Day:", sim.time_of_day)
sim.run(1)
print("Time spent:", time.time() - before)
print("Total time spent:", time.time() - startTime)
static_time = env.bool("LGSVL__TIME_STATIC", True)
if date_time == "1970-01-01T00:00:00":
time_of_day = clamp(env.float("LGSVL__TIME_OF_DAY", 12), 0, 24)
sim.set_time_of_day(time_of_day, static_time)
else:
sim.set_date_time(
datetime.strptime(date_time[:19], '%Y-%m-%dT%H:%M:%S'),
static_time)
rain = clamp(env.float("LGSVL__ENVIRONMENT_RAIN", 0), 0, 1)
fog = clamp(env.float("LGSVL__ENVIRONMENT_FOG", 0), 0, 1)
wetness = clamp(env.float("LGSVL__ENVIRONMENT_WETNESS", 0), 0, 1)
cloudiness = clamp(env.float("LGSVL__ENVIRONMENT_CLOUDINESS", 0), 0, 1)
damage = clamp(env.float("LGSVL__ENVIRONMENT_DAMAGE", 0), 0, 1)
sim.weather = lgsvl.WeatherState(rain, fog, wetness, cloudiness, damage)
spawns = sim.get_spawn()
spawn_index = random.randrange(len(spawns))
state = lgsvl.AgentState()
state.transform = spawns[
spawn_index] # TODO some sort of Env Variable so that user/wise can select from list
ego = sim.add_agent(
env.str("LGSVL__VEHICLE_0",
lgsvl.wise.DefaultAssets.ego_lincoln2017mkz_apollo5_full_analysis),
lgsvl.AgentType.EGO, state)
# The EGO is now looking for a bridge at the specified IP and port
BRIDGE_HOST = env.str("LGSVL__AUTOPILOT_0_HOST", "127.0.0.1")
ego.connect_bridge(BRIDGE_HOST, env.int("LGSVL__AUTOPILOT_0_PORT", 9090))
3: {
'ego_speed': 5,
'weather': 1,
'npc_type': "SUV",
'npc_speed': 20.0
}
}
cf = config.Config()
sim = cf.Simulator()
cf.LoadOrResetScene(sim, "BorregasAve")
cf.All_Green_Light(sim)
for i in range(1, 4):
sim.weather = lgsvl.WeatherState(rain=dict[i]['weather'], fog=0, wetness=0)
spawns = sim.get_spawn()
sx = spawns[0].position.x
sz = spawns[0].position.z
ry = spawns[0].rotation.y
# ego vehicle
state = lgsvl.AgentState()
state.transform = spawns[0]
forward = lgsvl.utils.transform_to_forward(spawns[0])
right = lgsvl.utils.transform_to_right(spawns[0])
state.velocity = dict[i]['ego_speed'] * forward
ego = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO,
