OSC Controllers

Author: Fabian Oboril

srunner/scenarioconfigs/openscenario_configuration.py

@@ -242,26 +242,30 @@ def _set_actor_information(self):
                     value = prop.get('value')
                     args[key] = value
 
+                actor_controller = []
+                for controller in obj.iter("ObjectController"):
+                    actor_controller.append(controller)
+
                 for catalog_reference in obj.iter("CatalogReference"):
                     entry = OpenScenarioParser.get_catalog_entry(self.catalogs, catalog_reference)
                     if entry.tag == "Vehicle":
-                        self._extract_vehicle_information(entry, rolename, entry, args)
+                        self._extract_vehicle_information(entry, rolename, entry, args, actor_controller)
                     elif entry.tag == "Pedestrian":
-                        self._extract_pedestrian_information(entry, rolename, entry, args)
+                        self._extract_pedestrian_information(entry, rolename, entry, args, actor_controller)
                     elif entry.tag == "MiscObject":
-                        self._extract_misc_information(entry, rolename, entry, args)
+                        self._extract_misc_information(entry, rolename, entry, args, actor_controller)
                     else:
                         self.logger.debug(
                             " A CatalogReference specifies a reference that is not an Entity. Skipping...")
 
                 for vehicle in obj.iter("Vehicle"):
-                    self._extract_vehicle_information(obj, rolename, vehicle, args)
+                    self._extract_vehicle_information(obj, rolename, vehicle, args, actor_controller)
 
                 for pedestrian in obj.iter("Pedestrian"):
-                    self._extract_pedestrian_information(obj, rolename, pedestrian, args)
+                    self._extract_pedestrian_information(obj, rolename, pedestrian, args, actor_controller)
 
                 for misc in obj.iter("MiscObject"):
-                    self._extract_misc_information(obj, rolename, misc, args)
+                    self._extract_misc_information(obj, rolename, misc, args, actor_controller)
 
         # Set transform for all actors
         # This has to be done in a multi-stage loop to resolve relative position settings
@@ -285,7 +289,7 @@ def _set_actor_information(self):
                     if actor.transform is None:
                         all_actor_transforms_set = False
 
-    def _extract_vehicle_information(self, obj, rolename, vehicle, args):
+    def _extract_vehicle_information(self, obj, rolename, vehicle, args, actor_controller):
         """
         Helper function to _set_actor_information for getting vehicle information from XML tree
         """
@@ -301,25 +305,26 @@ def _extract_vehicle_information(self, obj, rolename, vehicle, args):
 
         speed = self._get_actor_speed(rolename)
         new_actor = ActorConfigurationData(
-            model, None, rolename, speed, color=color, category=category, args=args)
+            model, None, rolename, speed, color=color, category=category, args=args, controller=actor_controller)
 
         if ego_vehicle:
             self.ego_vehicles.append(new_actor)
         else:
             self.other_actors.append(new_actor)
 
-    def _extract_pedestrian_information(self, obj, rolename, pedestrian, args):
+    def _extract_pedestrian_information(self, obj, rolename, pedestrian, args, actor_controller):
         """
         Helper function to _set_actor_information for getting pedestrian information from XML tree
         """
         model = pedestrian.attrib.get('model', "walker.*")
 
         speed = self._get_actor_speed(rolename)
-        new_actor = ActorConfigurationData(model, None, rolename, speed, category="pedestrian", args=args)
+        new_actor = ActorConfigurationData(model, None, rolename, speed,
+                                           category="pedestrian", args=args, controller=actor_controller)
 
         self.other_actors.append(new_actor)
 
