def parse_routes_file(route_filename, scenario_file, single_route=None):
"""
Returns a list of route elements.
:param route_filename: the path to a set of routes.
:param single_route: If set, only this route shall be returned
:return: List of dicts containing the waypoints, id and town of the routes
"""
list_route_descriptions = []
tree = ET.parse(route_filename)
for route in tree.iter("route"):
route_id = route.attrib['id']
if single_route and route_id != single_route:
continue
new_config = RouteScenarioConfiguration()
new_config.town = route.attrib['town']
new_config.name = "RouteScenario_{}".format(route_id)
new_config.weather = RouteParser.parse_weather(route)
new_config.scenario_file = scenario_file
waypoint_list = [] # the list of waypoints that can be found on this route
for waypoint in route.iter('waypoint'):
waypoint_list.append(carla.Location(x=float(waypoint.attrib['x']),
y=float(waypoint.attrib['y']),
z=float(waypoint.attrib['z'])))
new_config.trajectory = waypoint_list
list_route_descriptions.append(new_config)
return list_route_descriptions
def createScenarioConfig(self, result=None):
self.scenario = self.scenarioGenerator.generateScenario(result)
if not self.scenario or self.wp_idx + 7 >= len(self.waypoint_list):
return None
location = carla.Location(self.waypoint_list[self.wp_idx + 2][0],
self.waypoint_list[self.wp_idx + 2][1],
self.waypoint_list[self.wp_idx + 2][2])
trigger_points = []
for i in range(len(self.scenario)):
if i != 0:
trigger_point = self.map.get_waypoint(
location,
project_to_road=True,
lane_type=carla.LaneType.Driving).next(10 * i)[0].transform
else:
trigger_point = self.map.get_waypoint(
location,
project_to_road=True,
lane_type=carla.LaneType.Driving).transform
trigger_points.append(trigger_point)
scenarioConfig = ScenarioConfig(self.track)
scenario_config = scenarioConfig.getScenario(self.scenario,
trigger_points)
print("Config: ", scenario_config)
route_config_list = []
route_config = RouteScenarioConfiguration()
route_config.town = self.track
route_config.name = 'RouteScenario_0'
route_config.weather = carla.WeatherParameters(sun_altitude_angle=70)
route_config.scenario_config = scenario_config
wp = []
wp.append(
carla.Location(x=self.waypoint_list[self.wp_idx][0],
y=self.waypoint_list[self.wp_idx][1],
z=self.waypoint_list[self.wp_idx][2]))
wp.append(
carla.Location(x=self.waypoint_list[self.wp_idx + 6][0],
y=self.waypoint_list[self.wp_idx + 6][1],
z=self.waypoint_list[self.wp_idx + 6][2]))
route_config.trajectory = wp
route_config_list.append(route_config)
args = ScenarioArguments(route_config_list,
scenario_config,
port=self.port)
self.wp_idx += 7
return args