def test_storyboard_act_input():
egoname = "Ego"
targetname = "target"
init = OSC.Init()
step_time = OSC.TransitionDynamics(OSC.DynamicsShapes.step,
OSC.DynamicsDimension.time, 1)
egospeed = OSC.AbsoluteSpeedAction(0, step_time)
egostart = OSC.TeleportAction(OSC.LanePosition(25, 0, -3, 0))
targetspeed = OSC.AbsoluteSpeedAction(0, step_time)
targetstart = OSC.TeleportAction(OSC.LanePosition(15, 0, -2, 0))
init.add_init_action(egoname, egospeed)
init.add_init_action(egoname, egostart)
init.add_init_action(targetname, targetspeed)
init.add_init_action(targetname, targetstart)
### create an event
# trigcond = OSC.TimeHeadwayCondition(targetname,0.1,OSC.Rule.greaterThan)
# trigger = OSC.EntityTrigger('mytesttrigger',0.2,OSC.ConditionEdge.rising,trigcond,egoname)
trigger = OSC.ValueTrigger(
'starttrigger', 0, OSC.ConditionEdge.rising,
OSC.SimulationTimeCondition(3, OSC.Rule.greaterThan))
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
# sin_time = OSC.TransitionDynamics(OSC.DynamicsShapes.linear,OSC.DynamicsDimension.time,3)
action = OSC.LongitudinalDistanceAction(-4,
egoname,
max_deceleration=3,
max_speed=50)
event.add_action('newspeed', action)
## create the act,
man = OSC.Maneuver('my_maneuver')
man.add_event(event)
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor(targetname)
mangr.add_maneuver(man)
starttrigger = OSC.ValueTrigger(
'starttrigger', 0, OSC.ConditionEdge.rising,
OSC.SimulationTimeCondition(0, OSC.Rule.greaterThan))
act = OSC.Act('my_act', starttrigger)
act.add_maneuver_group(mangr)
## create the storyboard
sb = OSC.StoryBoard(init)
sb.add_act(act)
OSC.prettyprint(sb.get_element())
def test_longdistaction_dist():
longdist = OSC.LongitudinalDistanceAction(1,'Ego')
OSC.prettyprint(longdist.get_element())
def CCRb(distance, decelleration):
# create empty catalog
catalog = pyoscx.Catalog()
# add straight road
road = pyoscx.RoadNetwork(roadfile='../xodr/straight_500m.xodr',
scenegraph='../models/straight_500m.osgb')
# create empty paramdeclaration
paramdec = pyoscx.ParameterDeclarations()
egoname = 'Ego'
targetname = 'Target1'
### create vehicles
ego_width = 2
target_width = 1.8
bb = pyoscx.BoundingBox(ego_width, 5, 1.8, 2.0, 0, 0.9)
fa = pyoscx.Axel(30, 0.8, 1.68, 2.98, 0.4)
ba = pyoscx.Axel(30, 0.8, 1.68, 0, 0.4)
white_veh = pyoscx.Vehicle('car_white', pyoscx.VehicleCategory.car, bb, fa,
ba, 69, 10, 10)
white_veh.add_property_file('../models/car_white.osgb')
white_veh.add_property('control', 'internal')
white_veh.add_property('model_id', '0')
bb = pyoscx.BoundingBox(target_width, 4.5, 1.5, 1.3, 0, 0.8)
fa = pyoscx.Axel(30, 0.8, 1.68, 2.98, 0.4)
ba = pyoscx.Axel(30, 0.8, 1.68, 0, 0.4)
red_veh = pyoscx.Vehicle('car_red', pyoscx.VehicleCategory.car, bb, fa, ba,
69, 10, 10)
red_veh.add_property_file('../models/car_red.osgb')
red_veh.add_property('model_id', '2')
## create entities
entities = pyoscx.Entities()
entities.add_scenario_object(egoname, white_veh)
entities.add_scenario_object(targetname, red_veh)
# create init (0 starting speed)
init = pyoscx.Init()
step_time = pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 1)
# caluclate correct offset based on target vehicle width
cal_offset = 0
egospeed = pyoscx.AbsoluteSpeedAction(0, step_time)
egostart = pyoscx.TeleportAction(pyoscx.LanePosition(
25, cal_offset, -1, 1))
targetspeed = pyoscx.AbsoluteSpeedAction(0, step_time)
targetstart = pyoscx.TeleportAction(
pyoscx.LanePosition(25 + distance, 0, -1, 1))
init.add_init_action(egoname, egospeed)
init.add_init_action(egoname, egostart)
init.add_init_action(targetname, targetspeed)
