Fixed criteria usage with multiple ego vehicles in OpenSCENARIO

Fixed #374
carla-simulator · Mar 1, 2020 · acb495e · acb495e
1 parent c242c7a
commit acb495e
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diff --git a/Docs/CHANGELOG.md b/Docs/CHANGELOG.md
@@ -9,6 +9,7 @@
 ## Latest Changes
 ### :bug: Bug Fixes
 * Fixed #472: Spawning issue of pedestrians in OpenSCENARIO
+* Fixed #374: Usage of evaluation critieria with multiple ego vehicles in OpenSCENARIO
 
 
 ## CARLA ScenarioRunner 0.9.7

diff --git a/srunner/scenariomanager/scenarioatomics/atomic_criteria.py b/srunner/scenariomanager/scenarioatomics/atomic_criteria.py
@@ -748,6 +748,8 @@ def terminate(self, new_status):
             self._wrong_outside_lane_distance = 0
             self.list_traffic_events.append(outsidelane_event)
 
+        super(OnSidewalkTest, self).terminate(new_status)
+
     def _set_event_message(self, event, location, distance):
         """
         Sets the message of the event
@@ -1107,6 +1109,8 @@ def terminate(self, new_status):
             self._in_lane = True
             self.list_traffic_events.append(wrong_way_event)
 
+        super(WrongLaneTest, self).terminate(new_status)
+
     def _set_event_message(self, event, location, distance, road_id, lane_id):
         """
         Sets the message of the event

diff --git a/srunner/tools/openscenario_parser.py b/srunner/tools/openscenario_parser.py
@@ -369,11 +369,13 @@ def convert_condition_to_atomic(condition, actor_list):
                     raise AttributeError(
                         "The condition {} cannot be mapped to a criterion atomic".format(condition_name))
 
-                for triggered_actor in actor_list:
-                    if arg_name != '':
-                        atomic = criterion_instance(triggered_actor, arg_value)
-                    else:
-                        atomic = criterion_instance(triggered_actor)
+                if len(actor_list) > 1:
+                    atomic = py_trees.composites.Parallel("Evaluation Criteria for multiple ego vehicles")
+                    for triggered_actor in actor_list:
+                        if arg_name != '':
+                            atomic.add_child(criterion_instance(triggered_actor, arg_value))
+                        else:
+                            atomic.add_child(criterion_instance(triggered_actor))
             elif value_condition.find('SimulationTime') is not None:
                 simtime_condition = value_condition.find('SimulationTime')
                 value = float(simtime_condition.attrib.get('value'))