def run(self):
# Setup environment
lgsvl_sim = self.simConnection.connect()
control = lgsvl.NPCControl()
ego_control = lgsvl.VehicleControl()
# Placing the school_bus
school_bus_state = spawn_state(lgsvl_sim)
school_bus_state = CarControl.place_car_on_the_point(
state=school_bus_state, sim=lgsvl_sim, point=self.npc_source)
school_bus = load_npc(lgsvl_sim, "SchoolBus", school_bus_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
ego_state = CarControl.place_car_from_the_point(dimension="horizontal",
distance=-6,
state=ego_state)
ego_state = CarControl.drive_ego_car(ego_state,
[("vertical", self.ego_speed)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
# Callback collision function
ego.on_collision(self.on_collision)
school_bus.on_collision(self.on_collision)
# Set waypoints for School Bus
waypoints = []
for point in [self.npc_source, self.npc_target]:
waypoints.append(
lgsvl.DriveWaypoint(point, self.npc_speed,
school_bus.state.transform.rotation))
try:
# Start the scenario
# The School Bus is parked on the street
control.headlights = 2
control.e_stop = True
school_bus.apply_control(control)
# Let the ego running for 2 seconds
self.simConnection.execute(timeout=2)
# The school bus turns on signal to prepare for the turn
control.headlights = 0 # turn off headlight
control.turn_signal_left = True
school_bus.apply_control(control)
self.simConnection.execute(timeout=2)
# Brake the ego
CarControl.brake_ego(ego=ego,
control=ego_control,
brake_value=self.ego_brake,
sticky=True)
# The school bus starts to turn right
school_bus.follow(waypoints)
self.simConnection.execute(timeout=10)
except Exception:
print("Failed!")
def setup_cars(sim_connection: SimConnection, ego_speed: float,
npc_speed: float):
lgsvl_sim = sim_connection.connect()
# Placing the school_bus
school_bus_state = spawn_state(lgsvl_sim)
school_bus = load_npc(lgsvl_sim, "SchoolBus", school_bus_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
ego_state = CarControl.place_car_from_the_point(
dimension="horizontal", distance=-6, state=ego_state)
ego_state = CarControl.drive_ego_car(ego_state,
[("vertical", ego_speed)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
return {
"school_bus": school_bus,
"ego": ego,
}
def init_configuration(lgsvl_sim: lgsvl.Simulator,
initial_state: lgsvl.AgentState, npc_speed: float):
# Init ego state
ego_state = copy.deepcopy(initial_state)
# Place Ego Car - 5 meter ahead from the initial point
ego_state = CarControl.place_car_from_the_point(dimension="vertical",
distance=5,
state=ego_state)
# Place Ego Car - 3.5m meter on the left
ego_state = CarControl.place_car_from_the_point(dimension="horizontal",
distance=-3.5,
state=ego_state)
# Drive ego car with speed 5m/s
ego_state = CarControl.drive_ego_car(state=ego_state,
directions=[("vertical", 5)])
# Add ego to simulator
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
# Init sedan state
sedan_state = copy.deepcopy(initial_state)
# Place Sedan - 5 meter ahead from the initial point
sedan_state = CarControl.place_car_from_the_point(dimension="vertical",
distance=5,
state=sedan_state)
# Add Sedan to simulator
sedan = load_npc(lgsvl_sim, "Sedan", sedan_state)
# Drive sedan follow its lane with given speed in m/s
sedan.follow_closest_lane(True, npc_speed)
# Init suv state
suv_state = copy.deepcopy(initial_state)
# Place SUV - 15 meter ahead from the initial point
suv_state = CarControl.place_car_from_the_point(dimension="vertical",
distance=20,
state=suv_state)
# Add suv to simulator
suv = load_npc(lgsvl_sim, "SUV", suv_state)
# Drive suv follow its lane with given speed in m/s
suv.follow_closest_lane(True, npc_speed)
return {
"sedan": sedan,
"suv": suv,
"ego": ego,
}
def test_EGO_following_NPC_without_crash(self):
simConnection = SimConnection()
sim = simConnection.connect()
# Placing the suv - 10m ahead from the starting point
state = spawn_state(sim)
truck_state = CarControl.place_car_from_the_point(dimension="vertical",
distance=10,
state=state)
truck = load_npc(sim, "BoxTruck", truck_state)
# Driving the truck - speed 5m/s from the starting point
truck.follow_closest_lane(True, 5)
# Driving the ego - speed 1m/s from the starting point
state = spawn_state(sim)
ego_state = CarControl.drive_ego_car(state=state,
directions=[("vertical", 4.5)])
ego = load_ego(sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
# Run the simulator for 10 seconds with debug mode
simConnection.execute(timeout=10)
self.assertEqual(True, True)
simConnection.sim.close()
def setup_cars(sim_connection: SimConnection, ego_speed: float):
lgsvl_sim = sim_connection.connect()
# Placing the sedan
sedan_state = spawn_state(lgsvl_sim)
sedan_state = CarControl.place_car_from_the_point(dimension="vertical",
distance=15,
state=sedan_state)
sedan_state = CarControl.place_car_from_the_point(dimension="horizontal",
distance=-8,
state=sedan_state)
sedan_state = CarControl.rotate_car_by_degree(state=sedan_state,
degree=-45)
sedan = load_npc(lgsvl_sim, "Sedan", sedan_state)
# Placing the ego on the starting point
ego_state = spawn_state(lgsvl_sim)
ego_state = CarControl.drive_ego_car(ego_state, [("vertical", ego_speed)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
return {
"sedan": sedan,
"ego": ego,
}
def setup_cars(simc: SimConnection, npc_speed: float):
lgsvl_sim = simc.connect()
sedan_state = spawn_state(lgsvl_sim)
sedan_state = CarControl.place_car_from_the_point(dimension="vertical", distance=0, state=sedan_state)
sedan = load_npc(lgsvl_sim, "Sedan", sedan_state)
sedan.follow_closest_lane(True, npc_speed)
suv_state = spawn_state(lgsvl_sim)
suv_state = CarControl.place_car_from_the_point(dimension="vertical", distance=17, state=suv_state)
suv = load_npc(lgsvl_sim, "Sedan", suv_state)
suv.follow_closest_lane(True, npc_speed)
ego_state = spawn_state(lgsvl_sim)
ego_state = CarControl.place_car_from_the_point(dimension="horizontal", distance=-3.5, state=ego_state)
ego_state = CarControl.place_car_from_the_point(dimension="vertical", distance=5, state=ego_state)
ego_state = CarControl.drive_ego_car(state=ego_state, directions=[("vertical", 5)])
ego = load_ego(lgsvl_sim, "Lincoln2017MKZ (Apollo 5.0)", ego_state)
return {
"sedan": sedan,
"suv": suv,
"ego": ego,
}