Module `scenariogeneration.xosc.scenario`

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/.

Classes

class RoadNetwork (roadfile=None, scenegraph=None)

Expand source code

class RoadNetwork(VersionBase):
    """The RoadNetwork class creates the RoadNetwork of the openScenario

    Parameters
    ----------
        roadfile (str): path to the opendrive file

        scenegraph (str): path to the opensceengraph file (optional)

    Attributes
    ----------
        road_file (str): path to the opendrive file

        scene (str): path to the opensceengraph file

        traffic_signals (list of TrafficSignalController): all traffic signals in the roadnetwork

        used_area_positions (list of Positions): the positions that determines the used area of the roadnetwork

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

        get_element()
            Returns the full ElementTree of the class



    """

    def __init__(self, roadfile=None, scenegraph=None):
        """Initalizes the RoadNetwork

        Parameters
        ----------
            roadfile (str): path to the opendrive file (optional)

            scenegraph (str): path to the opensceengraph file (optional)

        """
        self.road_file = roadfile
        self.scene = scenegraph
        self.traffic_signals = []
        self.used_area_positions = []

    def __eq__(self, other):
        if isinstance(other, RoadNetwork):
            if (
                self.road_file == other.road_file
                and self.scene == other.scene
                and self.traffic_signals == other.traffic_signals
                and self.used_area_positions == other.used_area_positions
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of RoadNetwork

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A RoadNetwork element (same as generated by the class itself)

        Returns
        -------
            roadnetwork (RoadNetwork): a RoadNetwork object

        """
        logicFile = None
        if element.find("LogicFile") is not None:
            logicFile = element.find("LogicFile").attrib["filepath"]

        sceneGraphFile = None
        if element.find("SceneGraphFile") is not None:
            sceneGraphFile = element.find("SceneGraphFile").attrib["filepath"]

        roadnetwork = RoadNetwork(roadfile=logicFile, scenegraph=sceneGraphFile)

        position_elements = element.findall("UsedArea/Position")
        if position_elements is not None:
            for position in position_elements:
                roadnetwork.add_used_area_position(
                    _PositionFactory.parse_position(position)
                )

        tsc_elements = element.findall("TrafficSignals/TrafficSignalController")
        if tsc_elements is not None:
            for tsc_element in tsc_elements:
                controller = TrafficSignalController.parse(tsc_element)
                roadnetwork.add_traffic_signal_controller(controller)

        return roadnetwork

    def add_traffic_signal_controller(self, traffic_signal_controller):
        """adds a TrafficSignalController to the RoadNetwork

        Parameters
        ----------
            traffic_signal_controller (TrafficSignalController): the traffic signal controller to add

        """
        if not isinstance(traffic_signal_controller, TrafficSignalController):
            raise TypeError(
                "traffic_signal_controller input is not of type TrafficSignalController"
            )
        self.traffic_signals.append(traffic_signal_controller)
        return self

    def add_used_area_position(self, position):
        """adds a position to determine the usedArea of the roadnetwork used, this feature was added in OpenSCENARIO V1.1.
        Atleast 2 positions are required.

        Parameters
        ----------
            position (*Position): any position to determine the used area

        """
        if not isinstance(position, _PositionType):
            raise TypeError("position input is not a valid position Type")
        self.used_area_positions.append(position)
        return self

    def get_element(self):
        """returns the elementTree of the RoadNetwork"""
        roadnetwork = ET.Element("RoadNetwork")
        if self.road_file:
            ET.SubElement(roadnetwork, "LogicFile", {"filepath": self.road_file})
        if self.scene:
            ET.SubElement(roadnetwork, "SceneGraphFile", {"filepath": self.scene})
        if self.traffic_signals:
            trafsign_element = ET.SubElement(roadnetwork, "TrafficSignals")
            for ts in self.traffic_signals:
                trafsign_element.append(ts.get_element())
        if len(self.used_area_positions) == 1:
            raise NotEnoughInputArguments(
                'To use "usedArea" more than 1 used_area_position is needed.'
            )
        elif len(self.used_area_positions) > 1 and self.isVersion(minor=0):
            raise OpenSCENARIOVersionError(
                "UsedArea is not supported in OpenSCENARIO V1.0, was introduced in OpenSCENARIO V1.1"
            )
        elif len(self.used_area_positions) > 1 and not self.isVersion(minor=0):
            usedarea = ET.SubElement(roadnetwork, "UsedArea")
            for p in self.used_area_positions:
                usedarea.append(p.get_element())

        return roadnetwork

The RoadNetwork class creates the RoadNetwork of the openScenario

Parameters

roadfile (str): path to the opendrive file

scenegraph (str): path to the opensceengraph file (optional)

