Module examples.xosc.end_of_road_reset_traffic
scenariogeneration https://github.com/pyoscx/scenariogeneration
This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, You can obtain one at https://mozilla.org/MPL/2.0/.
Copyright (c) 2022 The scenariogeneration Authors.
Example showing how to create "repeating traffic" if a car goes to the end of the road
Some features used:
- multiple execusions
- EndOfRoadCondition
- Teleport
- LanePosition
Expand source code
"""
scenariogeneration
https://github.com/pyoscx/scenariogeneration
This Source Code Form is subject to the terms of the Mozilla Public
License, v. 2.0. If a copy of the MPL was not distributed with this
file, You can obtain one at https://mozilla.org/MPL/2.0/.
Copyright (c) 2022 The scenariogeneration Authors.
Example showing how to create "repeating traffic" if a car goes to the end of the road
Some features used:
- multiple execusions
- EndOfRoadCondition
- Teleport
- LanePosition
"""
import os
from scenariogeneration import xosc, prettyprint, ScenarioGenerator
class Scenario(ScenarioGenerator):
def __init__(self):
super().__init__()
self.open_scenario_version = 2
def scenario(self, **kwargs):
### create catalogs
catalog = xosc.Catalog()
catalog.add_catalog("VehicleCatalog", "../xosc/Catalogs/Vehicles")
### create road
road = xosc.RoadNetwork(
roadfile="../xodr/straight_500m.xodr",
scenegraph="../models/straight_500m.osgb",
)
### 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)
mangr.add_actor(targetname + str(i))
act.add_maneuver_group(mangr)
## create the storyboard
sb = xosc.StoryBoard(
init,
xosc.ValueTrigger(
"stop_simulation",
0,
xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(100, xosc.Rule.greaterThan),
"stop",
),
)
sb.add_act(act)
## create the scenario
sce = xosc.Scenario(
"adaptspeed_example",
"User",
paramdec,
entities=entities,
storyboard=sb,
roadnetwork=road,
catalog=catalog,
osc_minor_version=self.open_scenario_version,
)
return sce
if __name__ == "__main__":
sce = Scenario()
# Print the resulting xml
prettyprint(sce.scenario().get_element())
# write the OpenSCENARIO file as xosc using current script name
sce.generate(".")
# uncomment the following lines to display the scenario using esmini
# from scenariogeneration import esmini
# esmini(sce,os.path.join('esmini'))Classes
class Scenario-
ScenarioTemplate is a class that should be inherited by a Scenario class in order to generate xodr and xosc files based on pyoscx and pyodrx
Two main uses, in your generation class define self.parameters as either as - a dict of lists, where the lists are the values you want to sweep over, all permutations of these sets will be generated - a list of dicts, where the dicts are identical and each element in the list is one scenario
Attributes
road_file (str): name of the roadfile parameters (dict of lists, or list of dicts): parameter sets to be used naming (str): two options "numerical" or "parameter" generate_all_roads (bool): will only generate unique roads number_of_parallel_writings (int): parallelize the writing of the xml files Default: 1 (no parallelization) basename (str): basename of the scenariofiles, Default: name of file encoding (str): encoding of the outputs Default:Expand source code
class Scenario(ScenarioGenerator): def __init__(self): super().__init__() self.open_scenario_version = 2 def scenario(self, **kwargs): ### create catalogs catalog = xosc.Catalog() catalog.add_catalog("VehicleCatalog", "../xosc/Catalogs/Vehicles") ### create road road = xosc.RoadNetwork( roadfile="../xodr/straight_500m.xodr", scenegraph="../models/straight_500m.osgb", ) ### 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) mangr.add_actor(targetname + str(i)) act.add_maneuver_group(mangr) ## create the storyboard sb = xosc.StoryBoard( init, xosc.ValueTrigger( "stop_simulation", 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(100, xosc.Rule.greaterThan), "stop", ), ) sb.add_act(act) ## create the scenario sce = xosc.Scenario( "adaptspeed_example", "User", paramdec, entities=entities, storyboard=sb, roadnetwork=road, catalog=catalog, osc_minor_version=self.open_scenario_version, ) return sceAncestors
Inherited members