/// <summary>
/// Converts an xy rndf to a Rndf Network
/// </summary>
/// <param name="rndf"></param>
/// <param name="projection"></param>
/// <returns></returns>
public static RndfNetwork ConvertXyRndfToRndfNetwork(IRndf rndf, PlanarProjection projection)
{
// create rndf network generator
RndfNetworkGenerator networkGenerator = new RndfNetworkGenerator();
// create the rndf network
RndfNetwork rndfNetwork = networkGenerator.CreateRndfNetwork(rndf, projection);
// return the rndf
return rndfNetwork;
}
/// <summary>
/// Parses an rndf
/// </summary>
/// <param name="fileName"></param>
/// <returns></returns>
public static IRndf GenerateGpsRndf(string fileName)
{
// Convert file to a FileStream
FileStream fs = new FileStream(fileName, FileMode.Open);
// Create new Parser
RndfParser parser = new RndfParser();
// Create a new Gps Rndf
IRndf gpsRndf = parser.createRndf(fs);
// dispose the fs
fs.Dispose();
// return the rndf
return(gpsRndf);
}
/// <summary>
/// determine and set the Ways of a segment usign the lane data already in xy
/// </summary>
/// <param name="segment"></param>
/// <param name="Lanes"></param>
public static IRndf DetermineWays(IRndf originalRndf)
{
// loop through segments
foreach (SimpleSegment originalSegment in originalRndf.Segments)
{
// initialize ways
originalSegment.Way1Lanes = new List<SimpleLane>();
originalSegment.Way2Lanes = new List<SimpleLane>();
// calculate directon of first lane
SimpleLane initialLane = originalSegment.Lanes[0];
// get first and last waypoitns of lane
Coordinates initialBeginning = initialLane.Waypoints[0].Position;
Coordinates initialEnding = initialLane.Waypoints[initialLane.Waypoints.Count - 1].Position;
// get change in position
Coordinates initialDelta = initialEnding - initialBeginning;
double initialAngle = initialDelta.ToDegrees();
// loop through lanes
foreach (SimpleLane tempLane in originalSegment.Lanes)
{
// get first and last waypoitns of lane
Coordinates laneBeginning = tempLane.Waypoints[0].Position;
Coordinates laneEnding = tempLane.Waypoints[tempLane.Waypoints.Count - 1].Position;
// get change in position
Coordinates laneDelta = laneEnding - laneBeginning;
double laneAngle = laneDelta.ToDegrees();
// calculate direction of each lane and add to Way1 if close to same dir as first
if (initialAngle >= 40.0 && initialAngle <= 320.0)
{
if (Math.Abs(initialAngle - laneAngle) < 40.0)
originalSegment.Way1Lanes.Add(tempLane);
else
originalSegment.Way2Lanes.Add(tempLane);
}
else if (initialAngle < 40.0)
{
if (laneAngle < 320.0)
{
if (Math.Abs(initialAngle - laneAngle) < 40.0)
originalSegment.Way1Lanes.Add(tempLane);
else
originalSegment.Way2Lanes.Add(tempLane);
}
else
{
double reflectCurrent = 360 - laneAngle;
if (initialAngle + reflectCurrent < 40.0)
originalSegment.Way1Lanes.Add(tempLane);
else
originalSegment.Way2Lanes.Add(tempLane);
}
}
else
{
if (laneAngle > 320.0)
{
if (Math.Abs(initialAngle - laneAngle) < 40.0)
originalSegment.Way1Lanes.Add(tempLane);
else
originalSegment.Way2Lanes.Add(tempLane);
}
else
{
double reflectInitial = 360 - initialAngle;
if (reflectInitial + laneAngle < 40.0)
originalSegment.Way1Lanes.Add(tempLane);
else
originalSegment.Way2Lanes.Add(tempLane);
}
}
}
}
// return the rndf
return originalRndf;
}
/// <summary>
/// Averages all coordinates in the gps rndf and creates a planar projection
/// </summary>
/// <param name="rndf"></param>
/// <returns></returns>
public static PlanarProjection GetProjection(IRndf rndf)
{
// First group all the Coordinates
List<Coordinates> coordinates = new List<Coordinates>();
// Get coordinates from segments
List<SimpleSegment> segments = (List<SimpleSegment>)rndf.Segments;
foreach (SimpleSegment segment in segments)
{
// Get coordinates from lanes