Attributes

road_file (str): path to the opendrive file

scene (str): path to the opensceengraph file

traffic_signals (list of TrafficSignalController): all traffic signals in the roadnetwork

used_area_positions (list of Positions): the positions that determines the used area of the roadnetwork

Methods

parse(element)
    parses a ElementTree created by the class and returns an instance of the class

get_element()
    Returns the full ElementTree of the class

Initalizes the RoadNetwork

Parameters

roadfile (str): path to the opendrive file (optional)

scenegraph (str): path to the opensceengraph file (optional)

Ancestors

VersionBase

Static methods

def parse(element)

Expand source code

@staticmethod
def parse(element):
    """Parses the xml element of RoadNetwork

    Parameters
    ----------
        element (xml.etree.ElementTree.Element): A RoadNetwork element (same as generated by the class itself)

    Returns
    -------
        roadnetwork (RoadNetwork): a RoadNetwork object

    """
    logicFile = None
    if element.find("LogicFile") is not None:
        logicFile = element.find("LogicFile").attrib["filepath"]

    sceneGraphFile = None
    if element.find("SceneGraphFile") is not None:
        sceneGraphFile = element.find("SceneGraphFile").attrib["filepath"]

    roadnetwork = RoadNetwork(roadfile=logicFile, scenegraph=sceneGraphFile)

    position_elements = element.findall("UsedArea/Position")
    if position_elements is not None:
        for position in position_elements:
            roadnetwork.add_used_area_position(
                _PositionFactory.parse_position(position)
            )

    tsc_elements = element.findall("TrafficSignals/TrafficSignalController")
    if tsc_elements is not None:
        for tsc_element in tsc_elements:
            controller = TrafficSignalController.parse(tsc_element)
            roadnetwork.add_traffic_signal_controller(controller)

    return roadnetwork

Parses the xml element of RoadNetwork

Parameters

element (xml.etree.ElementTree.Element): A RoadNetwork element (same as generated by the class itself)

Returns

roadnetwork (RoadNetwork): a RoadNetwork object

Methods

def add_traffic_signal_controller(self, traffic_signal_controller)

Expand source code

def add_traffic_signal_controller(self, traffic_signal_controller):
    """adds a TrafficSignalController to the RoadNetwork

    Parameters
    ----------
        traffic_signal_controller (TrafficSignalController): the traffic signal controller to add

    """
    if not isinstance(traffic_signal_controller, TrafficSignalController):
        raise TypeError(
            "traffic_signal_controller input is not of type TrafficSignalController"
        )
    self.traffic_signals.append(traffic_signal_controller)
    return self

adds a TrafficSignalController to the RoadNetwork

Parameters

traffic_signal_controller (TrafficSignalController): the traffic signal controller to add

def add_used_area_position(self, position)

Expand source code

def add_used_area_position(self, position):
    """adds a position to determine the usedArea of the roadnetwork used, this feature was added in OpenSCENARIO V1.1.
    Atleast 2 positions are required.

    Parameters
    ----------
        position (*Position): any position to determine the used area

    """
    if not isinstance(position, _PositionType):
        raise TypeError("position input is not a valid position Type")
    self.used_area_positions.append(position)
    return self

adds a position to determine the usedArea of the roadnetwork used, this feature was added in OpenSCENARIO V1.1. Atleast 2 positions are required.

