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openscenario_parser.py
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openscenario_parser.py
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#!/usr/bin/env python
# Copyright (c) 2019-2020 Intel Corporation
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
"""
This module provides a parser for scenario configuration files based on OpenSCENARIO
"""
from distutils.util import strtobool
import datetime
import math
import operator
import py_trees
import carla
from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
from srunner.scenariomanager.weather_sim import Weather
from srunner.scenariomanager.scenarioatomics.atomic_behaviors import (TrafficLightStateSetter,
ActorTransformSetterToOSCPosition,
RunScript,
ChangeWeather,
ChangeAutoPilot,
ChangeRoadFriction,
ChangeActorTargetSpeed,
ChangeActorControl,
ChangeActorWaypoints,
ChangeActorLateralMotion,
Idle)
# pylint: disable=unused-import
# For the following includes the pylint check is disabled, as these are accessed via globals()
from srunner.scenariomanager.scenarioatomics.atomic_criteria import (CollisionTest,
MaxVelocityTest,
DrivenDistanceTest,
AverageVelocityTest,
KeepLaneTest,
ReachedRegionTest,
OnSidewalkTest,
WrongLaneTest,
InRadiusRegionTest,
InRouteTest,
RouteCompletionTest,
RunningRedLightTest,
RunningStopTest,
OffRoadTest,
EndofRoadTest)
# pylint: enable=unused-import
from srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import (InTriggerDistanceToVehicle,
InTriggerDistanceToOSCPosition,
InTimeToArrivalToOSCPosition,
InTimeToArrivalToVehicle,
DriveDistance,
StandStill,
OSCStartEndCondition,
TriggerAcceleration,
RelativeVelocityToOtherActor,
TimeOfDayComparison,
TriggerVelocity)
from srunner.scenariomanager.timer import TimeOut, SimulationTimeCondition
from srunner.tools.py_trees_port import oneshot_behavior
class OpenScenarioParser(object):
"""
Pure static class providing conversions from OpenSCENARIO elements to ScenarioRunner elements
"""
operators = {
"greaterThan": operator.gt,
"lessThan": operator.lt,
"equalTo": operator.eq
}
actor_types = {
"pedestrian": "walker",
"vehicle": "vehicle",
"miscellaneous": "miscellaneous"
}
use_carla_coordinate_system = False
@staticmethod
def set_use_carla_coordinate_system():
"""
CARLA internally uses a left-hand coordinate system (Unreal), but OpenSCENARIO and OpenDRIVE
are intended for right-hand coordinate system. Hence, we need to invert the coordinates, if
the scenario does not use CARLA coordinates, but instead right-hand coordinates.
"""
OpenScenarioParser.use_carla_coordinate_system = True
@staticmethod
def set_parameters(xml_tree):
"""
Parse the xml_tree, and replace all parameter references
with the actual values
Args:
xml_tree: Containing all nodes that should be updated
returns:
updated xml_tree
"""
parameter_dict = dict()
parameters = xml_tree.find('ParameterDeclarations')
if parameters is None:
return xml_tree
for parameter in parameters:
name = parameter.attrib.get('name')
value = parameter.attrib.get('value')
parameter_dict[name] = value
for node in xml_tree.iter():
for key in node.attrib:
for param in parameter_dict:
if node.attrib[key] == param:
node.attrib[key] = parameter_dict[param]
return xml_tree
@staticmethod
def get_friction_from_env_action(xml_tree, catalogs):
"""
Extract the CARLA road friction coefficient from an OSC EnvironmentAction
Args:
xml_tree: Containing the EnvironmentAction,
or the reference to the catalog it is defined in.
catalogs: XML Catalogs that could contain the EnvironmentAction
returns:
friction (float)
"""
set_environment = next(xml_tree.iter("EnvironmentAction"))
friction = 1.0
road_condition = set_environment.iter("RoadCondition")
for condition in road_condition:
friction = condition.attrib.get('frictionScaleFactor')
return friction
@staticmethod
def get_weather_from_env_action(xml_tree, catalogs):
"""
Extract the CARLA weather parameters from an OSC EnvironmentAction
Args:
xml_tree: Containing the EnvironmentAction,
or the reference to the catalog it is defined in.