-    def _extract_misc_information(self, obj, rolename, misc, args):
+    def _extract_misc_information(self, obj, rolename, misc, args, actor_controller):
         """
         Helper function to _set_actor_information for getting vehicle information from XML tree
         """
@@ -330,7 +335,8 @@ def _extract_misc_information(self, obj, rolename, misc, args):
             model = "static.prop.chainbarrier"
         else:
             model = misc.attrib.get('name')
-        new_actor = ActorConfigurationData(model, None, rolename, category="misc", args=args)
+        new_actor = ActorConfigurationData(model, None, rolename, category="misc",
+                                           args=args, controller=actor_controller)
 
         self.other_actors.append(new_actor)
 

srunner/scenarioconfigs/scenario_configuration.py

@@ -19,7 +19,7 @@ class ActorConfigurationData(object):
     """
 
     def __init__(self, model, transform, rolename='other', speed=0, autopilot=False,
-                 random=False, color=None, category="car", args=None):
+                 random=False, color=None, category="car", args=None, controller=None):
         self.model = model
         self.rolename = rolename
         self.transform = transform
@@ -29,6 +29,7 @@ def __init__(self, model, transform, rolename='other', speed=0, autopilot=False,
         self.color = color
         self.category = category
         self.args = args
+        self.controller = controller
 
     @staticmethod
     def parse_from_node(node, rolename):

srunner/scenariomanager/actorcontrols/simple_vehicle_control.py

@@ -282,7 +282,8 @@ def _set_new_velocity(self, next_location):
                     self._actor.get_traffic_light_state() == carla.TrafficLightState.Red):
                 target_speed = 0
 
-        if target_speed < current_speed:
+        if target_speed < current_speed and math.fabs(target_speed - current_speed) > 0.01:
+            print(target_speed, current_speed)
             self._actor.set_light_state(carla.VehicleLightState.Brake)
             if self._max_deceleration is not None:
                 target_speed = max(target_speed, current_speed - (current_time -

srunner/scenarios/open_scenario.py

@@ -225,12 +225,21 @@ def _create_init_behavior(self):
                         if private.attrib.get('entityRef', None) == actor.rolename:
                             for private_action in private.iter("PrivateAction"):
                                 for controller_action in private_action.iter('ControllerAction'):
-                                    module, args = OpenScenarioParser.get_controller(
+                                    module, args = OpenScenarioParser.get_controller_from_action(
                                         controller_action, self.config.catalogs)
                                     controller_atomic = ChangeActorControl(
                                         carla_actor, control_py_module=module, args=args,
                                         scenario_file_path=os.path.dirname(self.config.filename))
 
+                    if actor.controller is not None:
+                        if controller_atomic is not None:
+                            print("Warning: A controller was already assigned to actor {}".format(actor.model))
+                        else:
+                            for controller in actor.controller:
+                                print(actor.rolename)
+                                module, args = OpenScenarioParser.get_controller(controller, self.config.catalogs)
+                                controller_atomic = ChangeActorControl(carla_actor, control_py_module=module, args=args)
+
                     if controller_atomic is None:
                         controller_atomic = ChangeActorControl(carla_actor, control_py_module=None, args={})
 

srunner/tools/openscenario_parser.py

@@ -365,7 +365,7 @@ def get_weather_from_env_action(xml_tree, catalogs):
         return Weather(carla_weather, dtime, weather_animation)
 
     @staticmethod
-    def get_controller(xml_tree, catalogs):
+    def get_controller_from_action(xml_tree, catalogs):
         """
         Extract the object controller from the OSC XML or a catalog
 
@@ -403,6 +403,38 @@ def get_controller(xml_tree, catalogs):
 
         return module, args
 
+    @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 EnvironmentAction
+
+        returns:
+           module: Python module containing the controller implementation
+           args: Dictonary with (key, value) parameters for the controller
+        """
+
+        properties = None
+        if xml_tree.find('Controller') is not None:
+            properties = xml_tree.find('Controller').find('Properties')
+        elif xml_tree.find("CatalogReference") is not None:
+            catalog_reference = xml_tree.find("CatalogReference")
+            properties = OpenScenarioParser.get_catalog_entry(catalogs, catalog_reference).find('Properties')
+
+        module = None
+        args = {}
+        for prop in properties:
+            if prop.attrib.get('name') == "module":
+                module = prop.attrib.get('value')
+            else:
+                args[prop.attrib.get('name')] = prop.attrib.get('value')
+
+        return module, args
+
     @staticmethod
     def get_route(xml_tree, catalogs):
         """