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base repository: BerkeleyLearnVerify/Scenic
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  • 1 commit
  • 2 files changed
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Commits on Apr 2, 2021

  1. Adding ability to configure Traffic Manager for Speed Limit and Traff… 

    …ic Light violations
    @t27
    t27 committed Apr 2, 2021

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    7502790 View commit details
Showing with 25 additions and 4 deletions.
  1. +14 −1 src/scenic/simulators/carla/actions.py
  2. +11 −3 src/scenic/simulators/carla/behaviors.scenic
15 changes: 14 additions & 1 deletion src/scenic/simulators/carla/actions.py
View file
Original file line number Diff line number Diff line change
@@ -96,13 +96,26 @@ def applyTo(self, obj, sim):
traffic_light.set_state(self.color)

class SetAutopilotAction(VehicleAction):
def __init__(self, enabled):
def __init__(self, enabled, ignore_lights_percentage=0, vehicle_percentage_speed_difference=30):
"""Enable or Disable the Autopilot for the current agent. Also allows to set certain TrafficManager
parameters to configure the Autopilot behavior.
The default values of the Traffic Manager parameters are set to their Carla defaults
Arguments
:param enabled: True if you want to turn on autopilot
:param ignore_lights_percentage: Between 0 and 100. Amount of times traffic lights will be ignored.
:param vehicle_percentage_speed_difference: Percentage difference between intended speed and the current limit. Can be negative to exceed the limit.
"""
if not isinstance(enabled, bool):
raise RuntimeError('Enabled must be a boolean.')
self.enabled = enabled
self.ignore_lights_percentage = ignore_lights_percentage
self.vehicle_percentage_speed_difference = vehicle_percentage_speed_difference

def applyTo(self, obj, sim):
vehicle = obj.carlaActor
sim.tm.ignore_lights_percentage(vehicle, self.ignore_lights_percentage)
sim.tm.vehicle_percentage_speed_difference(vehicle, self.vehicle_percentage_speed_difference)
vehicle.set_autopilot(self.enabled, sim.tm.get_port())

#################################################
14 changes: 11 additions & 3 deletions src/scenic/simulators/carla/behaviors.scenic
View file
Original file line number Diff line number Diff line change
@@ -8,9 +8,17 @@ try:
except ModuleNotFoundError:
pass # ignore; error will be caught later if user attempts to run a simulation

behavior AutopilotBehavior():
"""Behavior causing a vehicle to use CARLA's built-in autopilot."""
take SetAutopilotAction(True)
behavior AutopilotBehavior(ignore_lights_percentage=0, vehicle_percentage_speed_difference=30):
"""
Behavior causing a vehicle to use CARLA's built-in autopilot.
This also, optionally, allows setting some [TrafficManager](https://carla.readthedocs.io/en/latest/python_api/#carlatrafficmanager) parameters.
Args:
ignore_lights_percentage(float): Between 0 and 100. Amount of times traffic lights will be ignored.
vehicle_percentage_speed_difference(float): Percentage difference between intended speed and the current limit. Can be negative to exceed the limit.
"""
take SetAutopilotAction(True, ignore_lights_percentage, vehicle_percentage_speed_difference)

behavior WalkForwardBehavior(speed=0.5):
take SetWalkingDirectionAction(self.heading), SetWalkingSpeedAction(speed)