Added check to ensure names in OSC are unique

The check provides a Warning, if the name of a story, act, maneuvergroup
or maneuver
(e.g. story_name->act_name->maneuvergroup_name) appears more than once.

Change-Id: I0e29e409ea01c6861a8ec676c0c4f60aa4d364b0

Docs/CHANGELOG.md

@@ -16,6 +16,9 @@
 ### :bug: Bug Fixes
 * Fixed exception when using OSC scenarios without EnvironmentAction inside Storyboard-Init
 * Fixed bug causing the TrafficManager to not be correctly updated at asynchronous simualtions
+### :ghost: Maintenance
+* Added check to ensure OSC names (for story/act/maneuver) are unique
+
 
 
 ## CARLA ScenarioRunner 0.9.10

srunner/scenarios/open_scenario.py

@@ -18,8 +18,8 @@
 from srunner.scenariomanager.scenarioatomics.atomic_behaviors import ChangeActorControl, ChangeActorTargetSpeed
 from srunner.scenariomanager.timer import GameTime
 from srunner.scenarios.basic_scenario import BasicScenario
-from srunner.tools.openscenario_parser import OpenScenarioParser
-from srunner.tools.py_trees_port import Decorator, oneshot_behavior
+from srunner.tools.openscenario_parser import OpenScenarioParser, oneshot_with_check
+from srunner.tools.py_trees_port import Decorator
 
 
 def repeatable_behavior(behaviour, name=None):
@@ -203,8 +203,8 @@ def _create_environment_behavior(self):
             OpenScenarioParser.get_weather_from_env_action(self.config.init, self.config.catalogs))
         road_friction = ChangeRoadFriction(
             OpenScenarioParser.get_friction_from_env_action(self.config.init, self.config.catalogs))
-        env_behavior.add_child(oneshot_behavior(variable_name="InitialWeather", behaviour=weather_update))
-        env_behavior.add_child(oneshot_behavior(variable_name="InitRoadFriction", behaviour=road_friction))
+        env_behavior.add_child(oneshot_with_check(variable_name="InitialWeather", behaviour=weather_update))
+        env_behavior.add_child(oneshot_with_check(variable_name="InitRoadFriction", behaviour=road_friction))
 
         return env_behavior
 
@@ -311,10 +311,10 @@ def _create_behavior(self):
                                         maneuver_behavior = StoryElementStatusToBlackboard(
                                             maneuver_behavior, "ACTION", child.attrib.get('name'))
                                         parallel_actions.add_child(
-                                            oneshot_behavior(variable_name=# See note in get_xml_path
-                                                             get_xml_path(self.config.story, sequence) + '>' + \
-                                                             get_xml_path(maneuver, child),
-                                                             behaviour=maneuver_behavior))
+                                            oneshot_with_check(variable_name=# See note in get_xml_path
+                                                               get_xml_path(self.config.story, sequence) + '>' + \
+                                                               get_xml_path(maneuver, child),
+                                                               behaviour=maneuver_behavior))
 
                                 if child.tag == "StartTrigger":
                                     # There is always one StartConditions block per Event
@@ -327,15 +327,15 @@ def _create_behavior(self):
                                 parallel_actions, "EVENT", event.attrib.get('name'))
                             event_sequence.add_child(parallel_actions)
                             maneuver_parallel.add_child(
-                                oneshot_behavior(variable_name=get_xml_path(self.config.story, sequence) + '>' +
-                                                 get_xml_path(maneuver, event),  # See get_xml_path
-                                                 behaviour=event_sequence))
+                                oneshot_with_check(variable_name=get_xml_path(self.config.story, sequence) + '>' +
+                                                   get_xml_path(maneuver, event),  # See get_xml_path
+                                                   behaviour=event_sequence))
                         maneuver_parallel = StoryElementStatusToBlackboard(
                             maneuver_parallel, "MANEUVER", maneuver.attrib.get('name'))
                         single_sequence_iteration.add_child(
-                            oneshot_behavior(variable_name=get_xml_path(self.config.story, sequence) + '>' +
-                                             maneuver.attrib.get('name'),  # See get_xml_path
-                                             behaviour=maneuver_parallel))
+                            oneshot_with_check(variable_name=get_xml_path(self.config.story, sequence) + '>' +
+                                               maneuver.attrib.get('name'),  # See get_xml_path
+                                               behaviour=maneuver_parallel))
 