catalogs: XML Catalogs that could contain the EnvironmentAction
returns:
Weather (srunner.scenariomanager.weather_sim.Weather)
"""
set_environment = next(xml_tree.iter("EnvironmentAction"))
if sum(1 for _ in set_environment.iter("Weather")) != 0:
environment = set_environment.find("Environment")
elif set_environment.find("CatalogReference") is not None:
catalog_reference = set_environment.find("CatalogReference")
environment = catalogs[catalog_reference.attrib.get(
"catalogName")][catalog_reference.attrib.get("entryName")]
weather = environment.find("Weather")
sun = weather.find("Sun")
carla_weather = carla.WeatherParameters()
carla_weather.sun_azimuth_angle = math.degrees(float(sun.attrib.get('azimuth', 0)))
carla_weather.sun_altitude_angle = math.degrees(float(sun.attrib.get('elevation', 0)))
carla_weather.cloudiness = 100 - float(sun.attrib.get('intensity', 0)) * 100
fog = weather.find("Fog")
carla_weather.fog_distance = float(fog.attrib.get('visualRange', 'inf'))
if carla_weather.fog_distance < 1000:
carla_weather.fog_density = 100
carla_weather.precipitation = 0
carla_weather.precipitation_deposits = 0
carla_weather.wetness = 0
carla_weather.wind_intensity = 0
precepitation = weather.find("Precipitation")
if precepitation.attrib.get('precipitationType') == "rain":
carla_weather.precipitation = float(precepitation.attrib.get('intensity')) * 100
carla_weather.precipitation_deposits = 100 # if it rains, make the road wet
carla_weather.wetness = carla_weather.precipitation
elif precepitation.attrib.get('type') == "snow":
raise AttributeError("CARLA does not support snow precipitation")
time_of_day = environment.find("TimeOfDay")
weather_animation = strtobool(time_of_day.attrib.get("animation"))
time = time_of_day.attrib.get("dateTime")
dtime = datetime.datetime.strptime(time, "%Y-%m-%dT%H:%M:%S")
return Weather(carla_weather, dtime, weather_animation)
@staticmethod
def get_controller(xml_tree, catalogs):
"""
Extract the object controller from the OSC XML or a catalog
Args:
xml_tree: Containing the controller information,
or the reference to the catalog it is defined in.
catalogs: XML Catalogs that could contain the controller definition
returns:
module: Python module containing the controller implementation
args: Dictonary with (key, value) parameters for the controller
"""
assign_action = xml_tree.find('AssignControllerAction')
module = None
args = {}
for prop in assign_action.find('Controller').find('Properties'):
if prop.attrib.get('name') == "module":
module = prop.attrib.get('value')
else:
args[prop.attrib.get('name')] = prop.attrib.get('value')
override_action = xml_tree.find('OverrideControllerValueAction')
for child in override_action:
if strtobool(child.attrib.get('active')):
raise NotImplementedError("Controller override actions are not yet supported")
return module, args
@staticmethod
def convert_position_to_transform(position, actor_list=None):
"""
Convert an OpenScenario position into a CARLA transform
Not supported: Road, RelativeRoad, Lane, RelativeLane as the PythonAPI currently
does not provide sufficient access to OpenDrive information
Also not supported is Route. This can be added by checking additional
route information
"""
if position.find('WorldPosition') is not None:
world_pos = position.find('WorldPosition')
x = float(world_pos.attrib.get('x', 0))
y = float(world_pos.attrib.get('y', 0))
z = float(world_pos.attrib.get('z', 0))
yaw = math.degrees(float(world_pos.attrib.get('h', 0)))
pitch = math.degrees(float(world_pos.attrib.get('p', 0)))
roll = math.degrees(float(world_pos.attrib.get('r', 0)))
if not OpenScenarioParser.use_carla_coordinate_system:
y = y * (-1.0)
yaw = yaw * (-1.0)
return carla.Transform(carla.Location(x=x, y=y, z=z), carla.Rotation(yaw=yaw, pitch=pitch, roll=roll))
elif ((position.find('RelativeWorldPosition') is not None) or
(position.find('RelativeObjectPosition') is not None) or
(position.find('RelativeLanePosition') is not None)):
if position.find('RelativeWorldPosition') is not None:
rel_pos = position.find('RelativeWorldPosition')
if position.find('RelativeObjectPosition') is not None:
rel_pos = position.find('RelativeObjectPosition')
if position.find('RelativeLanePosition') is not None:
rel_pos = position.find('RelativeLanePosition')
# get relative object and relative position
obj = rel_pos.attrib.get('entityRef')
obj_actor = None
actor_transform = None
if actor_list is not None:
for actor in actor_list:
if actor.rolename == obj:
obj_actor = actor
actor_transform = actor.transform
else:
for actor in CarlaDataProvider.get_world().get_actors():