List<SimpleLane> lanes = (List<SimpleLane>)segment.Lanes;
foreach (SimpleLane lane in lanes)
{
// Get coordinates from waypoints
List<SimpleWaypoint> waypoints = (List<SimpleWaypoint>)lane.Waypoints;
foreach (SimpleWaypoint waypoint in waypoints)
{
// Add position to the coordinate list
coordinates.Add(waypoint.Position);
}
}
}
// Get coordinates from zones
List<SimpleZone> zones = (List<SimpleZone>)rndf.Zones;
foreach (SimpleZone zone in zones)
{
// Get coordinates from perimeter
ZonePerimeter perimeter = zone.Perimeter;
List<PerimeterPoint> perimeterPoints = (List<PerimeterPoint>)perimeter.PerimeterPoints;
foreach (PerimeterPoint perimeterPoint in perimeterPoints)
{
// Add perimeterPont position to coordinate list
coordinates.Add(perimeterPoint.position);
}
// Get coordiantes from parking spots
List<ParkingSpot> parkingSpots = (List<ParkingSpot>)zone.ParkingSpots;
foreach (ParkingSpot parkingSpot in parkingSpots)
{
// Add waypoints in parking spot to coordinate list
coordinates.Add(parkingSpot.Waypoint1.Position);
coordinates.Add(parkingSpot.Waypoint2.Position);
}
}
// Get origin for planar projection
List<GpsCoordinate> gpsCoordinates = new List<GpsCoordinate>();
foreach (Coordinates coordinate in coordinates)
{
gpsCoordinates.Add(new GpsCoordinate(coordinate.X, coordinate.Y));
}
// get planar projection origin
GpsCoordinate projectionOrigin = GpsTools.CalculateOrigin(gpsCoordinates);
// Create new projection
PlanarProjection projection = GpsTools.PlanarProjection(projectionOrigin, true);
// return created projection
return projection;
}
/// <summary>
/// Opens an rndf file and transforms the points to xy around a central projection
/// </summary>
/// <param name="fileName"></param>
/// <param name="rndf"></param>
/// <param name="projection"></param>
public static void GenerateXyRndfAndProjection(string fileName, out IRndf rndf, out PlanarProjection projection)
{
// generate the gps rndf
IRndf gpsRndf = GenerateGpsRndf(fileName);
// get the planar projection
projection = GetProjection(gpsRndf);
// create an xy rndf
IRndf xyRndf = gpsRndf;
#region Apply transform to all point
// Get coordinates from segments
foreach (SimpleSegment segment in xyRndf.Segments)
{
// Get coordinates from lanes
List<SimpleLane> lanes = (List<SimpleLane>)segment.Lanes;
foreach (SimpleLane lane in lanes)
{
// Get coordinates from waypoints
List<SimpleWaypoint> waypoints = (List<SimpleWaypoint>)lane.Waypoints;
foreach (SimpleWaypoint waypoint in waypoints)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(waypoint.Position.X, waypoint.Position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(position)));
// Add position to the coordinate list
waypoint.Position = tmpXY;
}
}
}
foreach (SimpleZone zone in xyRndf.Zones)
{
// Get coordinates from perimeter
ZonePerimeter perimeter = zone.Perimeter;
List<PerimeterPoint> perimeterPoints = (List<PerimeterPoint>)perimeter.PerimeterPoints;
foreach (PerimeterPoint perimeterPoint in perimeterPoints)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(perimeterPoint.position.X, perimeterPoint.position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(perimeterPoint.position)));
// Add position to the coordinate list
perimeterPoint.position = tmpXY;
}
// Get coordiantes from parking spots
List<ParkingSpot> parkingSpots = (List<ParkingSpot>)zone.ParkingSpots;
foreach (ParkingSpot parkingSpot in parkingSpots)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(parkingSpot.Waypoint1.Position.X, parkingSpot.Waypoint1.Position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(parkingSpot.Waypoint1.Position)));
// wp1 position set
parkingSpot.Waypoint1.Position = tmpXY;
// Transform the gps coordinate into an xy xoordinate
