def test_find_lane(self):
xodr_parser = XodrParser("modules/runtime/tests/data/urban_road.xodr")
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_parser.map)
world.SetMap(map_interface)
lane_sw = map_interface.FindLane(Point2d(46, 180))
assert lane_sw.lane_type == XodrLaneType.sidewalk
lane_rl = map_interface.FindLane(Point2d(52, 130))
assert lane_rl.lane_type == XodrLaneType.driving
lane_no_lane = map_interface.FindLane(Point2d(120, 140))
assert lane_no_lane == None
xodr_parser = XodrParser(
"modules/runtime/tests/data/city_highway_straight.xodr")
np.set_printoptions(precision=8)
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_parser.map)
world.SetMap(map_interface)
point = Point2d(5114, 5072)
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
viewer.drawPoint2d(point, 'red', 1.0)
viewer.show(block=True)
time.sleep(0.1)
lane_sw = map_interface.FindLane(point)
self.assertIsNotNone(lane_sw, "This point is clearly on a lane!")
def test_driving_corridor_splitting_4way_intersection(self):
#xodr_parser = XodrParser("modules/runtime/tests/data/urban_road.xodr")
#xodr_parser = XodrParser("modules/runtime/tests/data/city_highway_straight.xodr")
xodr_parser = XodrParser("modules/runtime/tests/data/4way_intersection.xodr")
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.set_open_drive_map(xodr_parser.map)
# xodr_parser.roadgraph.print_graph("/home/esterle/4way_intersection.dot")
world.set_map(map_interface)
map_interface.compute_all_driving_corridors()
all_corridors = map_interface.get_all_corridors()
c = all_corridors[11]
splittingcorridors = map_interface.get_splitting_corridors(c, [168, 161, 0.0])
assert(len(splittingcorridors) == 0)
splittingcorridors = map_interface.get_splitting_corridors(c, [150, 168, 0.0])
assert(len(splittingcorridors) == 2)
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
viewer.drawDrivingCorridor(c)
if splittingcorridors:
for sc in splittingcorridors:
viewer.drawDrivingCorridor(sc)
viewer.show(block=True)
time.sleep(0.1)
def test_driving_corridor_adjacency_4way_intersection(self):
#xodr_parser = XodrParser("modules/runtime/tests/data/urban_road.xodr")
#xodr_parser = XodrParser("modules/runtime/tests/data/city_highway_straight.xodr")
xodr_parser = XodrParser("modules/runtime/tests/data/4way_intersection.xodr")
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.set_open_drive_map(xodr_parser.map)
map_interface.set_roadgraph(xodr_parser.roadgraph)
#xodr_parser.roadgraph.print_graph("/home/esterle/4way_intersection.dot")
world.set_map(map_interface)
map_interface.compute_all_driving_corridors()
all_corridors = map_interface.get_all_corridors()
c = all_corridors[10]
right_adj_corridors = map_interface.get_adjacent_corridors_same_direction(c, [151, 168, 0.0])
assert(len(right_adj_corridors) == 2)
right_adj_corridors = map_interface.get_adjacent_corridors_same_direction(c, [169, 169, 0.0])
assert(len(right_adj_corridors) == 1)
viewer = MPViewer(params=params)
viewer.drawWorld(world)
viewer.drawDrivingCorridor(c)
if right_adj_corridors:
for rc in right_adj_corridors:
viewer.drawDrivingCorridor(rc)
viewer.show(block=True)
time.sleep(0.1)
def test_dr_deu_merging(self):
# threeway_intersection
xodr_parser = XodrParser(
"modules/runtime/tests/data/DR_DEU_Merging_MT_v01_shifted.xodr")
# World Definition
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_parser.map)
world.SetMap(map_interface)
roads = [0, 1]
driving_direction = XodrDrivingDirection.forward
map_interface.GenerateRoadCorridor(roads, driving_direction)
road_corridor = map_interface.GetRoadCorridor(roads, driving_direction)
# Draw map
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
viewer.drawPolygon2d(road_corridor.lane_corridors[0].polygon,
color="blue",
alpha=0.5)
viewer.drawPolygon2d(road_corridor.lane_corridors[1].polygon,
color="blue",
alpha=0.5)
viewer.show(block=False)
self.assertTrue(road_corridor.lane_corridors[0].polygon.Valid())
self.assertTrue(road_corridor.lane_corridors[1].polygon.Valid())
self.assertTrue(road_corridor.polygon.Valid())
