File size: 2,275 Bytes
5a5e5cf | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 | #!/usr/bin/env python3
"""Create a local ScenarioRunner overlay without modifying simlingo_f2d."""
from __future__ import annotations
import argparse
import shutil
from pathlib import Path
ROOT = Path(__file__).resolve().parent
FROZEN_SCENARIOS = {
"ghost_driver_left_turn.py",
"ghost_driver_right_turn.py",
"lane_cut_in.py",
"occluded_pedestrian.py",
"reveal_obstacle.py",
"signalized_junction_right_turn.py",
}
def _link_children(source: Path, destination: Path, excluded: set[str] | None = None) -> None:
excluded = excluded or set()
destination.mkdir(parents=True, exist_ok=True)
for child in source.iterdir():
if child.name in excluded:
continue
(destination / child.name).symlink_to(child)
def main() -> int:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument(
"--base",
default="/path/to/scenario_runner",
)
parser.add_argument(
"--output",
default=str(ROOT / "runtime_scenario_runner"),
)
args = parser.parse_args()
base = Path(args.base).resolve()
output = Path(args.output).resolve()
if not (base / "srunner/scenarios").is_dir():
raise FileNotFoundError(f"invalid ScenarioRunner root: {base}")
if output.exists():
shutil.rmtree(output)
output.mkdir(parents=True)
_link_children(base, output, {"srunner", ".gitignore", "__pycache__"})
_link_children(base / "srunner", output / "srunner", {"scenarios"})
_link_children(
base / "srunner/scenarios",
output / "srunner/scenarios",
FROZEN_SCENARIOS | {"__pycache__"},
)
for name in sorted(FROZEN_SCENARIOS):
source = ROOT / "source_snapshot" / name
if not source.is_file():
raise FileNotFoundError(f"missing frozen scenario: {source}")
shutil.copy2(source, output / "srunner/scenarios" / name)
(output / "srunner/scenarios/closed_coopeval_scenarios.py").symlink_to(
ROOT / "scenarios/closed_coopeval_scenarios.py"
)
(output / "srunner/scenarios/closed_route_b_control.py").symlink_to(
ROOT / "scenarios/closed_route_b_control.py"
)
print(output)
return 0
if __name__ == "__main__":
raise SystemExit(main())
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