def _run_openscenario(self):
"""
Run a scenario based on OpenSCENARIO
"""
# Load the scenario configurations provided in the config file
if not os.path.isfile(self._args.openscenario):
print("File does not exist")
self._cleanup()
return False
if not self._args.openscenarioparams:
dirname = os.path.dirname(self._args.openscenario)
filename = os.path.basename(self._args.openscenario).split('.')[0]
csv_path = os.path.join(dirname + '/' + filename + '.csv')
if os.path.isfile(csv_path):
df = pd.read_csv(csv_path)
row = np.random.randint(len(df.index))
column_names = df.columns
values = df.iloc[row]
self._args.openscenarioparams = dict()
for column, value in zip(column_names, values):
self._args.openscenarioparams[column] = value
config = OpenScenarioConfiguration(self._args.openscenario,
self._args.openscenarioparams,
self.client)
result = self._load_and_run_scenario(config)
self._cleanup()
return result
def test_all_xosc(self):
"""
Load all examples OpenSCENARIO files
"""
all_test_files = glob.glob('**/srunner/examples/*.xosc',
recursive=True)
for filename in all_test_files:
client = carla.Client()
config = OpenScenarioConfiguration(filename, client, {})
self.assertTrue(config is not None)
CarlaDataProvider.set_client(client)
ego_vehicles = []
for vehicle in config.ego_vehicles:
ego_vehicles.append(
CarlaDataProvider.request_new_actor(
vehicle.model,
vehicle.transform,
vehicle.rolename,
color=vehicle.color,
actor_category=vehicle.category))
scenario = OpenScenario(world=client.get_world(),
ego_vehicles=ego_vehicles,
config=config,
config_file=filename,
timeout=100000)
self.assertTrue(scenario is not None)
CarlaDataProvider.cleanup()
def _run_openscenario(self, args):
"""
Run a scenario based on OpenSCENARIO
"""
# Load the scenario configurations provided in the config file
if not os.path.isfile(args.openscenario):
print("File does not exist")
self._cleanup()
return
config = OpenScenarioConfiguration(args.openscenario)
self._load_and_run_scenario(args, config)
self._cleanup(ego=(not args.waitForEgo))
def _run_openscenario(self):
"""
Run a scenario based on OpenSCENARIO
"""
# Load the scenario configurations provided in the config file
if not os.path.isfile(self._args.openscenario):
print("File does not exist")
self._cleanup()
return False
config = OpenScenarioConfiguration(self._args.openscenario, self.client)
result = self._load_and_run_scenario(config)
self._cleanup()
return result
def _run_openscenario(self):
"""
Run a scenario based on OpenSCENARIO
"""
# Load the scenario configurations provided in the config file
if not os.path.isfile(self._args.openscenario):
print("File does not exist")
self._cleanup()
return False
openscenario_params = dict()
if self._args.openscenarioparams is not None:
for entry in self._args.openscenarioparams.split(','):
[key, val] = [m.strip() for m in entry.split(':')]
openscenario_params[key] = val
config = OpenScenarioConfiguration(self._args.openscenario, self.client, openscenario_params)
result = self._load_and_run_scenario(config)
self._cleanup()
return result
