def _set_parameters(self):
"""
Parse the complete scenario definition file, and replace all parameter references
with the actual values
Set _global_parameters.
"""
_global_params_overwrite = dict()
if self._global_params_overwrite is not None:
if isinstance(self._global_params_overwrite, type(dict)):
_global_params_overwrite = dict([
tuple(m.strip() for m in mn.split(':'))
for mn in self._global_params_overwrite.split(',')
])
else:
_global_params_overwrite = self._global_params_overwrite
print("Global parameters: ", _global_params_overwrite)
self.xml_tree, self._global_parameters = OpenScenarioParser.set_parameters(
self.xml_tree, _global_params_overwrite)
for elem in self.xml_tree.iter():
if elem.find('ParameterDeclarations') is not None:
elem, _ = OpenScenarioParser.set_parameters(elem)
OpenScenarioParser.set_global_parameters(self._global_parameters)
def _set_scenario_name(self):
"""
Extract the scenario name from the OpenSCENARIO header information
"""
header = self.xml_tree.find("FileHeader")
self.name = header.attrib.get('description', 'Unknown')
if self.name.startswith("CARLA:"):
OpenScenarioParser.set_use_carla_coordinate_system()
def _set_parameters(self):
"""
Parse the complete scenario definition file, and replace all parameter references
with the actual values
"""
self.xml_tree = OpenScenarioParser.set_parameters(self.xml_tree)
for elem in self.xml_tree.iter():
if elem.find('ParameterDeclarations') is not None:
elem = OpenScenarioParser.set_parameters(elem)
def _parse_openscenario_configuration(self):
"""
Parse the given OpenSCENARIO config file, set and validate parameters
"""
OpenScenarioParser.set_osc_filepath(os.path.dirname(self.filename))
self._check_version()
self._load_catalogs()
self._set_scenario_name()
self._set_carla_town()
self._set_actor_information()
self._validate_result()
def _set_parameters(self):
"""
Parse the complete scenario definition file, and replace all parameter references
with the actual values
Set _global_parameters.
"""
self.xml_tree, self._global_parameters = OpenScenarioParser.set_parameters(self.xml_tree, self._custom_params)
for elem in self.xml_tree.iter():
if elem.find('ParameterDeclarations') is not None:
elem, _ = OpenScenarioParser.set_parameters(elem)
OpenScenarioParser.set_global_parameters(self._global_parameters)
def _create_environment_behavior(self):
# Set the appropriate weather conditions
env_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="EnvironmentBehavior")
weather_update = ChangeWeather(
OpenScenarioParser.get_weather_from_env_action(self.config.init, self.config.catalogs))
road_friction = ChangeRoadFriction(
OpenScenarioParser.get_friction_from_env_action(self.config.init, self.config.catalogs))
env_behavior.add_child(oneshot_with_check(variable_name="InitialWeather", behaviour=weather_update))
env_behavior.add_child(oneshot_with_check(variable_name="InitRoadFriction", behaviour=road_friction))
return env_behavior
def _create_condition_container(self, node, name='Conditions Group', oneshot=False):
"""
This is a generic function to handle conditions utilising ConditionGroups
Each ConditionGroup is represented as a Sequence of Conditions
The ConditionGroups are grouped under a SUCCESS_ON_ONE Parallel
If oneshot is set to True, oneshot_behaviour will be applied to conditions
"""
parallel_condition_groups = py_trees.composites.Parallel(name,
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
for condition_group in node.iter("ConditionGroup"):
condition_group_sequence = py_trees.composites.Sequence(
name="Condition Group")
for condition in condition_group.iter("Condition"):
criterion = OpenScenarioParser.convert_condition_to_atomic(
condition, self.other_actors + self.ego_vehicles)
if oneshot:
criterion = oneshot_behavior(criterion)
condition_group_sequence.add_child(criterion)
if condition_group_sequence.children:
parallel_condition_groups.add_child(condition_group_sequence)
return parallel_condition_groups
def _create_init_behavior(self):
init_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="InitBehaviour")
for actor in self.config.other_actors + self.config.ego_vehicles:
for carla_actor in self.other_actors + self.ego_vehicles:
if (carla_actor is not None and 'role_name' in carla_actor.attributes and
