def test_storyboard_act_input():
egoname = "Ego"
targetname = "target"
init = OSC.Init()
step_time = OSC.TransitionDynamics(OSC.DynamicsShapes.step,
OSC.DynamicsDimension.time, 1)
egospeed = OSC.AbsoluteSpeedAction(0, step_time)
egostart = OSC.TeleportAction(OSC.LanePosition(25, 0, -3, 0))
targetspeed = OSC.AbsoluteSpeedAction(0, step_time)
targetstart = OSC.TeleportAction(OSC.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 = OSC.TimeHeadwayCondition(targetname,0.1,OSC.Rule.greaterThan)
# trigger = OSC.EntityTrigger('mytesttrigger',0.2,OSC.ConditionEdge.rising,trigcond,egoname)
trigger = OSC.ValueTrigger(
'starttrigger', 0, OSC.ConditionEdge.rising,
OSC.SimulationTimeCondition(3, OSC.Rule.greaterThan))
event = OSC.Event('myfirstevent', OSC.Priority.overwrite)
event.add_trigger(trigger)
# sin_time = OSC.TransitionDynamics(OSC.DynamicsShapes.linear,OSC.DynamicsDimension.time,3)
action = OSC.LongitudinalDistanceAction(-4,
egoname,
max_deceleration=3,
max_speed=50)
event.add_action('newspeed', action)
## create the act,
man = OSC.Maneuver('my_maneuver')
man.add_event(event)
mangr = OSC.ManeuverGroup('mangroup')
mangr.add_actor(targetname)
mangr.add_maneuver(man)
starttrigger = OSC.ValueTrigger(
'starttrigger', 0, OSC.ConditionEdge.rising,
OSC.SimulationTimeCondition(0, OSC.Rule.greaterThan))
act = OSC.Act('my_act', starttrigger)
act.add_maneuver_group(mangr)
## create the storyboard
sb = OSC.StoryBoard(init)
sb.add_act(act)
prettyprint(sb.get_element())
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
entities.add_scenario_object(
egoname, xosc.CatalogReference('VehicleCatalog', 'car_white'))
entities.add_scenario_object(
redname, xosc.CatalogReference('VehicleCatalog', 'car_red'))
entities.add_scenario_object(
yelname, xosc.CatalogReference('VehicleCatalog', 'car_yellow'))
### create init
init = xosc.Init()
step_time = xosc.TransitionDynamics(xosc.DynamicsShapes.step,
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(
egoname = 'Ego'
targetname = 'Target'
entities = xosc.Entities()
entities.add_scenario_object(egoname, white_veh)
entities.add_scenario_object(targetname, red_veh)
### create init
init = xosc.Init()
step_time = xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)
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)
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
speedyname = 'speedy_gonzales'
targetname = 'Target'
entities = xosc.Entities()
entities.add_scenario_object(
egoname, xosc.CatalogReference('VehicleCatalog', 'car_white'))
entities.add_scenario_object(
speedyname, xosc.CatalogReference('VehicleCatalog', 'car_blue'))
entities.add_scenario_object(
targetname, xosc.CatalogReference('VehicleCatalog', 'car_yellow'))
### create init
init = xosc.Init()
init.add_init_action(egoname,
xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0)))
init.add_init_action(
egoname,
xosc.AbsoluteSpeedAction(
15,
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)))
init.add_init_action(speedyname,
xosc.TeleportAction(xosc.LanePosition(10, 0, -3, 0)))
init.add_init_action(
speedyname,
xosc.AbsoluteSpeedAction(
30,
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)))
egoname = 'Ego'
targetname = 'Target'
entities = xosc.Entities()
entities.add_scenario_object(egoname,white_veh)
entities.add_scenario_object(targetname,red_veh)
### create init
init = xosc.Init()
step_time = xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)
egospeed = xosc.AbsoluteSpeedAction(3,step_time)
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)
paramdec = xosc.ParameterDeclarations()
## create entities
egoname = 'Ego'
targetname = 'Target'