if 'role_name' in actor.attributes and actor.attributes['role_name'] == obj:
obj_actor = actor
actor_transform = obj_actor.get_transform()
break
if obj_actor is None:
raise AttributeError("Object '{}' provided as position reference is not known".format(obj))
# calculate orientation h, p, r
is_absolute = False
dyaw = 0
dpitch = 0
droll = 0
if rel_pos.find('Orientation') is not None:
orientation = rel_pos.find('Orientation')
is_absolute = (orientation.attrib.get('type') == "absolute")
dyaw = math.degrees(float(orientation.attrib.get('h', 0)))
dpitch = math.degrees(float(orientation.attrib.get('p', 0)))
droll = math.degrees(float(orientation.attrib.get('r', 0)))
if not OpenScenarioParser.use_carla_coordinate_system:
dyaw = dyaw * (-1.0)
yaw = actor_transform.rotation.yaw
pitch = actor_transform.rotation.pitch
roll = actor_transform.rotation.roll
if not is_absolute:
yaw = yaw + dyaw
pitch = pitch + dpitch
roll = roll + droll
else:
yaw = dyaw
pitch = dpitch
roll = droll
# calculate location x, y, z
# dx, dy, dz
if ((position.find('RelativeWorldPosition') is not None) or
(position.find('RelativeObjectPosition') is not None)):
dx = float(rel_pos.attrib.get('dx', 0))
dy = float(rel_pos.attrib.get('dy', 0))
dz = float(rel_pos.attrib.get('dz', 0))
if not OpenScenarioParser.use_carla_coordinate_system:
dy = dy * (-1.0)
x = actor_transform.location.x + dx
y = actor_transform.location.y + dy
z = actor_transform.location.z + dz
# dLane, ds, offset
elif position.find('RelativeLanePosition') is not None:
dlane = float(rel_pos.attrib.get('dLane'))
ds = float(rel_pos.attrib.get('ds'))
offset = float(rel_pos.attrib.get('offset', 0.0))
carla_map = CarlaDataProvider.get_map()
relative_waypoint = carla_map.get_waypoint(actor_transform.location)
if dlane == 0:
wp = relative_waypoint
elif dlane == -1:
wp = relative_waypoint.get_left_lane()
elif dlane == 1:
wp = relative_waypoint.get_right_lane()
if wp is None:
raise AttributeError("Object '{}' position with dLane={} is not valid".format(obj, dlane))
if ds < 0:
ds = (-1.0) * ds
wp = wp.previous(ds)[-1]
else:
wp = wp.next(ds)[-1]
# Adapt transform according to offset
h = math.radians(wp.transform.rotation.yaw)
x_offset = math.sin(h) * offset
y_offset = math.cos(h) * offset
if OpenScenarioParser.use_carla_coordinate_system:
x_offset = x_offset * (-1.0)
y_offset = y_offset * (-1.0)
x = wp.transform.location.x + x_offset
y = wp.transform.location.y + y_offset
z = wp.transform.location.z
return carla.Transform(carla.Location(x=x, y=y, z=z), carla.Rotation(yaw=yaw, pitch=pitch, roll=roll))
# Not implemented
elif position.find('RoadPosition') is not None:
raise NotImplementedError("Road positions are not yet supported")
elif position.find('RelativeRoadPosition') is not None:
raise NotImplementedError("RelativeRoad positions are not yet supported")
elif position.find('LanePosition') is not None:
lane_pos = position.find('LanePosition')
road_id = int(lane_pos.attrib.get('roadId', 0))
lane_id = int(lane_pos.attrib.get('laneId', 0))
offset = float(lane_pos.attrib.get('offset', 0))
s = float(lane_pos.attrib.get('s', 0))
is_absolute = True
waypoint = CarlaDataProvider.get_map().get_waypoint_xodr(road_id, lane_id, s)
if waypoint is None:
raise AttributeError("Lane position cannot be found")
transform = waypoint.transform
if lane_pos.find('Orientation') is not None:
orientation = rel_pos.find('Orientation')
dyaw = math.degrees(float(orientation.attrib.get('h', 0)))
dpitch = math.degrees(float(orientation.attrib.get('p', 0)))
droll = math.degrees(float(orientation.attrib.get('r', 0)))
if not OpenScenarioParser.use_carla_coordinate_system:
dyaw = dyaw * (-1.0)
transform.rotation.yaw = transform.rotation.yaw + dyaw
transform.rotation.pitch = transform.rotation.pitch + dpitch
transform.rotation.roll = transform.rotation.roll + droll
if offset != 0:
forward_vector = transform.rotation.get_forward_vector()
orthogonal_vector = carla.Vector3D(x=-forward_vector.y, y=forward_vector.x, z=forward_vector.z)
transform.location.x = transform.location.x + offset * orthogonal_vector.x
transform.location.y = transform.location.y + offset * orthogonal_vector.y
return transform
elif position.find('RoutePosition') is not None:
raise NotImplementedError("Route positions are not yet supported")
else:
raise AttributeError("Unknown position")
@staticmethod
def convert_condition_to_atomic(condition, actor_list):
"""
Convert an OpenSCENARIO condition into a Behavior/Criterion atomic
If there is a delay defined in the condition, then the condition is checked after the delay time
passed by, e.g. <Condition name="" delay="5">.
