def osc_fixture(): parameters = xosc.ParameterDeclarations() parameters.add_parameter(xosc.Parameter('param1',xosc.ParameterType.string,'hej')) parameters.add_parameter(xosc.Parameter('param2',xosc.ParameterType.integer,1)) parameters.add_parameter(xosc.Parameter('param3',xosc.ParameterType.boolean,True)) catalog = xosc.Catalog() catalog.add_catalog('VehicleCatalog','Catalogs/VehicleCatalogs') catalog.add_catalog('ControllerCatalog','Catalogs/ControllerCatalogs') roadfile = 'Databases/SampleDatabase.xodr' road = xosc.RoadNetwork(roadfile) bb = xosc.BoundingBox(2,5,1.5,1.5,0,0.2) fa = xosc.Axle(2,2,2,1,1) ba = xosc.Axle(1,1,2,1,1) veh = xosc.Vehicle('mycar',xosc.VehicleCategory.car,bb,fa,ba,150,10,10) entities = xosc.Entities() entities.add_scenario_object('Ego',veh) init = xosc.Init() egospeed = xosc.AbsoluteSpeedAction(10,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.distance,3)) init.add_init_action('Ego',egospeed) init.add_init_action('Ego',xosc.TeleportAction(xosc.WorldPosition(1,2,3,0,0,0))) sb = xosc.StoryBoard(init) return xosc.Scenario('myscenario','Mandolin',parameters,entities=entities,storyboard = sb,roadnetwork=road,catalog=catalog)
def scenario(self, **kwargs): road = xosc.RoadNetwork(self.road_file) egoname = 'Ego' entities = xosc.Entities() entities.add_scenario_object( egoname, xosc.CatalogReference('VehicleCatalog', 'car_white')) catalog = xosc.Catalog() catalog.add_catalog('VehicleCatalog', '../xosc/Catalogs/Vehicles') init = xosc.Init() init.add_init_action( egoname, xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0))) init.add_init_action( egoname, xosc.AbsoluteSpeedAction( kwargs['speed'], xosc.TransitionDynamics(xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1))) event = xosc.Event('my event', xosc.Priority.overwrite) event.add_action( 'lane change', xosc.AbsoluteLaneChangeAction( -1, xosc.TransitionDynamics(xosc.DynamicsShapes.sinusoidal, xosc.DynamicsDimension.time, 4))) event.add_trigger( xosc.ValueTrigger( 'start_trigger ', 0, xosc.ConditionEdge.none, xosc.SimulationTimeCondition(4, xosc.Rule.greaterThan))) man = xosc.Maneuver('maneuver') man.add_event(event) sb = xosc.StoryBoard(init, stoptrigger=xosc.ValueTrigger( 'start_trigger ', 0, xosc.ConditionEdge.none, xosc.SimulationTimeCondition( 13, xosc.Rule.greaterThan), 'stop')) sb.add_maneuver(man, egoname) sce = xosc.Scenario('my scenario', 'Mandolin', xosc.ParameterDeclarations(), entities, sb, road, catalog) return sce
story = xosc.Story('mystory') story.add_act(act) # story.add_act(y_act) ## create the storyboard sb = xosc.StoryBoard( init, xosc.ValueTrigger('stop_simulation', 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(10, xosc.Rule.greaterThan), 'stop')) sb.add_story(story) ## create the scenario sce = xosc.Scenario('adaptspeed_example', 'Mandolin', paramdec, entities=entities, storyboard=sb, roadnetwork=road, catalog=catalog) # Print the resulting xml prettyprint(sce.get_element()) # write the OpenSCENARIO file as xosc using current script name sce.write_xml(os.path.basename(__file__).replace('.py', '.xosc')) # uncomment the following lines to display the scenario using esmini # from scenariogeneration import esmini # esmini(sce,os.path.join('esmini'))