entities = xosc.Entities()
entities.add_scenario_object(egoname,xosc.CatalogReference('VehicleCatalog','car_red'))
entities.add_scenario_object(targetname,xosc.CatalogReference('VehicleCatalog','car_blue'))
### create init
init = xosc.Init()
init.add_init_action(egoname,xosc.TeleportAction(xosc.LanePosition(50,0,-2,0)))
init.add_init_action(egoname,xosc.AbsoluteSpeedAction(10,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
init.add_init_action(targetname,xosc.TeleportAction(xosc.LanePosition(30,0,-3,0)))
init.add_init_action(targetname,xosc.AbsoluteSpeedAction(20,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
## target action
tar_action = xosc.AbsoluteSynchronizeAction(egoname,xosc.LanePosition(200,0,-1,0),xosc.LanePosition(200,0,-2,0),10,target_tolerance_master=1,target_tolerance=1)
tar_event = xosc.Event('target_event',xosc.Priority.overwrite)
tar_event.add_trigger(xosc.ValueTrigger('ego_start',0,xosc.ConditionEdge.none,xosc.SimulationTimeCondition(3,xosc.Rule.greaterThan)))
tar_event.add_action('tar_action',tar_action)
tar_man = xosc.Maneuver('target_man')
### create parameters
paramdec = xosc.ParameterDeclarations()
## loop to create cars, init and their reset actions
egoname = 'Ego'
targetname = 'Target'
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)
def test_laneposition():
pos = OSC.LanePosition(1, 2, lane_id='lane1', road_id='road1')
prettyprint(pos.get_element())
pos = OSC.RelativeLanePosition(1, 2, lane_id=1, entity='Ego')
prettyprint(pos.get_element())
egoname = 'Ego'
speedyname = 'speedy_gonzales'
targetname = 'Target'
entities = xosc.Entities()
entities.add_scenario_object(egoname,xosc.CatalogReference('VehicleCatalog','car_white'))
entities.add_scenario_object(speedyname,xosc.CatalogReference('VehicleCatalog','car_blue'))
entities.add_scenario_object(targetname,xosc.CatalogReference('VehicleCatalog','car_yellow'))
### create init
init = xosc.Init()
init.add_init_action(egoname,xosc.TeleportAction(xosc.LanePosition(50,0,-2,0)))
init.add_init_action(egoname,xosc.AbsoluteSpeedAction(15,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.time,1)))
# change speed of this to have different outcome
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
egoname = 'Ego'
egoref = 'Egofake'
targetname = 'Target'
entities = xosc.Entities()
entities.add_scenario_object(
egoname, xosc.CatalogReference('VehicleCatalog', 'car_white'))
entities.add_scenario_object(
targetname, xosc.CatalogReference('VehicleCatalog', 'car_yellow'))
### create init
init = xosc.Init()
init.add_init_action(egoname,
xosc.TeleportAction(xosc.LanePosition(10, 0, -4, 0)))
init.add_init_action(
egoname,
xosc.AbsoluteSpeedAction(
20,
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)))
init.add_init_action(targetname,
xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0)))
init.add_init_action(
targetname,
xosc.AbsoluteSpeedAction(
10,
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)))
## create entities
egoname = 'Ego'
targetname = 'Target'
entities = xosc.Entities()
entities.add_scenario_object(
egoname, xosc.CatalogReference('VehicleCatalog', 'car_red'))
### create init
init = xosc.Init()
init.add_init_action(egoname,
xosc.TeleportAction(xosc.LanePosition(50, 0, 1, 0)))
init.add_init_action(
egoname,
xosc.AbsoluteSpeedAction(
10,
xosc.TransitionDynamics(xosc.DynamicsShapes.step,
xosc.DynamicsDimension.time, 1)))
# create a router
ego_route = xosc.Route('ego_route')
ego_route.add_waypoint(xosc.LanePosition(30, 0, 1, 0),
xosc.RouteStrategy.fastest)
ego_route.add_waypoint(xosc.LanePosition(10, 0, -1, 1),
xosc.RouteStrategy.fastest)