Note: Not all conditions are currently supported.
"""
atomic = None
delay_atomic = None
condition_name = condition.attrib.get('name')
if condition.attrib.get('delay') is not None and str(condition.attrib.get('delay')) != '0':
delay = float(condition.attrib.get('delay'))
delay_atomic = TimeOut(delay)
if condition.find('ByEntityCondition') is not None:
trigger_actor = None # A-priori validation ensures that this will be not None
triggered_actor = None
for triggering_entities in condition.find('ByEntityCondition').iter('TriggeringEntities'):
for entity in triggering_entities.iter('EntityRef'):
for actor in actor_list:
if entity.attrib.get('entityRef', None) == actor.attributes['role_name']:
trigger_actor = actor
break
for entity_condition in condition.find('ByEntityCondition').iter('EntityCondition'):
if entity_condition.find('EndOfRoadCondition') is not None:
end_road_condition = entity_condition.find('EndOfRoadCondition')
condition_duration = float(end_road_condition.attrib.get('duration'))
atomic_cls = py_trees.meta.inverter(EndofRoadTest)
atomic = atomic_cls(
trigger_actor, condition_duration, terminate_on_failure=True, name=condition_name)
elif entity_condition.find('CollisionCondition') is not None:
collision_condition = entity_condition.find('CollisionCondition')
if collision_condition.find('EntityRef') is not None:
collision_entity = collision_condition.find('EntityRef')
for actor in actor_list:
if collision_entity.attrib.get('entityRef', None) == actor.attributes['role_name']:
triggered_actor = actor
break
if triggered_actor is None:
raise AttributeError("Cannot find actor '{}' for condition".format(
collision_condition.attrib.get('entityRef', None)))
atomic_cls = py_trees.meta.inverter(CollisionTest)
atomic = atomic_cls(trigger_actor, other_actor=triggered_actor,
terminate_on_failure=True, name=condition_name)
elif collision_condition.find('ByType') is not None:
collision_type = collision_condition.find('ByType').attrib.get('type', None)
triggered_type = OpenScenarioParser.actor_types[collision_type]
atomic_cls = py_trees.meta.inverter(CollisionTest)
atomic = atomic_cls(trigger_actor, other_actor_type=triggered_type,
terminate_on_failure=True, name=condition_name)
else:
atomic_cls = py_trees.meta.inverter(CollisionTest)
atomic = atomic_cls(trigger_actor, terminate_on_failure=True, name=condition_name)
elif entity_condition.find('OffroadCondition') is not None:
off_condition = entity_condition.find('OffroadCondition')
condition_duration = float(off_condition.attrib.get('duration'))
atomic_cls = py_trees.meta.inverter(OffRoadTest)
atomic = atomic_cls(
trigger_actor, condition_duration, terminate_on_failure=True, name=condition_name)
elif entity_condition.find('TimeHeadwayCondition') is not None:
headtime_condition = entity_condition.find('TimeHeadwayCondition')
condition_value = float(headtime_condition.attrib.get('value'))
condition_rule = headtime_condition.attrib.get('rule')
condition_operator = OpenScenarioParser.operators[condition_rule]
condition_freespace = strtobool(headtime_condition.attrib.get('freespace', False))
if condition_freespace:
raise NotImplementedError(
"TimeHeadwayCondition: freespace attribute is currently not implemented")
condition_along_route = strtobool(headtime_condition.attrib.get('alongRoute', False))
for actor in actor_list:
if headtime_condition.attrib.get('entityRef', None) == actor.attributes['role_name']:
triggered_actor = actor
break
if triggered_actor is None:
raise AttributeError("Cannot find actor '{}' for condition".format(
headtime_condition.attrib.get('entityRef', None)))
atomic = InTimeToArrivalToVehicle(
trigger_actor, triggered_actor, condition_value,
condition_along_route, condition_operator, condition_name
)
elif entity_condition.find('TimeToCollisionCondition') is not None:
ttc_condition = entity_condition.find('TimeToCollisionCondition')
condition_rule = ttc_condition.attrib.get('rule')
condition_operator = OpenScenarioParser.operators[condition_rule]
condition_value = ttc_condition.attrib.get('value')
condition_target = ttc_condition.find('TimeToCollisionConditionTarget')
