def _build_background(self, background_definition, timeout):
"""
Build background scenario. Adding pedestrians and vehicles wandering
around.
:param background_definition:
:param timeout:
:return:
"""
scenario_configuration = ScenarioConfiguration()
scenario_configuration.route = None
scenario_configuration.town = self._town_name
# TODO The random seed should be set.
# Also the crossing factor should be specified on the benchmark itself.
configuration_instances_vehicles = []
configuration_instances_walkers = []
# If there are walkers there should be cross factors otherwise it is 0
cross_factor = 0.0
if 'walker.*' in background_definition:
model = 'walker'
transform = carla.Transform()
autopilot = True
random_location = True
actor_configuration_instance = ActorConfigurationData(model, transform,
autopilot=autopilot,
random=random_location,
amount=int(
background_definition[
'walker.*']),
category='walker')
configuration_instances_walkers.append(actor_configuration_instance)
if "cross_factor" not in background_definition:
raise ValueError(" If there are walkers on the json file "
"background scenario there must also be a cross factor")
cross_factor = background_definition["cross_factor"]
if 'vehicle.*' in background_definition:
model = 'vehicle'
transform = carla.Transform()
autopilot = True
random_location = True
actor_configuration_instance = ActorConfigurationData(model, transform,
autopilot=autopilot,
random=random_location,
amount=int(background_definition[
"vehicle.*"]),
category='vehicle')
configuration_instances_vehicles.append(actor_configuration_instance)
scenario_configuration.other_actors = configuration_instances_vehicles + \
configuration_instances_walkers
return BackgroundActivity(self.world, self._ego_actor, scenario_configuration,
cross_factor=cross_factor,
timeout=timeout, debug_mode=False)
def _extract_vehicle_information(self, obj, rolename, vehicle, args):
"""
Helper function to _set_actor_information for getting vehicle information from XML tree
"""
color = None
model = vehicle.attrib.get('name', "vehicle.*")
category = vehicle.attrib.get('vehicleCategory', "car")
ego_vehicle = False
for prop in obj.iter("Property"):
if prop.get('name', '') == 'type':
ego_vehicle = prop.get('value') == 'ego_vehicle'
if prop.get('name', '') == 'color':
color = prop.get('value')
speed = self._get_actor_speed(rolename)
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename,
speed,
color=color,
category=category,
args=args)
new_actor.transform = self._get_actor_transform(rolename)
if ego_vehicle:
self.ego_vehicles.append(new_actor)
else:
self.other_actors.append(new_actor)
def _extract_pedestrian_information(self, obj, rolename, pedestrian, args):
"""
Helper function to _set_actor_information for getting pedestrian information from XML tree
"""
model = pedestrian.attrib.get('model', "walker.*")
new_actor = ActorConfigurationData(model, carla.Transform(), rolename, category="pedestrian", args=args)
new_actor.transform = self._get_actor_transform(rolename)
self.other_actors.append(new_actor)
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("Object"):
rolename = obj.attrib.get('name', 'simulation')
for vehicle in obj.iter("Vehicle"):
color = None
model = vehicle.attrib.get('name', "vehicle.*")
category = vehicle.attrib.get('category', "car")
ego_vehicle = False
for prop in obj.iter("Property"):
if prop.get('name', '') == 'type':
ego_vehicle = prop.get('value') == 'ego_vehicle'
if prop.get('name', '') == 'color':
color = prop.get('value')
speed = self._get_actor_speed(rolename)
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename,
speed,
color=color,
category=category)
new_actor.transform = self._get_actor_transform(rolename)
if ego_vehicle:
self.ego_vehicles.append(new_actor)
else:
self.other_actors.append(new_actor)
for pedestrian in obj.iter("Pedestrian"):
model = pedestrian.attrib.get('model', "walker.*")
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename,
category="pedestrian")
new_actor.transform = self._get_actor_transform(rolename)
self.other_actors.append(new_actor)
for misc in obj.iter("MiscObject"):
category = misc.attrib.get('category')
if category == "barrier":
model = "static.prop.streetbarrier"
elif category == "guardRail":
model = "static.prop.chainbarrier"
else:
model = misc.attrib.get('name')
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename)
new_actor.transform = self._get_actor_transform(rolename)
self.other_actors.append(new_actor)
def _extract_misc_information(self, obj, rolename, misc, args):
"""
Helper function to _set_actor_information for getting vehicle information from XML tree
"""
category = misc.attrib.get('category')
if category == "barrier":
model = "static.prop.streetbarrier"
elif category == "guardRail":
model = "static.prop.chainbarrier"
else:
model = misc.attrib.get('name')
new_actor = ActorConfigurationData(model, carla.Transform(), rolename, category="misc", args=args)
new_actor.transform = self._get_actor_transform(rolename)
self.other_actors.append(new_actor)
def _build_master_scenario(self,
world,
ego_vehicle,
route,
town_name,
timeout=300,
debug_mode=False):
"""
Create the MasterScenario
"""
# We have to find the target.
# we also have to convert the route to the expected format
master_scenario_configuration = ScenarioConfiguration()
master_scenario_configuration.target = route[-1][
0] # Take the last point and add as target.