Parameters

position (*Position): any position to determine the used area

def get_element(self)

Expand source code

def get_element(self):
    """returns the elementTree of the RoadNetwork"""
    roadnetwork = ET.Element("RoadNetwork")
    if self.road_file:
        ET.SubElement(roadnetwork, "LogicFile", {"filepath": self.road_file})
    if self.scene:
        ET.SubElement(roadnetwork, "SceneGraphFile", {"filepath": self.scene})
    if self.traffic_signals:
        trafsign_element = ET.SubElement(roadnetwork, "TrafficSignals")
        for ts in self.traffic_signals:
            trafsign_element.append(ts.get_element())
    if len(self.used_area_positions) == 1:
        raise NotEnoughInputArguments(
            'To use "usedArea" more than 1 used_area_position is needed.'
        )
    elif len(self.used_area_positions) > 1 and self.isVersion(minor=0):
        raise OpenSCENARIOVersionError(
            "UsedArea is not supported in OpenSCENARIO V1.0, was introduced in OpenSCENARIO V1.1"
        )
    elif len(self.used_area_positions) > 1 and not self.isVersion(minor=0):
        usedarea = ET.SubElement(roadnetwork, "UsedArea")
        for p in self.used_area_positions:
            usedarea.append(p.get_element())

    return roadnetwork

returns the elementTree of the RoadNetwork

class Scenario (name, author, parameters, entities, storyboard, roadnetwork, catalog, osc_minor_version=2, license=None, creation_date=None, header_properties=None, variable_declaration=None)

Expand source code

class Scenario(VersionBase):
    """The Scenario class collects all parts of OpenScenario and creates a .xml file

    Parameters
    ----------
        header (FileHeader): the header of the scenario file

        parameters (ParameterDeclarations): the parameters to be used in the scenario

        entities (Entities): the entities in the scenario

        storyboard (StoryBoard): the storyboard of the scenario

        roadnetwork (RoadNetwork): the roadnetwork of the scenario

        catalog (Catalog): the catalogs used in the scenario

        osc_minor_version (int): used to set if another than the newest version of OpenSCENARIO should be used
            Default: 2

        licence (License): optional license to the file header
            Default: None

        createtion_date (datetime.datetime): optional creation date of the scenario
            Default: None (will be at the time of generation)

    Attributes
    ----------
        header (FileHeader): the header of the scenario file

        parameters (ParameterDeclarations): the parameters to be used in the scenario

        entities (Entities): the entities in the scenario

        storyboard (StoryBoard): the storyboard of the scenario

        roadnetwork (RoadNetwork): the roadnetwork of the scenario

        catalog (Catalog): the catalogs used in the scenario

        header (FileHeader): header of the scenario

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

        get_element()
            Returns the full ElementTree of the class

        write_xml(filename)
            write a open scenario xml

    """

    _XMLNS = XMLNS
    _XSI = XSI

    def __init__(
        self,
        name,
        author,
        parameters,
        entities,
        storyboard,
        roadnetwork,
        catalog,
        osc_minor_version=_MINOR_VERSION,
        license=None,
        creation_date=None,
        header_properties=None,
        variable_declaration=None,
    ):
        """Initalizes the Scenario class, and creates the header.

        Parameters
        ----------
            name (str): name of the scenario

            author (str): the author fo the scenario

            parameters (ParameterDeclarations): the parameters to be used in the scenario

            entities (Entities): the entities in the scenario

            storyboard (StoryBoard): the storyboard of the scenario

            roadnetwork (RoadNetwork): the roadnetwork of the scenario

            catalog (Catalog): the catalogs used in the scenario

            osc_minor_version (int): used to set if another than the newest version of OpenSCENARIO should be used
                Default: 1

            licence (License): optional license to the file header (Valid from OSC V1.1)
                Default: None

            createtion_date (datetime.datetime): optional creation date of the scenario
                Default: None (will be at the time of generation)

            header_properties (Properties): properties that can be added to the header (Valid from OSC V1.2)
                Default: None

            variable_declaration (VariableDeclarations): (Valid from OSC V1.2)
        """
        if not isinstance(entities, Entities):
            raise TypeError("entities input is not of type Entities")
        if not isinstance(storyboard, StoryBoard):
            raise TypeError("storyboard input is not of type StoryBoard")
        if not isinstance(roadnetwork, RoadNetwork):
            raise TypeError("roadnetwork input is not of type RoadNetwork")
        if not isinstance(catalog, Catalog):
            raise TypeError("catalog input is not of type StorCatalogyBoard")
        if not isinstance(parameters, ParameterDeclarations):
            raise TypeError("parameters input is not of type ParameterDeclarations")