init.add_init_action(targetname, targetstart)
# create start trigger
trigger = pyoscx.ValueTrigger(
'starttrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(1, pyoscx.Rule.greaterThan))
# accelerate cars to wanted velocity
eventego = pyoscx.Event('egospeedchange', pyoscx.Priority.overwrite)
eventego.add_trigger(trigger)
ego_action = pyoscx.AbsoluteSpeedAction(
50 / 3.6,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,
pyoscx.DynamicsDimension.time,
acceleration_time))
eventego.add_action('newspeed', ego_action)
event_tar = pyoscx.Event('targetspeedchange', pyoscx.Priority.overwrite)
event_tar.add_trigger(trigger)
target_action = pyoscx.LongitudinalDistanceAction(-distance, egoname)
event_tar.add_action('targetspeed', target_action)
# trigger here could be changed to speed but tested for esmini at the point where speed condition was not implemented
target_slowingdown_trigger = pyoscx.ValueTrigger(
'slowingdowntrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(6, pyoscx.Rule.greaterThan))
target_slowingdown_action = pyoscx.AbsoluteSpeedAction(
0,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.linear,
pyoscx.DynamicsDimension.rate,
abs(decelleration)))
event_tar_slowdown = pyoscx.Event('target slowing down',
pyoscx.Priority.overwrite)
event_tar_slowdown.add_trigger(target_slowingdown_trigger)
event_tar_slowdown.add_action('slowdownaction', target_slowingdown_action)
# create maneuvers/maneuvergroups
ego_man = pyoscx.Maneuver('ego man')
ego_man.add_event(eventego)
tar_man = pyoscx.Maneuver('target man')
tar_man.add_event(event_tar)
tar_man.add_event(event_tar_slowdown)
egomangr = pyoscx.ManeuverGroup('egomangr')
egomangr.add_actor(egoname)
egomangr.add_maneuver(ego_man)
tarmangr = pyoscx.ManeuverGroup('tarmangr')
tarmangr.add_actor(targetname)
tarmangr.add_maneuver(tar_man)
# create act
act = pyoscx.Act(
'ccrm act',
pyoscx.ValueTrigger(
'starttrigger', 0, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(0, pyoscx.Rule.greaterThan)))
act.add_maneuver_group(egomangr)
act.add_maneuver_group(tarmangr)
# create story
story = pyoscx.Story('mystory')
story.add_act(act)
## create the storyboard
sb = pyoscx.StoryBoard(
init,
pyoscx.ValueTrigger(
'stop_simulation', 2, pyoscx.ConditionEdge.rising,
pyoscx.SimulationTimeCondition(
acceleration_time +
np.ceil(np.sqrt(2 * distance / abs(decelleration))) +
distance / 50, pyoscx.Rule.greaterThan), 'stop'))
sb.add_story(story)
## create and return the scenario
sce = pyoscx.Scenario('CCRb, distance: ' + str(distance) +
', decelleration: ' + str(decelleration),
'Mandolin',
paramdec,
entities=entities,
storyboard=sb,
roadnetwork=road,
catalog=catalog)
return sce
init.add_init_action(targetname, targetspeed)
init.add_init_action(targetname, targetstart)
### create an event
trigcond = pyoscx.TimeHeadwayCondition(targetname, 0.1, 'greaterThan')
trigger = pyoscx.EntityTrigger('mytesttrigger', 0.2, 'rising', trigcond,
egoname)
event = pyoscx.Event('myfirstevent', 'overwrite')
event.add_trigger(trigger)
sin_time = pyoscx.TransitionDynamics('linear', 'time', 3)
action = pyoscx.LongitudinalDistanceAction(-4,
egoname,
max_deceleration=3,
max_speed=50)
event.add_action('newspeed', action)
## create the act,
man = pyoscx.Maneuver('my_maneuver')
man.add_event(event)
mangr = pyoscx.ManeuverGroup('mangroup')
mangr.add_actor('$owner')
mangr.add_maneuver(man)
starttrigger = pyoscx.ValueTrigger(
'starttrigger', 0, 'rising',
pyoscx.SimulationTimeCondition(0, 'greaterThan'))
act = pyoscx.Act('my_act', starttrigger)
act.add_maneuver_group(mangr)