public static CSVFileManager <T> Instance()
{
if (s_Instance == null)
{
s_Instance = new CSVFileManager <T>();
}
return(s_Instance);
}
public static void CleanUp()
{
CSVFileManager <VM_DtLane> .Instance().ClearUp();
CSVFileManager <VM_Lane> .Instance().ClearUp();
CSVFileManager <VM_Point> .Instance().ClearUp();
CSVFileManager <VM_Node> .Instance().ClearUp();
}
public static void LoadCSV()
{
string path = Directory.GetCurrentDirectory();
CSVFileManager <VM_DtLane> .Instance().LoadData(path + "/../../VectorMap/dtLane.csv", LoadDataFile);
CSVFileManager <VM_Lane> .Instance().LoadData(path + "/../../VectorMap/Lane.csv", LoadDataFile);
CSVFileManager <VM_Point> .Instance().LoadData(path + "/../../VectorMap/point.csv", LoadDataFile);
CSVFileManager <VM_Node> .Instance().LoadData(path + "/../../VectorMap/node.csv", LoadDataFile);
}
public static int GetRoadCount()
{
int ret = 0;
int dtLaneCount = CSVFileManager <VM_DtLane> .Instance().GetstItemCount();
for (int i = 0; i < dtLaneCount; ++i)
{
int key = -1;
VM_DtLane dtlane = CSVFileManager <VM_DtLane> .Instance().GetstItemByIndex(i, out key);
if (dtlane != null)
{
if (dtlane.Dist == 0)
{
++ret;
}
}
}
return(ret);
}
static void Main(string[] args)
{
LoadManager.LoadCSV();
int roadCount = LoadManager.GetRoadCount();
OpenDrive opDrive = new OpenDrive();
opDrive.roads = new List <ODRoad>(roadCount);
int gldir = -1; // -1 means running on left
int DIDIndex = 0;
for (int i = 0; i < roadCount; ++i)
{
ODRoad road = new ODRoad();
road.name = i.ToString();
road.id = i.ToString();
road.junctionId = "-1";
road.predecessor = "-1";
road.successor = "-1";
road.length = 0;
road.lineGeometries = new List <PlaneLine>();
road.elevations = new List <PolynomCurve>();
road.laneSections = new List <ODLaneSection>();
int key = 0;
VM_DtLane nextdtLane = CSVFileManager <VM_DtLane> .Instance().GetstItemByIndex(DIDIndex + 1, out key);
float start = 0;
while (nextdtLane != null && nextdtLane.Dist != 0)
{
VM_DtLane dtlane = CSVFileManager <VM_DtLane> .Instance().GetstItemByIndex(DIDIndex, out key);
VM_Point P = CSVFileManager <VM_Point> .Instance().GetstItemByID(dtlane.PID);
VM_Point nextP = CSVFileManager <VM_Point> .Instance().GetstItemByID(nextdtLane.PID);
Vector3 vP = new Vector3((float)P.Ly, 0, (float)P.Bx);
Vector3 vNextP = new Vector3((float)nextP.Ly, 0, (float)nextP.Bx);
Vector3 dir = (vNextP - vP).normalized;
Vector3 Zdir = Vector3.Cross(dir, Vector3.up) * gldir;
float offset = gldir == -1 ? dtlane.RW : dtlane.LW;
float nextOffset = gldir == -1 ? nextdtLane.RW : nextdtLane.LW;
Vector3 road_center_start = vP + Zdir * offset;
Vector3 road_center_end = vNextP + Zdir * nextOffset;
float secLength = Vector3.Distance(road_center_start, road_center_end);
float hdg = Mathf.Atan2((road_center_end.z - road_center_start.z), (road_center_end.x - road_center_start.x));
road.length += secLength;
// plan geo
PlaneLine planView = new PlaneLine();
planView.start = start;
planView.xs = road_center_start.x;
planView.ys = road_center_start.z;
planView.hdg = hdg;
planView.length = secLength;
road.lineGeometries.Add(planView);
// elevation
PolynomCurve ele = new PolynomCurve();
ele.start = start;
ele.a = (float)P.H;
ele.b = (nextP.H - P.H) / secLength;
ele.c = 0;
ele.d = 0;
road.elevations.Add(ele);
// lanes
ODLaneSection laneSection = new ODLaneSection();
laneSection.start = start;
ODLane center = new ODLane();
center.id = 0;
center.predecessor = "-1";
center.successor = "-1";
laneSection.center = center;
laneSection.rights = new List <ODLane>();
ODLane sideLane = new ODLane();
sideLane.id = -1; //right;
sideLane.type = "driving";
sideLane.level = "0";
sideLane.predecessor = "-1";
sideLane.successor = "-1";
sideLane.widths = new List <PolynomCurve>();
PolynomCurve width = new PolynomCurve();
width.start = 0;
width.a = dtlane.LW + dtlane.RW;
width.b = ((nextdtLane.LW + nextdtLane.RW) - width.a) / secLength;
width.c = 0;
width.d = 0;
sideLane.widths.Add(width);
laneSection.rights.Add(sideLane);
road.laneSections.Add(laneSection);
start += secLength;
++DIDIndex;
nextdtLane = CSVFileManager <VM_DtLane> .Instance().GetstItemByIndex(DIDIndex + 1, out key);
}
opDrive.roads.Add(road);
++DIDIndex;
}
string path = Directory.GetCurrentDirectory();
opDrive.SaveToXML(path + "/../../OpenDrive/output.xodr");
LoadManager.CleanUp();
}
public void ClearUp()
{
s_Instance = null;
}