        if variable_declaration and not isinstance(
            variable_declaration, VariableDeclarations
        ):
            raise TypeError(
                "variable_declaration input is not of type VariableDeclarations"
            )
        self.variable_declaration = variable_declaration
        self.entities = entities
        self.storyboard = storyboard
        self.roadnetwork = roadnetwork
        self.catalog = catalog
        self.parameters = parameters
        self.header = FileHeader(
            author,
            name,
            revMinor=osc_minor_version,
            license=license,
            creation_date=creation_date,
            properties=header_properties,
        )

    def __eq__(self, other):
        if isinstance(other, Scenario):
            if (
                self.entities == other.entities
                and self.storyboard == other.storyboard
                and self.roadnetwork == other.roadnetwork
                and self.catalog == other.catalog
                and self.header == other.header
                and self.parameters == other.parameters
                and self.variable_declaration == other.variable_declaration
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of Scenario

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A Scenario element (same as generated by the class itself)

        Returns
        -------
            scenario (Scenario): a Scenario object

        """
        header = FileHeader.parse(element.find("FileHeader"))
        parameters = ParameterDeclarations()
        if element.find("ParameterDeclarations") is not None:
            parameters = ParameterDeclarations.parse(
                element.find("ParameterDeclarations")
            )
        catalog = Catalog.parse(element.find("CatalogLocations"))
        storyboard = StoryBoard.parse(element.find("Storyboard"))
        entities = Entities.parse(element.find("Entities"))
        roadnetwork = RoadNetwork.parse(element.find("RoadNetwork"))

        variables = None
        if element.find("VariableDeclarations") is not None:
            variables = VariableDeclarations.parse(element.find("VariableDeclarations"))
        return Scenario(
            header.description,
            header.author,
            parameters,
            entities,
            storyboard,
            roadnetwork,
            catalog,
            header._revMinor,
            header.properties,
            variables,
        )

    def get_element(self):
        """returns the elementTree of the Scenario"""
        element = ET.Element(
            "OpenSCENARIO",
            attrib={
                "xmlns:xsi": self._XMLNS,
                "xsi:noNamespaceSchemaLocation": self._XSI,
            },
        )
        element.append(self.header.get_element())
        if self.parameters.get_element():
            element.append(self.parameters.get_element())
        element.append(self.catalog.get_element())
        element.append(self.roadnetwork.get_element())
        element.append(self.entities.get_element())
        element.append(self.storyboard.get_element())
        if self.variable_declaration:
            element.append(self.variable_declaration.get_element())

        return element

    def write_xml(self, filename, prettyprint=True, encoding="utf-8"):
        """write_xml writes the OpenSCENARIO xml file

        Parameters
        ----------
            filename (str): path and filename of the wanted xml file

            prettyprint (bool): pretty print or ugly print?
                Default: True

            encoding (str): specifies the output encoding
                Default: 'utf-8'

        """
        printToFile(self.get_element(), filename, prettyprint, encoding)

The Scenario class collects all parts of OpenScenario and creates a .xml file

Parameters

header (FileHeader): the header of the scenario file

parameters (ParameterDeclarations): the parameters to be used in the scenario

entities (Entities): the entities in the scenario

storyboard (StoryBoard): the storyboard of the scenario

roadnetwork (RoadNetwork): the roadnetwork of the scenario

catalog (Catalog): the catalogs used in the scenario

osc_minor_version (int): used to set if another than the newest version of OpenSCENARIO should be used
    Default: 2

licence (License): optional license to the file header
    Default: None

createtion_date (datetime.datetime): optional creation date of the scenario
    Default: None (will be at the time of generation)

Attributes

header (FileHeader): the header of the scenario file

parameters (ParameterDeclarations): the parameters to be used in the scenario

entities (Entities): the entities in the scenario

storyboard (StoryBoard): the storyboard of the scenario

roadnetwork (RoadNetwork): the roadnetwork of the scenario

catalog (Catalog): the catalogs used in the scenario

header (FileHeader): header of the scenario

Methods

parse(element)
    parses a ElementTree created by the class and returns an instance of the class

get_element()
    Returns the full ElementTree of the class

write_xml(filename)
    write a open scenario xml

Initalizes the Scenario class, and creates the header.