position = new GpsCoordinate(parkingSpot.Waypoint2.Position.X, parkingSpot.Waypoint2.Position.Y);
Coordinates tmpXY2 = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(parkingSpot.Waypoint2.Position)));
// wp1 position set
parkingSpot.Waypoint2.Position = tmpXY2;
}
}
# endregion
// set the return xy rndf
rndf = xyRndf;
}
/// <summary>
/// Creates an rndf network from an xy rndf
/// </summary>
/// <returns></returns>
public RndfNetwork CreateRndfNetwork(IRndf xyRndf, PlanarProjection projection)
{
return null;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="xyRndf"></param>
public RoadNetworkGeneration(IRndf xyRndf)
{
this.xyRndf = xyRndf;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="xyRndf"></param>
public RoadNetworkGeneration(IRndf xyRndf)
{
this.xyRndf = xyRndf;
}
/// <summary>
/// Opens an rndf file and transforms the points to xy around a central projection
/// </summary>
/// <param name="fileName"></param>
/// <param name="rndf"></param>
/// <param name="projection"></param>
public static void GenerateXyRndfAndProjection(string fileName, out IRndf rndf, out PlanarProjection projection)
{
// generate the gps rndf
IRndf gpsRndf = GenerateGpsRndf(fileName);
// get the planar projection
projection = GetProjection(gpsRndf);
// create an xy rndf
IRndf xyRndf = gpsRndf;
#region Apply transform to all point
// Get coordinates from segments
foreach (SimpleSegment segment in xyRndf.Segments)
{
// Get coordinates from lanes
List <SimpleLane> lanes = (List <SimpleLane>)segment.Lanes;
foreach (SimpleLane lane in lanes)
{
// Get coordinates from waypoints
List <SimpleWaypoint> waypoints = (List <SimpleWaypoint>)lane.Waypoints;
foreach (SimpleWaypoint waypoint in waypoints)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(waypoint.Position.X, waypoint.Position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(position)));
// Add position to the coordinate list
waypoint.Position = tmpXY;
}
}
}
foreach (SimpleZone zone in xyRndf.Zones)
{
// Get coordinates from perimeter
ZonePerimeter perimeter = zone.Perimeter;
List <PerimeterPoint> perimeterPoints = (List <PerimeterPoint>)perimeter.PerimeterPoints;
foreach (PerimeterPoint perimeterPoint in perimeterPoints)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(perimeterPoint.position.X, perimeterPoint.position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(perimeterPoint.position)));
// Add position to the coordinate list
perimeterPoint.position = tmpXY;
}
// Get coordiantes from parking spots
List <ParkingSpot> parkingSpots = (List <ParkingSpot>)zone.ParkingSpots;
foreach (ParkingSpot parkingSpot in parkingSpots)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(parkingSpot.Waypoint1.Position.X, parkingSpot.Waypoint1.Position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(parkingSpot.Waypoint1.Position)));
// wp1 position set
parkingSpot.Waypoint1.Position = tmpXY;
// Transform the gps coordinate into an xy xoordinate
position = new GpsCoordinate(parkingSpot.Waypoint2.Position.X, parkingSpot.Waypoint2.Position.Y);
Coordinates tmpXY2 = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(parkingSpot.Waypoint2.Position)));
// wp1 position set
parkingSpot.Waypoint2.Position = tmpXY2;
}
}
# endregion
/// <summary>
/// Constructor
/// </summary>
/// <param name="xyRndf"></param>
public InterconnectGeneration(IRndf xyRndf)
{
this.xyRndf = xyRndf;
}
// Creates Rndf from an input FileStream
public IRndf createRndf(FileStream fileStream)
{
numWps = 0;
// File in Read Only mode, convert to stream
StreamReader r = new StreamReader(fileStream, Encoding.UTF8);
// Create new queue for input buffer
Queue q = new Queue();
string word = "";
// Create the Rndf (with only segments for now, no zones)
IRndf rndf = new IRndf();
rndf.Segments = new List<SimpleSegment>();
