def test_uniform_vehicle_distribution_default_params(self):
scenario_generation = UniformVehicleDistribution(num_scenarios=2, random_seed=0)
scenario_generation.dump_scenario_list("test.scenario")
scenario_loader = ScenarioGeneration()
scenario_loader.load_scenario_list("test.scenario")
self.assertEqual(len(scenario_loader._scenario_list), 2)
self.assertEqual(len(scenario_loader._scenario_list[0]._agent_list), len(scenario_generation._scenario_list[0]._agent_list))
# Copyright (c) 2019 fortiss GmbH
#
# This software is released under the MIT License.
# https://opensource.org/licenses/MIT
from modules.runtime.scenario.scenario_generation.uniform_vehicle_distribution import UniformVehicleDistribution
from modules.runtime.commons.parameters import ParameterServer
import time
import os
param_server = ParameterServer()
scenario_generation = UniformVehicleDistribution(num_scenarios=3,
random_seed=0,
params=param_server)
scenario_generation.dump_scenario_list("test.bark_scenarios")
param_server = ParameterServer(
filename=os.path.join("examples/params/", scenario_param_file))
scenario_generation = UniformVehicleDistribution(num_scenarios=3,
random_seed=0,
params=param_server)
scenario_generation.params.save(
os.path.join(scenario_dump_folder, scenario_param_file))
viewer = PygameViewer(params=param_server, use_world_bounds=True)
sim_step_time = param_server["simulation"]["step_time",
"Step-time used in simulation",
0.05]
sim_real_time_factor = param_server["simulation"][
"real_time_factor", "execution in real-time or faster", 1]
for _ in range(0, 2): # run 5 scenarios in a row, repeating after 3
scenario, idx = scenario_generation.get_next_scenario()
world_state = scenario.get_world_state()
print("Running scenario {} of {}".format(
idx, scenario_generation.num_scenarios))
for _ in range(0, 10): # run each scenario for 3 steps
world_state.step(sim_step_time)
viewer.drawWorld(world_state)
viewer.show(block=False)
time.sleep(sim_step_time / sim_real_time_factor)
scenario_generation.dump_scenario_list(
os.path.join(
scenario_dump_folder,
"{}.bark_scenarios".format(os.path.splitext(scenario_param_file)[0])))
import os
scenario_param_file ="highway_merging.json" # must be within examples params folder
param_server = ParameterServer(filename= os.path.join("examples/params/",scenario_param_file))
scenario_generation = UniformVehicleDistribution(num_scenarios=3, random_seed=0, params=param_server)
viewer = PygameViewer(params=param_server, x_range=[-50,50], y_range=[-20,80], use_world_bounds=True)
sim_step_time = param_server["simulation"]["step_time",
"Step-time used in simulation",
0.2]
sim_real_time_factor = param_server["simulation"]["real_time_factor",
"execution in real-time or faster", 1]
scenario, idx = scenario_generation.get_next_scenario()
world_state = scenario.get_world_state()
print("Running scenario {} of {}".format(idx, scenario_generation.num_scenarios))
for _ in range(0, 100): # run each scenario for 3 steps
world_state.do_planning(sim_step_time)
viewer.drawWorld(world_state)
time.sleep(sim_step_time/sim_real_time_factor)
world_state.do_execution(sim_step_time)
scenario_generation.dump_scenario_list(os.path.join("examples/scenarios/","{}_dump.bark_scenarios".format(os.path.splitext(scenario_param_file)[0])))