condition_freespace = strtobool(ttc_condition.attrib.get('freespace', False))
if condition_freespace:
raise NotImplementedError(
"TimeToCollisionCondition: freespace attribute is currently not implemented")
condition_along_route = strtobool(ttc_condition.attrib.get('alongRoute', False))
if condition_target.find('Position') is not None:
position = condition_target.find('Position')
atomic = InTimeToArrivalToOSCPosition(
trigger_actor, position, condition_value, condition_along_route, condition_operator)
else:
for actor in actor_list:
if ttc_condition.attrib.get('EntityRef', None) == actor.attributes['role_name']:
triggered_actor = actor
break
if triggered_actor is None:
raise AttributeError("Cannot find actor '{}' for condition".format(
ttc_condition.attrib.get('EntityRef', None)))
atomic = InTimeToArrivalToVehicle(
trigger_actor, triggered_actor, condition_value,
condition_along_route, condition_operator, condition_name)
elif entity_condition.find('AccelerationCondition') is not None:
accel_condition = entity_condition.find('AccelerationCondition')
condition_value = float(accel_condition.attrib.get('value'))
condition_rule = accel_condition.attrib.get('rule')
condition_operator = OpenScenarioParser.operators[condition_rule]
atomic = TriggerAcceleration(
trigger_actor, condition_value, condition_operator, condition_name)
elif entity_condition.find('StandStillCondition') is not None:
ss_condition = entity_condition.find('StandStillCondition')
duration = float(ss_condition.attrib.get('duration'))
atomic = StandStill(trigger_actor, condition_name, duration)
elif entity_condition.find('SpeedCondition') is not None:
spd_condition = entity_condition.find('SpeedCondition')
condition_value = float(spd_condition.attrib.get('value'))
condition_rule = spd_condition.attrib.get('rule')
condition_operator = OpenScenarioParser.operators[condition_rule]
atomic = TriggerVelocity(
trigger_actor, condition_value, condition_operator, condition_name)
elif entity_condition.find('RelativeSpeedCondition') is not None:
relspd_condition = entity_condition.find('RelativeSpeedCondition')
condition_value = float(relspd_condition.attrib.get('value'))
condition_rule = relspd_condition.attrib.get('rule')
condition_operator = OpenScenarioParser.operators[condition_rule]
for actor in actor_list:
if relspd_condition.attrib.get('entityRef', None) == actor.attributes['role_name']:
triggered_actor = actor
break
if triggered_actor is None:
raise AttributeError("Cannot find actor '{}' for condition".format(
relspd_condition.attrib.get('entityRef', None)))
atomic = RelativeVelocityToOtherActor(
trigger_actor, triggered_actor, condition_value, condition_operator, condition_name)
elif entity_condition.find('TraveledDistanceCondition') is not None:
distance_condition = entity_condition.find('TraveledDistanceCondition')
distance_value = float(distance_condition.attrib.get('value'))
atomic = DriveDistance(trigger_actor, distance_value, name=condition_name)
elif entity_condition.find('ReachPositionCondition') is not None:
rp_condition = entity_condition.find('ReachPositionCondition')
distance_value = float(rp_condition.attrib.get('tolerance'))
position = rp_condition.find('Position')
atomic = InTriggerDistanceToOSCPosition(
trigger_actor, position, distance_value, name=condition_name)
elif entity_condition.find('DistanceCondition') is not None:
distance_condition = entity_condition.find('DistanceCondition')
distance_value = float(distance_condition.attrib.get('value'))
distance_rule = distance_condition.attrib.get('rule')
distance_operator = OpenScenarioParser.operators[distance_rule]
distance_freespace = strtobool(distance_condition.attrib.get('freespace', False))
if distance_freespace:
raise NotImplementedError(
"DistanceCondition: freespace attribute is currently not implemented")
distance_along_route = strtobool(distance_condition.attrib.get('alongRoute', False))
if distance_condition.find('Position') is not None:
position = distance_condition.find('Position')
atomic = InTriggerDistanceToOSCPosition(
trigger_actor, position, distance_value, distance_along_route,
