RoadRunner Scenario Writer

Write selected topic to RoadRunner scenario

Since R2022a

• 

Libraries:
Automated Driving Toolbox / RoadRunner Scenario

Description

The RoadRunner Scenario Writer block writes actor, event, or diagnostic information to a RoadRunner scenario. The block receives this topic information, computed internally by a Simulink^® actor behavior model, as input in the form of Simulink^® messages. You can set the Topic Category parameter to Actor, Event, or Diagnostics. For example, when you select the Actor topic, the block writes dynamic data associated with the actor, such as actor ID, velocity and angular velocity, to the scenario.

The RoadRunner Scenario Writer block writes information to a scenario in the form of certain bus types. A bus type defines the fixed structure of a bus object, including the names, data types, and dimensions of the bus elements. To enable writing to a scenario, load the required bus types into the MATLAB^® base workspace by clicking load function in the Block Parameters dialog box. This action enables the block to receive a bus of the expected type to write to a scenario. For example, while building a Simulink actor behavior model, you can set the Output data type parameter of a Bus Creator (Simulink) block to a loaded bus type and then fill in values of the corresponding bus elements. You can then forward this bus as an input to the RoadRunner Scenario Writer block.

If you are using an actor group in RoadRunner Scenario, you can use the RoadRunner Scenario Writer block to control the behavior of individual child actors in the following ways.

• Use one RoadRunner Scenario Writer block to send messages to different actors. For example, you can queue messages carrying results of different logic implementations within the model to the RoadRunner Scenario Writer block by using the Message Merge block. Each of these messages can carry a different value of ActorID.

• Use multiple RoadRunner Scenario Writer blocks. You can point the ActorID value of the Actor Pose, Actor Pose (Driving Scenario compatible), or Vehicle Pose bus of each RoadRunner Scenario Writer block to a different child actor.

Ports

Input

Message — State information

Simulink message

State information to write to the scenario, specified as a Simulink message. To construct a Simulink message from an input signal within your model, use the Send (Simulink) block. Then, connect the output of the Send block to the RoadRunner Scenario Writer block.

Parameters

Topic Category — Topic category

Actor (default) | Event | Diagnostics

Topic category, specified as one of these options:

• Actor — Write the actor data to the scenario.

• Event — Write event data to the scenario.

• Diagnostics — Write custom diagnostic messages of type BusDiagnostics to the scenario.

Actor Type — Type of actor in scenario

All Types (default) | Vehicle

Type of actor in scenario, specified as All Types or Vehicle. The Vehicle type additionally includes wheel information of the actor.

The actor type that you select determines which values are available for the Topic parameter.

Note

The All Types actor type also applies to pedestrians in a scenario.

Topic — Actor or vehicle data

Actor Pose | Actor Pose (Driving Scenario compatible) | Vehicle Pose

Actor data or vehicle data. The Topic parameter can hold two sets of values depending on the configuration of the Actor Type parameter.

The Topic parameter holds the options described in the table below if both these field configurations are true:

• Topic Category is set to Actor.

• Actor Type is set to All Types.

Option	Description
Actor Pose (Driving Scenario compatible) (default)	Dynamic data associated with the actor, such as actor ID, position, velocity, roll, pitch, yaw, and angular velocity. When you select this value, the block writes a bus of type BusActorPose to the scenario.
Actor Pose	Dynamic data associated with the actor, such as pose, velocity, and angular velocity. When you select this value, the block writes a bus of type BusActorRuntime to the scenario.

The Topic parameter holds the Vehicle Pose option if both these field configurations are true:

• Topic Category is set to Actor.

• Actor Type is set to Vehicle.

Choosing the Vehicle Pose option enables writing dynamic data associated with a vehicle, such as wheel poses, to a scenario. When you select this value, the block writes a bus of type BusVehicleRuntime to the scenario.

Event Type — Type of event

Action Complete (default) | User-Defined

Type of event written to the scenario, specified as one of the following.

• Action Complete — Indicates that a custom action has been processed. When you select this value, the block writes a bus of type BusActionComplete to the scenario.

• User-Defined — Indicates that a user-defined event has been returned to a scenario.

  The event being written must be mapped to its corresponding bus object in the RoadRunner Scenario block.

Dependencies

To enable this parameter, set Topic Category to Event.

More About

load function

The load function link in the Block Parameters dialog box loads these bus types into the base workspace:

• BusActionComplete

• BusActorPose

• BusActorRuntime

• BusDiagnostics

• BusVehicleRuntime

You can also load the required bus types by running this command from the Command Window:

load('rrScenarioSimTypes.mat')

For more information, see the load function.

BusActionComplete

The BusActionComplete bus type consists of these fields:

Field Name	Description
ActionID	Identifier of completed action, specified as a string.
ActorID	Identifier of actor executing action, specified as a uint64 value.
FinalStatus	Status of the action, specified as an enumeration variable of the EnumActionStatus enumeration class. The value of EnumActionStatus can be: Unspecified — The action event is not dispatched. Dispatched — The action event has been dispatched. Skipped — The action has been skipped; no action event is to be dispatched. Interrupted — After dispatch, the action is cancelled or interrupted. Done — After dispatch, the action is completed.

BusActorPose

The BusActorPose bus type consists of these fields:

Field Name	Description
ActorID	Scenario-defined actor identifier, specified as a double.
Position	Position of actor, specified as a real-valued vector of the form [x y z]. Units are in meters.
Velocity	Velocity (v) of actor in the x- y-, and z-directions, specified as a real-valued vector of the form [vx vy vz]. Units are in meters per second.
Roll	Roll angle of actor, specified as a real-valued scalar. Units are in degrees.
Pitch	Pitch angle of actor, specified as a real-valued scalar. Units are in degrees.
Yaw	Yaw angle of actor, specified as a real-valued scalar. Units are in degrees.
AngularVelocity	Angular velocity (ω) of actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second.

BusActorRuntime

The BusActorRuntime bus type consists of these fields:

Field Name	Description
ActorID	Scenario-defined actor identifier, specified as a uint64 value.
Pose	Position and orientation of the actor specified as a 4-by-4 array. See What Is a RoadRunner Pose Matrix? for more information.
Velocity	Actor velocity, in meters per second, in the x-, y-and z- directions, specified as a 1-by-3 vector.
AngularVelocity	Angular velocity, in radians per second, of actor in the x-, y-and z- directions, specified as a 1-by-3 vector.

BusDiagnostics

The BusDiagnostics bus type consists of these fields:

Field Name	Description
DiagnosticType	Type of diagnostic message specified as an Enum.
DiagnosticMessage	Diagnostic message specified as a string.

BusVehicleRuntime

The BusVehicleRuntime bus type consists of these fields:

Field Name	Description
ActorRuntime	Attributes of base actor during simulation specified as a bus of type BusActorRuntime.
NumWheels	Number of wheels specified as a uint32 value.
WheelPoses	Poses of the wheels specified as a 4-by-4-by-18 array. You must configure wheel poses in the vehicle coordinate system. Order the wheels from left to right on each axle, from the frontmost axle to the rearmost axle. For example, for a four-wheeled sedan, the correct order of the wheels is front-left, front-right, rear-left, and rear-right.

Version History

Introduced in R2022a