private void OnGUI()
{
// styles
var titleLabelStyle = new GUIStyle(GUI.skin.label)
{
alignment = TextAnchor.MiddleCenter, fontSize = 14
};
var subtitleLabelStyle = new GUIStyle(GUI.skin.label)
{
alignment = TextAnchor.MiddleCenter, fontSize = 10
};
GUILayout.Space(10);
EditorGUILayout.LabelField("HD Map Export", titleLabelStyle, GUILayout.ExpandWidth(true));
GUILayout.Space(5);
EditorGUILayout.LabelField("", GUI.skin.horizontalSlider);
GUILayout.Space(10);
EditorGUILayout.HelpBox("Settings", UnityEditor.MessageType.Info);
var selectedNew = EditorGUILayout.Popup("Export Format", Selected, exportFormats);
GUILayout.Space(10);
if (Selected != selectedNew)
{
FileName = "";
Selected = selectedNew;
}
if (exportFormats[Selected] == "Apollo 5 HD Map")
{
EditorGUILayout.HelpBox("Save File As...", UnityEditor.MessageType.Info);
GUILayout.BeginHorizontal();
FileName = EditorGUILayout.TextField(FileName);
var directoryName = string.IsNullOrWhiteSpace(FileName) ? "" : Path.GetDirectoryName(FileName);
if (GUILayout.Button("...", GUILayout.ExpandWidth(false)))
{
var path = EditorUtility.SaveFilePanel("Save Apollo HD Map as BIN File", directoryName, "base_map.bin", "bin");
if (!string.IsNullOrEmpty(path))
{
FileName = path;
}
}
GUILayout.EndHorizontal();
}
else if (exportFormats[Selected] == "Autoware Vector Map")
{
EditorGUILayout.HelpBox("Select Folder to Save...", UnityEditor.MessageType.Info);
GUILayout.BeginHorizontal();
FileName = EditorGUILayout.TextField(FileName);
if (GUILayout.Button("...", GUILayout.ExpandWidth(false)))
{
var path = EditorUtility.SaveFolderPanel("Select Folder to Save Autoware Vector Map", FileName, "AutowareVectorMap");
if (!string.IsNullOrEmpty(path))
{
FileName = path;
}
}
GUILayout.EndHorizontal();
}
else if (exportFormats[Selected] == "Lanelet2 Map")
{
EditorGUILayout.HelpBox("Save File As...", UnityEditor.MessageType.Info);
GUILayout.BeginHorizontal();
FileName = EditorGUILayout.TextField(FileName);
var directoryName = string.IsNullOrWhiteSpace(FileName) ? "" : Path.GetDirectoryName(FileName);
if (GUILayout.Button("...", GUILayout.ExpandWidth(false)))
{
var path = EditorUtility.SaveFilePanel("Save Lanelet2 Map as XML File", directoryName, "lanelet2.osm", "osm");
if (!string.IsNullOrEmpty(path))
{
FileName = path;
}
}
GUILayout.EndHorizontal();
}
else if (exportFormats[Selected] == "OpenDRIVE Map")
{
EditorGUILayout.HelpBox("Save File As...", UnityEditor.MessageType.Info);
GUILayout.BeginHorizontal();
FileName = EditorGUILayout.TextField(FileName);
var directoryName = string.IsNullOrWhiteSpace(FileName) ? "" : Path.GetDirectoryName(FileName);
if (GUILayout.Button("...", GUILayout.ExpandWidth(false)))
{
var path = EditorUtility.SaveFilePanel("Save OpenDRIVE Map as xodr File", directoryName, "OpenDRIVE.xodr", "xodr");
if (!string.IsNullOrEmpty(path))
{
FileName = path;
}
}
GUILayout.EndHorizontal();
}
if (GUILayout.Button(new GUIContent("Export", $"Export {exportFormats[Selected]}")))
{
if (string.IsNullOrEmpty(FileName))
{
EditorUtility.DisplayDialog("Error", "Please specify output file/folder name!", "OK");
return;
}
if (exportFormats[Selected] == "Apollo 5 HD Map")
{
ApolloMapTool apolloMapTool = new ApolloMapTool();
apolloMapTool.Export(FileName);
}
else if (exportFormats[Selected] == "Autoware Vector Map")
{
AutowareMapTool autowareMapTool = new AutowareMapTool();
autowareMapTool.Export(FileName);
}
else if (exportFormats[Selected] == "Lanelet2 Map")
{
Lanelet2MapExporter lanelet2MapExporter = new Lanelet2MapExporter();
lanelet2MapExporter.Export(FileName);
}
else if (exportFormats[Selected] == "OpenDRIVE Map")
{
OpenDriveMapExporter openDriveMapExporter = new OpenDriveMapExporter();
openDriveMapExporter.Export(FileName);
}
}
}
public void ExportImport()
{
var environments = Path.Combine(Application.dataPath, "External", "Environments");
var temp = Path.Combine(Application.dataPath, "..", "Temp");
LogAssert.ignoreFailingMessages = true;
try
{
foreach (var path in Directory.EnumerateDirectories(environments))
{
var map = Path.GetFileName(path);
if (map.EndsWith("@tmp"))
{
// skip dummy folders Jenkins creates
continue;
}
if (File.Exists(Path.Combine(path, ".skiptest")))
{
Debug.LogWarning($"Skipping {map}");
continue;
}
Debug.LogWarning($"****** Testing {map}");
var scene = EditorSceneManager.OpenScene(Path.Combine(environments, map, $"{map}.unity"));
// export
var autoware = new AutowareMapTool();
autoware.Export(Path.Combine(temp, $"{map}_autoware"));
var apollo3 = new ApolloMapTool(ApolloMapTool.ApolloVersion.Apollo_3_0);
apollo3.Export(Path.Combine(temp, $"{map}_apollo3"));
Assert.IsFalse(scene.isDirty);
var apollo5 = new ApolloMapTool(ApolloMapTool.ApolloVersion.Apollo_5_0);
apollo5.Export(Path.Combine(temp, $"{map}_apollo5"));
Assert.IsFalse(scene.isDirty);
var opendrive = new OpenDriveMapExporter();
opendrive.Export(Path.Combine(temp, $"{map}_opendrive"));
Assert.IsFalse(scene.isDirty);
var lanelet = new Lanelet2MapExporter();
lanelet.Export(Path.Combine(temp, $"{map}_lanelet2"));
Assert.IsFalse(scene.isDirty);
// import
EditorSceneManager.NewScene(NewSceneSetup.DefaultGameObjects);
var apolloImport = new ApolloMapImporter(10f, 0.5f, true);
apolloImport.Import(Path.Combine(temp, $"{map}_apollo5"));
EditorSceneManager.NewScene(NewSceneSetup.DefaultGameObjects);
var opendriveImport = new OpenDriveMapImporter(10f, 0.5f, true);
opendriveImport.Import(Path.Combine(temp, $"{map}_opendrive"));
EditorSceneManager.NewScene(NewSceneSetup.DefaultGameObjects);
var laneletImport = new Lanelet2MapImporter(true);
laneletImport.Import(Path.Combine(temp, $"{map}_lanelet2"));
}
}
finally
{
EditorSceneManager.NewScene(NewSceneSetup.DefaultGameObjects);
LogAssert.ignoreFailingMessages = false;
}
}