distance_operator, name=condition_name)
elif entity_condition.find('RelativeDistanceCondition') is not None:
distance_condition = entity_condition.find('RelativeDistanceCondition')
distance_value = float(distance_condition.attrib.get('value'))
distance_freespace = strtobool(distance_condition.attrib.get('freespace', False))
if distance_freespace:
raise NotImplementedError(
"RelativeDistanceCondition: freespace attribute is currently not implemented")
if distance_condition.attrib.get('relativeDistanceType') == "cartesianDistance":
for actor in actor_list:
if distance_condition.attrib.get('entityRef', None) == actor.attributes['role_name']:
triggered_actor = actor
break
if triggered_actor is None:
raise AttributeError("Cannot find actor '{}' for condition".format(
distance_condition.attrib.get('entityRef', None)))
condition_rule = distance_condition.attrib.get('rule')
condition_operator = OpenScenarioParser.operators[condition_rule]
atomic = InTriggerDistanceToVehicle(
triggered_actor, trigger_actor, distance_value, condition_operator, name=condition_name)
else:
raise NotImplementedError(
"RelativeDistance condition with the given specification is not yet supported")
elif condition.find('ByValueCondition') is not None:
value_condition = condition.find('ByValueCondition')
if value_condition.find('ParameterCondition') is not None:
parameter_condition = value_condition.find('ParameterCondition')
arg_name = parameter_condition.attrib.get('parameterRef')
value = parameter_condition.attrib.get('value')
if value != '':
arg_value = float(value)
else:
arg_value = 0
parameter_condition.attrib.get('rule')
if condition_name in globals():
criterion_instance = globals()[condition_name]
else:
raise AttributeError(
"The condition {} cannot be mapped to a criterion atomic".format(condition_name))
atomic = py_trees.composites.Parallel("Evaluation Criteria for multiple ego vehicles")
for triggered_actor in actor_list:
if arg_name != '':
atomic.add_child(criterion_instance(triggered_actor, arg_value))
else:
atomic.add_child(criterion_instance(triggered_actor))
elif value_condition.find('SimulationTimeCondition') is not None:
simtime_condition = value_condition.find('SimulationTimeCondition')
value = float(simtime_condition.attrib.get('value'))
rule = simtime_condition.attrib.get('rule')
atomic = SimulationTimeCondition(value, success_rule=rule)
elif value_condition.find('TimeOfDayCondition') is not None:
tod_condition = value_condition.find('TimeOfDayCondition')
condition_date = tod_condition.attrib.get('dateTime')
condition_rule = tod_condition.attrib.get('rule')
condition_operator = OpenScenarioParser.operators[condition_rule]
atomic = TimeOfDayComparison(condition_date, condition_operator, condition_name)
elif value_condition.find('StoryboardElementStateCondition') is not None:
state_condition = value_condition.find('StoryboardElementStateCondition')
element_name = state_condition.attrib.get('storyboardElementRef')
element_type = state_condition.attrib.get('storyboardElementType')
state = state_condition.attrib.get('state')
if state == "startTransition":
atomic = OSCStartEndCondition(element_type, element_name, rule="START", name=state + "Condition")
elif state == "stopTransition" or state == "endTransition" or state == "completeState":
atomic = OSCStartEndCondition(element_type, element_name, rule="END", name=state + "Condition")
else:
raise NotImplementedError(
"Only start, stop, endTransitions and completeState are currently supported")
elif value_condition.find('UserDefinedValueCondition') is not None:
raise NotImplementedError("ByValue UserDefinedValue conditions are not yet supported")
elif value_condition.find('TrafficSignalCondition') is not None:
raise NotImplementedError("ByValue TrafficSignal conditions are not yet supported")
elif value_condition.find('TrafficSignalControllerCondition') is not None:
raise NotImplementedError("ByValue TrafficSignalController conditions are not yet supported")
else:
raise AttributeError("Unknown ByValue condition")
else:
raise AttributeError("Unknown condition")
if delay_atomic is not None and atomic is not None:
