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.
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.
"""
import os
from .scenario_generator import ScenarioGenerator
from .xodr import OpenDrive
from .xosc import Scenario
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
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
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
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
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"
)
# run esmini
if os.system(executable_path + filetype + filename + additional_args) != 0:
print("An error occurred while trying to execute the scenario")
return
# run viewer if wanted
if run_with_replayer:
os.system(
replay_executable
+ " --file "
+ record
+ " --res_path "
+ os.path.join(resource_path, os.pardir)
+ " --window "
+ window_size
)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)-
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)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 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 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 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 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" ) # run esmini if os.system(executable_path + filetype + filename + additional_args) != 0: print("An error occurred while trying to execute the scenario") return # run viewer if wanted if run_with_replayer: os.system( replay_executable + " --file " + record + " --res_path " + os.path.join(resource_path, os.pardir) + " --window " + window_size )