def test_lane_change(self):
# World Definition
params = ParameterServer()
world = World(params)
# Model Definitions
behavior_model = BehaviorMobil(params)
execution_model = ExecutionModelInterpolate(params)
dynamic_model = SingleTrackModel(params)
behavior_model2 = BehaviorIDMLaneTracking(params)
execution_model2 = ExecutionModelInterpolate(params)
dynamic_model2 = SingleTrackModel(params)
# Map Definition
map_interface = MapInterface()
xodr_map = MakeXodrMapOneRoadTwoLanes()
map_interface.SetOpenDriveMap(xodr_map)
world.SetMap(map_interface)
#agent_2d_shape = CarLimousine()
agent_2d_shape = CarRectangle()
init_state = np.array([0, 3, -1.75, 0, 5])
agent_params = params.AddChild("agent1")
goal_polygon = Polygon2d(
[1, 1, 0],
[Point2d(0, 0),
Point2d(0, 2),
Point2d(2, 2),
Point2d(2, 0)])
goal_polygon = goal_polygon.Translate(Point2d(50, -2))
agent = Agent(init_state, behavior_model, dynamic_model,
execution_model, agent_2d_shape, agent_params,
GoalDefinitionPolygon(goal_polygon), map_interface)
world.AddAgent(agent)
init_state2 = np.array([0, 15, -1.75, 0, 2])
agent2 = Agent(init_state2, behavior_model2, dynamic_model2,
execution_model2, agent_2d_shape, agent_params,
GoalDefinitionPolygon(goal_polygon), map_interface)
world.AddAgent(agent2)
# viewer
viewer = MPViewer(params=params, use_world_bounds=True)
# World Simulation
sim_step_time = params["simulation"]["step_time",
"Step-time in simulation", 0.05]
sim_real_time_factor = params["simulation"][
"real_time_factor", "execution in real-time or faster", 100]
# Draw map
for _ in range(0, 10):
viewer.clear()
world.Step(sim_step_time)
viewer.drawWorld(world)
viewer.show(block=False)
time.sleep(sim_step_time / sim_real_time_factor)
def test_road_corridor_forward(self):
xodr_parser = XodrParser(
"modules/runtime/tests/data/road_corridor_test.xodr")
# World Definition
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_parser.map)
world.SetMap(map_interface)
open_drive_map = world.map.GetOpenDriveMap()
viewer = MPViewer(params=params, use_world_bounds=True)
# Draw map
viewer.drawWorld(world)
viewer.show(block=False)
# Generate RoadCorridor
roads = [0, 1, 2]
driving_direction = XodrDrivingDirection.forward
map_interface.GenerateRoadCorridor(roads, driving_direction)
road_corridor = map_interface.GetRoadCorridor(roads, driving_direction)
# Assert road corridor
# Assert: 3 roads
self.assertEqual(len(road_corridor.roads), 3)
# Assert: road1: 2 lanes, road2: 1 lane, road3: 1 lane
self.assertEqual(len(road_corridor.GetRoad(0).lanes), 3)
self.assertEqual(len(road_corridor.GetRoad(1).lanes), 2)
self.assertEqual(len(road_corridor.GetRoad(2).lanes), 3)
# Assert: next road
self.assertEqual(road_corridor.GetRoad(0).next_road.road_id, 1)
self.assertEqual(road_corridor.GetRoad(1).next_road.road_id, 2)
# Assert: lane links
self.assertEqual(
road_corridor.GetRoad(0).GetLane(3).next_lane.lane_id, 5)
self.assertEqual(
road_corridor.GetRoad(1).GetLane(5).next_lane.lane_id, 8)
# Assert: LaneCorridor
self.assertEqual(len(road_corridor.lane_corridors), 3)
colors = ["blue", "red", "green"]
count = 0
for lane_corridor in road_corridor.lane_corridors:
viewer.drawPolygon2d(lane_corridor.polygon,
color=colors[count],
alpha=0.5)
viewer.drawLine2d(lane_corridor.left_boundary, color="red")
viewer.drawLine2d(lane_corridor.right_boundary, color="blue")
viewer.drawLine2d(lane_corridor.center_line, color="black")
viewer.show(block=False)
plt.pause(2.)
count += 1
def test_database_multiprocessing_runner(self):
dbs = DatabaseSerializer(test_scenarios=4,
test_world_steps=5,
num_serialize_scenarios=10)
dbs.process("data/database1")
local_release_filename = dbs.release(version="test")
db = BenchmarkDatabase(database_root=local_release_filename)
evaluators = {
"success": "EvaluatorGoalReached",
"collision": "EvaluatorCollisionEgoAgent",
"max_steps": "EvaluatorStepCount"
}
terminal_when = {
"collision": lambda x: x,
"max_steps": lambda x: x > 5
}
params = ParameterServer(
) # only for evaluated agents not passed to scenario!