                     # OpenSCENARIO refers to Sequences as Scenes in this instance
                     single_sequence_iteration = StoryElementStatusToBlackboard(
@@ -347,8 +347,8 @@ def _create_behavior(self):
 
                 if sequence_behavior.children:
                     parallel_sequences.add_child(
-                        oneshot_behavior(variable_name=get_xml_path(self.config.story, sequence),
-                                         behaviour=sequence_behavior))
+                        oneshot_with_check(variable_name=get_xml_path(self.config.story, sequence),
+                                           behaviour=sequence_behavior))
 
             if parallel_sequences.children:
                 parallel_sequences = StoryElementStatusToBlackboard(
@@ -383,11 +383,11 @@ def _create_behavior(self):
 
         env_behavior = self._create_environment_behavior()
         if env_behavior is not None:
-            behavior.add_child(oneshot_behavior(variable_name="InitialEnvironmentSettings", behaviour=env_behavior))
+            behavior.add_child(oneshot_with_check(variable_name="InitialEnvironmentSettings", behaviour=env_behavior))
 
         init_behavior = self._create_init_behavior()
         if init_behavior is not None:
-            behavior.add_child(oneshot_behavior(variable_name="InitialActorSettings", behaviour=init_behavior))
+            behavior.add_child(oneshot_with_check(variable_name="InitialActorSettings", behaviour=init_behavior))
 
         behavior.add_child(story_behavior)
 
@@ -419,7 +419,7 @@ def _create_condition_container(self, node, name='Conditions Group', sequence=No
                         get_xml_path(maneuver, condition)  # See note in get_xml_path
                 else:
                     xml_path = get_xml_path(self.config.story, condition)
-                criterion = oneshot_behavior(variable_name=xml_path, behaviour=criterion)
+                criterion = oneshot_with_check(variable_name=xml_path, behaviour=criterion)
                 condition_group_sequence.add_child(criterion)
 
             if condition_group_sequence.children:

srunner/tools/openscenario_parser.py

@@ -9,6 +9,8 @@
 This module provides a parser for scenario configuration files based on OpenSCENARIO
 """
 
+from __future__ import print_function
+
 from distutils.util import strtobool
 import copy
 import datetime
@@ -66,6 +68,19 @@
 from srunner.tools.py_trees_port import oneshot_behavior
 
 
+def oneshot_with_check(variable_name, behaviour, name=None):
+    """
+    Check if the blackboard contains already variable_name and
+    return a oneshot_behavior for behaviour.
+    """
+    blackboard = py_trees.blackboard.Blackboard()
+    # check if the variable_name already exists in the blackboard
+    if blackboard.get(variable_name) is not None:
+        print("Warning: {} is already used before. Check your XOSC for duplicated names".format(variable_name))
+
+    return oneshot_behavior(variable_name, behaviour, name)
+
+
 class OpenScenarioParser(object):
 
     """
@@ -935,9 +950,9 @@ def convert_maneuver_to_atomic(action, actor, catalogs):
                     policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name=maneuver_name)
 
                 env_behavior.add_child(
-                    oneshot_behavior(variable_name=maneuver_name + ">WeatherUpdate", behaviour=weather_behavior))
+                    oneshot_with_check(variable_name=maneuver_name + ">WeatherUpdate", behaviour=weather_behavior))
                 env_behavior.add_child(
-                    oneshot_behavior(variable_name=maneuver_name + ">FrictionUpdate", behaviour=friction_behavior))
+                    oneshot_with_check(variable_name=maneuver_name + ">FrictionUpdate", behaviour=friction_behavior))
 
                 return env_behavior