master_scenario_configuration.route = convert_transform_to_location(
route)
master_scenario_configuration.town = town_name
# TODO THIS NAME IS BIT WEIRD SINCE THE EGO VEHICLE IS ALREADY THERE, IT IS MORE ABOUT THE TRANSFORM
master_scenario_configuration.ego_vehicle = ActorConfigurationData(
'vehicle.lincoln.mkz2017', ego_vehicle.get_transform(), 'hero')
master_scenario_configuration.trigger_points = [
ego_vehicle.get_transform()
]
# Provide an initial blackboard entry to ensure all scenarios are running correctly
blackboard = py_trees.blackboard.Blackboard()
blackboard.set('master_scenario_command', 'scenarios_running')
return MasterScenario(world, [ego_vehicle],
master_scenario_configuration,
timeout=timeout,
debug_mode=debug_mode)
def _build_scenario_instances(self, world, ego_vehicle, scenario_definitions, town,
scenarios_per_tick=5, timeout=300, debug_mode=False):
"""
Based on the parsed route and possible scenarios, build all the scenario classes.
"""
scenario_instance_vec = []
if debug_mode:
for scenario in scenario_definitions:
loc = carla.Location(scenario['trigger_position']['x'],
scenario['trigger_position']['y'],
scenario['trigger_position']['z']) + carla.Location(z=2.0)
world.debug.draw_point(loc, size=1.0, color=carla.Color(255, 0, 0), life_time=100000)
world.debug.draw_string(loc, str(scenario['name']), draw_shadow=False,
color=carla.Color(0, 0, 255), life_time=100000, persistent_lines=True)
for scenario_number, definition in enumerate(scenario_definitions):
# Get the class possibilities for this scenario number
scenario_class = NUMBER_CLASS_TRANSLATION[definition['name']]
# Create the other actors that are going to appear
if definition['other_actors'] is not None:
list_of_actor_conf_instances = self._get_actors_instances(definition['other_actors'])
else:
list_of_actor_conf_instances = []
# Create an actor configuration for the ego-vehicle trigger position
egoactor_trigger_position = convert_json_to_transform(definition['trigger_position'])
scenario_configuration = ScenarioConfiguration()
scenario_configuration.other_actors = list_of_actor_conf_instances
scenario_configuration.town = town
scenario_configuration.trigger_points = [egoactor_trigger_position]
scenario_configuration.subtype = definition['scenario_type']
scenario_configuration.ego_vehicles = [ActorConfigurationData('vehicle.lincoln.mkz2017',
ego_vehicle.get_transform(),
'hero')]
route_var_name = "ScenarioRouteNumber{}".format(scenario_number)
scenario_configuration.route_var_name = route_var_name
try:
scenario_instance = scenario_class(world, [ego_vehicle], scenario_configuration,
criteria_enable=False, timeout=timeout)
# Do a tick every once in a while to avoid spawning everything at the same time
if scenario_number % scenarios_per_tick == 0:
sync_mode = world.get_settings().synchronous_mode
if sync_mode:
world.tick()
else:
world.wait_for_tick()
scenario_number += 1
except Exception as e: # pylint: disable=broad-except
if debug_mode:
traceback.print_exc()
print("Skipping scenario '{}' due to setup error: {}".format(definition['name'], e))
continue
scenario_instance_vec.append(scenario_instance)
return scenario_instance_vec
def _build_background_scenario(self, world, ego_vehicle, town_name, timeout=300, debug_mode=False):
"""
Create the BackgroundActivity scenario
"""
scenario_configuration = ScenarioConfiguration()
scenario_configuration.route = None
scenario_configuration.town = town_name
model = 'vehicle.*'
transform = carla.Transform()
if town_name == 'Town01' or town_name == 'Town02':
amount = 120
elif town_name == 'Town03' or town_name == 'Town05':
amount = 120
elif town_name == 'Town04':
amount = 200
elif town_name == 'Town06' or town_name == 'Town07':
amount = 150
elif town_name == 'Town08':
amount = 180
elif town_name == 'Town09':
amount = 350
else:
amount = 0
actor_configuration_instance = ActorConfigurationData(
model, transform, rolename='background', autopilot=True, random=True, amount=amount)
scenario_configuration.other_actors = [actor_configuration_instance]
return BackgroundActivity(world, [ego_vehicle], scenario_configuration,
timeout=timeout, debug_mode=debug_mode)
def build_scenario_instances(self, scenario_definition_vec, timeout):
"""
Based on the parsed route and possible scenarios, build all the scenario classes.
