Module examples.xosc.route_in_crossing

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.

Simple example showing how to pick a route in a junction

Some features used:

  • Route

  • AssignRouteAction

  • 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.

    Simple example showing how to pick a route in a junction

    Some features used:

    - Route

    - AssignRouteAction

    - 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/fabriksgatan.xodr",
            scenegraph="../models/fabriksgatan.osgb",
        )

        ### create parameters
        paramdec = xosc.ParameterDeclarations()

        ## create entities

        egoname = "Ego"
        targetname = "Target"

        entities = xosc.Entities()
        entities.add_scenario_object(
            egoname, xosc.CatalogReference("VehicleCatalog", "car_red")
        )

        ### create init

        init = xosc.Init()

        init.add_init_action(
            egoname, xosc.TeleportAction(xosc.LanePosition(50, 0, 1, 0))
        )
        init.add_init_action(
            egoname,
            xosc.AbsoluteSpeedAction(
                10,
                xosc.TransitionDynamics(
                    xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
                ),
            ),
        )

        # create a router

        ego_route = xosc.Route("ego_route")
        ego_route.add_waypoint(
            xosc.LanePosition(30, 0, 1, 0), xosc.RouteStrategy.fastest
        )
        ego_route.add_waypoint(
            xosc.LanePosition(10, 0, -1, 1), xosc.RouteStrategy.fastest
        )

        # create action
        ego_action = xosc.AssignRouteAction(ego_route)

        ego_event = xosc.Event("ego_event", xosc.Priority.overwrite)
        ego_event.add_action("ego_route", ego_action)
        ego_event.add_trigger(
            xosc.ValueTrigger(
                "target_start",
                0,
                xosc.ConditionEdge.none,
                xosc.SimulationTimeCondition(1, xosc.Rule.greaterThan),
            )
        )

        ## create the storyboard
        ego_man = xosc.Maneuver("ego_man")
        ego_man.add_event(ego_event)

        sb = xosc.StoryBoard(
            init,
            xosc.ValueTrigger(
                "stop_simulation",
                0,
                xosc.ConditionEdge.rising,
                xosc.SimulationTimeCondition(10, xosc.Rule.greaterThan),
                "stop",
            ),
        )
        sb.add_maneuver(ego_man, egoname)

        ## 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/fabriksgatan.xodr",
            scenegraph="../models/fabriksgatan.osgb",
        )

        ### create parameters
        paramdec = xosc.ParameterDeclarations()

        ## create entities

        egoname = "Ego"
        targetname = "Target"

        entities = xosc.Entities()
        entities.add_scenario_object(
            egoname, xosc.CatalogReference("VehicleCatalog", "car_red")
        )

        ### create init

        init = xosc.Init()

        init.add_init_action(
            egoname, xosc.TeleportAction(xosc.LanePosition(50, 0, 1, 0))
        )
        init.add_init_action(
            egoname,
            xosc.AbsoluteSpeedAction(
                10,
                xosc.TransitionDynamics(
                    xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
                ),
            ),
        )

        # create a router

        ego_route = xosc.Route("ego_route")
        ego_route.add_waypoint(
            xosc.LanePosition(30, 0, 1, 0), xosc.RouteStrategy.fastest
        )
        ego_route.add_waypoint(
            xosc.LanePosition(10, 0, -1, 1), xosc.RouteStrategy.fastest
        )

        # create action
        ego_action = xosc.AssignRouteAction(ego_route)

        ego_event = xosc.Event("ego_event", xosc.Priority.overwrite)
        ego_event.add_action("ego_route", ego_action)
        ego_event.add_trigger(
            xosc.ValueTrigger(
                "target_start",
                0,
                xosc.ConditionEdge.none,
                xosc.SimulationTimeCondition(1, xosc.Rule.greaterThan),
            )
        )

        ## create the storyboard
        ego_man = xosc.Maneuver("ego_man")
        ego_man.add_event(ego_event)

        sb = xosc.StoryBoard(
            init,
            xosc.ValueTrigger(
                "stop_simulation",
                0,
                xosc.ConditionEdge.rising,
                xosc.SimulationTimeCondition(10, xosc.Rule.greaterThan),
                "stop",
            ),
        )
        sb.add_maneuver(ego_man, egoname)

        ## 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

Ancestors

Inherited members