def test_timetocollisioncondition():
cond = OSC.TimeToCollisionCondition(value=20,
alongroute=True,
rule='equalTo',
entity='Ego')
OSC.prettyprint(cond.get_element())
cond = OSC.TimeToCollisionCondition(value=20,
alongroute=True,
rule='equalTo',
position=OSC.WorldPosition())
OSC.prettyprint(cond.get_element())
def test_entitytrigger():
trigcond = OSC.TimeToCollisionCondition(10,
'equalTo',
True,
freespace=False,
position=OSC.WorldPosition())
trigger = OSC.EntityTrigger('mytesttrigger', 0.2, 'rising', trigcond,
'Target_1')
OSC.prettyprint(trigger.get_element())
def test_scenario():
catalog = OSC.Catalog()
catalog.add_catalog('VehicleCatalog', 'Catalogs/VehicleCatalogs')
catalog.add_catalog('ControllerCatalog', 'Catalogs/ControllerCatalogs')
roadfile = 'Databases/SampleDatabase.xodr'
road = OSC.RoadNetwork(roadfile)
trigcond = OSC.TimeToCollisionCondition(10,
'equalTo',
True,
freespace=False,
position=OSC.WorldPosition())
trigger = OSC.EntityTrigger('mytesttrigger', 0.2, 'rising', trigcond,
'Target_1')
event = OSC.Event('myfirstevent', 'overwrite')
event.add_trigger(trigger)
TD = OSC.TransitionDynamics('step', 'rate', 1)
lanechangeaction = OSC.AbsoluteLaneChangeAction(1, TD)
OSC.prettyprint(lanechangeaction.get_element())
speedaction = OSC.AbsoluteSpeedAction(50, TD)
event.add_action('newspeed', speedaction)
man = OSC.Maneuver('my maneuver')
man.add_event(event)
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor('Ego')
mangr.add_maneuver(man)
act = OSC.Act('my act', trigger)
act.add_maneuver_group(mangr)
story = OSC.Story('mystory')
story.add_act(act)
bb = OSC.BoundingBox(2, 5, 1.5, 1.5, 0, 0.2)
fa = OSC.Axel(2, 2, 2, 1, 1)
ba = OSC.Axel(1, 1, 2, 1, 1)
veh = OSC.Vehicle('mycar', 'vehicle', bb, fa, ba, 150, 10, 10)
entities = OSC.Entities()
entities.add_scenario_object('Ego', veh)
entities.add_scenario_object('Target_1', veh)
init = OSC.Init()
egospeed = OSC.AbsoluteSpeedAction(10, TD)
init.add_init_action('Ego', egospeed)
init.add_init_action(
'Ego', OSC.TeleportAction(OSC.WorldPosition(1, 2, 3, 0, 0, 0)))
init.add_init_action('Target_1', egospeed)
init.add_init_action(
'Target_1', OSC.TeleportAction(OSC.WorldPosition(1, 5, 3, 0, 0, 0)))
sb = OSC.StoryBoard(init)
sb.add_story(story)
sce = OSC.Scenario('myscenario',
'Mandolin',
OSC.ParameterDeclarations(),
entities=entities,
storyboard=sb,
roadnetwork=road,
catalog=catalog)
OSC.prettyprint(sce.get_element())
import pytest
import pyoscx as OSC
TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step,
OSC.DynamicsDimension.rate, 1)
speedaction = OSC.AbsoluteSpeedAction(50, TD)
trigcond = OSC.TimeToCollisionCondition(
10,
OSC.Rule.equalTo,
position=OSC.WorldPosition(),
freespace=False,
)
trigger = OSC.EntityTrigger('mytesttrigger', 0.2, OSC.ConditionEdge.rising,
trigcond, 'Target_1')
def test_event():
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)
def test_maneuver():
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
event.add_action('newspeed', speedaction)
man = OSC.Maneuver('my maneuver')
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 1)))
### create the action
event = pyoscx.Event('speedchange', pyoscx.Priority.overwrite)
event.add_action(
'speedaction',
pyoscx.AbsoluteSpeedAction(
10,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 3)))
# create two trigger conditions
trig_cond1 = pyoscx.TimeToCollisionCondition(2,
pyoscx.Rule.lessThan,
entity=targetname)
trig_cond2 = pyoscx.TimeHeadwayCondition(speedyname, 1,
pyoscx.Rule.greaterThan)
collision_trigger = pyoscx.EntityTrigger('trigger', 0,
pyoscx.ConditionEdge.none, trig_cond1,
egoname)
headway_trigger = pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.none,
trig_cond2, egoname)
# create two separate condition groups
col_group = pyoscx.ConditionGroup()
col_group.add_condition(collision_trigger)
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step,
pyoscx.DynamicsDimension.time, 1)))
### create the "optional" slowdown event
slowdown_event = pyoscx.Event('speedchange', pyoscx.Priority.overwrite)
slowdown_event.add_action(
'speedaction',
pyoscx.AbsoluteSpeedAction(
9,
pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.sinusoidal,
pyoscx.DynamicsDimension.time, 1)))
# create two trigger conditions
ttc_cond = pyoscx.TimeToCollisionCondition(3,
pyoscx.Rule.lessThan,
entity=targetname)
headway_cond = pyoscx.TimeHeadwayCondition(speedyname, 1, pyoscx.Rule.lessThan)
headway_trigger = pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.none,
headway_cond, egoname)
collision_trigger = pyoscx.EntityTrigger('trigger', 0,
pyoscx.ConditionEdge.none, ttc_cond,
egoname)
#create the "and" logic
sc_group = pyoscx.ConditionGroup()
sc_group.add_condition(collision_trigger)
sc_group.add_condition(headway_trigger)