rndf.Zones = new List<SimpleZone>();
// Loop until reach end of file marker
while ((word.Length < 8) || (word.Substring(0, 8) != "end_file"))
{
// get the next word
word = parseWord(r, q);
if (word == "RNDF_name")
{
word = parseWord(r, q);
rndf.Name = word;
}
else if (word == "num_segments")
{
word = parseWord(r, q);
rndf.NumSegs = int.Parse(word);
}
else if (word == "num_zones")
{
word = parseWord(r, q);
rndf.NumZones = int.Parse(word);
}
else if (word == "format_version")
{
word = parseWord(r, q);
rndf.FormatVersion = word;
}
else if (word == "creation_date")
{
word = parseWord(r, q);
rndf.CreationDate = word;
}
else if (word == "segment")
{
// create new segment
SimpleSegment seg = new SimpleSegment();
seg.Lanes = new List<SimpleLane>();
word = parseWord(r, q);
seg.Id = word;
// run until reach end of segment marker
while (word != "end_segment")
{
// get next word
word = parseWord(r, q);
if (word == "segment_name")
{
word = parseWord(r, q);
seg.Name = word;
}
else if (word == "num_lanes")
{
word = parseWord(r, q);
seg.NumLanes = int.Parse(word);
}
else if (word == "end_segment")
{
// do nothing if at the end
}
else if (word == "lane")
{
// Create new lane
SimpleLane ln = new SimpleLane();
ln.Checkpoints = new List<SimpleCheckpoint>();
ln.Waypoints = new List<SimpleWaypoint>();
ln.Stops = new List<string>();
ln.ExitEntries = new List<SimpleExitEntry>();
word = parseWord(r, q);
ln.Id = word;
// run until reach end of lane
while (word != "end_lane")
{
// get next word
word = parseWord(r, q);
if (word == "num_waypoints")
{
word = parseWord(r, q);
ln.NumWaypoints = int.Parse(word);
}
else if (word == "checkpoint")
{
// create checkpoint
SimpleCheckpoint cp = new SimpleCheckpoint();
// get waypoint id
string wp = parseWord(r, q);
cp.WaypointId = wp;
// get checkpoint id
string id = parseWord(r, q);
cp.CheckpointId = id;
// add to collection of checkpoints within lane
ln.Checkpoints.Add(cp);
}
else if (word == "lane_width")
{
word = parseWord(r, q);
ln.LaneWidth = double.Parse(word);
}
else if (word == "stop")
{
word = parseWord(r, q);
ln.Stops.Add(word);
}
else if (word == "left_boundary")
{
word = parseWord(r, q);
ln.LeftBound = word;
}
else if (word == "right_boundary")
{
word = parseWord(r, q);
ln.RightBound = word;
}
else if (word == "exit")
{
// create exit-entry pair
SimpleExitEntry exitEntry = new SimpleExitEntry();
// get the exit id
string exit = parseWord(r, q);
exitEntry.ExitId = exit;
// get the entry id
string entry = parseWord(r, q);
exitEntry.EntryId = entry;
// add to collection of exit-entry pairs within lane
ln.ExitEntries.Add(exitEntry);
}
else if (word == "end_lane")
{
// do nothing
}
// Otherwise we probably have a waypoint
else
{
// check to make sure a wp by matching lane id to lane identifier of waypoint
int laneIdLength = ln.Id.Length;
// if waypoint matches then create the waypoint
if (word.Length >= laneIdLength + 2 && (word.Substring(0, laneIdLength)).CompareTo(ln.Id) == 0)
{
// create a new waypoint
SimpleWaypoint wp = new SimpleWaypoint();
wp.Position = new UrbanChallenge.Common.Coordinates();
// set its id
wp.ID = word;
// get latitude or X
string lat = parseWord(r, q);
wp.Position.X = double.Parse(lat);
// get longitude or y
string lon = parseWord(r, q);
wp.Position.Y = double.Parse(lon);
// add to lane's collection of waypoints
ln.Waypoints.Add(wp);
numWps += 1;
}
else
{
Console.WriteLine("Unknown identifier: " + word);
}
}
}
seg.Lanes.Add(ln);
}
else
{
Console.WriteLine("Unknown identifier: " + word);
}
}
rndf.Segments.Add(seg);
}
else if (word == "zone")
{
// create new zone
SimpleZone zone = new SimpleZone();
zone.ParkingSpots = new List<ParkingSpot>();
// get ID
word = parseWord(r, q);
zone.ZoneID = word;
// run until reach end of segment marker
