step_time = pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step, pyoscx.DynamicsDimension.time, 1) init.add_init_action(egoname, pyoscx.AbsoluteSpeedAction(30, step_time)) init.add_init_action(egoname, pyoscx.TeleportAction(pyoscx.LanePosition(25, 0, -3, 0))) init.add_init_action(redname, pyoscx.AbsoluteSpeedAction(40, step_time)) init.add_init_action(redname, pyoscx.TeleportAction(pyoscx.LanePosition(15, 0, -2, 0))) init.add_init_action(yelname, pyoscx.AbsoluteSpeedAction(30, step_time)) init.add_init_action(yelname, pyoscx.TeleportAction(pyoscx.LanePosition(35, 0, -4, 0))) ### create an event for the red car r_trigcond = pyoscx.TimeHeadwayCondition(redname, 0.1, pyoscx.Rule.greaterThan) r_trigger = pyoscx.EntityTrigger('redtrigger', 0.2, pyoscx.ConditionEdge.rising, r_trigcond, egoname) r_event = pyoscx.Event('first_lane_change', pyoscx.Priority.overwrite) r_event.add_trigger(r_trigger) r_event.add_action( 'lane_change_red', pyoscx.AbsoluteLaneChangeAction( -4, pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.sinusoidal, pyoscx.DynamicsDimension.time, 4))) ## create the act for the red car r_man = pyoscx.Maneuver('red_maneuver') r_man.add_event(r_event)
def test_timeheadwaycondition(): cond = OSC.TimeHeadwayCondition('Ego', 20, 'equalTo', True, False) OSC.prettyprint(cond.get_element())
egospeed = pyoscx.AbsoluteSpeedAction(30,step_time) egostart = pyoscx.TeleportAction(pyoscx.LanePosition(25,0,-3,0)) targetspeed = pyoscx.AbsoluteSpeedAction(40,step_time) targetstart = pyoscx.TeleportAction(pyoscx.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 = pyoscx.TimeHeadwayCondition(targetname,0.4,pyoscx.Rule.greaterThan) trigger = pyoscx.EntityTrigger('mytesttrigger',0.2,pyoscx.ConditionEdge.rising,trigcond,egoname) event = pyoscx.Event('myfirstevent',pyoscx.Priority.overwrite) event.add_trigger(trigger) positionlist = [] positionlist.append(pyoscx.RelativeLanePosition(0,0,0,targetname)) positionlist.append(pyoscx.RelativeLanePosition(20,0.5,0,targetname)) positionlist.append(pyoscx.RelativeLanePosition(40,-0.5,0,targetname)) positionlist.append(pyoscx.RelativeLanePosition(60,-1,0,targetname)) polyline = pyoscx.Polyline([0,0.5,1,1.5],positionlist)
### create the action event = pyoscx.Event('speedchange', pyoscx.Priority.overwrite) event.add_action( 'speedaction', pyoscx.AbsoluteSpeedAction( 10, pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.step, pyoscx.DynamicsDimension.time, 3))) # create two trigger conditions trig_cond1 = pyoscx.TimeToCollisionCondition(2, pyoscx.Rule.lessThan, entity=targetname) trig_cond2 = pyoscx.TimeHeadwayCondition(speedyname, 1, pyoscx.Rule.greaterThan) collision_trigger = pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.none, trig_cond1, egoname) headway_trigger = pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.none, trig_cond2, egoname) # create two separate condition groups col_group = pyoscx.ConditionGroup() col_group.add_condition(collision_trigger) head_group = pyoscx.ConditionGroup() head_group.add_condition(headway_trigger)
### create the "optional" slowdown event slowdown_event = pyoscx.Event('speedchange', pyoscx.Priority.overwrite) slowdown_event.add_action( 'speedaction', pyoscx.AbsoluteSpeedAction( 9, pyoscx.TransitionDynamics(pyoscx.DynamicsShapes.sinusoidal, pyoscx.DynamicsDimension.time, 1))) # create two trigger conditions ttc_cond = pyoscx.TimeToCollisionCondition(3, pyoscx.Rule.lessThan, entity=targetname) headway_cond = pyoscx.TimeHeadwayCondition(speedyname, 1, pyoscx.Rule.lessThan) headway_trigger = pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.none, headway_cond, egoname) collision_trigger = pyoscx.EntityTrigger('trigger', 0, pyoscx.ConditionEdge.none, ttc_cond, egoname) #create the "and" logic sc_group = pyoscx.ConditionGroup() sc_group.add_condition(collision_trigger) sc_group.add_condition(headway_trigger) slowdown_event.add_trigger(sc_group)
step_time = pyoscx.TransitionDynamics('step', 'time', 1) egospeed = pyoscx.AbsoluteSpeedAction(30, step_time) egostart = pyoscx.TeleportAction(pyoscx.LanePosition(25, 0, -3, 0)) targetspeed = pyoscx.AbsoluteSpeedAction(40, step_time) targetstart = pyoscx.TeleportAction(pyoscx.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 = pyoscx.TimeHeadwayCondition(targetname, 0.1, 'greaterThan') trigger = pyoscx.EntityTrigger('mytesttrigger', 0.2, 'rising', trigcond, egoname) event = pyoscx.Event('myfirstevent', 'overwrite') event.add_trigger(trigger) sin_time = pyoscx.TransitionDynamics('linear', 'time', 3) action = pyoscx.LongitudinalDistanceAction(-4, egoname, max_deceleration=3, max_speed=50) event.add_action('newspeed', action) ## create the act,
### create init init = pyoscx.Init() step_time = pyoscx.TransitionDynamics('step','time',1) init.add_init_action(egoname,pyoscx.AbsoluteSpeedAction(30,step_time)) init.add_init_action(egoname,pyoscx.TeleportAction(pyoscx.LanePosition(25,0,-3,0))) init.add_init_action(redname,pyoscx.AbsoluteSpeedAction(40,step_time)) init.add_init_action(redname,pyoscx.TeleportAction(pyoscx.LanePosition(15,0,-2,0))) init.add_init_action(yelname,pyoscx.AbsoluteSpeedAction(30,step_time)) init.add_init_action(yelname,pyoscx.TeleportAction(pyoscx.LanePosition(35,0,-4,0))) ### create an event for the red car r_trigcond = pyoscx.TimeHeadwayCondition(redname,0.1,'greaterThan') r_trigger = pyoscx.EntityTrigger('redtrigger',0.2,'rising',r_trigcond,egoname) r_event = pyoscx.Event('first_lane_change','overwrite') r_event.add_trigger(r_trigger) r_event.add_action('lane_change_red',pyoscx.AbsoluteLaneChangeAction(-4,pyoscx.TransitionDynamics('sinusoidal','time',4))) ## create the act for the red car r_man = pyoscx.Maneuver('red_maneuver') r_man.add_event(r_event) r_mangr = pyoscx.ManeuverGroup('mangroup_red') r_mangr.add_actor(redname) r_mangr.add_maneuver(r_man) act = pyoscx.Act('red_act',pyoscx.ValueTrigger('starttrigger',0,'rising',pyoscx.SimulationTimeCondition(0,'greaterThan')))