private void DeSpawnNPCVehicles()
{
for (int i = 0; i < currentNPCs.Count; i++)
{
Destroy(currentNPCs[i]);
}
currentNPCs.Clear();
initEgoData = new OpenScenarioData.StoryboardInit();
initNPCData.Clear();
}
public void SpawnVehicles()
{
for (int i = 0; i < currentNPCs.Count; i++)
{
Destroy(currentNPCs[i]);
}
currentNPCs.Clear();
initEgoData = new OpenScenarioData.StoryboardInit();
initNPCData.Clear();
// get data
initData = DataManager.Instance.GetInitVehicleData();
for (int i = 0; i < initData.Count; i++)
{
if (initData[i].name == "Ego")
{
initEgoData = initData[i];
}
else
{
initNPCData.Add(initData[i]);
}
}
float tempX, tempY, tempZ;
// test vehicle
if (initEgoData.name == "Ego")
{
if (float.TryParse(initEgoData.positionX, out tempX) && float.TryParse(initEgoData.positionY, out tempZ) && float.TryParse(initEgoData.positionZ, out tempY))
{
SpawnTestVehicle(new Vector3(tempX, tempY, tempZ));
float tempSpeed;
if (float.TryParse(initEgoData.speed, out tempSpeed))
{
targetSpeed = tempSpeed;
}
}
}
// npcs
for (int i = 0; i < initNPCData.Count; i++)
{
if (float.TryParse(initNPCData[i].positionX, out tempX) && float.TryParse(initNPCData[i].positionY, out tempZ) && float.TryParse(initNPCData[i].positionZ, out tempY))
{
GameObject tempVehicle = Instantiate(npcVehicles[0]); // lookup vehicle name TODO
tempVehicle.transform.SetParent(npcHolder);
tempVehicle.transform.position = new Vector3(tempX, tempY, tempZ);
tempVehicle.GetComponent <AIVehicleController>().isScenario = true;
currentNPCs.Add(tempVehicle);
}
else
{
Debug.Log("No pos data");
}
}
// just spawn a test vehicle
if (currentTestVehicle == null)
{
SpawnTestVehicle(Vector3.zero);
}
}
private void ParseOpenScenarioFile(string filePath)
{
ClearData();
xmlDoc = XDocument.Load(filePath);
scenarioHeader = xmlDoc.Root.Element("FileHeader").Attributes();
scenarioCatalogs = xmlDoc.Descendants("Catalogs").Elements();
scenarioRoadNetwork = xmlDoc.Descendants("RoadNetwork").Elements();
scenarioEntities = xmlDoc.Descendants("Entities").Elements();
scenarioInit = xmlDoc.Descendants("Init");
scenarioInitPrivate = scenarioInit.Descendants("Private");
scenarioStory = xmlDoc.Descendants("Story");
scenarioStoryActs = scenarioStory.Descendants("Act");
// fileheader
foreach (var item in scenarioHeader)
{
data.fileHeader.Add(item.Name.ToString(), item.Value);
if (item.Name.ToString() == "revMajor")
{
data.fileHeaderData.revMajor = item.Value;
}
if (item.Name.ToString() == "revMinor")
{
data.fileHeaderData.revMinor = item.Value;
}
if (item.Name.ToString() == "date")
{
data.fileHeaderData.date = item.Value;
}
if (item.Name.ToString() == "description")
{
data.fileHeaderData.description = item.Value;
}
if (item.Name.ToString() == "author")
{
data.fileHeaderData.author = item.Value;
}
}
// catalogs // TODO needed?
