Module examples.xosc.syncronize_straight_example
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 of a synchronizing two vehicles at one point
Some features used:
- AbsoluteSynchronizeAction
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 of a synchronizing two vehicles at one point
Some features used:
- AbsoluteSynchronizeAction
"""
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/e6mini.xodr", scenegraph="../models/e6mini.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")
)
entities.add_scenario_object(
targetname, xosc.CatalogReference("VehicleCatalog", "car_blue")
)
### create init
init = xosc.Init()
init.add_init_action(
egoname, xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0))
)
init.add_init_action(
egoname,
xosc.AbsoluteSpeedAction(
10,
xosc.TransitionDynamics(
xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
),
),
)
init.add_init_action(
targetname, xosc.TeleportAction(xosc.LanePosition(30, 0, -3, 0))
)
init.add_init_action(
targetname,
xosc.AbsoluteSpeedAction(
20,
xosc.TransitionDynamics(
xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
),
),
)
## target action
tar_action = xosc.SynchronizeAction(
egoname,
xosc.LanePosition(200, 0, -1, 0),
xosc.LanePosition(200, 0, -2, 0),
target_tolerance_master=1,
target_tolerance=1,
final_speed=xosc.RelativeSpeedToMaster(
10, xosc.SpeedTargetValueType.delta, xosc.TargetTimeSteadyState(10)
),
)
tar_event = xosc.Event("target_event", xosc.Priority.overwrite)
tar_event.add_trigger(
xosc.ValueTrigger(
"ego_start",
0,
xosc.ConditionEdge.none,
xosc.SimulationTimeCondition(3, xosc.Rule.greaterThan),
)
)
tar_event.add_action("tar_action", tar_action)
tar_man = xosc.Maneuver("target_man")
tar_man.add_event(tar_event)
tar_man_gr = xosc.ManeuverGroup("target_man_gr")
tar_man_gr.add_maneuver(tar_man)
tar_man_gr.add_actor(targetname)
## act
act = xosc.Act(
"myact",
xosc.ValueTrigger(
"start",
0,
xosc.ConditionEdge.none,
xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan),
),
)
act.add_maneuver_group(tar_man_gr)
## create the storyboard
sb = xosc.StoryBoard(
init,
xosc.ValueTrigger(
"stop_simulation",
0,
xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(20, 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/e6mini.xodr", scenegraph="../models/e6mini.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") ) entities.add_scenario_object( targetname, xosc.CatalogReference("VehicleCatalog", "car_blue") ) ### create init init = xosc.Init() init.add_init_action( egoname, xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0)) ) init.add_init_action( egoname, xosc.AbsoluteSpeedAction( 10, xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1 ), ), ) init.add_init_action( targetname, xosc.TeleportAction(xosc.LanePosition(30, 0, -3, 0)) ) init.add_init_action( targetname, xosc.AbsoluteSpeedAction( 20, xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1 ), ), ) ## target action tar_action = xosc.SynchronizeAction( egoname, xosc.LanePosition(200, 0, -1, 0), xosc.LanePosition(200, 0, -2, 0), target_tolerance_master=1, target_tolerance=1, final_speed=xosc.RelativeSpeedToMaster( 10, xosc.SpeedTargetValueType.delta, xosc.TargetTimeSteadyState(10) ), ) tar_event = xosc.Event("target_event", xosc.Priority.overwrite) tar_event.add_trigger( xosc.ValueTrigger( "ego_start", 0, xosc.ConditionEdge.none, xosc.SimulationTimeCondition(3, xosc.Rule.greaterThan), ) ) tar_event.add_action("tar_action", tar_action) tar_man = xosc.Maneuver("target_man") tar_man.add_event(tar_event) tar_man_gr = xosc.ManeuverGroup("target_man_gr") tar_man_gr.add_maneuver(tar_man) tar_man_gr.add_actor(targetname) ## act act = xosc.Act( "myact", xosc.ValueTrigger( "start", 0, xosc.ConditionEdge.none, xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan), ), ) act.add_maneuver_group(tar_man_gr) ## create the storyboard sb = xosc.StoryBoard( init, xosc.ValueTrigger( "stop_simulation", 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(20, 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