new_atomic = py_trees.composites.Sequence("delayed sequence")
new_atomic.add_child(delay_atomic)
new_atomic.add_child(atomic)
else:
new_atomic = atomic
return new_atomic
@staticmethod
def convert_maneuver_to_atomic(action, actor, catalogs):
"""
Convert an OpenSCENARIO maneuver action into a Behavior atomic
Note not all OpenSCENARIO actions are currently supported
"""
maneuver_name = action.attrib.get('name', 'unknown')
if action.find('GlobalAction') is not None:
global_action = action.find('GlobalAction')
if global_action.find('InfrastructureAction') is not None:
infrastructure_action = global_action.find('InfrastructureAction').find('TrafficSignalAction')
if infrastructure_action.find('TrafficSignalStateAction') is not None:
traffic_light_id = None
traffic_light_action = infrastructure_action.find('TrafficSignalStateAction')
name = traffic_light_action.attrib.get('name')
if name.startswith("id="):
traffic_light_id = name[3:]
elif name.startswith("pos="):
position = name[4:]
pos = position.split(",")
for carla_actor in CarlaDataProvider.get_world().get_actors().filter('traffic.traffic_light'):
carla_actor_loc = carla_actor.get_transform().location
distance = carla_actor_loc.distance(carla.Location(x=float(pos[0]),
y=float(pos[1]),
z=carla_actor_loc.z))
if distance < 2.0:
traffic_light_id = carla_actor.id
break
if traffic_light_id is None:
raise AttributeError("Unknown traffic light {}".format(name))
traffic_light_state = traffic_light_action.attrib.get('state')
atomic = TrafficLightStateSetter(
traffic_light_id, traffic_light_state, name=maneuver_name + "_" + str(traffic_light_id))
else:
raise NotImplementedError("TrafficLights can only be influenced via TrafficSignalStateAction")
elif global_action.find('EnvironmentAction') is not None:
weather_behavior = ChangeWeather(
OpenScenarioParser.get_weather_from_env_action(global_action, catalogs))
friction_behavior = ChangeRoadFriction(
OpenScenarioParser.get_friction_from_env_action(global_action, catalogs))
env_behavior = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name=maneuver_name)
env_behavior.add_child(
oneshot_behavior(variable_name=maneuver_name + ">WeatherUpdate", behaviour=weather_behavior))
env_behavior.add_child(
oneshot_behavior(variable_name=maneuver_name + ">FrictionUpdate", behaviour=friction_behavior))
return env_behavior
else:
raise NotImplementedError("Global actions are not yet supported")
elif action.find('UserDefinedAction') is not None:
user_defined_action = action.find('UserDefinedAction')
if user_defined_action.find('CustomCommandAction') is not None:
command = user_defined_action.find('CustomCommandAction').attrib.get('type')
atomic = RunScript(command, name=maneuver_name)
elif action.find('PrivateAction') is not None:
private_action = action.find('PrivateAction')
if private_action.find('LongitudinalAction') is not None:
private_action = private_action.find('LongitudinalAction')
if private_action.find('SpeedAction') is not None:
long_maneuver = private_action.find('SpeedAction')
# duration and distance
distance = float('inf')
duration = float('inf')
dimension = long_maneuver.find("SpeedActionDynamics").attrib.get('dynamicsDimension')
if dimension == "distance":
distance = float(long_maneuver.find("SpeedActionDynamics").attrib.get('value', float("inf")))
else:
duration = float(long_maneuver.find("SpeedActionDynamics").attrib.get('value', float("inf")))
# absolute velocity with given target speed
if long_maneuver.find("SpeedActionTarget").find("AbsoluteTargetSpeed") is not None:
target_speed = float(long_maneuver.find("SpeedActionTarget").find(
"AbsoluteTargetSpeed").attrib.get('value', 0))
atomic = ChangeActorTargetSpeed(
actor, target_speed, distance=distance, duration=duration, name=maneuver_name)
# relative velocity to given actor
if long_maneuver.find("SpeedActionTarget").find("RelativeTargetSpeed") is not None:
relative_speed = long_maneuver.find("SpeedActionTarget").find("RelativeTargetSpeed")
obj = relative_speed.attrib.get('entityRef')
value = float(relative_speed.attrib.get('value', 0))
value_type = relative_speed.attrib.get('speedTargetValueType')
