File size: 7,115 Bytes
5a5e5cf | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 | #!/usr/bin/env python3
"""Regenerate Route-A aggregate XML indexes from standalone route files."""
from __future__ import annotations
import argparse
import copy
import json
import math
import xml.etree.ElementTree as ET
from collections import defaultdict
from pathlib import Path
FAMILY_DIRS = {
"occluded_pedestrian": "occluded_pedestrian",
"vehicle_cut_in": "lane_cut_in",
"static_obstacle_reveal": "reveal_obstacle",
"wrong_way_left_turn": "ghost_driver_left_turn",
"wrong_way_right_turn": "ghost_driver_right_turn",
"right_turn_on_red_yield": "right_turn_on_red",
}
def _indent(element: ET.Element, level: int = 0) -> None:
prefix = "\n" + level * " "
child_prefix = "\n" + (level + 1) * " "
children = list(element)
if children:
if not element.text or not element.text.strip():
element.text = child_prefix
for child in children:
_indent(child, level + 1)
if not child.tail or not child.tail.strip():
child.tail = child_prefix
children[-1].tail = prefix
elif level and (not element.tail or not element.tail.strip()):
element.tail = prefix
def _write_routes(path: Path, routes: list[ET.Element]) -> None:
root = ET.Element("routes")
for route in routes:
root.append(copy.deepcopy(route))
_indent(root)
path.parent.mkdir(parents=True, exist_ok=True)
ET.ElementTree(root).write(path, encoding="utf-8", xml_declaration=True)
def _single_route(path: Path) -> ET.Element:
routes = ET.parse(path).getroot().findall("route")
if len(routes) != 1:
raise RuntimeError(f"{path}: expected one route, found {len(routes)}")
return routes[0]
def _route_length(route: ET.Element) -> float:
points = [
tuple(float(node.attrib.get(key, 0.0)) for key in ("x", "y", "z"))
for node in route.findall("./waypoints/position")
]
return sum(
math.hypot(second[0] - first[0], second[1] - first[1])
for first, second in zip(points, points[1:])
)
def _route_progress(route: ET.Element, target: tuple[float, float]) -> float:
points = [
tuple(float(node.attrib.get(key, 0.0)) for key in ("x", "y"))
for node in route.findall("./waypoints/position")
]
best_distance = float("inf")
best_progress = 0.0
progress = 0.0
for first, second in zip(points, points[1:]):
dx = second[0] - first[0]
dy = second[1] - first[1]
length = math.hypot(dx, dy)
if length <= 1e-9:
continue
ratio = (
(target[0] - first[0]) * dx
+ (target[1] - first[1]) * dy
) / (length * length)
ratio = min(max(ratio, 0.0), 1.0)
px = first[0] + ratio * dx
py = first[1] + ratio * dy
distance = math.hypot(target[0] - px, target[1] - py)
if distance < best_distance:
best_distance = distance
best_progress = progress + ratio * length
progress += length
return best_progress
def _route_metrics(
route: ET.Element,
record: dict,
reference: ET.Element | None,
) -> tuple[float, float | None]:
candidate_length = route.attrib.get("candidate_route_length_m")
if candidate_length is None:
route_length = _route_length(route)
reference_s = None
if reference is not None:
reference_s = _route_progress(
route,
(
float(reference.attrib["x"]),
float(reference.attrib["y"]),
),
)
return route_length, reference_s
route_length = float(candidate_length)
if not math.isfinite(route_length) or route_length <= 0.0:
raise RuntimeError(
f"{route.attrib.get('id')}: invalid candidate route length "
f"{candidate_length!r}"
)
route_s = record.get("route_s")
if not isinstance(route_s, dict) or "reference" not in route_s:
raise RuntimeError(
f"{route.attrib.get('id')}: sparse candidate route is missing "
"manifest route_s.reference"
)
reference_s = float(route_s["reference"])
if not 0.0 <= reference_s <= route_length:
raise RuntimeError(
f"{route.attrib.get('id')}: reference progress {reference_s:.3f} "
f"is outside candidate route length {route_length:.3f}"
)
return route_length, reference_s
def sync(root: Path) -> None:
manifest_path = root / "manifest.json"
manifest = json.loads(manifest_path.read_text(encoding="utf-8"))
all_routes = []
by_family: dict[str, list[ET.Element]] = defaultdict(list)
by_town: dict[str, list[ET.Element]] = defaultdict(list)
for record in manifest["routes"]:
family_dir = FAMILY_DIRS[record["family"]]
path = root / "routes" / family_dir / f"{record['route_id']}.xml"
route = _single_route(path)
if route.attrib["id"] != record["route_id"]:
raise RuntimeError(f"{path}: route ID differs from manifest")
scenario = route.find("./scenarios/scenario")
reference = scenario.find("collision_point") if scenario is not None else None
route_length, reference_s = _route_metrics(route, record, reference)
record["route_length_m"] = round(route_length, 3)
if reference_s is not None:
recovery_distance = route_length - reference_s
if route.attrib.get("candidate_route_length_m") is not None:
frozen_recovery = record.get("recovery_distance_m")
if frozen_recovery is not None:
if abs(float(frozen_recovery) - recovery_distance) > 0.01:
raise RuntimeError(
f"{record['route_id']}: frozen recovery distance "
f"{float(frozen_recovery):.3f} disagrees with "
f"candidate geometry ({recovery_distance:.3f})"
)
recovery_distance = float(frozen_recovery)
record["recovery_distance_m"] = round(recovery_distance, 3)
all_routes.append(route)
by_family[family_dir].append(route)
by_town[route.attrib["town"]].append(route)
_write_routes(root / "coopeval_closed.xml", all_routes)
for family, routes in sorted(by_family.items()):
_write_routes(root / "routes_by_family" / f"{family}.xml", routes)
for town, routes in sorted(by_town.items()):
_write_routes(root / "routes_by_town" / f"{town}.xml", routes)
manifest_path.write_text(
json.dumps(manifest, indent=2) + "\n",
encoding="utf-8",
)
def main() -> int:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument(
"--root",
type=Path,
default=Path(__file__).resolve().parents[1],
)
args = parser.parse_args()
sync(args.root.resolve())
print(f"Synchronized Route-A indexes under {args.root.resolve()}")
return 0
if __name__ == "__main__":
raise SystemExit(main())
|