Parameters

name (str): name of the scenario

author (str): the author fo the scenario

parameters (ParameterDeclarations): the parameters to be used in the scenario

entities (Entities): the entities in the scenario

storyboard (StoryBoard): the storyboard of the scenario

roadnetwork (RoadNetwork): the roadnetwork of the scenario

catalog (Catalog): the catalogs used in the scenario

osc_minor_version (int): used to set if another than the newest version of OpenSCENARIO should be used
    Default: 1

licence (License): optional license to the file header (Valid from OSC V1.1)
    Default: None

createtion_date (datetime.datetime): optional creation date of the scenario
    Default: None (will be at the time of generation)

header_properties (Properties): properties that can be added to the header (Valid from OSC V1.2)
    Default: None

variable_declaration (VariableDeclarations): (Valid from OSC V1.2)

Ancestors

VersionBase

Static methods

def parse(element)

Expand source code

@staticmethod
def parse(element):
    """Parses the xml element of Scenario

    Parameters
    ----------
        element (xml.etree.ElementTree.Element): A Scenario element (same as generated by the class itself)

    Returns
    -------
        scenario (Scenario): a Scenario object

    """
    header = FileHeader.parse(element.find("FileHeader"))
    parameters = ParameterDeclarations()
    if element.find("ParameterDeclarations") is not None:
        parameters = ParameterDeclarations.parse(
            element.find("ParameterDeclarations")
        )
    catalog = Catalog.parse(element.find("CatalogLocations"))
    storyboard = StoryBoard.parse(element.find("Storyboard"))
    entities = Entities.parse(element.find("Entities"))
    roadnetwork = RoadNetwork.parse(element.find("RoadNetwork"))

    variables = None
    if element.find("VariableDeclarations") is not None:
        variables = VariableDeclarations.parse(element.find("VariableDeclarations"))
    return Scenario(
        header.description,
        header.author,
        parameters,
        entities,
        storyboard,
        roadnetwork,
        catalog,
        header._revMinor,
        header.properties,
        variables,
    )

Parses the xml element of Scenario

Parameters

element (xml.etree.ElementTree.Element): A Scenario element (same as generated by the class itself)

Returns

scenario (Scenario): a Scenario object

Methods

def get_element(self)

Expand source code

def get_element(self):
    """returns the elementTree of the Scenario"""
    element = ET.Element(
        "OpenSCENARIO",
        attrib={
            "xmlns:xsi": self._XMLNS,
            "xsi:noNamespaceSchemaLocation": self._XSI,
        },
    )
    element.append(self.header.get_element())
    if self.parameters.get_element():
        element.append(self.parameters.get_element())
    element.append(self.catalog.get_element())
    element.append(self.roadnetwork.get_element())
    element.append(self.entities.get_element())
    element.append(self.storyboard.get_element())
    if self.variable_declaration:
        element.append(self.variable_declaration.get_element())

    return element

returns the elementTree of the Scenario

def write_xml(self, filename, prettyprint=True, encoding='utf-8')

Expand source code

def write_xml(self, filename, prettyprint=True, encoding="utf-8"):
    """write_xml writes the OpenSCENARIO xml file

    Parameters
    ----------
        filename (str): path and filename of the wanted xml file

        prettyprint (bool): pretty print or ugly print?
            Default: True

        encoding (str): specifies the output encoding
            Default: 'utf-8'

    """
    printToFile(self.get_element(), filename, prettyprint, encoding)

write_xml writes the OpenSCENARIO xml file

Parameters

filename (str): path and filename of the wanted xml file

prettyprint (bool): pretty print or ugly print?
    Default: True

encoding (str): specifies the output encoding
    Default: 'utf-8'