:param scenario_definition_vec: the dictionary defining the scenarios
:param town: the town where scenarios are going to be
:return:
"""
list_instanced_scenarios = []
if scenario_definition_vec is None:
return list_instanced_scenarios
for scenario_name in scenario_definition_vec:
# The BG activity encapsulates several scenarios that contain vehicles going arround
if scenario_name == 'background_activity': # BACKGROUND ACTIVITY SPECIAL CASE
background_definition = scenario_definition_vec[scenario_name]
background = self._build_background(background_definition, timeout)
list_instanced_scenarios.append(background)
else:
# Sample the scenarios to be used for this route instance.
# tehre can be many instances of the same scenario
scenario_definition_instances = scenario_definition_vec[scenario_name]
if scenario_definition_instances is None:
raise ValueError(" Not Implemented ")
for scenario_definition in scenario_definition_instances:
# TODO scenario 4 is out
#ScenarioClass = number_class_translation[scenario_name][0]
egoactor_trigger_position = convert_json_to_transform(
scenario_definition)
scenario_configuration = ScenarioConfiguration()
scenario_configuration.other_actors = None # TODO the other actors are maybe needed
scenario_configuration.town = self._town_name
scenario_configuration.trigger_point = egoactor_trigger_position
scenario_configuration.ego_vehicle = ActorConfigurationData(
'vehicle.lincoln.mkz2017',
self._ego_actor.get_transform())
try:
scenario_instance = ScenarioClass(self.world, self._ego_actor,
scenario_configuration,
criteria_enable=False, timeout=timeout)
except Exception as e:
print("Skipping scenario '{}' due to setup error: {}".format(
'Scenario3', e))
continue
# registering the used actors on the data provider so they can be updated.
CarlaDataProvider.register_actors(scenario_instance.other_actors)
list_instanced_scenarios.append(scenario_instance)
return list_instanced_scenarios
def convert_json_to_actor(actor_dict):
"""
Convert a JSON string to an ActorConfigurationData dictionary
"""
node = ET.Element('waypoint')
node.set('x', actor_dict['x'])
node.set('y', actor_dict['y'])
node.set('z', actor_dict['z'])
node.set('yaw', actor_dict['yaw'])
return ActorConfigurationData.parse_from_node(node, 'simulation')
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("Object"):
rolename = obj.attrib.get('name', 'simulation')
for vehicle in obj.iter("Vehicle"):
model = vehicle.attrib.get('name', "vehicle.*")
ego_vehicle = False
for prop in obj.iter("Property"):
if prop.get('name', '') == 'type':
ego_vehicle = prop.get('value') == 'ego_vehicle'
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename)
new_actor.transform = self._get_actor_transform(rolename)
if ego_vehicle:
self.ego_vehicles.append(new_actor)
else:
self.other_actors.append(new_actor)
for pedestrian in obj.iter("Pedestrian"):
model = pedestrian.attrib.get('model', "walker.*")
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename)
new_actor.transform = self._get_actor_transform(rolename)
self.other_actors.append(new_actor)
def build_master_scenario(self, route, town_name, timeout, terminate_on_collision):
# We have to find the target.
# we also have to convert the route to the expected format
master_scenario_configuration = ScenarioConfiguration()
master_scenario_configuration.target = route[-1][0] # Take the last point and add as target.
master_scenario_configuration.route = convert_transform_to_location(route)
master_scenario_configuration.town = town_name
master_scenario_configuration.ego_vehicle = ActorConfigurationData('vehicle.lincoln.mkz2017',
self._ego_actor.get_transform())
master_scenario_configuration.trigger_point = self._ego_actor.get_transform()
CarlaDataProvider.register_actor(self._ego_actor)
return MasterScenario(self.world, [self._ego_actor], master_scenario_configuration,
timeout=timeout, terminate_on_collision=terminate_on_collision)
def _build_scenario_instances(self,
world,
ego_vehicle,
scenario_definitions,
town,
timeout=300,
debug_mode=False):
"""
Based on the parsed route and possible scenarios, build all the scenario classes.
