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Spawn point logic changes #1

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2 changes: 1 addition & 1 deletion srunner/examples/simdaas_test_junction.osc
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ scenario top:
do serial:
spawn: parallel(duration:20s):
ego_vehicle.drive(path) with:
speed(10kph)
speed(0.1kph)
#road_action(speed:20kph,turn:straight)
lane(4, at: start)
npc.drive(path) with:
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66 changes: 33 additions & 33 deletions srunner/scenariomanager/carla_data_provider.py
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Original file line number Diff line number Diff line change
Expand Up @@ -496,35 +496,15 @@ def generate_spawn_points():
"""
CarlaDataProvider._spawn_index = 0
CarlaDataProvider._spawn_points=[]
topology=CarlaDataProvider.get_map(CarlaDataProvider._world).get_topology()
road_id_proc=[]
for pred, succ in topology:
if CarlaDataProvider._path_with_junction and succ.is_junction:
if CarlaDataProvider._junction_id is None:
if pred.road_id in road_id_proc:
continue
else:
road_id_proc.append(pred.road_id)
transform=pred.transform
#transform.location.z+=5
CarlaDataProvider._spawn_points.append(transform)
else:
if succ.junction_id==CarlaDataProvider._junction_id and pred.road_id not in road_id_proc:
road_id_proc.append(pred.road_id)
transform=pred.transform
#transform.location.z+=5
CarlaDataProvider._spawn_points.append(transform)
elif not CarlaDataProvider._path_with_junction:
if succ.road_id in road_id_proc:
continue
else:
road_id_proc.append(pred.road_id)
transform=pred.transform
#transform.location.z+=5
CarlaDataProvider._spawn_points.append(transform)


# spawn_points = list(CarlaDataProvider.get_map(CarlaDataProvider._world).get_spawn_points())
# CarlaDataProvider._spawn_points = spawn_points

map=CarlaDataProvider.get_map(CarlaDataProvider._world)
waypoints=map.generate_waypoints(15.0)
# waypoints2=map.get_spawn_points(waypoints)
for wp in waypoints:
CarlaDataProvider._spawn_points.append(wp.transform)
CarlaDataProvider._rng.shuffle(CarlaDataProvider._spawn_points)


Expand Down Expand Up @@ -590,12 +570,32 @@ def get_road_lanes(wp):
def get_road_lane_cnt(wp):
lanes = CarlaDataProvider.get_road_lanes(wp)
return len(lanes)


@staticmethod
def junction_check():
valid_wp=[]
topology=CarlaDataProvider.get_map(CarlaDataProvider._world).get_topology()
road_id_proc=[]
for pred, succ in topology:
if CarlaDataProvider._path_with_junction and succ.is_junction:
if CarlaDataProvider._junction_id is None:
if pred.road_id in road_id_proc:
continue
else:
road_id_proc.append(pred.road_id)
valid_wp.append(pred.next(1)[0].transform)
else:
if succ.junction_id==CarlaDataProvider._junction_id and pred.road_id not in road_id_proc:
road_id_proc.append(pred.road_id)
valid_wp.append(pred.next(1)[0].transform)
return valid_wp if len(valid_wp)!=0 else CarlaDataProvider._spawn_points

@staticmethod
def get_waypoint_by_laneid(lane_num: int):
if CarlaDataProvider._spawn_points is None:
CarlaDataProvider.generate_spawn_points()
CarlaDataProvider._spawn_points = [pos for pos in CarlaDataProvider._spawn_points # pylint: disable=unsubscriptable-object
valid_wp=CarlaDataProvider.junction_check()
valid_wp = [pos for pos in valid_wp # pylint: disable=unsubscriptable-object
if (
len(
CarlaDataProvider.get_road_lanes(
Expand All @@ -612,16 +612,16 @@ def get_waypoint_by_laneid(lane_num: int):

#TODO: Instead of moving spawn index to gv.SEED instead move it to first and send everything before it to end of the list
if gv.SEED > 0:
CarlaDataProvider._spawn_points.extend(CarlaDataProvider._spawn_points[:gv.SEED])
CarlaDataProvider._spawn_points = CarlaDataProvider._spawn_points[gv.SEED:]
valid_wp.extend(valid_wp[:gv.SEED])
valid_wp = valid_wp[gv.SEED:]

if CarlaDataProvider._spawn_index >= len(CarlaDataProvider._spawn_points):
if CarlaDataProvider._spawn_index >= len(valid_wp):
print("No more spawn points to use")
return None
# else:
while True:
# pos = spawn_points[CarlaDataProvider._spawn_index] # pylint: disable=unsubscriptable-object
pos = CarlaDataProvider._spawn_points[CarlaDataProvider._spawn_index] # pylint: disable=unsubscriptable-object
pos = valid_wp[CarlaDataProvider._spawn_index] # pylint: disable=unsubscriptable-object
CarlaDataProvider._spawn_index += 1
wp = CarlaDataProvider.get_map().get_waypoint(pos.location, project_to_road=True, lane_type=limulator.LaneType.Driving)

Expand Down