carla_actor.attributes['role_name'] == actor.rolename):
actor_init_behavior = py_trees.composites.Sequence(name="InitActor{}".format(actor.rolename))
controller_atomic = None
for private in self.config.init.iter("Private"):
if private.attrib.get('entityRef', None) == actor.rolename:
for private_action in private.iter("PrivateAction"):
for controller_action in private_action.iter('ControllerAction'):
module, args = OpenScenarioParser.get_controller(
controller_action, self.config.catalogs)
controller_atomic = ChangeActorControl(
carla_actor, control_py_module=module, args=args,
scenario_file_path=os.path.dirname(self.config.filename))
if controller_atomic is None:
controller_atomic = ChangeActorControl(carla_actor, control_py_module=None, args={})
actor_init_behavior.add_child(controller_atomic)
if actor.speed > 0:
actor_init_behavior.add_child(ChangeActorTargetSpeed(carla_actor, actor.speed, init_speed=True))
init_behavior.add_child(actor_init_behavior)
break
return init_behavior
def _get_actor_transform(self, actor_name):
"""
Get the initial actor transform provided by the Init section
Note: - The OpenScenario specification allows multiple definitions. We use the _first_ one
- The OpenScenario specification allows different ways of specifying a position.
We currently only support a specification with absolute world coordinates
"""
actor_transform = carla.Transform()
actor_found = False
for private_action in self.init.iter("Private"):
if private_action.attrib.get('object', None) == actor_name:
if actor_found:
# pylint: disable=line-too-long
print(
"Warning: The actor '{}' was already assigned an initial position. Overwriting pose!"
.format(actor_name))
# pylint: enable=line-too-long
actor_found = True
for position in private_action.iter('Position'):
transform = OpenScenarioParser.convert_position_to_transform(
position)
if transform:
actor_transform = transform
if not actor_found:
print(
"Warning: The actor '{}' was not assigned an initial position. Using (0,0,0)"
.format(actor_name))
return actor_transform
def _create_condition_container(self, node, name='Conditions Group', sequence=None,
maneuver=None, success_on_all=True):
"""
This is a generic function to handle conditions utilising ConditionGroups
Each ConditionGroup is represented as a Sequence of Conditions
The ConditionGroups are grouped under a SUCCESS_ON_ONE Parallel
"""
parallel_condition_groups = py_trees.composites.Parallel(name,
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
for condition_group in node.iter("ConditionGroup"):
if success_on_all:
condition_group_sequence = py_trees.composites.Parallel(
name="Condition Group", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL)
else:
condition_group_sequence = py_trees.composites.Parallel(
name="Condition Group", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
for condition in condition_group.iter("Condition"):
criterion = OpenScenarioParser.convert_condition_to_atomic(
condition, self.other_actors + self.ego_vehicles)
if sequence is not None and maneuver is not None:
xml_path = get_xml_path(self.config.story, sequence) + '>' + \
get_xml_path(maneuver, condition) # See note in get_xml_path
else:
xml_path = get_xml_path(self.config.story, condition)
criterion = oneshot_behavior(variable_name=xml_path, behaviour=criterion)
condition_group_sequence.add_child(criterion)
if condition_group_sequence.children:
parallel_condition_groups.add_child(condition_group_sequence)
return parallel_condition_groups
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("ScenarioObject"):
rolename = obj.attrib.get('name', 'simulation')
args = {}
for prop in obj.iter("Property"):
key = prop.get('name')
value = prop.get('value')
args[key] = value
for catalog_reference in obj.iter("CatalogReference"):
entry = OpenScenarioParser.get_catalog_entry(self.catalogs, catalog_reference)
if entry.tag == "Vehicle":
self._extract_vehicle_information(entry, rolename, entry, args)
elif entry.tag == "Pedestrian":
self._extract_pedestrian_information(entry, rolename, entry, args)
elif entry.tag == "MiscObject":
self._extract_misc_information(entry, rolename, entry, args)
else:
self.logger.debug(
" A CatalogReference specifies a reference that is not an Entity. Skipping...")