behaviors_tested = {
"IDM": BehaviorIDMClassic(params),
"Const": BehaviorConstantVelocity(params)
}
benchmark_runner = BenchmarkRunnerMP(benchmark_database=db,
evaluators=evaluators,
terminal_when=terminal_when,
behaviors=behaviors_tested,
log_eval_avg_every=10)
result = benchmark_runner.run()
params2 = ParameterServer()
viewer = MPViewer(params=params2,
x_range=[5060, 5160],
y_range=[5070, 5150],
use_world_bounds=True)
rst, _ = benchmark_runner.run_benchmark_config(10, viewer=viewer)
rst = benchmark_runner.run(maintain_history=True)
self.assertEqual(len(rst.get_histories()), 40)
rst, scenario_history = benchmark_runner.run_benchmark_config(
11, viewer=None, maintain_history=True)
print(scenario_history)
viewer = MPViewer(params=params2,
x_range=[5060, 5160],
y_range=[5070, 5150],
use_world_bounds=True)
viewer.drawWorld(world=scenario_history[5].GetWorldState(),
eval_agent_ids=scenario_history[5].eval_agent_ids)
viewer.show(block=True)
df = result.get_data_frame()
print(df)
self.assertEqual(
len(df.index),
40) # 2 Behaviors * 10 Serialize Scenarios * 2 scenario sets
def test_two_roads_one_lane(self):
xodr_map = MakeXodrMapOneRoadTwoLanes()
# World Definition
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_map)
world.SetMap(map_interface)
open_drive_map = world.map.GetOpenDriveMap()
viewer = MPViewer(params=params, use_world_bounds=True)
# Draw map
viewer.drawWorld(world)
viewer.show(block=False)
# Generate RoadCorridor
roads = [100]
driving_direction = XodrDrivingDirection.forward
map_interface.GenerateRoadCorridor(roads, driving_direction)
road_corridor = map_interface.GetRoadCorridor(roads, driving_direction)
# Assert road corridor
# Assert: 1 road
self.assertEqual(len(road_corridor.roads), 1)
# Assert: road1: 2 lanes
self.assertEqual(len(road_corridor.GetRoad(roads[0]).lanes), 3)
colors = ["blue", "red", "green"]
count = 0
for lane_corridor in road_corridor.lane_corridors:
viewer.drawPolygon2d(lane_corridor.polygon,
color=colors[count],
alpha=0.5)
viewer.drawLine2d(lane_corridor.left_boundary, color="red")
viewer.drawLine2d(lane_corridor.right_boundary, color="blue")
viewer.drawLine2d(lane_corridor.center_line, color="black")
viewer.show(block=False)
plt.pause(2.)
count += 1
viewer.show(block=True)
def test_road_corridor_intersection(self):
xodr_parser = XodrParser(
"modules/runtime/tests/data/road_corridor_test.xodr")
# World Definition
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_parser.map)
world.SetMap(map_interface)
open_drive_map = world.map.GetOpenDriveMap()
viewer = MPViewer(params=params, use_world_bounds=True)
# Draw map
viewer.drawWorld(world)
viewer.show(block=False)
# Generate RoadCorridor
roads = [0, 1, 2]
driving_direction = XodrDrivingDirection.forward
map_interface.GenerateRoadCorridor(roads, driving_direction)
road_corridor = map_interface.GetRoadCorridor(roads, driving_direction)
colors = ["blue", "red", "green", "yellow"]
count = 0
for road_id, road in road_corridor.roads.items():
for lane_id, lane in road.lanes.items():
print(road_id, lane_id, lane.driving_direction)
for lane_corridor in road_corridor.lane_corridors:
viewer.drawPolygon2d(lane_corridor.polygon,
color=colors[count],
alpha=0.5)
viewer.drawLine2d(lane_corridor.left_boundary, color="red")
viewer.drawLine2d(lane_corridor.right_boundary, color="blue")
viewer.drawLine2d(lane_corridor.center_line, color="black")
viewer.show(block=False)
plt.pause(0.5)
count += 1
viewer.show(block=True)
