outside script added

opencda.py

@@ -0,0 +1,57 @@
+# -*- coding: utf-8 -*-
+"""
+Script to run different scenarios.
+"""
+
+# Author: Runsheng Xu <[email protected]>
+# License: MIT
+
+import argparse
+import importlib
+import os
+import sys
+
+from opencda.version import __version__
+
+
+def arg_parse():
+ parser = argparse.ArgumentParser(description="OpenCDA scenario runner.")
+ parser.add_argument('-t', "--test_scenario", required=True, type=str,
+ help='Define the name of the scenario you want to test. The given name must'
+ 'match one of the testing scripts(e.g. single_2lanefree_carla) in '
+ 'opencda/scenario_testing/ folder'
+ ' as well as the corresponding yaml file in opencda/scenario_testing/config_yaml.')
+ parser.add_argument("--record", action='store_true', help='whether to record and save the simulation process to'
+ '.log file')
+ parser.add_argument("--apply_ml",
+ action='store_true',
+ help='whether ml/dl framework such as sklearn/pytorch is needed in the testing. '
+ 'Set it to true only when you have installed the pytorch/sklearn package.')
+
+ opt = parser.parse_args()
+ return opt
+
+
+def main():
+ opt = arg_parse()
+
+ try:
+ testing_scenario = importlib.import_module("opencda.scenario_testing.%s" % opt.test_scenario)
+ except ModuleNotFoundError:
+ sys.exit("ERROR: %s.py not found under opencda/scenario_testing" % opt.test_scenario)
+
+ config_yaml = os.path.join(os.path.dirname(os.path.realpath(__file__)),
+ 'opencda/scenario_testing/config_yaml/%s.yaml' % opt.test_scenario)
+ if not os.path.isfile(config_yaml):
+ sys.exit("opencda/scenario_testing/config_yaml/%s.yaml not found!" % opt.test_cenario)
+
+ scenario_runner = getattr(testing_scenario, 'run_scenario')
+ # run scenario testing
+ scenario_runner(opt, config_yaml)
+
+
+if __name__ == '__main__':
+ try:
+ main()
+ except KeyboardInterrupt:
+ print(' - Exited by user.')

opencda/core/common/cav_world.py

@@ -1,8 +1,5 @@
 # -*- coding: utf-8 -*-
 
-"""Platooning World Object to save all platooning-related object
-"""
-
 # Author: Runsheng Xu <[email protected]>
 # License: MIT
 

opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_carla.yaml

@@ -124,7 +124,7 @@ scenario:
  perception:
  <<: *base_perception
  activate: false
- camera_visualize: false
+ camera_visualize: true
  lidar_visualize: true
  platoon: # we need to add platoon specific params
  <<: *platoon_base
@@ -169,7 +169,7 @@ scenario:
  perception:
  <<: *base_perception
  activate: false
- camera_visualize: false
+ camera_visualize: true
  lidar_visualize: true
  localization:
  <<: *base_localize

opencda/scenario_testing/config_yaml/single_2lanefree_carla.yaml

@@ -23,7 +23,7 @@ vehicle_base: &vehicle_base
  dropoff_zero_intensity: 0.0
  noise_stddev: 0.0
  localization: &base_localize
- activate: false # when not activated, ego position will be retrieved from server directly
+ activate: true # when not activated, ego position will be retrieved from server directly
  gnss: # gnss sensor configuration
  noise_alt_stddev: 0.005
  noise_lat_stddev: 2e-6

opencda/scenario_testing/platoon_joining_2lanefree_carla.py

@@ -16,24 +16,10 @@
 from opencda.scenario_testing.utils.yaml_utils import load_yaml
 
 
-def arg_parse():
- parser = argparse.ArgumentParser(description="Platooning Joining Settings")
- parser.add_argument("--config_yaml", required=True, type=str, help='corresponding yaml file of the testing')
- parser.add_argument("--record", action='store_true', help='whether to record playfile')
- parser.add_argument("--apply_ml",
- action='store_true',
- help='whether ml/dl framework such as sklearn/pytorch is needed in the testing. '
- 'Set it to true only when you have installed the pytorch/sklearn package.')
-
- opt = parser.parse_args()
- return opt
-
-
-def main():
+def run_scenario(opt, config_yaml):
  try:
  # first define the path of the yaml file and 2lanefreemap file
- opt = arg_parse()
- scenario_params = load_yaml(opt.config_yaml)
+ scenario_params = load_yaml(config_yaml)
  current_path = os.path.dirname(os.path.realpath(__file__))
  xodr_path = os.path.join(current_path,
  '../assets/2lane_freeway_simplified/map_v7.6_12ft_lane.xodr')
@@ -92,7 +78,6 @@ def main():
  v.destroy()
 