for vehicle in obj.iter("Vehicle"):
self._extract_vehicle_information(obj, rolename, vehicle, args)
for pedestrian in obj.iter("Pedestrian"):
self._extract_pedestrian_information(obj, rolename, pedestrian, args)
for misc in obj.iter("MiscObject"):
self._extract_misc_information(obj, rolename, misc, args)
# Set transform for all actors
# This has to be done in a multi-stage loop to resolve relative position settings
all_actor_transforms_set = False
while not all_actor_transforms_set:
all_actor_transforms_set = True
for actor in self.other_actors + self.ego_vehicles:
if actor.transform is None:
try:
actor.transform = self._get_actor_transform(actor.rolename)
except AttributeError as e:
if "Object '" in str(e):
ref_actor_rolename = str(e).split('\'')[1]
for ref_actor in self.other_actors + self.ego_vehicles:
if ref_actor.rolename == ref_actor_rolename:
if ref_actor.transform is not None:
raise e
break
else:
raise e
if actor.transform is None:
all_actor_transforms_set = False
def _create_test_criteria(self):
"""
A list of all test criteria will be created that is later used
in parallel behavior tree.
"""
parallel_criteria = py_trees.composites.Parallel("EndConditions (Criteria Group)",
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
for condition in self.config.criteria.iter("Condition"):
criterion = OpenScenarioParser.convert_condition_to_atomic(condition, self.ego_vehicles)
parallel_criteria.add_child(criterion)
return parallel_criteria
def _create_test_criteria(self):
"""
A list of all test criteria will be created that is later used
in parallel behavior tree.
"""
parallel_criteria = py_trees.composites.Parallel("EndConditions (Criteria Group)",
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
criteria = []
for endcondition in self.config.storyboard.iter("StopTrigger"):
for condition in endcondition.iter("Condition"):
if condition.attrib.get('name').startswith('criteria_'):
criteria.append(condition)
for condition in criteria:
criterion = OpenScenarioParser.convert_condition_to_atomic(condition, self.ego_vehicles)
parallel_criteria.add_child(criterion)
return parallel_criteria
def _get_actor_transform(self, actor_name):
"""
Get the initial actor transform provided by the Init section
Note: - The OpenScenario specification allows multiple definitions. We use the _first_ one
- The OpenScenario specification allows different ways of specifying a position.
We currently support the specification with absolute world coordinates and the relative positions
RelativeWorld, RelativeObject and RelativeLane
- When using relative positions the relevant reference point (e.g. transform of another actor)
should be defined before!
"""
actor_transform = carla.Transform()
actor_found = False
for private_action in self.init.iter("Private"):
if private_action.attrib.get('entityRef', None) == actor_name:
if actor_found:
# pylint: disable=line-too-long
self.logger.warning(
" Warning: The actor '%s' was already assigned an initial position. Overwriting pose!",
actor_name)
# pylint: enable=line-too-long
actor_found = True
for position in private_action.iter('Position'):
transform = OpenScenarioParser.convert_position_to_transform(
position,
actor_list=self.other_actors + self.ego_vehicles)
if transform:
actor_transform = transform
if not actor_found:
# pylint: disable=line-too-long
self.logger.warning(
" Warning: The actor '%s' was not assigned an initial position. Using (0,0,0)",
actor_name)
# pylint: enable=line-too-long
return actor_transform
def _create_behavior(self):
"""
Basic behavior do nothing, i.e. Idle
"""
story_behavior = py_trees.composites.Sequence("Story")
for act in self.config.story.iter("Act"):
if act.attrib.get('name') != 'Behavior':
continue
parallel_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE,
name="Maneuver + EndConditions Group")
for sequence in act.iter("Sequence"):
sequence_behavior = py_trees.composites.Sequence()
repetitions = sequence.attrib.get('numberOfExecutions', 1)
actor_ids = []
for actor in sequence.iter("Actors"):
for entity in actor.iter("Entity"):
for k, _ in enumerate(self.other_actors):
if entity.attrib.get(
'name', None
) == self.config.other_actors[k].rolename:
actor_ids.append(k)
break
tmp_sequence_behavior = py_trees.composites.Sequence(
name=sequence.attrib.get('name'))
for maneuver in sequence.iter("Maneuver"):
maneuver_sequence = py_trees.composites.Sequence(
name="Maneuver " + maneuver.attrib.get('name'))
for event in maneuver.iter("Event"):
event_sequence = py_trees.composites.Sequence(
name="Event " + event.attrib.get('name'))
parallel_actions = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.