foreach (var item in scenarioCatalogs)
{
data.catalogs.Add(item.Name.ToString(), item.Element("Directory").Attribute("path").Value);
if (item.Name.ToString() == "VehicleCatalog")
{
data.catalogsData.vehicleCatalog = item.Element("Directory").Attribute("path").Value;
}
if (item.Name.ToString() == "DriverCatalog")
{
data.catalogsData.driverCatalog = item.Element("Directory").Attribute("path").Value;
}
if (item.Name.ToString() == "PedestrianCatalog")
{
data.catalogsData.pedestrianCatalog = item.Element("Directory").Attribute("path").Value;
}
if (item.Name.ToString() == "PedestrianControllerCatalog")
{
data.catalogsData.pedestrianControllerCatalog = item.Element("Directory").Attribute("path").Value;
}
if (item.Name.ToString() == "MiscObjectCatalog")
{
data.catalogsData.miscObjectCatalog = item.Element("Directory").Attribute("path").Value;
}
if (item.Name.ToString() == "EnvironmentCatalog")
{
data.catalogsData.environmentCatalog = item.Element("Directory").Attribute("path").Value;
}
if (item.Name.ToString() == "ManeuverCatalog")
{
data.catalogsData.maneuverCatalog = item.Element("Directory").Attribute("path").Value;
}
if (item.Name.ToString() == "TrajectoryCatalog")
{
data.catalogsData.trajectoryCatalog = item.Element("Directory").Attribute("path").Value;
}
if (item.Name.ToString() == "RouteCatalog")
{
data.catalogsData.routeCatalog = item.Element("Directory").Attribute("path").Value;
}
}
foreach (var item in scenarioRoadNetwork)
{
if (item.Attribute("filepath") != null)
{
data.roadNetwork.Add(item.Name.ToString(), item.Attribute("filepath").Value);
}
if (item.Attribute("value") != null)
{
data.roadNetwork.Add(item.Name.ToString(), item.Attribute("value").Value);
}
if (item.Name.ToString() == "Logics")
{
data.roadNetworkData.logics = item.Attribute("filepath").Value;
}
if (item.Name.ToString() == "SceneGraph")
{
data.roadNetworkData.sceneGraph = item.Attribute("filepath").Value;
}
if (item.Name.ToString() == "BiDirectional")
{
data.roadNetworkData.biDirectional = item.Attribute("value").Value;
}
if (item.Name.ToString() == "LaneCount")
{
data.roadNetworkData.laneCount = item.Attribute("value").Value;
}
}
foreach (var item in scenarioEntities)
{
Dictionary <string, string> tempDict = new Dictionary <string, string>();
tempDict.Add(item.Attribute("name").Name.ToString(), item.Attribute("name").Value);
tempDict.Add(item.Element("CatalogReference").Attribute("catalogName").Name.ToString(), item.Element("CatalogReference").Attribute("catalogName").Value);
tempDict.Add(item.Element("CatalogReference").Attribute("entryName").Name.ToString(), item.Element("CatalogReference").Attribute("entryName").Value);
// TODO keyvaluepair ???
tempDict.Add("controllerCatalogName", item.Element("Controller").Element("CatalogReference").Attribute("catalogName").Value);
tempDict.Add("controllerEntryName", item.Element("Controller").Element("CatalogReference").Attribute("entryName").Value);
data.entities.Add(tempDict);
OpenScenarioData.Entities tempEntities = new OpenScenarioData.Entities();
tempEntities.name = item.Attribute("name").Value;
tempEntities.catalogName = item.Element("CatalogReference").Attribute("catalogName").Value;
tempEntities.entryName = item.Element("CatalogReference").Attribute("entryName").Value;
tempEntities.controllerCatalogName = item.Element("Controller").Element("CatalogReference").Attribute("catalogName").Value;
tempEntities.controllerEntryName = item.Element("Controller").Element("CatalogReference").Attribute("entryName").Value;
data.entitiesData.Add(tempEntities);
}
foreach (var itemA in scenarioInitPrivate)
{
Dictionary <string, string> tempDict = new Dictionary <string, string>();
OpenScenarioData.StoryboardInit tempInit = new OpenScenarioData.StoryboardInit();
tempDict.Add("name", itemA.Attribute("object").Value);
tempInit.name = itemA.Attribute("object").Value;
foreach (var itemB in itemA.Elements("Action"))
{
if (itemB.Element("Longitudinal") != null)
{
tempDict.Add("dynamics", itemB.Element("Longitudinal").Element("Speed").Element("Dynamics").Attribute("shape").Value);
tempInit.dynamics = itemB.Element("Longitudinal").Element("Speed").Element("Dynamics").Attribute("shape").Value;
