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René Paris authoredThe StartTrigger implementation did not store its success state and fell back to `running` in every consecutive step. This prevented children to execute and consequently, StartTrigger of children (e.g. act -> events) could never succeed at the same time. If a trigger now succeeds, its state is stored and children can check their trigger independently (not only at the very same timestep).
René Paris authoredThe StartTrigger implementation did not store its success state and fell back to `running` in every consecutive step. This prevented children to execute and consequently, StartTrigger of children (e.g. act -> events) could never succeed at the same time. If a trigger now succeeds, its state is stored and children can check their trigger independently (not only at the very same timestep).
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scenario.xosc 6.12 KiB
<?xml version="1.0"?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="1" date="2021-08-25T00:00:00" description="OSE Example Scenario" author="rene.paris@in-tech.com"/>
<ParameterDeclarations>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
<Directory path="vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
<Directory path=""/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
</ControllerCatalog>
<ManeuverCatalog>
<Directory path=""/>
</ManeuverCatalog>
<MiscObjectCatalog>
<Directory path=""/>
</MiscObjectCatalog>
<EnvironmentCatalog>
<Directory path=""/>
</EnvironmentCatalog>
<TrajectoryCatalog>
<Directory path=""/>
</TrajectoryCatalog>
<RouteCatalog>
<Directory path=""/>
</RouteCatalog>
</CatalogLocations>
<RoadNetwork>
<LogicFile filepath="scenery.xodr"/>
<SceneGraphFile filepath=""/>
<TrafficSignals>
<TrafficSignalController name="TrafficSignal1">
<Phase duration="1" name="Phase1">
<TrafficSignalState state="green" trafficSignalId="1"/>
</Phase>
<Phase duration="1" name="Phase2">
<TrafficSignalState state="yellow" trafficSignalId="1"/>
</Phase>
<Phase duration="1" name="Phase3">
<TrafficSignalState state="red" trafficSignalId="1"/>
</Phase>
<Phase duration="1" name="Phase4">
<TrafficSignalState state="red yellow" trafficSignalId="1"/>
</Phase>
</TrafficSignalController>
</TrafficSignals>
</RoadNetwork>
<Entities>
<ScenarioObject name="Vehicle1">
<CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_i3"/>
</ScenarioObject>
<ScenarioObject name="Vehicle2">
<CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_3"/>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<Private entityRef="Vehicle1">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition roadId="1" laneId="-1" offset="0.0" s="10.0"/>
</Position>
</TeleportAction>
</PrivateAction> <PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="43.5"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Private>
<Private entityRef="Vehicle2">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition roadId="1" laneId="-2" offset="0.0" s="100.0"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="25.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="ExampleStory">
<Act name="Act1">
<ManeuverGroup maximumExecutionCount="1" name="ExampleManeuverGroup">
<Actors selectTriggeringEntities="true" />
<Maneuver name="LaneChangeManeuver">
<Event name="MyLaneChangeRightEvent" priority="overwrite">
<Action name="LaneChange">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="sinusoidal" value="2.0" dynamicsDimension="time"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="Vehicle1" value="0"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="NotAtStart" delay="0" conditionEdge="none">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="greaterThan" />
</ByValueCondition>
</Condition>
<Condition name="Conditional" delay="1" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="all">
<EntityRef entityRef="Vehicle2"/>
<EntityRef entityRef="Vehicle3"/>
<EntityRef entityRef="Vehicle4"/>
</TriggeringEntities>
<EntityCondition>
<ReachPositionCondition tolerance="15.0">
<Position>
<RelativeLanePosition entityRef="Vehicle1" dLane="-1" dsLane="20" />
</Position>
</ReachPositionCondition> </EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="FromStart" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0.0" rule="greaterOrEqual" />
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="5.0" rule="greaterThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>