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# THE SOFTWARE.
import argparse
import io
import os
import subprocess
import xml.dom.minidom
import xml.etree.ElementTree as ET
from collections import defaultdict
from pathlib import Path
from typing import Callable, Dict, List, Tuple
from smarts.core.waymo_map import WaymoMap
from smarts.waymo.waymo_open_dataset.protos import map_pb2
[docs]class SumoMapGenerator:
"""Extracts the map information from a Waymo Motion Dataset scenario
and generates a SUMO network file.
"""
def __init__(self):
self.nodes_root = None
self.edges_root = None
@staticmethod
def _read_map_data(path: str, scenario_id: str) -> Dict:
source = f"{path}#{scenario_id}"
scenario = WaymoMap.parse_source_to_scenario(source)
if scenario is None:
errmsg = f"Dataset file does not contain scenario with id: {scenario_id}"
raise ValueError(errmsg)
map_features = defaultdict(lambda: [])
for i in range(len(scenario.map_features)):
map_feature = scenario.map_features[i]
key = map_feature.WhichOneof("feature_data")
if key is not None:
map_features[key].append(getattr(map_feature, key))
return map_features
@staticmethod
def _convert_polyline(
polyline: map_pb2.MapPoint,
) -> Tuple[List[float], List[float]]:
tuples = [(p.x, p.y) for p in polyline]
xs, ys = zip(*tuples)
return xs, ys
@staticmethod
def _shape_str(xs: List[float], ys: List[float]) -> str:
result = ""
for x, y in zip(xs, ys):
result += f"{x},{y} "
return result[:-1]
@staticmethod
def _make_counter() -> Callable[[], int]:
i = 0
def f() -> int:
nonlocal i
i += 1
return i
return f
def _create_node(self, node_id: str, x: float, y: float):
node = ET.SubElement(self.nodes_root, "node")
node.set("id", node_id)
node.set("type", "priority")
node.set("x", str(x))
node.set("y", str(y))
def _create_edge(
self,
edge_id: str,
start_id: str,
end_id: str,
shape_str: str,
width: float = 5,
):
edge = ET.SubElement(self.edges_root, "edge")
edge.set("id", edge_id)
edge.set("from", start_id)
edge.set("to", end_id)
edge.set("priority", str(1))
edge.set("numLanes", str(1))
lane = ET.SubElement(edge, "lane")
lane.set("index", str(0))
lane.set("width", str(width))
lane.set("shape", shape_str)
[docs] def generate(self, path: str, scenario_id: str):
"""
Args:
path (str): Absolute path to the TFRecord file.
scenario_id (str): ID of the scenario to be converted.
"""
edge_counter = SumoMapGenerator._make_counter()
node_counter = SumoMapGenerator._make_counter()
self.nodes_root = ET.Element("nodes")
self.edges_root = ET.Element("edges")
map_features = SumoMapGenerator._read_map_data(path, scenario_id)
base_dir = Path(__file__).absolute().parent
nodes_path = base_dir / f"nodes-{scenario_id}.nod.xml"
edges_path = base_dir / f"edges-{scenario_id}.edg.xml"
net_path = base_dir / f"map-{scenario_id}.net.xml"
lanes = [
SumoMapGenerator._convert_polyline(lane.polyline)
for lane in map_features["lane"]
]
# Build XML
for xs, ys in lanes:
start_id = f"node-{node_counter()}"
end_id = f"node-{node_counter()}"
edge_id = f"edge-{edge_counter()}"
self._create_node(start_id, xs[0], ys[0])
self._create_node(end_id, xs[-1], ys[-1])
self._create_edge(
edge_id, start_id, end_id, SumoMapGenerator._shape_str(xs, ys)
)
# Write XML
edges_xml = xml.dom.minidom.parseString(
ET.tostring(self.edges_root)
).toprettyxml()
nodes_xml = xml.dom.minidom.parseString(
ET.tostring(self.nodes_root)
).toprettyxml()
with open(edges_path, "w") as f:
f.write(edges_xml)
with open(nodes_path, "w") as f:
f.write(nodes_xml)
# Generate netfile with netconvert
print(f"Generating SUMO map file: {net_path}")
proc = subprocess.Popen(
[
"netconvert",
f"--node-files={nodes_path}",
f"--edge-files={edges_path}",
f"--output-file={net_path}",
"--offset.disable-normalization",
"--no-internal-links=false",
],
stdout=subprocess.PIPE,
)
for line in io.TextIOWrapper(proc.stdout, encoding="utf-8"):
print(line.rstrip())
# Clean up intermediate files
os.remove(nodes_path)
os.remove(edges_path)
if __name__ == "__main__":
parser = argparse.ArgumentParser(
prog="gen_sumo_map.py",
description="Extracts the map information from a Waymo Motion Dataset scenario and generates a SUMO network file.",
)
parser.add_argument("file", help="TFRecord file")
parser.add_argument("id", help="ID of the scenario")
args = parser.parse_args()
map_generator = SumoMapGenerator()
map_generator.generate(args.file, args.id)