continuous = relative_speed.attrib.get('continuous')
for traffic_actor in CarlaDataProvider.get_world().get_actors():
if 'role_name' in traffic_actor.attributes and traffic_actor.attributes['role_name'] == obj:
obj_actor = traffic_actor
atomic = ChangeActorTargetSpeed(actor,
target_speed,
relative_actor=obj_actor,
value=value,
value_type=value_type,
continuous=continuous,
distance=distance,
duration=duration,
name=maneuver_name)
elif private_action.find('LongitudinalDistanceAction') is not None:
raise NotImplementedError("Longitudinal distance actions are not yet supported")
else:
raise AttributeError("Unknown longitudinal action")
elif private_action.find('LateralAction') is not None:
private_action = private_action.find('LateralAction')
if private_action.find('LaneChangeAction') is not None:
# Note: LaneChangeActions are currently only supported for RelativeTargetLane
# with +1 or -1 referring to the action actor
lat_maneuver = private_action.find('LaneChangeAction')
target_lane_rel = float(lat_maneuver.find("LaneChangeTarget").find(
"RelativeTargetLane").attrib.get('value', 0))
# duration and distance
distance = float('inf')
duration = float('inf')
dimension = lat_maneuver.find("LaneChangeActionDynamics").attrib.get('dynamicsDimension')
if dimension == "distance":
distance = float(
lat_maneuver.find("LaneChangeActionDynamics").attrib.get('value', float("inf")))
else:
duration = float(
lat_maneuver.find("LaneChangeActionDynamics").attrib.get('value', float("inf")))
atomic = ChangeActorLateralMotion(actor,
direction="left" if target_lane_rel < 0 else "right",
distance_lane_change=distance,
name=maneuver_name)
else:
raise AttributeError("Unknown lateral action")
elif private_action.find('VisibilityAction') is not None:
raise NotImplementedError("Visibility actions are not yet supported")
elif private_action.find('SynchronizeAction') is not None:
raise NotImplementedError("Synchronization actions are not yet supported")
elif private_action.find('ActivateControllerAction') is not None:
private_action = private_action.find('ActivateControllerAction')
activate = strtobool(private_action.attrib.get('longitudinal'))
atomic = ChangeAutoPilot(actor, activate, name=maneuver_name)
elif private_action.find('ControllerAction') is not None:
controller_action = private_action.find('ControllerAction')
module, args = OpenScenarioParser.get_controller(controller_action, catalogs)
atomic = ChangeActorControl(actor, control_py_module=module, args=args)
elif private_action.find('TeleportAction') is not None:
position = private_action.find('TeleportAction')
atomic = ActorTransformSetterToOSCPosition(actor, position, name=maneuver_name)
elif private_action.find('RoutingAction') is not None:
private_action = private_action.find('RoutingAction')
if private_action.find('AssignRouteAction') is not None:
private_action = private_action.find('AssignRouteAction')
if private_action.find('Route') is not None:
route = private_action.find('Route')
waypoints = []
for waypoint in route.iter('Waypoint'):
position = waypoint.find('Position')
transform = OpenScenarioParser.convert_position_to_transform(position)
waypoints.append(transform)
# @TODO: How to handle relative positions here? This might chance at runtime?!
atomic = ChangeActorWaypoints(actor, waypoints=waypoints, name=maneuver_name)
elif private_action.find('CatalogReference') is not None:
raise NotImplementedError("CatalogReference private actions are not yet supported")
else:
raise AttributeError("Unknown private FollowRoute action")
elif private_action.find('FollowTrajectoryAction') is not None:
raise NotImplementedError("Private FollowTrajectory actions are not yet supported")
elif private_action.find('AcquirePositionAction') is not None:
raise NotImplementedError("Private AcquirePosition actions are not yet supported")
else:
raise AttributeError("Unknown private routing action")
else:
raise AttributeError("Unknown private action")
else:
if list(action):
raise AttributeError("Unknown action: {}".format(maneuver_name))
else:
return Idle(duration=0, name=maneuver_name)
return atomic