while (word != "end_zone")
{
// get next word
word = parseWord(r, q);
if (word == "num_spots")
{
// get next word
word = parseWord(r, q);
// set num of parking spots
zone.NumParkingSpots = int.Parse(word);
}
else if (word == "zone_name")
{
// get next word
word = parseWord(r, q);
// set zone name
zone.Name = word;
}
else if (word == "perimeter")
{
// create perimeter
zone.Perimeter = new ZonePerimeter();
zone.Perimeter.ExitEntries = new List<SimpleExitEntry>();
zone.Perimeter.PerimeterPoints = new List<PerimeterPoint>();
// set perimeter id
zone.Perimeter.PerimeterID = parseWord(r, q);
while (word != "end_perimeter")
{
// get next word
word = parseWord(r, q);
if (word == "num_perimeterpoints")
{
// set num of perimeter points
zone.Perimeter.NumPerimeterPoints = int.Parse(parseWord(r, q));
}
else if (word == "exit")
{
// create new exit,entry
SimpleExitEntry ee = new SimpleExitEntry();
// set exit
ee.ExitId = parseWord(r, q);
// set entry
ee.EntryId = parseWord(r, q);
// add to perimeter exit entries
zone.Perimeter.ExitEntries.Add(ee);
}
else if (word == "end_perimeter")
{
// Do Nothing
}
else
{
// create new perimeter point
PerimeterPoint p = new PerimeterPoint();
// set id
p.ID = word;
// create new coordinate
p.position = new UrbanChallenge.Common.Coordinates();
// setX
p.position.X = Double.Parse(parseWord(r, q));
// setY
p.position.Y = Double.Parse(parseWord(r, q));
// add to perimeter points
zone.Perimeter.PerimeterPoints.Add(p);
}
}
}
else if (word == "spot")
{
// create a new spot
ParkingSpot ps = new ParkingSpot();
// set spot id
ps.SpotID = parseWord(r, q);
while (word != "end_spot")
{
// get next word
word = parseWord(r, q);
if (word == "spot_width")
{
// set spot width
ps.SpotWidth = parseWord(r, q);
}
else if (word == "checkpoint")
{
// get waypoint id that corresponds with checkpoint
ps.CheckpointWaypointID = parseWord(r, q);
// get checkpoint id
ps.CheckpointID = parseWord(r, q);
}
else if (word == "end_spot")
{
// add spot to zone
zone.ParkingSpots.Add(ps);
}
else
{
// SimpleWaypoint 1
#region
// create new waypoint for waypoint1
ps.Waypoint1 = new SimpleWaypoint();
ps.Waypoint1.Position = new UrbanChallenge.Common.Coordinates();
// set id
ps.Waypoint1.ID = word;
// check if id is checkpointWaypointID
if (ps.Waypoint1.ID == ps.CheckpointWaypointID)
{
ps.Waypoint1.IsCheckpoint = true;
ps.Waypoint1.CheckpointID = ps.CheckpointID;
}
// setX
ps.Waypoint1.Position.X = Double.Parse(parseWord(r, q));
// setY
ps.Waypoint1.Position.Y = Double.Parse(parseWord(r, q));
#endregion
// SimpleWaypoint 2
#region
// create new waypoint for waypoint2
ps.Waypoint2 = new SimpleWaypoint();
ps.Waypoint2.Position = new UrbanChallenge.Common.Coordinates();
// set id
ps.Waypoint2.ID = parseWord(r, q);
// check if id is checkpointWaypointID
if (ps.Waypoint2.ID == ps.CheckpointWaypointID)
{
ps.Waypoint2.IsCheckpoint = true;
ps.Waypoint2.CheckpointID = ps.CheckpointID;
}
// setX
ps.Waypoint2.Position.X = Double.Parse(parseWord(r, q));
// setY
ps.Waypoint2.Position.Y = Double.Parse(parseWord(r, q));
#endregion
}
}
}
else if (word == "end_zone")
{
// Do Nothing
}
else
{
Console.WriteLine("Unrecognized: " + word);
}
}
// Add zones to zone
rndf.Zones.Add(zone);
}
else
{
if (word == "end_file")
Console.WriteLine("Rndf Parse :: Successful");
else
Console.WriteLine("Unknown identifier: " + word);
}
}
return rndf;
}
/// <summary>
/// Creates an rndf network from an xy rndf
/// </summary>
/// <returns></returns>
public RndfNetwork CreateRndfNetwork(IRndf xyRndf, PlanarProjection projection)
{
return(null);
}
// Creates Rndf from an input FileStream
public IRndf createRndf(FileStream fileStream)
{
numWps = 0;
// File in Read Only mode, convert to stream
StreamReader r = new StreamReader(fileStream, Encoding.UTF8);