if (itemB.Element("Longitudinal").Element("Speed").Element("Dynamics").Attribute("rate") != null) // missing in some xml files
{
tempDict.Add("rate", itemB.Element("Longitudinal").Element("Speed").Element("Dynamics").Attribute("rate").Value);
tempInit.rate = itemB.Element("Longitudinal").Element("Speed").Element("Dynamics").Attribute("rate").Value;
}
tempDict.Add("speed", itemB.Element("Longitudinal").Element("Speed").Element("Target").Element("Absolute").Attribute("value").Value);
tempInit.speed = itemB.Element("Longitudinal").Element("Speed").Element("Target").Element("Absolute").Attribute("value").Value;
}
else
{
if (itemB.Element("Position").Element("World") != null)
{
tempDict.Add("positionX", itemB.Element("Position").Element("World").Attribute("x").Value);
tempInit.positionX = itemB.Element("Position").Element("World").Attribute("x").Value;
tempDict.Add("positionY", itemB.Element("Position").Element("World").Attribute("y").Value);
tempInit.positionY = itemB.Element("Position").Element("World").Attribute("y").Value;
tempDict.Add("positionZ", itemB.Element("Position").Element("World").Attribute("z").Value);
tempInit.positionZ = itemB.Element("Position").Element("World").Attribute("z").Value;
tempDict.Add("positionHeading", itemB.Element("Position").Element("World").Attribute("h").Value);
tempInit.positionHeading = itemB.Element("Position").Element("World").Attribute("h").Value;
tempDict.Add("positionPitch", itemB.Element("Position").Element("World").Attribute("p").Value);
tempInit.positionPitch = itemB.Element("Position").Element("World").Attribute("p").Value;
tempDict.Add("positionRoll", itemB.Element("Position").Element("World").Attribute("r").Value);
tempInit.positionRoll = itemB.Element("Position").Element("World").Attribute("r").Value;
}
else
{
tempDict.Add("routeRefCatalogName", itemB.Element("Position").Element("Route").Element("RouteRef").Element("CatalogReference").Attribute("catalogName").Value);
tempInit.routeRefCatalogName = itemB.Element("Position").Element("Route").Element("RouteRef").Element("CatalogReference").Attribute("catalogName").Value;
tempDict.Add("routeRefEntryName", itemB.Element("Position").Element("Route").Element("RouteRef").Element("CatalogReference").Attribute("entryName").Value);
tempInit.routeRefEntryName = itemB.Element("Position").Element("Route").Element("RouteRef").Element("CatalogReference").Attribute("entryName").Value;
tempDict.Add("routePositionLaneCoordPathS", itemB.Element("Position").Element("Route").Element("Position").Element("LaneCoord").Attribute("pathS").Value);
tempInit.routePositionLaneCoordPathS = itemB.Element("Position").Element("Route").Element("Position").Element("LaneCoord").Attribute("pathS").Value;
tempDict.Add("routePositionLaneCoordLaneId", itemB.Element("Position").Element("Route").Element("Position").Element("LaneCoord").Attribute("laneId").Value);
tempInit.routePositionLaneCoordLaneId = itemB.Element("Position").Element("Route").Element("Position").Element("LaneCoord").Attribute("laneId").Value;
}
}
}
data.storyboardInit.Add(tempDict);
data.storyboardInitData.Add(tempInit);
}
foreach (var itemA in scenarioStory)
{
//Debug.Log(itemA.ToString());
OpenScenarioData.StoryboardStory tempStory = new OpenScenarioData.StoryboardStory();
tempStory.storyboardStoryActs = new List <OpenScenarioData.StoryboardStoryAct>();
tempStory.storyName = itemA.Attribute("name").Value;
if (itemA.Attribute("owner") != null)
{
tempStory.storyOwner = itemA.Attribute("owner").Value;
}
foreach (var itemB in scenarioStoryActs)
{
//Debug.Log(itemB.ToString());
OpenScenarioData.StoryboardStoryAct tempStoryAct = new OpenScenarioData.StoryboardStoryAct();
tempStoryAct.storyboardStoryManeuverEvents = new List <OpenScenarioData.StoryboardStoryActManeuverEvent>();
tempStoryAct.actName = itemB.Attribute("name").Value;
tempStoryAct.sequenceName = itemB.Element("Sequence").Attribute("name").Value;
tempStoryAct.sequenceExecutions = itemB.Element("Sequence").Attribute("numberOfExecutions").Value;
if (itemB.Element("Sequence").Element("Actors").Element("Entity") != null)
{
tempStoryAct.actor = itemB.Element("Sequence").Element("Actors").Element("Entity").Attribute("name").Value; // can be absent