"""
scenario_instance_vec = []
if debug_mode:
for scenario in scenario_definitions:
loc = carla.Location(
scenario['trigger_position']['x'],
scenario['trigger_position']['y'],
scenario['trigger_position']['z']) + carla.Location(z=2.0)
world.debug.draw_point(loc,
size=1.0,
color=carla.Color(255, 0, 0),
life_time=100000)
world.debug.draw_string(loc,
str(scenario['name']),
draw_shadow=False,
color=carla.Color(0, 0, 255),
life_time=100000,
persistent_lines=True)
for definition in scenario_definitions:
# Get the class possibilities for this scenario number
possibility_vec = NUMBER_CLASS_TRANSLATION[definition['name']]
scenario_class = possibility_vec[definition['type']]
# Create the other actors that are going to appear
if definition['other_actors'] is not None:
list_of_actor_conf_instances = self._get_actors_instances(
definition['other_actors'])
else:
list_of_actor_conf_instances = []
# Create an actor configuration for the ego-vehicle trigger position
egoactor_trigger_position = convert_json_to_transform(
definition['trigger_position'])
scenario_configuration = ScenarioConfiguration()
scenario_configuration.other_actors = list_of_actor_conf_instances
scenario_configuration.town = town
scenario_configuration.trigger_points = [egoactor_trigger_position]
scenario_configuration.ego_vehicles = [
ActorConfigurationData('vehicle.lincoln.mkz2017',
ego_vehicle.get_transform(), 'hero')
]
try:
scenario_instance = scenario_class(world, [ego_vehicle],
scenario_configuration,
criteria_enable=False,
timeout=timeout)
except Exception as e:
print("Skipping scenario '{}' due to setup error: {}".format(
definition['name'], e))
continue
scenario_instance_vec.append(scenario_instance)
return scenario_instance_vec
def parse_scenario_configuration(scenario_config_file, scenario_name):
"""
Parse scenario configuration file and provide a list of
ScenarioConfigurations @return
If scenario_name starts with "group:" all scenarios within
the config file will be returned. Otherwise only the scenario,
that matches the scenario_name.
"""
single_scenario_only = True
if scenario_name.startswith("group:"):
single_scenario_only = False
scenario_name = scenario_name[6:]
tree = ET.parse(scenario_config_file)
scenario_configurations = []
for scenario in tree.iter("scenario"):
new_config = ScenarioConfiguration()
new_config.town = scenario.attrib.get('town', None)
new_config.name = scenario.attrib.get('name', None)
new_config.type = scenario.attrib.get('type', None)
new_config.other_actors = []
new_config.ego_vehicles = []
new_config.trigger_points = []
for weather in scenario.iter("weather"):
new_config.weather.cloudiness = float(
weather.attrib.get("cloudiness", 0))
new_config.weather.precipitation = float(
weather.attrib.get("precipitation", 0))
new_config.weather.precipitation_deposits = float(
weather.attrib.get("precipitation_deposits", 0))
new_config.weather.wind_intensity = float(
weather.attrib.get("wind_intensity", 0.35))
new_config.weather.sun_azimuth_angle = float(
weather.attrib.get("sun_azimuth_angle", 0.0))
new_config.weather.sun_altitude_angle = float(
weather.attrib.get("sun_altitude_angle", 15.0))
new_config.weather.fog_density = float(
weather.attrib.get("fog_density", 0.0))
new_config.weather.fog_distance = float(
weather.attrib.get("fog_distance", 0.0))
new_config.weather.wetness = float(
weather.attrib.get("wetness", 0.0))
for ego_vehicle in scenario.iter("ego_vehicle"):
new_config.ego_vehicles.append(
ActorConfigurationData.parse_from_node(
ego_vehicle, 'hero'))
new_config.trigger_points.append(
new_config.ego_vehicles[-1].transform)
for target in scenario.iter("target"):
new_config.target = TargetConfiguration(target)
for route in scenario.iter("route"):
route_conf = RouteConfiguration()
route_conf.parse_xml(route)
new_config.route = route_conf
for other_actor in scenario.iter("other_actor"):
new_config.other_actors.append(
ActorConfigurationData.parse_from_node(
other_actor, 'scenario'))
if single_scenario_only:
if new_config.name == scenario_name:
scenario_configurations.append(new_config)
else:
scenario_configurations.append(new_config)
return scenario_configurations