SUCCESS_ON_ALL,
name="Actions")
for child in event.iter():
if child.tag == "Action":
for actor_id in actor_ids:
maneuver_behavior = OpenScenarioParser.convert_maneuver_to_atomic(
child, self.other_actors[actor_id])
parallel_actions.add_child(
maneuver_behavior)
if child.tag == "StartConditions":
# There is always on StartConditions block per Event
for condition in child.iter('Condition'):
condition_behavior = OpenScenarioParser.convert_condition_to_atomic(
condition,
self.other_actors + self.ego_vehicles)
condition_behavior.name += " for {}".format(
parallel_actions.name)
if condition_behavior:
event_sequence.add_child(
condition_behavior)
event_sequence.add_child(parallel_actions)
maneuver_sequence.add_child(event_sequence)
tmp_sequence_behavior.add_child(maneuver_sequence)
for _ in range(int(repetitions)):
sequence_behavior.add_child(tmp_sequence_behavior)
if sequence_behavior.children:
parallel_behavior.add_child(sequence_behavior)
for conditions in act.iter("Conditions"):
start_condition_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
name="StartConditions Group")
for start_condition in conditions.iter("Start"):
for condition in start_condition.iter('Condition'):
condition_behavior = OpenScenarioParser.convert_condition_to_atomic(
condition, self.other_actors + self.ego_vehicles)
oneshot_idiom = oneshot_behavior(
name=condition_behavior.name,
variable_name=condition_behavior.name,
behaviour=condition_behavior)
start_condition_behavior.add_child(oneshot_idiom)
for end_condition in conditions.iter("End"):
for condition in end_condition.iter('Condition'):
condition_behavior = OpenScenarioParser.convert_condition_to_atomic(
condition, self.other_actors + self.ego_vehicles)
parallel_behavior.add_child(condition_behavior)
for end_condition in conditions.iter("Cancel"):
for condition in end_condition.iter('Condition'):
condition_behavior = OpenScenarioParser.convert_condition_to_atomic(
condition, self.other_actors + self.ego_vehicles)
parallel_behavior.add_child(condition_behavior)
if start_condition_behavior.children:
story_behavior.add_child(start_condition_behavior)
if parallel_behavior.children:
story_behavior.add_child(parallel_behavior)
# Build behavior tree
# sequence.add_child(maneuver_behavior)
return story_behavior
def _create_behavior(self):
"""
Basic behavior do nothing, i.e. Idle
"""
story_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="Story")
joint_actor_list = self.other_actors + self.ego_vehicles
for act in self.config.story.iter("Act"):
act_sequence = py_trees.composites.Sequence(
name="Act StartConditions and behaviours")
start_conditions = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="StartConditions Group")
parallel_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="Maneuver + EndConditions Group")
parallel_sequences = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="Maneuvers")
for sequence in act.iter("ManeuverGroup"):
sequence_behavior = py_trees.composites.Sequence(name=sequence.attrib.get('name'))
repetitions = sequence.attrib.get('maximumExecutionCount', 1)
for _ in range(int(repetitions)):
actor_ids = []
for actor in sequence.iter("Actors"):
for entity in actor.iter("EntityRef"):
for k, _ in enumerate(joint_actor_list):
if entity.attrib.get('entityRef', None) == joint_actor_list[k].attributes['role_name']:
actor_ids.append(k)
break
if not actor_ids:
print("Warning: Maneuvergroup does not use reference actors!")