}
if (itemB.Element("Sequence").Element("Maneuver") != null) // can be a null sequence
{
tempStoryAct.maneuverName = itemB.Element("Sequence").Element("Maneuver").Attribute("name").Value;
scenarioStoryEvents = itemB.Element("Sequence").Element("Maneuver").Elements("Event");
foreach (var itemC in scenarioStoryEvents)
{
//Debug.Log(itemC.ToString());
OpenScenarioData.StoryboardStoryActManeuverEvent tempStoryActEvent = new OpenScenarioData.StoryboardStoryActManeuverEvent();
tempStoryActEvent.storyboardStoryActManeuverEventActions = new List <OpenScenarioData.StoryboardStoryActManeuverEventAction>();
tempStoryActEvent.eventName = itemC.Attribute("name").Value;
tempStoryActEvent.eventPriority = itemC.Attribute("priority").Value;
// actions
scenarioStoryActions = itemC.Elements("Action");
foreach (var itemD in scenarioStoryActions)
{
//Debug.Log(itemD.ToString());
OpenScenarioData.StoryboardStoryActManeuverEventAction tempStoryActEventAction = new OpenScenarioData.StoryboardStoryActManeuverEventAction();
tempStoryActEventAction.actionName = itemD.Attribute("name").Value;
if (itemD.Element("Private").Element("Routing") != null)
{
tempStoryActEventAction.actionType = itemD.Element("Private").Element("Routing").Name.ToString();//tempStoryActEventAction.actionRoutingType = itemD.Element("Private").Element("Routing");
}
else if (itemD.Element("Private").Element("Lateral") != null)
{
tempStoryActEventAction.actionType = itemD.Element("Private").Element("Lateral").Name.ToString();
tempStoryActEventAction.actionLateralTypeDynamics = itemD.Element("Private").Element("Lateral").Element("LaneChange").Element("Dynamics").Attribute("shape").Value;
tempStoryActEventAction.actionLateralTypeTime = itemD.Element("Private").Element("Lateral").Element("LaneChange").Element("Dynamics").Attribute("time").Value;
tempStoryActEventAction.actionLateralTypeTarget = itemD.Element("Private").Element("Lateral").Element("LaneChange").Element("Target").Element("Relative").Attribute("object").Value;
tempStoryActEventAction.actionLateralTypeTargetValue = itemD.Element("Private").Element("Lateral").Element("LaneChange").Element("Target").Element("Relative").Attribute("value").Value;
}
else if (itemD.Element("Private").Element("Longitudinal") != null)
{
tempStoryActEventAction.actionType = itemD.Element("Private").Element("Longitudinal").Name.ToString();
tempStoryActEventAction.actionLongitudinalTypeDynamics = itemD.Element("Private").Element("Longitudinal").Element("Speed").Element("Dynamics").Attribute("shape").Value;
if (itemD.Element("Private").Element("Longitudinal").Element("Speed").Element("Dynamics").Attribute("time") != null)
{
tempStoryActEventAction.actionLongitudinalTypeTime = itemD.Element("Private").Element("Longitudinal").Element("Speed").Element("Dynamics").Attribute("time").Value; // can be absent
}
tempStoryActEventAction.actionLongitudinalTypeTarget = itemD.Element("Private").Element("Longitudinal").Element("Speed").Element("Target").Element("Absolute").Attribute("value").Value;
}
else
{
tempStoryActEventAction.actionType = itemD.Element("Private").Element("Position").Name.ToString();
tempStoryActEventAction.actionPositionTypeObject = itemD.Element("Private").Element("Position").Element("RelativeLane").Attribute("object").Value;
tempStoryActEventAction.actionPositionTypeDLane = itemD.Element("Private").Element("Position").Element("RelativeLane").Attribute("dLane").Value;
tempStoryActEventAction.actionPositionTypeDS = itemD.Element("Private").Element("Position").Element("RelativeLane").Attribute("ds").Value;
tempStoryActEventAction.actionPositionTypeOrientationType = itemD.Element("Private").Element("Position").Element("RelativeLane").Element("Orientation").Attribute("type").Value;
tempStoryActEventAction.actionPositionTypeOrientationH = itemD.Element("Private").Element("Position").Element("RelativeLane").Element("Orientation").Attribute("h").Value;
}
tempStoryActEventAction.isComplete = false;
tempStoryActEvent.storyboardStoryActManeuverEventActions.Add(tempStoryActEventAction);
}
tempStoryActEvent.eventActionConditionName = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Attribute("name").Value;