// Create new queue for input buffer
Queue q = new Queue();
string word = "";
// Create the Rndf (with only segments for now, no zones)
IRndf rndf = new IRndf();
rndf.Segments = new List <SimpleSegment>();
rndf.Zones = new List <SimpleZone>();
// Loop until reach end of file marker
while ((word.Length < 8) || (word.Substring(0, 8) != "end_file"))
{
// get the next word
word = parseWord(r, q);
if (word == "RNDF_name")
{
word = parseWord(r, q);
rndf.Name = word;
}
else if (word == "num_segments")
{
word = parseWord(r, q);
rndf.NumSegs = int.Parse(word);
}
else if (word == "num_zones")
{
word = parseWord(r, q);
rndf.NumZones = int.Parse(word);
}
else if (word == "format_version")
{
word = parseWord(r, q);
rndf.FormatVersion = word;
}
else if (word == "creation_date")
{
word = parseWord(r, q);
rndf.CreationDate = word;
}
else if (word == "segment")
{
// create new segment
SimpleSegment seg = new SimpleSegment();
seg.Lanes = new List <SimpleLane>();
word = parseWord(r, q);
seg.Id = word;
// run until reach end of segment marker
while (word != "end_segment")
{
// get next word
word = parseWord(r, q);
if (word == "segment_name")
{
word = parseWord(r, q);
seg.Name = word;
}
else if (word == "num_lanes")
{
word = parseWord(r, q);
seg.NumLanes = int.Parse(word);
}
else if (word == "end_segment")
{
// do nothing if at the end
}
else if (word == "lane")
{
// Create new lane
SimpleLane ln = new SimpleLane();
ln.Checkpoints = new List <SimpleCheckpoint>();
ln.Waypoints = new List <SimpleWaypoint>();
ln.Stops = new List <string>();
ln.ExitEntries = new List <SimpleExitEntry>();
word = parseWord(r, q);
ln.Id = word;
// run until reach end of lane
while (word != "end_lane")
{
// get next word
word = parseWord(r, q);
if (word == "num_waypoints")
{
word = parseWord(r, q);
ln.NumWaypoints = int.Parse(word);
}
else if (word == "checkpoint")
{
// create checkpoint
SimpleCheckpoint cp = new SimpleCheckpoint();
// get waypoint id
string wp = parseWord(r, q);
cp.WaypointId = wp;
// get checkpoint id
string id = parseWord(r, q);
cp.CheckpointId = id;
// add to collection of checkpoints within lane
ln.Checkpoints.Add(cp);
}
else if (word == "lane_width")
{
word = parseWord(r, q);
ln.LaneWidth = double.Parse(word);
}
else if (word == "stop")
{
word = parseWord(r, q);
ln.Stops.Add(word);
}
else if (word == "left_boundary")
{
word = parseWord(r, q);
ln.LeftBound = word;
}
else if (word == "right_boundary")
{
word = parseWord(r, q);
ln.RightBound = word;
}
else if (word == "exit")
{
// create exit-entry pair
SimpleExitEntry exitEntry = new SimpleExitEntry();
// get the exit id
string exit = parseWord(r, q);
exitEntry.ExitId = exit;
// get the entry id
string entry = parseWord(r, q);
exitEntry.EntryId = entry;
// add to collection of exit-entry pairs within lane
ln.ExitEntries.Add(exitEntry);
}
else if (word == "end_lane")
{
// do nothing
}
// Otherwise we probably have a waypoint
else
{
// check to make sure a wp by matching lane id to lane identifier of waypoint
int laneIdLength = ln.Id.Length;
// if waypoint matches then create the waypoint
if (word.Length >= laneIdLength + 2 && (word.Substring(0, laneIdLength)).CompareTo(ln.Id) == 0)
{
// create a new waypoint
SimpleWaypoint wp = new SimpleWaypoint();
wp.Position = new UrbanChallenge.Common.Coordinates();
// set its id
wp.ID = word;
// get latitude or X
string lat = parseWord(r, q);
wp.Position.X = double.Parse(lat);
// get longitude or y
string lon = parseWord(r, q);
wp.Position.Y = double.Parse(lon);
// add to lane's collection of waypoints
ln.Waypoints.Add(wp);
numWps += 1;
}
else
{
Console.WriteLine("Unknown identifier: " + word);
}
}
}
seg.Lanes.Add(ln);
}
else
{
Console.WriteLine("Unknown identifier: " + word);
}
}