# Collect catalog reference maneuvers in order to process them at the same time as normal maneuvers
catalog_maneuver_list = []
for catalog_reference in sequence.iter("CatalogReference"):
catalog_maneuver = self.config.catalogs[catalog_reference.attrib.get(
"catalogName")][catalog_reference.attrib.get("entryName")]
catalog_maneuver_list.append(catalog_maneuver)
all_maneuvers = itertools.chain(iter(catalog_maneuver_list), sequence.iter("Maneuver"))
single_sequence_iteration = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name=sequence_behavior.name)
for maneuver in all_maneuvers: # Iterates through both CatalogReferences and Maneuvers
maneuver_parallel = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
name="Maneuver " + maneuver.attrib.get('name'))
for event in maneuver.iter("Event"):
event_sequence = py_trees.composites.Sequence(
name="Event " + event.attrib.get('name'))
parallel_actions = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="Actions")
for child in event.iter():
if child.tag == "Action":
for actor_id in actor_ids:
maneuver_behavior = OpenScenarioParser.convert_maneuver_to_atomic(
child, joint_actor_list[actor_id])
maneuver_behavior = StoryElementStatusToBlackboard(
maneuver_behavior, "ACTION", child.attrib.get('name'))
parallel_actions.add_child(
oneshot_behavior(variable_name= # See note in get_xml_path
get_xml_path(self.config.story, sequence) + '>' + \
get_xml_path(maneuver, child),
behaviour=maneuver_behavior))
if child.tag == "StartTrigger":
# There is always one StartConditions block per Event
parallel_condition_groups = self._create_condition_container(
child, "Parallel Condition Groups", sequence, maneuver)
event_sequence.add_child(
parallel_condition_groups)
parallel_actions = StoryElementStatusToBlackboard(
parallel_actions, "EVENT", event.attrib.get('name'))
event_sequence.add_child(parallel_actions)
maneuver_parallel.add_child(
oneshot_behavior(variable_name=get_xml_path(self.config.story, sequence) + '>' +
get_xml_path(maneuver, event), # See get_xml_path
behaviour=event_sequence))
maneuver_parallel = StoryElementStatusToBlackboard(
maneuver_parallel, "MANEUVER", maneuver.attrib.get('name'))
single_sequence_iteration.add_child(
oneshot_behavior(variable_name=get_xml_path(self.config.story, sequence) + '>' +
get_xml_path(maneuver, maneuver), # See get_xml_path
behaviour=maneuver_parallel))
# OpenSCENARIO refers to Sequences as Scenes in this instance
single_sequence_iteration = StoryElementStatusToBlackboard(
single_sequence_iteration, "SCENE", sequence.attrib.get('name'))
single_sequence_iteration = repeatable_behavior(
single_sequence_iteration, get_xml_path(self.config.story, sequence))
sequence_behavior.add_child(single_sequence_iteration)
if sequence_behavior.children:
parallel_sequences.add_child(
oneshot_behavior(variable_name=get_xml_path(self.config.story, sequence),
behaviour=sequence_behavior))
if parallel_sequences.children:
parallel_sequences = StoryElementStatusToBlackboard(
parallel_sequences, "ACT", act.attrib.get('name'))
parallel_behavior.add_child(parallel_sequences)
start_triggers = act.find("StartTrigger")
if list(start_triggers) is not None:
for start_condition in start_triggers:
parallel_start_criteria = self._create_condition_container(start_condition, "StartConditions")
if parallel_start_criteria.children:
start_conditions.add_child(parallel_start_criteria)
end_triggers = act.find("StopTrigger")
if end_triggers is not None and list(end_triggers) is not None:
for end_condition in end_triggers:
parallel_end_criteria = self._create_condition_container(
end_condition, "EndConditions", success_on_all=False)
if parallel_end_criteria.children:
parallel_behavior.add_child(parallel_end_criteria)
if start_conditions.children:
act_sequence.add_child(start_conditions)
if parallel_behavior.children:
act_sequence.add_child(parallel_behavior)
if act_sequence.children:
story_behavior.add_child(act_sequence)
# Build behavior tree
behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="behavior")
init_behavior = self._create_init_behavior()
if init_behavior is not None:
behavior.add_child(oneshot_behavior(variable_name=get_xml_path(
self.config.story, self.config.story), behaviour=init_behavior))
behavior.add_child(story_behavior)
