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Adding ability to configure Traffic Manager in SetAutopilotAction (for Carla) #30

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Adding ability to configure Traffic Manager in SetAutopilotAction (for Carla) #30

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15 changes: 14 additions & 1 deletion src/scenic/simulators/carla/actions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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())

#################################################
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14 changes: 11 additions & 3 deletions src/scenic/simulators/carla/behaviors.scenic
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
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