def create_signal_proto(x, y, heading):
# mkz vehicle configuration
center_x = x + g_front_to_center * math.cos(heading)
center_y = y + g_front_to_center * math.sin(heading)
map_signal = map_signal_pb2.Signal()
map_signal.id.id = "%2.5f_%2.5f" % (center_x, center_y)
map_signal.type = map_signal_pb2.Signal.MIX_3_VERTICAL
# left subsignal
left_subsignal = map_signal.subsignal.add()
left_x = center_x + g_left_to_center * math.cos(heading + math.pi / 2.0)
left_y = center_y + g_left_to_center * math.sin(heading + math.pi / 2.0)
left_subsignal.id.id = "%2.5f_%2.5f" % (left_x, left_y)
left_subsignal.type = map_signal_pb2.Subsignal.CIRCLE
left_subsignal.location.x = left_x
left_subsignal.location.y = left_y
left_subsignal.location.z = 5.0
stopline = map_signal.stop_line.add()
stopline.CopyFrom(create_stop_line(center_x, center_y, heading))
if g_args.extend_to_neighbor_lane:
# add stop line on left lane
left_shift_x = center_x + g_lane_width * math.cos(heading +
math.pi / 2.0)
left_shift_y = center_y + g_lane_width * math.sin(heading +
math.pi / 2.0)
stopline = map_signal.stop_line.add()
stopline.CopyFrom(create_stop_line(left_shift_x, left_shift_y,
heading))
# add stop line on right lane
right_shift_x = center_x + g_lane_width * math.cos(heading -
math.pi / 2.0)
right_shift_y = center_y + g_lane_width * math.sin(heading -
math.pi / 2.0)
stopline = map_signal.stop_line.add()
stopline.CopyFrom(
create_stop_line(right_shift_x, right_shift_y, heading))
return map_signal
if len(sys.argv) < 3:
print('Usage: %s [map_file] [signal_file]' % sys.argv[0])
sys.exit(0)
map_file = sys.argv[1]
signal_file = sys.argv[2]
with open(map_file, 'r') as fmap:
map_data = fmap.read()
map = map_pb2.Map()
text_format.Parse(map_data, map)
with open(signal_file, 'r') as fsignal:
signal_data = fsignal.read()
signal = map_signal_pb2.Signal()
text_format.Parse(signal_data, signal)
lanes = {}
lanes_map = {}
for lane in map.lane:
lane_points = []
lanes_map[lane.id.id] = lane
for segment in lane.central_curve.segment:
for point in segment.line_segment.point:
lane_points.append((point.x, point.y))
lane_string = LineString(lane_points)
lanes[lane.id.id] = lane_string
lines = {}
for stop_line in signal.stop_line: