def set_planning_conf(config):
"""change planning config based on navi config"""
planning_conf = planning_config_pb2.PlanningConfig()
proto_utils.get_pb_from_file(PLANNING_CONF_FILE, planning_conf)
planner_type = config.get('PlanningConf', 'planner_type')
if planner_type == "EM":
planning_conf.planner_type = planning_config_pb2.PlanningConfig.EM
if planner_type == "LATTICE":
planning_conf.planner_type = planning_config_pb2.PlanningConfig.LATTICE
if planner_type == "NAVI":
planning_conf.planner_type = planning_config_pb2.PlanningConfig.NAVI
proto_utils.write_pb_to_text_file(planning_conf, PLANNING_CONF_FILE)
def parse_file(self, filename):
value = self.instance()
if not proto_utils.get_pb_from_file(filename, value):
print("Failed to parse file %s" % filename)
return None
else:
return value
def set_hmi_conf(config):
"""change hmi conf file based on navi config file"""
hmi_conf = hmi_config_pb2.HMIConfig()
proto_utils.get_pb_from_file(HMI_CONF_FILE, hmi_conf)
perception = config.get('PerceptionConf', 'perception')
navi_mode = hmi_conf.modes["Navigation"]
if 'navigation_camera' in navi_mode.live_modules:
navi_mode.live_modules.remove('navigation_camera')
if 'navigation_perception' in navi_mode.live_modules:
navi_mode.live_modules.remove('navigation_perception')
if 'mobileye' in navi_mode.live_modules:
navi_mode.live_modules.remove('mobileye')
if 'third_party_perception' in navi_mode.live_modules:
navi_mode.live_modules.remove('third_party_perception')
if 'velodyne' in navi_mode.live_modules:
navi_mode.live_modules.remove('velodyne')
if 'perception' in navi_mode.live_modules:
navi_mode.live_modules.remove('perception')
if perception == "CAMERA":
if 'navigation_camera' not in navi_mode.live_modules:
navi_mode.live_modules.insert(0, 'navigation_camera')
if 'navigation_perception' not in navi_mode.live_modules:
navi_mode.live_modules.insert(0, 'navigation_perception')
if perception == "MOBILEYE":
if 'mobileye' not in navi_mode.live_modules:
navi_mode.live_modules.insert(0, 'mobileye')
if 'third_party_perception' not in navi_mode.live_modules:
navi_mode.live_modules.insert(0, 'third_party_perception')
if perception == "VELODYNE64":
if 'velodyne' not in navi_mode.live_modules:
navi_mode.live_modules.insert(0, 'velodyne')
if 'perception' not in navi_mode.live_modules:
navi_mode.live_modules.insert(0, 'perception')
hmi_conf.modes["Navigation"].CopyFrom(navi_mode)
proto_utils.write_pb_to_text_file(hmi_conf, HMI_CONF_FILE)
def run(gmap_key, map_file, utm_zone):
"""
read and process map file
"""
map_pb = map_pb2.Map()
proto_utils.get_pb_from_file(map_file, map_pb)
left_boundaries = []
right_boundaries = []
center_lat = None
center_lon = None
for lane in map_pb.lane:
for curve in lane.left_boundary.curve.segment:
if curve.HasField('line_segment'):
left_boundary = []
for p in curve.line_segment.point:
point = {}
lat, lng = utm2latlon(p.x, p.y, utm_zone)
if center_lat is None:
center_lat = lat
if center_lon is None:
center_lon = lng
point['lat'] = lat
point['lng'] = lng
left_boundary.append(point)
left_boundaries.append(left_boundary)
for curve in lane.right_boundary.curve.segment:
if curve.HasField('line_segment'):
right_boundary = []
for p in curve.line_segment.point:
point = {}
lat, lng = utm2latlon(p.x, p.y, utm_zone)
point['lat'] = lat
point['lng'] = lng
right_boundary.append(point)
right_boundaries.append(right_boundary)
html = generate(gmap_key, left_boundaries, right_boundaries, center_lat,
center_lon)
with open('gmap.html', 'w') as file:
file.write(html)
last_point = p
cur_len += delta_diff
return prediction
if __name__ == '__main__':
parser = argparse.ArgumentParser(
description="extend prediction trajectory")
parser.add_argument("prediction",
action="store",
type=str,
help="set the prediction file")
parser.add_argument("-p",
"--period",
action="store",
type=float,
default=10.0,
help="set the prediction period")
parser.add_argument("-d",
"--distance",
action="store",
type=float,
default=70.0,
help="set the prediction distance")
args = parser.parse_args()
prediction_data = proto_utils.get_pb_from_file(args.prediction,
PredictionObstacles())
extended_prediction = extend_prediction(prediction_data, args.distance,
args.period)
print(extended_prediction)
def load(self, map_file_name):
res = proto_utils.get_pb_from_file(map_file_name, self.map_pb)
return res is not None
def load_map_data(map_file):
map_pb = map_pb2.Map()
proto_utils.get_pb_from_file(map_file, map_pb)
return map_pb