return behavior
def _create_behavior(self):
"""
Basic behavior do nothing, i.e. Idle
"""
story_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="Story")
joint_actor_list = self.other_actors + self.ego_vehicles
for act in self.config.story.iter("Act"):
if act.attrib.get('name') != 'Behavior':
continue
act_sequence = py_trees.composites.Sequence(
name="Act StartConditions and behaviours")
start_conditions = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="StartConditions Group")
parallel_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE, name="Maneuver + EndConditions Group")
parallel_sequences = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="Maneuvers")
for sequence in act.iter("Sequence"):
sequence_behavior = py_trees.composites.Sequence()
repetitions = sequence.attrib.get('numberOfExecutions', 1)
actor_ids = []
for actor in sequence.iter("Actors"):
for entity in actor.iter("Entity"):
for k, _ in enumerate(joint_actor_list):
if entity.attrib.get('name', None) == joint_actor_list[k].attributes['role_name']:
actor_ids.append(k)
break
single_sequence_iteration = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name=sequence.attrib.get('name'))
for maneuver in sequence.iter("Maneuver"):
maneuver_parallel = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
name="Maneuver " + maneuver.attrib.get('name'))
for event in maneuver.iter("Event"):
event_sequence = py_trees.composites.Sequence(
name="Event " + event.attrib.get('name'))
parallel_actions = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="Actions")
for child in event.iter():
if child.tag == "Action":
for actor_id in actor_ids:
maneuver_behavior = OpenScenarioParser.convert_maneuver_to_atomic(
child, joint_actor_list[actor_id])
maneuver_behavior = StoryElementStatusToBlackboard(
maneuver_behavior, "ACTION", child.attrib.get('name'))
parallel_actions.add_child(
oneshot_behavior(maneuver_behavior))
if child.tag == "StartConditions":
# There is always one StartConditions block per Event
parallel_condition_groups = self._create_condition_container(
child, "Parallel Condition Groups")
event_sequence.add_child(
parallel_condition_groups)
parallel_actions = StoryElementStatusToBlackboard(
parallel_actions, "EVENT", event.attrib.get('name'))
event_sequence.add_child(parallel_actions)
maneuver_parallel.add_child(
oneshot_behavior(event_sequence))
maneuver_parallel = StoryElementStatusToBlackboard(
maneuver_parallel, "MANEUVER", maneuver.attrib.get('name'))
single_sequence_iteration.add_child(
oneshot_behavior(maneuver_parallel))
# OpenSCENARIO refers to Sequences as Scenes in this instance
single_sequence_iteration = StoryElementStatusToBlackboard(
single_sequence_iteration, "SCENE", sequence.attrib.get('name'))
single_sequence_iteration = repeatable_behavior(
single_sequence_iteration)
for _ in range(int(repetitions)):
sequence_behavior.add_child(single_sequence_iteration)
if sequence_behavior.children:
parallel_sequences.add_child(
oneshot_behavior(sequence_behavior))
if parallel_sequences.children:
parallel_sequences = StoryElementStatusToBlackboard(
parallel_sequences, "ACT", act.attrib.get('name'))
parallel_behavior.add_child(parallel_sequences)
for conditions in act.iter("Conditions"):
for start_condition in conditions.iter("Start"):
parallel_start_criteria = self._create_condition_container(
start_condition, "StartConditions", oneshot=True)
if parallel_start_criteria.children:
start_conditions.add_child(parallel_start_criteria)
for end_condition in conditions.iter("End"):
parallel_end_criteria = self._create_condition_container(
end_condition, "EndConditions")
if parallel_end_criteria.children:
parallel_behavior.add_child(parallel_end_criteria)
for cancel_condition in conditions.iter("Cancel"):
parallel_cancel_criteria = self._create_condition_container(
cancel_condition, "CancelConditions")
if parallel_cancel_criteria.children:
parallel_behavior.add_child(parallel_cancel_criteria)
if start_conditions.children:
act_sequence.add_child(start_conditions)
if parallel_behavior.children:
act_sequence.add_child(parallel_behavior)
if act_sequence.children:
story_behavior.add_child(act_sequence)
# Build behavior tree
# sequence.add_child(maneuver_behavior)
return story_behavior