rndf.Segments.Add(seg);
}
else if (word == "zone")
{
// create new zone
SimpleZone zone = new SimpleZone();
zone.ParkingSpots = new List <ParkingSpot>();
// get ID
word = parseWord(r, q);
zone.ZoneID = word;
// run until reach end of segment marker
while (word != "end_zone")
{
// get next word
word = parseWord(r, q);
if (word == "num_spots")
{
// get next word
word = parseWord(r, q);
// set num of parking spots
zone.NumParkingSpots = int.Parse(word);
}
else if (word == "zone_name")
{
// get next word
word = parseWord(r, q);
// set zone name
zone.Name = word;
}
else if (word == "perimeter")
{
// create perimeter
zone.Perimeter = new ZonePerimeter();
zone.Perimeter.ExitEntries = new List <SimpleExitEntry>();
zone.Perimeter.PerimeterPoints = new List <PerimeterPoint>();
// set perimeter id
zone.Perimeter.PerimeterID = parseWord(r, q);
while (word != "end_perimeter")
{
// get next word
word = parseWord(r, q);
if (word == "num_perimeterpoints")
{
// set num of perimeter points
zone.Perimeter.NumPerimeterPoints = int.Parse(parseWord(r, q));
}
else if (word == "exit")
{
// create new exit,entry
SimpleExitEntry ee = new SimpleExitEntry();
// set exit
ee.ExitId = parseWord(r, q);
// set entry
ee.EntryId = parseWord(r, q);
// add to perimeter exit entries
zone.Perimeter.ExitEntries.Add(ee);
}
else if (word == "end_perimeter")
{
// Do Nothing
}
else
{
// create new perimeter point
PerimeterPoint p = new PerimeterPoint();
// set id
p.ID = word;
// create new coordinate
p.position = new UrbanChallenge.Common.Coordinates();
// setX
p.position.X = Double.Parse(parseWord(r, q));
// setY
p.position.Y = Double.Parse(parseWord(r, q));
// add to perimeter points
zone.Perimeter.PerimeterPoints.Add(p);
}
}
}
else if (word == "spot")
{
// create a new spot
ParkingSpot ps = new ParkingSpot();
// set spot id
ps.SpotID = parseWord(r, q);
while (word != "end_spot")
{
// get next word
word = parseWord(r, q);
if (word == "spot_width")
{
// set spot width
ps.SpotWidth = parseWord(r, q);
}
else if (word == "checkpoint")
{
// get waypoint id that corresponds with checkpoint
ps.CheckpointWaypointID = parseWord(r, q);
// get checkpoint id
ps.CheckpointID = parseWord(r, q);
}
else if (word == "end_spot")
{
// add spot to zone
zone.ParkingSpots.Add(ps);
}
else
{
// SimpleWaypoint 1
#region
// create new waypoint for waypoint1
ps.Waypoint1 = new SimpleWaypoint();
ps.Waypoint1.Position = new UrbanChallenge.Common.Coordinates();
// set id
ps.Waypoint1.ID = word;
// check if id is checkpointWaypointID
if (ps.Waypoint1.ID == ps.CheckpointWaypointID)
{
ps.Waypoint1.IsCheckpoint = true;
ps.Waypoint1.CheckpointID = ps.CheckpointID;
}
// setX
ps.Waypoint1.Position.X = Double.Parse(parseWord(r, q));
// setY
ps.Waypoint1.Position.Y = Double.Parse(parseWord(r, q));
#endregion
// SimpleWaypoint 2
#region
// create new waypoint for waypoint2
ps.Waypoint2 = new SimpleWaypoint();
ps.Waypoint2.Position = new UrbanChallenge.Common.Coordinates();
// set id
ps.Waypoint2.ID = parseWord(r, q);
// check if id is checkpointWaypointID
if (ps.Waypoint2.ID == ps.CheckpointWaypointID)
{
ps.Waypoint2.IsCheckpoint = true;
ps.Waypoint2.CheckpointID = ps.CheckpointID;
}
// setX
ps.Waypoint2.Position.X = Double.Parse(parseWord(r, q));
// setY
ps.Waypoint2.Position.Y = Double.Parse(parseWord(r, q));
#endregion
}
}
}
else if (word == "end_zone")
{
// Do Nothing
}
else
{
Console.WriteLine("Unrecognized: " + word);
}
}
// Add zones to zone
rndf.Zones.Add(zone);
}
else
{
if (word == "end_file")
{
Console.WriteLine("Rndf Parse :: Successful");
}
else
{
Console.WriteLine("Unknown identifier: " + word);
}
}
}
return(rndf);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="xyRndf"></param>
public InterconnectGeneration(IRndf xyRndf)
{
this.xyRndf = xyRndf;
}
