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load_lane_data.py
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load_lane_data.py
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from shapely.geometry import Point, Polygon
#todo when other track was selected, no autosteer avail
def load_r(lane):
with open("data\\lanes\\" + lane + ".txt") as fp:
filedata = fp.read()
filearr = filedata.split("!")
string = filearr[0]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr.append((float(splitted[0]), float(splitted[1])))
polygon1 = Polygon(new_arr)
string = filearr[1]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr2 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr2.append((float(splitted[0]), float(splitted[1])))
polygon2 = Polygon(new_arr2)
string = filearr[2]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr3 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr3.append((float(splitted[0]), float(splitted[1])))
polygon3 = Polygon(new_arr3)
string = filearr[3]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr4 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr4.append((float(splitted[0]), float(splitted[1])))
polygon4 = Polygon(new_arr4)
string = filearr[4]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr5 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr5.append((float(splitted[0]), float(splitted[1])))
polygon5 = Polygon(new_arr5)
string = filearr[5]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr6 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr6.append((float(splitted[0]), float(splitted[1])))
polygon6 = Polygon(new_arr6)
string = filearr[6]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr7 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr7.append((float(splitted[0]), float(splitted[1])))
polygon7 = Polygon(new_arr7)
return [polygon1, polygon2, polygon3, polygon4, polygon5, polygon6, polygon7]
def load_l(lane):
with open("data\\lanes\\" + lane + ".txt") as fp:
filedata = fp.read()
filearr = filedata.split("!")
string = filearr[0]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr.append((float(splitted[0]), float(splitted[1])))
polygon1l = Polygon(new_arr)
string = filearr[1]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr2 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr2.append((float(splitted[0]), float(splitted[1])))
polygon2l = Polygon(new_arr2)
string = filearr[2]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr3 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr3.append((float(splitted[0]), float(splitted[1])))
polygon3l = Polygon(new_arr3)
string = filearr[3]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr4 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr4.append((float(splitted[0]), float(splitted[1])))
polygon4l = Polygon(new_arr4)
string = filearr[4]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr5 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr5.append((float(splitted[0]), float(splitted[1])))
polygon5l = Polygon(new_arr5)
string = filearr[5]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr6 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr6.append((float(splitted[0]), float(splitted[1])))
polygon6l = Polygon(new_arr6)
string = filearr[6]
string = string.replace("(", "")
string = string.replace(" ", "")
arr = string.split("),")
new_arr7 = []
for item in arr:
splitted = item.split(",")
splitted[0] = splitted[0].replace(")", "")
splitted[1] = splitted[1].replace(")", "")
new_arr7.append((float(splitted[0]), float(splitted[1])))
polygon7l = Polygon(new_arr7)
return [polygon1l, polygon2l, polygon3l, polygon4l, polygon5l, polygon6l, polygon7l]
polygons_r = []
polygons_l = []
def load(track):
if track == "WE":
roads = ["western_hw_s", "western_hw_n", "paddock_n", "paddock_s", "north_entry_s", "north_entry_n",
"scavier_road_s", "scavier_road_n", "blackwood_main_n", "blackwood_main_s"]
roadsl = ["western_hw_sl", "western_hw_nl", "paddock_nl", "paddock_sl", "north_entry_sl", "north_entry_nl",
"scavier_road_sl", "scavier_road_nl", "blackwood_main_nl", "blackwood_main_sl"]
elif track == "BL":
roads = ["blackwood_main_n", "blackwood_main_s", "bl_loop_n", "bl_loop_s"]
roadsl = ["blackwood_main_nl", "blackwood_main_sl", "bl_loop_nl", "bl_loop_sl"]
else:
print("Error while loading tracks or track not yet supported")
for lane in roads:
polygons = load_r(lane)
polygons_r.append(polygons)
for lane in roadsl:
polygons = load_l(lane)
polygons_l.append(polygons)
return polygons_r, polygons_l