コード例 #1
0
 private void DeSpawnNPCVehicles()
 {
     for (int i = 0; i < currentNPCs.Count; i++)
     {
         Destroy(currentNPCs[i]);
     }
     currentNPCs.Clear();
     initEgoData = new OpenScenarioData.StoryboardInit();
     initNPCData.Clear();
 }
コード例 #2
0
    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);
        }
    }
コード例 #3
0
ファイル: DataManager.cs プロジェクト: zjzcn1/simulator
    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);
        }
    }