def _set_actor_information(self):
"""
Extract all actors and their corresponding specification
NOTE: The rolename property has to be unique!
"""
for entity in self.xml_tree.iter("Entities"):
for obj in entity.iter("ScenarioObject"):
rolename = obj.attrib.get('name', 'simulation')
args = {}
for prop in obj.iter("Property"):
key = prop.get('name')
value = prop.get('value')
args[key] = value
for catalog_reference in obj.iter("CatalogReference"):
entry = OpenScenarioParser.get_catalog_entry(self.catalogs, catalog_reference)
if entry.tag == "Vehicle":
self._extract_vehicle_information(entry, rolename, entry, args)
elif entry.tag == "Pedestrian":
self._extract_pedestrian_information(entry, rolename, entry, args)
elif entry.tag == "MiscObject":
self._extract_misc_information(entry, rolename, entry, args)
else:
self.logger.debug(
" A CatalogReference specifies a reference that is not an Entity. Skipping...")
for vehicle in obj.iter("Vehicle"):
self._extract_vehicle_information(obj, rolename, vehicle, args)
for pedestrian in obj.iter("Pedestrian"):
self._extract_pedestrian_information(obj, rolename, pedestrian, args)
for misc in obj.iter("MiscObject"):
self._extract_misc_information(obj, rolename, misc, args)
# Set transform for all actors
# This has to be done in a multi-stage loop to resolve relative position settings
all_actor_transforms_set = False
while not all_actor_transforms_set:
all_actor_transforms_set = True
for actor in self.other_actors + self.ego_vehicles:
if actor.transform is None:
try:
actor.transform = self._get_actor_transform(actor.rolename)
except AttributeError as e:
if "Object '" in str(e):
ref_actor_rolename = str(e).split('\'')[1]
for ref_actor in self.other_actors + self.ego_vehicles:
if ref_actor.rolename == ref_actor_rolename:
if ref_actor.transform is not None:
raise e
break
else:
raise e
if actor.transform is None:
all_actor_transforms_set = False
def _create_behavior(self):
"""
Basic behavior do nothing, i.e. Idle
"""
story_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="Story")
joint_actor_list = self.other_actors + self.ego_vehicles + [None]
for act in self.config.story.iter("Act"):
act_sequence = py_trees.composites.Sequence(
name="Act StartConditions and behaviours")
start_conditions = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE,
name="StartConditions Group")
parallel_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE,
name="Maneuver + EndConditions Group")
parallel_sequences = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
name="Maneuvers")
for sequence in act.iter("ManeuverGroup"):
sequence_behavior = py_trees.composites.Sequence(
name=sequence.attrib.get('name'))
repetitions = sequence.attrib.get('maximumExecutionCount', 1)
for _ in range(int(repetitions)):
actor_ids = []
for actor in sequence.iter("Actors"):
for entity in actor.iter("EntityRef"):
entity_name = entity.attrib.get('entityRef', None)
for k, _ in enumerate(joint_actor_list):
if joint_actor_list[
k] and entity_name == joint_actor_list[
k].attributes['role_name']:
actor_ids.append(k)
break
if not actor_ids:
print(
"Warning: Maneuvergroup {} does not use reference actors!"
.format(sequence.attrib.get('name')))
actor_ids.append(len(joint_actor_list) - 1)
# Collect catalog reference maneuvers in order to process them at the same time as normal maneuvers
catalog_maneuver_list = []
for catalog_reference in sequence.iter("CatalogReference"):
catalog_maneuver = OpenScenarioParser.get_catalog_entry(
self.config.catalogs, catalog_reference)
catalog_maneuver_list.append(catalog_maneuver)
all_maneuvers = itertools.chain(
iter(catalog_maneuver_list), sequence.iter("Maneuver"))
single_sequence_iteration = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
name=sequence_behavior.name)
for maneuver in all_maneuvers: # Iterates through both CatalogReferences and Maneuvers
maneuver_parallel = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.
