fuzz-scene-sim-test/FuzzScene/code/scenario_runner-0.9.13/srunner/examples/CatalogExample.xosc

<?xml version="1.0"?>
<OpenSCENARIO>
  <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:PedestrianCrossing" author=""/>
  <ParameterDeclarations>
    <ParameterDeclaration name="weather" parameterType="string" value="ClearNoon" />
    <ParameterDeclaration name="carcolor" parameterType="string" value="122,122,122" />
  </ParameterDeclarations>
  <CatalogLocations>
    <VehicleCatalog>
      <Directory path="catalogs"/>
    </VehicleCatalog>
    <PedestrianCatalog>
      <Directory path="catalogs"/>
    </PedestrianCatalog>
    <MiscObjectCatalog>
      <Directory path="catalogs"/>
    </MiscObjectCatalog>
    <EnvironmentCatalog>
      <Directory path="catalogs"/>
    </EnvironmentCatalog>
    <ManeuverCatalog>
      <Directory path="catalogs"/>
    </ManeuverCatalog>
    <ControllerCatalog>
      <Directory path="catalogs"/>
    </ControllerCatalog>
  </CatalogLocations>
  <RoadNetwork>
    <LogicFile filepath="Town01"/>
    <SceneGraphFile filepath=""/>
  </RoadNetwork>
  <Entities>
    <ScenarioObject name="hero">
      <CatalogReference catalogName="VehicleCatalog" entryName="vehicle.volkswagen.t2"/> 
    </ScenarioObject>
    <ScenarioObject name="vehicle">
      <CatalogReference catalogName="VehicleCatalog" entryName="vehicle.tesla.model3">
        <ParameterAssignments>
          <ParameterAssignment parameterRef="carcolor" value="255,255,0" />
        </ParameterAssignments>
      </CatalogReference>
    </ScenarioObject>
    <ScenarioObject name="vehicle2">
      <CatalogReference catalogName="VehicleCatalog" entryName="vehicle.tesla.model3">
        <ParameterAssignments>
          <ParameterAssignment parameterRef="carcolor" value="122,122,122" />
        </ParameterAssignments>
      </CatalogReference>
    </ScenarioObject>
    <ScenarioObject name="adversary">
      <CatalogReference catalogName="PedestrianCatalog" entryName="Pedestrian1"/>
    </ScenarioObject>
    <ScenarioObject name="barrier1">
      <CatalogReference catalogName="MiscObjectCatalog" entryName="Barrier1"/>
    </ScenarioObject>
  </Entities>
  <Storyboard>
    <Init>
      <Actions>
        <GlobalAction>
          <EnvironmentAction>
            <CatalogReference catalogName="EnvironmentCatalog" entryName="$weather"/>
          </EnvironmentAction>
        </GlobalAction>
        <Private entityRef="hero">
          <PrivateAction>
            <TeleportAction>
              <Position>
                <WorldPosition x="170" y="55" z="0" h="3.14159265359"/>
              </Position>
            </TeleportAction>
          </PrivateAction>
          <PrivateAction>
            <ControllerAction>
              <AssignControllerAction>
                <CatalogReference catalogName="ControllerCatalog" entryName="ExternalControl"/>
              </AssignControllerAction>
              <OverrideControllerValueAction>
                <Throttle value="0" active="false"/>
                <Brake value="0" active="false"/>
                <Clutch value="0" active="false"/>
                <ParkingBrake value="0" active="false"/>
                <SteeringWheel value="0" active="false"/>
                <Gear number="0" active="false"/>
              </OverrideControllerValueAction>
            </ControllerAction>
          </PrivateAction>
        </Private>
        <Private entityRef="vehicle">
          <PrivateAction>
            <TeleportAction>
              <Position>
                <WorldPosition x="150" y="55" z="0" h="3.14159265359"/>
              </Position>
            </TeleportAction>
          </PrivateAction>
        </Private>
        <Private entityRef="vehicle2">
          <PrivateAction>
            <TeleportAction>
              <Position>
                <WorldPosition x="150" y="60" z="0" h="3.14159265359"/>
              </Position>
            </TeleportAction>
          </PrivateAction>
        </Private>
        <Private entityRef="adversary">
          <PrivateAction>
            <TeleportAction>
              <Position>
                <WorldPosition x="110" y="52" z="0.3" h="1.57079632679"/>
              </Position>
            </TeleportAction>
          </PrivateAction>
        </Private>
        <Private entityRef="barrier1">
          <PrivateAction>
            <TeleportAction>
              <Position>
                <WorldPosition x="100" y="58" z="0" h="1.57079632679"/>
              </Position>
            </TeleportAction>
          </PrivateAction>
        </Private>
      </Actions>
    </Init>
    <Story name="MyStory">
      <Act name="Behavior">
        <ManeuverGroup maximumExecutionCount="1" name="AutopilotSequence">
          <Actors selectTriggeringEntities="false">
            <EntityRef entityRef="vehicle"/>
          </Actors>
          <CatalogReference catalogName="ManeuverCatalog" entryName="Autopilot"/>
        </ManeuverGroup>
        <ManeuverGroup maximumExecutionCount="1" name="PedestrianCrossingSequence">
          <Actors selectTriggeringEntities="false">
            <EntityRef entityRef="adversary"/>
          </Actors>
          <Maneuver name="PedestrianCrossingManeuver">
            <Event name="PedestrianStartsWalking" priority="overwrite">
              <Action name="PedestrianStartsWalking">
                <PrivateAction>
                  <LongitudinalAction>
                    <SpeedAction>
                      <SpeedActionDynamics dynamicsShape="step" value="3" dynamicsDimension="distance"/>
                      <SpeedActionTarget>
                        <AbsoluteTargetSpeed value="10.0"/>
                      </SpeedActionTarget>
                    </SpeedAction>
                  </LongitudinalAction>
                </PrivateAction>
              </Action>
              <StartTrigger>
                <ConditionGroup>
                  <Condition name="StartCondition" delay="0" conditionEdge="rising">
                    <ByEntityCondition>
                      <TriggeringEntities triggeringEntitiesRule="any">
                        <EntityRef entityRef="vehicle"/>
                      </TriggeringEntities>
                      <EntityCondition>
                        <ReachPositionCondition tolerance="1.0">
