commit

src/python2/pjibot_delivery/2simulation-pjibot_delivery.py

@@ -65,19 +65,34 @@ def list_to_json_file(data, file_path):
 
 def move_xosc_before_simulation(root_path):
     try:
-        xosc_path = root_path + 'scenario_orig.xosc'
-        logging.info('仿真还原需要的 xosc 路径为：%s' % xosc_path)
-        tree1 = ET.parse(xosc_path)
-
+        xosc_src = os.path.join(root_path, 'scenario_orig.xosc')
+        xosc_target = os.path.join(root_path, 'openx0.xosc')
+        tree1 = ET.parse(xosc_src)
         root1 = tree1.getroot()
         for node0 in root1:
+            if node0.tag == 'RoadNetwork':
+                for node1 in node0:
+                    # 打印根元素的标签名
+                    if 'LogicFile' == node1.tag:
+                        xodr_src = str(node1.set('filepath'))
+                        shutil.copy(xodr_src, root_path + xodr_src.rsplit('/', 1)[-1])
+                    if 'SceneGraphFile' == node1.tag:
+                        osgb_src = str(node1.set('filepath'))
+                        shutil.copy(osgb_src, root_path + osgb_src.rsplit('/', 1)[-1])
             if node0.tag == 'Entities':
                 for node1 in node0:
                     if node1.get("name") == 'Ego':
                         for node2 in node1:
                             if node2.tag == 'Vehicle':
                                 node2.set('name', vehicle_name)
-        tree1.write(root_path + 'openx0.xosc')
+        tree1.write(xosc_target)
+        # 检查文件是否存在，以避免在文件不存在时引发异常
+        if os.path.exists(xosc_src):
+            # 删除文件
+            os.remove(xosc_src)
+            print("文件已删除:", xosc_src)
+        else:
+            print("文件不存在:", xosc_src)
 
     except Exception as e:
         logging.exception("修改xosc报错: %s" % str(e))

src/python2/pjibot_delivery/simulation-pjibot_delivery.py

@@ -16,24 +16,39 @@ xoscName = 'scenario.xosc'
 logging.basicConfig(filename=path2 + 'log/simulation.log', level=logging.INFO,
                     format='%(asctime)s - %(levelname)s - %(message)s')
 
-sleep_time = 60  # 每多少秒扫描一次
+sleep_time = 30  # 每多少秒扫描一次
 
 
 def move_xosc_before_simulation(root_path):
     try:
-        xosc_path = root_path + 'scenario_orig.xosc'
-        logging.info('仿真还原需要的 xosc 路径为：%s' % xosc_path)
-        tree1 = ET.parse(xosc_path)
-
+        xosc_src = os.path.join(root_path, 'scenario_orig.xosc')
+        xosc_target = os.path.join(root_path, 'openx0.xosc')
+        tree1 = ET.parse(xosc_src)
         root1 = tree1.getroot()
         for node0 in root1:
+            if node0.tag == 'RoadNetwork':
+                for node1 in node0:
+                    # 打印根元素的标签名
+                    if 'LogicFile' == node1.tag:
+                        xodr_src = str(node1.set('filepath'))
+                        shutil.copy(xodr_src, root_path + xodr_src.rsplit('/', 1)[-1])
+                    if 'SceneGraphFile' == node1.tag:
+                        osgb_src = str(node1.set('filepath'))
+                        shutil.copy(osgb_src, root_path + osgb_src.rsplit('/', 1)[-1])
             if node0.tag == 'Entities':
                 for node1 in node0:
                     if node1.get("name") == 'Ego':
                         for node2 in node1:
                             if node2.tag == 'Vehicle':
                                 node2.set('name', vehicle_name)
-        tree1.write(root_path + 'openx0.xosc')
+        tree1.write(xosc_target)
+        # 检查文件是否存在，以避免在文件不存在时引发异常
+        if os.path.exists(xosc_src):
+            # 删除文件
+            os.remove(xosc_src)
+            print("文件已删除:", xosc_src)
+        else:
+            print("文件不存在:", xosc_src)
 
     except Exception as e:
         logging.exception("修改xosc报错: %s" % str(e))

src/python2/pjibot_patrol/simulation-pjibot_patrol.py

@@ -23,17 +23,34 @@ sleep_time = 60  # 每多少秒扫描一次
 
 def move_xosc_before_simulation(root_path):
     try:
-        tree1 = ET.parse(root_path + 'scenario_orig.xosc')
+        xosc_src = os.path.join(root_path, 'scenario_orig.xosc')
+        xosc_target = os.path.join(root_path, 'openx0.xosc')
+        tree1 = ET.parse(xosc_src)
         root1 = tree1.getroot()
         for node0 in root1:
+            if node0.tag == 'RoadNetwork':
+                for node1 in node0:
+                    # 打印根元素的标签名
+                    if 'LogicFile' == node1.tag:
+                        xodr_src = str(node1.set('filepath'))
+                        shutil.copy(xodr_src, root_path + xodr_src.rsplit('/', 1)[-1])
+                    if 'SceneGraphFile' == node1.tag:
+                        osgb_src = str(node1.set('filepath'))
+                        shutil.copy(osgb_src, root_path + osgb_src.rsplit('/', 1)[-1])
             if node0.tag == 'Entities':
                 for node1 in node0:
                     if node1.get("name") == 'Ego':
                         for node2 in node1:
                             if node2.tag == 'Vehicle':
                                 node2.set('name', vehicle_name)
-        tree1.write(root_path + 'openx0.xosc')
-
+        tree1.write(xosc_target)
+        # 检查文件是否存在，以避免在文件不存在时引发异常
+        if os.path.exists(xosc_src):
+            # 删除文件
+            os.remove(xosc_src)
+            print("文件已删除:", xosc_src)
+        else:
+            print("文件不存在:", xosc_src)
     except Exception as e:
         logging.exception("修改xosc报错: %s" % str(e))