Module scenariogeneration.esmini_runner
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.
Functions
def esmini(generator,
esminipath='esmini',
window_size='60 60 800 400',
save_osi=False,
record=False,
disable_controllers=False,
args='',
index_to_run='first',
run_with_replayer=False,
generation_path='generated',
resource_path=None,
timestep=0.01,
car_density=15,
headless=False)-
Expand source code
def esmini( generator, esminipath="esmini", window_size="60 60 800 400", save_osi=False, record=False, disable_controllers=False, args="", index_to_run="first", run_with_replayer=False, generation_path="generated", resource_path=None, timestep=0.01, car_density=15, headless=False, ): """write a scenario and runs it in esminis OpenDriveViewer with some random traffic Parameters ---------- generator (OpenDrive, Scenario, or ScenarioGenerator): the xodr road to run esminipath (str): the path to esmini Default: esmini window_size (str): sets the window size of the esmini viewer Default: 60 60 800 400 save_osi (str): name of the wanted osi file (None will not create a osi file) Default: None record (str): name of a esmini .dat file should be saved Default: '' (no recording) disable_controllers (bool): let esmini disable all controllers in the scenario and run with default behaviour Default: False args (str): additional options to esmini index_to_run (str,int): if the a class inheriting ScenarioGenerator is used as input, and the scenario is parametrized this will make it possible to choose what scenario to view. can be: 'first','middle','random', or an int Default: first run_with_replayer (bool): bool to run esmini in headless mode and then run the viewer afterwards (only used for scenarios not for roads) Default: False generation_path (str): path to where the files should be generated Default: generated resource_path (str): path to the catalogs/xodrs that you want to add (relative path in scenario should be relative to this one) Default: esminipath/resources/xosc timestep (float): fixed timestep to use in combination with replayer car_density (int): density of fictious cars (used only for pure OpenDRIVE cases) headless (boolean): run esmini in headless mode (no viewer) """ additional_args = [] # resource_path = os.path.join(esminipath,'resources') if not resource_path: resource_path = os.path.join(esminipath, "resources", "xosc") if timestep == None: ts = 0.01 else: ts = timestep # genereate file for running in esmini, and set some esmini replated parameters if isinstance(generator, OpenDrive): if not os.path.exists(generation_path): os.mkdir(generation_path) if not os.path.exists(os.path.join(generation_path, "xosc")): os.mkdir(os.path.join(generation_path, "xosc")) if not os.path.exists(os.path.join(generation_path, "xodr")): os.mkdir(os.path.join(generation_path, "xodr")) executable = "odrviewer" filetype = "--odr" additional_args += ["--density", str(car_density)] if not headless: additional_args += ["--window"] + window_size.split() run_with_replayer = False filename = os.path.join(generation_path, "xodr", "python_road.xodr") generator.write_xml(filename, True) elif isinstance(generator, Scenario): if not os.path.exists(generation_path): os.mkdir(generation_path) if not os.path.exists(os.path.join(generation_path, "xosc")): os.mkdir(os.path.join(generation_path, "xosc")) if not os.path.exists(os.path.join(generation_path, "xodr")): os.mkdir(os.path.join(generation_path, "xodr")) executable = "esmini" filetype = "--osc" if run_with_replayer: additional_args += ["--headless", "--fixed_timestep", str(ts)] if not record: record = "python_record" elif not headless: additional_args += ["--window"] + window_size.split() filename = os.path.join(generation_path, "xosc", "python_scenario.xosc") generator.write_xml(filename) elif isinstance(generator, ScenarioGenerator): scenario_file, road_file = generator.generate_single( generation_path, order=index_to_run ) if scenario_file == "": run_with_replayer = False executable = "odrviewer" filetype = "--odr" additional_args += ["--density", str(car_density)] additional_args += ["--window"] + window_size.split() filename = os.path.join( generation_path, "xodr", os.path.split(road_file)[1] ) else: executable = "esmini" filetype = "--osc" if run_with_replayer: additional_args += ["--headless", "--fixed_timestep", str(ts)] if not record: record = "python_record" elif not headless: additional_args += ["--window"] + window_size.split() filename = scenario_file else: raise TypeError( "generator is not of type OpenDrive, Scenario, or ScenarioGenerator" ) # create the additional_args for the esmini execusion if save_osi: additional_args += ["--osi_file", save_osi] if record: additional_args += ["--record", record] if disable_controllers: additional_args += ["--disable_controllers"] if timestep != None: additional_args += ["--fixed_timestep", str(timestep)] additional_args += [args, "--path", resource_path] # find executable based on OS if os.name == "posix": executable_path = os.path.join(".", esminipath, "bin", executable) replay_executable = os.path.join(".", esminipath, "bin", "replayer") elif os.name == "nt": executable_path = os.path.join( os.path.realpath(esminipath), "bin", executable + ".exe" ) replay_executable = os.path.join( ".", os.path.realpath(esminipath), "bin", "replayer.exe" ) cmd_and_args = [executable_path] + [filetype] + [filename] + additional_args print("Executing: ", " ".join(cmd_and_args)) result = subprocess.run(cmd_and_args) if result.returncode != 0: print("An error occurred while trying to execute the scenario") return # run viewer if wanted if run_with_replayer: cmd_and_args = [ replay_executable, "--file", record, "--res_path", os.path.join(resource_path, os.pardir), "--window", *window_size.split(), "--path", generation_path, ] print("Replaying: ", " ".join(cmd_and_args)) result = subprocess.run(cmd_and_args) if result.returncode != 0: print("An error occurred while trying to replay the scenario") returnwrite a scenario and runs it in esminis OpenDriveViewer with some random traffic
Parameters
generator (OpenDrive, Scenario, or ScenarioGenerator): the xodr road to run esminipath (str): the path to esmini Default: esmini window_size (str): sets the window size of the esmini viewer Default: 60 60 800 400 save_osi (str): name of the wanted osi file (None will not create a osi file) Default: None record (str): name of a esmini .dat file should be saved Default: '' (no recording) disable_controllers (bool): let esmini disable all controllers in the scenario and run with default behaviour Default: False args (str): additional options to esmini index_to_run (str,int): if the a class inheriting ScenarioGenerator is used as input, and the scenario is parametrized this will make it possible to choose what scenario to view. can be: 'first','middle','random', or an int Default: first run_with_replayer (bool): bool to run esmini in headless mode and then run the viewer afterwards (only used for scenarios not for roads) Default: False generation_path (str): path to where the files should be generated Default: generated resource_path (str): path to the catalogs/xodrs that you want to add (relative path in scenario should be relative to this one) Default: esminipath/resources/xosc timestep (float): fixed timestep to use in combination with replayer car_density (int): density of fictious cars (used only for pure OpenDRIVE cases) headless (boolean): run esmini in headless mode (no viewer)