                          <Position>
                            <WorldPosition x="140" y="55" z="0"/>
                          </Position>
                        </ReachPositionCondition>
                      </EntityCondition>
                    </ByEntityCondition>
                  </Condition>
                </ConditionGroup>
              </StartTrigger>
            </Event>
            <Event name="PedestrianStopsAndWaits" priority="overwrite">
              <Action name="PedestrianStopsAndWaits">
                <PrivateAction>
                  <LongitudinalAction>
                    <SpeedAction>
                      <SpeedActionDynamics dynamicsShape="step" value="5" dynamicsDimension="time"/>
                      <SpeedActionTarget>
                        <AbsoluteTargetSpeed value="0.0"/>
                      </SpeedActionTarget>
                    </SpeedAction>
                  </LongitudinalAction>
                </PrivateAction>
              </Action>
              <StartTrigger>
                <ConditionGroup>
                  <Condition name="StartCondition" delay="0" conditionEdge="rising">
                    <ByEntityCondition>
                      <TriggeringEntities triggeringEntitiesRule="any">
                        <EntityRef entityRef="adversary"/>
                      </TriggeringEntities>
                      <EntityCondition>
                        <StandStillCondition duration="1"/>
                      </EntityCondition>
                    </ByEntityCondition>
                  </Condition>
                  <Condition name="AfterPedestrianWalks" delay="0" conditionEdge="rising">
                    <ByValueCondition>
                      <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="PedestrianStartsWalking" state="completeState"/>
                    </ByValueCondition>
                  </Condition>
                </ConditionGroup>
              </StartTrigger>
            </Event>
            <Event name="PedestrianWalksAway" priority="overwrite">
              <Action name="PedestrianStartsWalkingAway">
                <PrivateAction>
                  <LongitudinalAction>
                    <SpeedAction>
                      <SpeedActionDynamics dynamicsShape="step" value="6.5" dynamicsDimension="distance"/>
                      <SpeedActionTarget>
                        <AbsoluteTargetSpeed value="2.0"/>
                      </SpeedActionTarget>
                    </SpeedAction>
                  </LongitudinalAction>
                </PrivateAction>
              </Action>
              <StartTrigger>
                <ConditionGroup>
                  <Condition name="StartCondition" delay="0" conditionEdge="rising">
                    <ByEntityCondition>
                      <TriggeringEntities triggeringEntitiesRule="any">
                        <EntityRef entityRef="vehicle"/>
                      </TriggeringEntities>
                      <EntityCondition>
                        <StandStillCondition duration="0.1"/>
                      </EntityCondition>
                    </ByEntityCondition>
                  </Condition>
                  <Condition name="AfterPedestrianStopsAndWaits" delay="0" conditionEdge="rising">
                    <ByValueCondition>
                      <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="PedestrianStopsAndWaits" state="completeState"/>
                    </ByValueCondition>
                  </Condition>
                </ConditionGroup>
              </StartTrigger>
            </Event>
            <Event name="PedestrianWaits" priority="overwrite">
              <Action name="PedestrianWaits">
                <PrivateAction>
                  <LongitudinalAction>
                    <SpeedAction>
                      <SpeedActionDynamics dynamicsShape="step" value="10" dynamicsDimension="time"/>
                      <SpeedActionTarget>
                        <AbsoluteTargetSpeed value="0.0"/>
                      </SpeedActionTarget>
                    </SpeedAction>
                  </LongitudinalAction>
                </PrivateAction>
              </Action>
              <StartTrigger>
                <ConditionGroup>
                  <Condition name="StartCondition" delay="0" conditionEdge="rising">
                    <ByEntityCondition>
                      <TriggeringEntities triggeringEntitiesRule="any">
                        <EntityRef entityRef="adversary"/>
                      </TriggeringEntities>
                      <EntityCondition>
                        <StandStillCondition duration="0.1"/>
                      </EntityCondition>
                    </ByEntityCondition>
                  </Condition>
                  <Condition name="AfterPedestrianStartsWalking" delay="0" conditionEdge="rising">
                    <ByValueCondition>
                      <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="PedestrianStartsWalkingAway" state="completeState"/>
                    </ByValueCondition>
                  </Condition>
                </ConditionGroup>
              </StartTrigger>
            </Event>
          </Maneuver>
        </ManeuverGroup>
        <StartTrigger>
          <ConditionGroup>
            <Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
              <ByValueCondition>
                <SimulationTimeCondition value="0" rule="greaterThan"/>
              </ByValueCondition>
            </Condition>
          </ConditionGroup>
        </StartTrigger>
        <StopTrigger>
          <ConditionGroup>
            <Condition name="EndCondition" delay="0" conditionEdge="rising">
              <ByValueCondition>
                <SimulationTimeCondition value="20.0" rule="greaterThan"/>
              </ByValueCondition>
            </Condition>
          </ConditionGroup>
        </StopTrigger>
      </Act>
    </Story>
    <StopTrigger>
      <ConditionGroup>
        <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
          <ByValueCondition>
            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
          </ByValueCondition>
        </Condition>
      </ConditionGroup>
    </StopTrigger>
  </Storyboard>
</OpenSCENARIO>