def test_conditiongroup():
condgr = OSC.ConditionGroup()
trig1 = OSC.EntityTrigger('firsttrigger',1,OSC.ConditionEdge.rising,OSC.RelativeDistanceCondition(10,OSC.Rule.greaterThan,OSC.RelativeDistanceType.longitudinal,'Ego'),'Target')
trig2 = OSC.EntityTrigger('secondtrigger',2,OSC.ConditionEdge.rising,OSC.SpeedCondition(2,OSC.Rule.equalTo),'Target')
condgr.add_condition(trig1)
condgr.add_condition(trig2)
prettyprint(condgr.get_element())
def test_entitytrigger():
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')
prettyprint(trigger.get_element())
xosc.DynamicsDimension.time, 1)
init.add_init_action(egoname, xosc.AbsoluteSpeedAction(30, step_time))
init.add_init_action(egoname,
xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0)))
init.add_init_action(redname, xosc.AbsoluteSpeedAction(40, step_time))
init.add_init_action(redname,
xosc.TeleportAction(xosc.LanePosition(15, 0, -2, 0)))
init.add_init_action(yelname, xosc.AbsoluteSpeedAction(30, step_time))
init.add_init_action(yelname,
xosc.TeleportAction(xosc.LanePosition(35, 0, -4, 0)))
### create an event for the red car
r_trigcond = xosc.TimeHeadwayCondition(redname, 0.1, xosc.Rule.greaterThan)
r_trigger = xosc.EntityTrigger('redtrigger', 0.2, xosc.ConditionEdge.rising,
r_trigcond, egoname)
r_event = xosc.Event('first_lane_change', xosc.Priority.overwrite)
r_event.add_trigger(r_trigger)
r_event.add_action(
'lane_change_red',
xosc.AbsoluteLaneChangeAction(
-4,
xosc.TransitionDynamics(xosc.DynamicsShapes.sinusoidal,
xosc.DynamicsDimension.time, 4)))
## create the act for the red car
r_man = xosc.Maneuver('red_maneuver')
r_man.add_event(r_event)
r_mangr = xosc.ManeuverGroup('mangroup_red')
r_mangr.add_actor(redname)
event = xosc.Event('speedchange', xosc.Priority.overwrite)
event.add_action(
'speedaction',
xosc.AbsoluteSpeedAction(
10,
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 3)))
# create two trigger conditions
trig_cond1 = xosc.TimeToCollisionCondition(2,
xosc.Rule.lessThan,
entity=targetname)
trig_cond2 = xosc.TimeHeadwayCondition(speedyname, 1, xosc.Rule.greaterThan)
collision_trigger = xosc.EntityTrigger('trigger', 0, xosc.ConditionEdge.none,
trig_cond1, egoname)
headway_trigger = xosc.EntityTrigger('trigger', 0, xosc.ConditionEdge.none,
trig_cond2, egoname)
# create two separate condition groups
col_group = xosc.ConditionGroup()
col_group.add_condition(collision_trigger)
head_group = xosc.ConditionGroup()
head_group.add_condition(headway_trigger)
# create trigger and add the two conditiongroups (or logic)
trigger = xosc.Trigger()
trigger.add_conditiongroup(col_group)
trigger.add_conditiongroup(head_group)
egospeed = xosc.AbsoluteSpeedAction(30, step_time)
egostart = xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0))
targetspeed = xosc.AbsoluteSpeedAction(40, step_time)
targetstart = xosc.TeleportAction(xosc.LanePosition(15, 0, -2, 0))
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 an event
trigcond = xosc.TimeHeadwayCondition(targetname, 0.4, xosc.Rule.greaterThan)
trigger = xosc.EntityTrigger('mytesttrigger', 0.2, xosc.ConditionEdge.rising,
trigcond, egoname)
event = xosc.Event('myfirstevent', xosc.Priority.overwrite)
event.add_trigger(trigger)
positionlist = []
positionlist.append(xosc.RelativeLanePosition(0, 0, 0, targetname))
positionlist.append(xosc.RelativeLanePosition(20, 0.5, 0, targetname))
positionlist.append(xosc.RelativeLanePosition(40, -0.5, 0, targetname))
positionlist.append(xosc.RelativeLanePosition(60, -1, 0, targetname))
polyline = xosc.Polyline([0, 0.5, 1, 1.5], positionlist)
traj = xosc.Trajectory('my_trajectory', False)
traj.add_shape(polyline)
entities = xosc.Entities()
init = xosc.Init()
act = xosc.Act('indef traffic')
for i in range(20):
entities.add_scenario_object(targetname+str(i),xosc.CatalogReference('VehicleCatalog','car_yellow'))
init.add_init_action(targetname+str(i),xosc.TeleportAction(xosc.LanePosition(100+i*20,0,-1,1)))
init.add_init_action(targetname+str(i),xosc.AbsoluteSpeedAction(60,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
event = xosc.Event('speedchange',xosc.Priority.overwrite,maxexecution=10)
event.add_action('restart',xosc.TeleportAction(xosc.LanePosition(0,0,-1,1)))
trig_cond = xosc.EndOfRoadCondition(0)
event.add_trigger(xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.rising,trig_cond,targetname+str(i)))
man = xosc.Maneuver('mymaneuver')
man.add_event(event)
mangr = xosc.ManeuverGroup('mangr',maxexecution=3)
mangr.add_maneuver(man)
mangr.add_actor(targetname+str(i))
act.add_maneuver_group(mangr)