 
-
 if __name__ == '__main__':
  try:
  main()

opencda/scenario_testing/platoon_joining_2lanefreecomplete_carla.py

@@ -16,24 +16,9 @@
 from opencda.scenario_testing.utils.yaml_utils import load_yaml
 
 
-def arg_parse():
- parser = argparse.ArgumentParser(description="Platooning Joining Settings")
- parser.add_argument("--config_yaml", required=True, type=str, help='corresponding yaml file of the testing')
- parser.add_argument("--record", action='store_true', help='whether to record playfile')
- parser.add_argument("--apply_ml",
- action='store_true',
- help='whether ml/dl framework such as sklearn/pytorch is needed in the testing. '
- 'Set it to true only when you have installed the pytorch/sklearn package.')
-
- opt = parser.parse_args()
- return opt
-
-
-def main():
+def run_scenario(opt, config_yaml):
  try:
- # first define the path of the yaml file and 2lanefreemap file
- opt = arg_parse()
- scenario_params = load_yaml(opt.config_yaml)
+ scenario_params = load_yaml(config_yaml)
 
  # create simulation world
  simulation_config = scenario_params['world']

opencda/scenario_testing/platoon_joining_town06_carla.py

@@ -16,24 +16,9 @@
 from opencda.scenario_testing.utils.yaml_utils import load_yaml
 
 
-def arg_parse():
- parser = argparse.ArgumentParser(description="Platooning Joining Settings")
- parser.add_argument("--config_yaml", required=True, type=str, help='corresponding yaml file of the testing')
- parser.add_argument("--record", action='store_true', help='whether to record playfile')
- parser.add_argument("--apply_ml",
- action='store_true',
- help='whether ml/dl framework such as sklearn/pytorch is needed in the testing. '
- 'Set it to true only when you have installed the pytorch/sklearn package.')
-
- opt = parser.parse_args()
- return opt
-
-
-def main():
+def run_scenario(opt, config_yaml):
  try:
- # first define the path of the yaml file and 2lanefreemap file
- opt = arg_parse()
- scenario_params = load_yaml(opt.config_yaml)
+ scenario_params = load_yaml(config_yaml)
 
  # create simulation world
  simulation_config = scenario_params['world']

opencda/scenario_testing/single_2lanefree_carla.py

@@ -18,24 +18,9 @@
 from opencda.scenario_testing.utils.yaml_utils import load_yaml
 
 
-def arg_parse():
- parser = argparse.ArgumentParser(description="Platooning Joining Settings")
- parser.add_argument("--config_yaml", required=True, type=str, help='corresponding yaml file of the testing')
- parser.add_argument("--record", action='store_true', help='whether to record playfile')
- parser.add_argument("--apply_ml",
- action='store_true',
- help='whether ml/dl framework such as sklearn/pytorch is needed in the testing. '
- 'Set it to true only when you have installed the pytorch/sklearn package.')
-
- opt = parser.parse_args()
- return opt
-
-
-def main():
+def run_scenario(opt, config_yaml):
  try:
- # first define the path of the yaml file and 2lanefreemap file
- opt = arg_parse()
- scenario_params = load_yaml(opt.config_yaml)
+ scenario_params = load_yaml(config_yaml)
  current_path = os.path.dirname(os.path.realpath(__file__))
  xodr_path = os.path.join(current_path,
  '../assets/2lane_freeway_simplified/map_v7.6_12ft_lane.xodr')
@@ -79,10 +64,3 @@ def main():
  v.destroy()
  for v in bg_veh_list:
  v.destroy()
-
-
-if __name__ == '__main__':
- try:
- main()
- except KeyboardInterrupt:
- print(' - Exited by user.')

opencda/scenario_testing/single_town06_carla.py

@@ -16,24 +16,9 @@
 from opencda.scenario_testing.utils.yaml_utils import load_yaml
 
 
-def arg_parse():
- parser = argparse.ArgumentParser(description="Platooning Joining Settings")
- parser.add_argument("--config_yaml", required=True, type=str, help='corresponding yaml file of the testing')
- parser.add_argument("--record", action='store_true', help='whether to record playfile')
- parser.add_argument("--apply_ml",
- action='store_true',
- help='whether ml/dl framework such as sklearn/pytorch is needed in the testing. '
- 'Set it to true only when you have installed the pytorch/sklearn package.')
-
- opt = parser.parse_args()
- return opt
-
-
-def main():
+def run_scenario(opt, config_yaml):
  try:
- # first define the path of the yaml file and 2lanefreemap file
- opt = arg_parse()
- scenario_params = load_yaml(opt.config_yaml)
+ scenario_params = load_yaml(config_yaml)
 
  # create simulation world
  simulation_config = scenario_params['world']