def CCRm(ego_speedvalue, offset): # create empty catalog catalog = xosc.Catalog() # add straight road road = xosc.RoadNetwork(roadfile='../xodr/straight_500m.xodr', scenegraph='../models/straight_500m.osgb') # create empty paramdeclaration paramdec = xosc.ParameterDeclarations() egoname = 'Ego' targetname = 'Target1' ### create vehicles ego_width = 2 target_width = 1.8 bb = xosc.BoundingBox(ego_width, 5, 1.8, 2.0, 0, 0.9) fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4) ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4) white_veh = xosc.Vehicle('car_white', xosc.VehicleCategory.car, bb, fa, ba, 69, 10, 10) white_veh.add_property_file('../models/car_white.osgb') white_veh.add_property('model_id', '0') bb = xosc.BoundingBox(target_width, 4.5, 1.5, 1.3, 0, 0.8) fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4) ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4) red_veh = xosc.Vehicle('car_red', xosc.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 = xosc.Entities() entities.add_scenario_object(egoname, white_veh) entities.add_scenario_object(targetname, red_veh) # create init (0 starting speed) init = xosc.Init() step_time = xosc.TransitionDynamics(xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1) # caluclate correct offset based on target vehicle width cal_offset = offset / 100 * target_width egospeed = xosc.AbsoluteSpeedAction(0, step_time) egostart = xosc.TeleportAction(xosc.LanePosition(25, cal_offset, -1, 1)) startpos = 25 + (ego_speedvalue - 20) / 3.6 * (acceleration_time + ttc_at_speed) targetspeed = xosc.AbsoluteSpeedAction(0, step_time) targetstart = xosc.TeleportAction(xosc.LanePosition(startpos, 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 = xosc.ValueTrigger( 'starttrigger', 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(1, xosc.Rule.greaterThan)) # accelerate cars to wanted velocity eventego = xosc.Event('egospeedchange', xosc.Priority.overwrite) eventego.add_trigger(trigger) ego_action = xosc.AbsoluteSpeedAction( ego_speedvalue / 3.6, xosc.TransitionDynamics(xosc.DynamicsShapes.linear, xosc.DynamicsDimension.time, acceleration_time)) eventego.add_action('newspeed', ego_action) event_tar = xosc.Event('targetspeedchange', xosc.Priority.overwrite) event_tar.add_trigger(trigger) target_action = xosc.AbsoluteSpeedAction( 20 / 3.6, xosc.TransitionDynamics(xosc.DynamicsShapes.linear, xosc.DynamicsDimension.time, acceleration_time)) event_tar.add_action('targetspeed', target_action) # create maneuvers/maneuvergroups ego_man = xosc.Maneuver('ego man') ego_man.add_event(eventego) tar_man = xosc.Maneuver('target man') tar_man.add_event(event_tar) egomangr = xosc.ManeuverGroup('egomangr') egomangr.add_actor(egoname) egomangr.add_maneuver(ego_man) tarmangr = xosc.ManeuverGroup('tarmangr') tarmangr.add_actor(targetname) tarmangr.add_maneuver(tar_man) # create act act = xosc.Act( 'ccrm act', xosc.ValueTrigger( 'starttrigger', 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan))) act.add_maneuver_group(egomangr) act.add_maneuver_group(tarmangr) # create story story = xosc.Story('mystory') story.add_act(act) ## create the storyboard sb = xosc.StoryBoard( init, xosc.ValueTrigger( 'stop_simulation', 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(ttc_at_speed * 2 + acceleration_time, xosc.Rule.greaterThan), 'stop')) sb.add_story(story) ## create and return the scenario sce = xosc.Scenario('CCRm_v: ' + str(ego_speedvalue) + ', offset: ' + str(offset), 'Mandolin', paramdec, entities=entities, storyboard=sb, roadnetwork=road, catalog=catalog) return sce
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, OSC.Rule.equalTo, True, freespace=False, position=OSC.WorldPosition()) trigger = OSC.EntityTrigger('mytesttrigger', 0.2, OSC.ConditionEdge.rising, trigcond, 'Target_1') event = OSC.Event('myfirstevent', OSC.Priority.overwrite) event.add_trigger(trigger) TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step, OSC.DynamicsDimension.rate, 1) lanechangeaction = OSC.AbsoluteLaneChangeAction(1, TD) 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.Axle(2, 2, 2, 1, 1) ba = OSC.Axle(1, 1, 2, 1, 1) veh = OSC.Vehicle('mycar', OSC.VehicleCategory.car, 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) prettyprint(sce.get_element())