# Copyright (c) 2019 fortiss GmbH
#
# This software is released under the MIT License.
# https://opensource.org/licenses/MIT
from load.benchmark_database import BenchmarkDatabase
from modules.runtime.viewer.matplotlib_viewer import MPViewer
from modules.runtime.commons.parameters import ParameterServer
import time
db = BenchmarkDatabase(database_root="external/benchmark_database_release")
scenario_generation = db.get_scenario_generator(scenario_set_id=0)
param_server = ParameterServer()
viewer = MPViewer(params=param_server,
x_range=[5060, 5160],
y_range=[5070, 5150])
for _ in range(0, 5): # run 5 scenarios in a row, repeating after 3
scenario, idx = scenario_generation[0].get_next_scenario()
world_state = scenario.get_world_state()
print("Running scenario {} of {}".format(
idx, scenario_generation[0].num_scenarios))
for _ in range(0, 10): # run each scenario for 3 steps
world_state.step(0.2)
viewer.drawWorld(world_state)
viewer.show(block=False)
time.sleep(0.2)
def test_evaluator_drivable_area(self):
# World Definition
params = ParameterServer()
world = World(params)
# Model Definitions
behavior_model = BehaviorConstantVelocity(params)
execution_model = ExecutionModelInterpolate(params)
dynamic_model = SingleTrackModel(params)
# Map Definition
map_interface = MapInterface()
xodr_map = MakeXodrMapOneRoadTwoLanes()
map_interface.SetOpenDriveMap(xodr_map)
world.SetMap(map_interface)
#open_drive_map = world.map.GetOpenDriveMap()
#agent_2d_shape = CarLimousine()
agent_2d_shape = Polygon2d(
[1.25, 1, 0],
[Point2d(-1, -1),
Point2d(-1, 1),
Point2d(3, 1),
Point2d(3, -1)])
init_state = np.array([0, 3, -1.75, 0, 5])
agent_params = params.AddChild("agent1")
goal_polygon = Polygon2d(
[1, 1, 0],
[Point2d(0, 0),
Point2d(0, 2),
Point2d(2, 2),
Point2d(2, 0)])
goal_polygon = goal_polygon.Translate(Point2d(50, -2))
agent = Agent(
init_state,
behavior_model,
dynamic_model,
execution_model,
agent_2d_shape,
agent_params,
GoalDefinitionPolygon(goal_polygon), # goal_lane_id
map_interface)
world.AddAgent(agent)
evaluator = EvaluatorDrivableArea()
world.AddEvaluator("drivable_area", evaluator)
info = world.Evaluate()
self.assertFalse(info["drivable_area"])
viewer = MPViewer(params=params, use_world_bounds=True)
# Draw map
viewer.drawGoalDefinition(goal_polygon,
color=(1, 0, 0),
alpha=0.5,
facecolor=(1, 0, 0))
viewer.drawWorld(world)
viewer.drawRoadCorridor(agent.road_corridor)
viewer.show(block=False)
open_drive_map = world.map.GetOpenDriveMap()
viewer = MPViewer(params=params,
use_world_bounds=True)
viewer.drawWorld(world)
viewer.saveFig(output_dir + "/" + "world_plain.png")
color_triplet_gray = (0.7,0.7,0.7)
# Open Drive Elements (XodrRoads, XodrLane Sections, XodrLanes)
for idx_r, road in open_drive_map.GetRoads().items():
viewer.drawWorld(world)
viewer.drawXodrRoad(road)
viewer.saveFig(output_dir + "/" + "open_drive_map_road_" + str(idx_r) + ".png")
viewer.show(block=False)
viewer.clear()
for idx_r, road in open_drive_map.GetRoads().items():
for idx_ls, lane_section in enumerate(road.lane_sections):
viewer.drawWorld(world)
viewer.drawXodrRoad(road, color_triplet_gray)
viewer.drawXodrLaneSection(lane_section)
viewer.saveFig(output_dir + "/" + "open_drive_map_road_" + str(idx_r) + "_lane_section" + str(idx_ls) + ".png")
viewer.show()
viewer.clear()
for idx_r, road in open_drive_map.GetRoads().items():
for idx_ls, lane_section in enumerate(road.lane_sections):
for idx_l, lane in lane_section.GetLanes().items():
viewer.drawWorld(world)
print("comb_all", comb_all)
for cnt, (start_p, end_p) in enumerate(comb_all):
polygon = Polygon2d([0, 0, 0], [Point2d(-1,-1),Point2d(-1,1),Point2d(1,1), Point2d(1,-1)])
start_polygon = polygon.Translate(start_p)
goal_polygon = polygon.Translate(end_p)
rc = map_interface.GenerateRoadCorridor(start_p, goal_polygon)
if rc:
roads = rc.roads
road_ids = list(roads.keys())
print(road_ids, rc.road_ids)
viewer.drawWorld(world)
viewer.drawRoadCorridor(rc, "blue")
viewer.saveFig(output_dir + "/" + "roadcorridor_" + str(cnt) + ".png")
viewer.show()
viewer.clear()
for idx, lane_corridor in enumerate(rc.lane_corridors):
viewer.drawWorld(world)
viewer.drawLaneCorridor(lane_corridor, "green")
viewer.drawLine2d(lane_corridor.left_boundary, color="red")
viewer.drawLine2d(lane_corridor.right_boundary, color="green")
viewer.drawLine2d(lane_corridor.center_line, color="green")
viewer.drawPolygon2d(start_polygon, color="green", facecolor="green", alpha=1.)
viewer.drawPolygon2d(goal_polygon, color="red", facecolor="red", alpha=1.)
viewer.saveFig(output_dir + "/" + "roadcorridor_" + str(cnt) + "_with_driving_direction_lancecorridor" + str(idx) + ".png")
viewer.show()
viewer.clear()
viewer.show()