## create the storyboard
sb = xosc.StoryBoard(init,xosc.ValueTrigger('stop_simulation',0,xosc.ConditionEdge.rising,xosc.SimulationTimeCondition(100,xosc.Rule.greaterThan),'stop'))
sb.add_act(act)
egostart = xosc.TeleportAction(xosc.LanePosition(25,0,-3,0))
targetspeed = xosc.AbsoluteSpeedAction(15,step_time)
targetstart = xosc.TeleportAction(xosc.RelativeRoadPosition(30,0,egoname))
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 an event for target
trigcond = xosc.AccelerationCondition(2.9,xosc.Rule.greaterThan)
trigger = xosc.EntityTrigger('mytesttrigger',0.2,xosc.ConditionEdge.none,trigcond,egoname)
event = xosc.Event('myfirstevent',xosc.Priority.overwrite)
event.add_trigger(trigger)
sin_time = xosc.TransitionDynamics(xosc.DynamicsShapes.linear,xosc.DynamicsDimension.time,3.9)
action = xosc.AbsoluteSpeedAction(0,sin_time)
event.add_action('newspeed',action)
## create the maneuver
man = xosc.Maneuver('my_maneuver')
man.add_event(event)
mangr = xosc.ManeuverGroup('mangroup')
mangr.add_actor(targetname)
mangr.add_maneuver(man)
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())
init.add_init_action(speedyname,xosc.TeleportAction(xosc.LanePosition(10,0,-3,0)))
init.add_init_action(speedyname,xosc.AbsoluteSpeedAction(speed_of_outer_car,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
init.add_init_action(targetname,xosc.TeleportAction(xosc.LanePosition(100,0,-2,0)))
init.add_init_action(targetname,xosc.AbsoluteSpeedAction(10,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
### create the "optional" slowdown event
slowdown_event = xosc.Event('speedchange',xosc.Priority.overwrite)
slowdown_event.add_action('speedaction',xosc.AbsoluteSpeedAction(9,xosc.TransitionDynamics(xosc.DynamicsShapes.sinusoidal,xosc.DynamicsDimension.time,1)))
# create two trigger conditions
ttc_cond = xosc.TimeToCollisionCondition(3,xosc.Rule.lessThan,entity=targetname)
headway_cond = xosc.TimeHeadwayCondition(speedyname,1,xosc.Rule.lessThan)
headway_trigger = xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.none,headway_cond,egoname)
collision_trigger = xosc.EntityTrigger('trigger',0,xosc.ConditionEdge.none,ttc_cond,egoname)
#create the "and" logic
sc_group = xosc.ConditionGroup()
sc_group.add_condition(collision_trigger)
sc_group.add_condition(headway_trigger)
slowdown_event.add_trigger(sc_group)
# create the optional lanechange event
lane_change_event = xosc.Event('lanechange',xosc.Priority.overwrite)
lane_change_event.add_action('lanechangeaction',xosc.AbsoluteLaneChangeAction(-3,xosc.TransitionDynamics(xosc.DynamicsShapes.sinusoidal,xosc.DynamicsDimension.time,3)))
import pytest
from scenariogeneration import xosc as OSC
from scenariogeneration import prettyprint
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')
xosc.AbsoluteSpeedAction(
10,
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)))
## do lanechange
lc_cond = xosc.ReachPositionCondition(xosc.LanePosition(40, 0, -4, 0), 1)
lc_event = xosc.Event('lanechange', xosc.Priority.parallel)
lc_event.add_action(
'lanechangeaction',
xosc.RelativeLaneChangeAction(
-1, targetname,
xosc.TransitionDynamics(xosc.DynamicsShapes.sinusoidal,
xosc.DynamicsDimension.time, 3)))
lc_event.add_trigger(
xosc.EntityTrigger('lanechangetrigger', 0, xosc.ConditionEdge.none,
lc_cond, egoname))
event = xosc.Event('speedchange', xosc.Priority.parallel)
event.add_action(
'speedaction',
xosc.AbsoluteSpeedAction(
10,
xosc.TransitionDynamics(xosc.DynamicsShapes.linear,
xosc.DynamicsDimension.time, 3)))
trig_cond = xosc.RelativeDistanceCondition(5, xosc.Rule.lessThan,
xosc.RelativeDistanceType.lateral,
targetname)
event.add_trigger(
xosc.EntityTrigger('trigger', 0, xosc.ConditionEdge.none, trig_cond,
egoname))
xosc.DynamicsDimension.time, 8))
egostart = xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0))
targetspeed = xosc.AbsoluteSpeedAction(15, step_time)
targetstart = xosc.TeleportAction(xosc.RoadPosition(30, -5, 0))
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 an event
trigcond = xosc.RelativeSpeedCondition(0, xosc.Rule.lessThan, egoname)
trigger = xosc.EntityTrigger('mytesttrigger', 0.2, xosc.ConditionEdge.none,
trigcond, targetname)
event = xosc.Event('myfirstevent', xosc.Priority.overwrite)
event.add_trigger(trigger)
sin_time = xosc.TransitionDynamics(xosc.DynamicsShapes.linear,
xosc.DynamicsDimension.time, 5)
action = xosc.RelativeLaneChangeAction(
-8, targetname,
xosc.TransitionDynamics(xosc.DynamicsShapes.linear,
xosc.DynamicsDimension.time, 6), -10)
event.add_action('newspeed', action)
## create the maneuver
man = xosc.Maneuver('my_maneuver')
man.add_event(event)