SUCCESS_ON_ALL,
name="Maneuver " + maneuver.attrib.get('name'))
for event in maneuver.iter("Event"):
event_sequence = py_trees.composites.Sequence(
name="Event " + event.attrib.get('name'))
parallel_actions = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.
SUCCESS_ON_ALL,
name="Actions")
for child in event.iter():
if child.tag == "Action":
for actor_id in actor_ids:
maneuver_behavior = OpenScenarioParser.convert_maneuver_to_atomic(
child, joint_actor_list[actor_id],
joint_actor_list,
self.config.catalogs)
maneuver_behavior = StoryElementStatusToBlackboard(
maneuver_behavior, "ACTION",
child.attrib.get('name'))
parallel_actions.add_child(
oneshot_with_check(variable_name=# See note in get_xml_path
get_xml_path(self.config.story, sequence) + '>' + \
get_xml_path(maneuver, child),
behaviour=maneuver_behavior))
if child.tag == "StartTrigger":
# There is always one StartConditions block per Event
parallel_condition_groups = self._create_condition_container(
child, "Parallel Condition Groups",
sequence, maneuver)
event_sequence.add_child(
parallel_condition_groups)
parallel_actions = StoryElementStatusToBlackboard(
parallel_actions, "EVENT",
event.attrib.get('name'))
event_sequence.add_child(parallel_actions)
maneuver_parallel.add_child(
oneshot_with_check(
variable_name=get_xml_path(
self.config.story, sequence) + '>' +
get_xml_path(maneuver,
event), # See get_xml_path
behaviour=event_sequence))
maneuver_parallel = StoryElementStatusToBlackboard(
maneuver_parallel, "MANEUVER",
maneuver.attrib.get('name'))
single_sequence_iteration.add_child(
oneshot_with_check(
variable_name=get_xml_path(
self.config.story, sequence) + '>' +
maneuver.attrib.get(
'name'), # See get_xml_path
behaviour=maneuver_parallel))
# OpenSCENARIO refers to Sequences as Scenes in this instance
single_sequence_iteration = StoryElementStatusToBlackboard(
single_sequence_iteration, "SCENE",
sequence.attrib.get('name'))
single_sequence_iteration = repeatable_behavior(
single_sequence_iteration,
get_xml_path(self.config.story, sequence))
sequence_behavior.add_child(single_sequence_iteration)
if sequence_behavior.children:
parallel_sequences.add_child(
oneshot_with_check(variable_name=get_xml_path(
self.config.story, sequence),
behaviour=sequence_behavior))
if parallel_sequences.children:
parallel_sequences = StoryElementStatusToBlackboard(
parallel_sequences, "ACT", act.attrib.get('name'))
parallel_behavior.add_child(parallel_sequences)
start_triggers = act.find("StartTrigger")
if list(start_triggers) is not None:
for start_condition in start_triggers:
parallel_start_criteria = self._create_condition_container(
start_condition, "StartConditions")
if parallel_start_criteria.children:
start_conditions.add_child(parallel_start_criteria)
end_triggers = act.find("StopTrigger")
if end_triggers is not None and list(end_triggers) is not None:
for end_condition in end_triggers:
parallel_end_criteria = self._create_condition_container(
end_condition, "EndConditions", success_on_all=False)
if parallel_end_criteria.children:
parallel_behavior.add_child(parallel_end_criteria)
if start_conditions.children:
act_sequence.add_child(start_conditions)
if parallel_behavior.children:
act_sequence.add_child(parallel_behavior)
if act_sequence.children:
story_behavior.add_child(act_sequence)
# Build behavior tree
behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
name="behavior")
env_behavior = self._create_environment_behavior()
if env_behavior is not None:
behavior.add_child(
oneshot_with_check(variable_name="InitialEnvironmentSettings",
behaviour=env_behavior))
init_behavior = self._create_init_behavior()
if init_behavior is not None:
behavior.add_child(
oneshot_with_check(variable_name="InitialActorSettings",
behaviour=init_behavior))
behavior.add_child(story_behavior)
return behavior