tempStoryActEvent.eventActionConditionDelay = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Attribute("delay").Value;
tempStoryActEvent.eventActionConditionEdge = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Attribute("edge").Value;
if (itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByEntity") != null)
{
tempStoryActEvent.eventActionConditionTriggeringEntitiesRule = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByEntity").Element("TriggeringEntities").Attribute("rule").Value;
tempStoryActEvent.eventActionConditionTriggeringEntityName = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByEntity").Element("TriggeringEntities").Element("Entity").Attribute("name").Value;
tempStoryActEvent.eventActionConditionEntityDistanceValue = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByEntity").Element("EntityCondition").Element("Distance").Attribute("value").Value;
tempStoryActEvent.eventActionConditionEntityDistanceFreespace = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByEntity").Element("EntityCondition").Element("Distance").Attribute("freespace").Value;
tempStoryActEvent.eventActionConditionEntityDistanceAlongRoute = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByEntity").Element("EntityCondition").Element("Distance").Attribute("alongRoute").Value;
tempStoryActEvent.eventActionConditionEntityDistanceRule = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByEntity").Element("EntityCondition").Element("Distance").Attribute("rule").Value;
tempStoryActEvent.eventActionConditionEntityDistancePositionObject = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByEntity").Element("EntityCondition").Element("Distance").Element("Position").Element("RelativeObject").Attribute("object").Value;
tempStoryActEvent.eventActionConditionEntityDistancePositionDX = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByEntity").Element("EntityCondition").Element("Distance").Element("Position").Element("RelativeObject").Attribute("dx").Value;
tempStoryActEvent.eventActionConditionEntityDistancePositionDY = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByEntity").Element("EntityCondition").Element("Distance").Element("Position").Element("RelativeObject").Attribute("dy").Value;
}
else
{
if (itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByState").Element("AtStart") != null)
{
tempStoryActEvent.eventActionConditionAtStartType = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByState").Element("AtStart").Attribute("type").Value;
tempStoryActEvent.eventActionConditionAtStartName = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByState").Element("AtStart").Attribute("name").Value;
}
else
{
tempStoryActEvent.eventActionConditionAfterTerminationType = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByState").Element("AfterTermination").Attribute("type").Value;
tempStoryActEvent.eventActionConditionAfterTerminationName = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByState").Element("AfterTermination").Attribute("name").Value;
tempStoryActEvent.eventActionConditionAfterTerminationRule = itemC.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByState").Element("AfterTermination").Attribute("rule").Value;
}
}
tempStoryActEvent.isComplete = false;
tempStoryAct.storyboardStoryManeuverEvents.Add(tempStoryActEvent);
}
}
tempStoryAct.sequenceConditionName = itemB.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Attribute("name").Value;
tempStoryAct.sequenceConditionDelay = itemB.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Attribute("delay").Value;
tempStoryAct.sequenceConditionEdge = itemB.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Attribute("edge").Value;
tempStoryAct.sequenceConditionSimulationTimeValue = itemB.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByValue").Element("SimulationTime").Attribute("value").Value;
tempStoryAct.sequenceConditionSimulationRule = itemB.Element("Conditions").Element("Start").Element("ConditionGroup").Element("Condition").Element("ByValue").Element("SimulationTime").Attribute("rule").Value;
tempStory.storyboardStoryActs.Add(tempStoryAct);
}
data.storyboardStoryData.Add(tempStory);
}
}
