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@@ -1,334 +1,334 @@
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-package com.css.simulation.resource.scheduler.service;
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-
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-import api.common.pojo.po.scene.VehicleTypePO;
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-import api.common.pojo.vo.model.VehicleVO;
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-import api.common.util.FileUtil;
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-import api.common.util.LinuxUtil;
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-import com.css.simulation.resource.scheduler.mapper.ConfigMapper;
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-import com.css.simulation.resource.scheduler.mapper.SimulationAutomaticProjectMapper;
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-import com.css.simulation.resource.scheduler.mapper.VehicleMapper;
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-import com.css.simulation.resource.scheduler.util.MinioUtil;
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-import io.minio.MinioClient;
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-import lombok.SneakyThrows;
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-import org.dom4j.Attribute;
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-import org.dom4j.Document;
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-import org.dom4j.Element;
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-import org.dom4j.io.OutputFormat;
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-import org.dom4j.io.SAXReader;
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-import org.dom4j.io.XMLWriter;
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-import org.springframework.beans.factory.annotation.Value;
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-import org.springframework.stereotype.Service;
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-
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-import javax.annotation.Resource;
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-import java.io.File;
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-import java.io.OutputStreamWriter;
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-import java.io.Writer;
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-import java.math.BigDecimal;
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-import java.nio.file.Files;
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-import java.nio.file.Paths;
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-import java.util.Iterator;
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-
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-@Service
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-public class VideoService {
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- @Resource
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- VehicleMapper vehicleMapper;
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- @Resource
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- ConfigMapper configMapper;
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- @Resource
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- SimulationAutomaticProjectMapper simulationAutomaticProjectMapper;
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- @Resource
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- MinioClient minioClient;
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-
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-
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- //* -------------------------------- Comment --------------------------------
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-
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- public static final String oldXoscName = "simulation_my0.xosc";
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- public static final String newXoscName = "simulation_my05.xosc";
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- public static final String oldXoscRelativePath = "xosc/simulation_my0.xosc";
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- public static final String[] csvNameArray = {"Ego.csv", "evaluation.csv"};
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-
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- //* -------------------------------- Comment --------------------------------
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- @Value("${scheduler.linux-path.temp}")
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- String linuxTempPath;
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- @Value("${scheduler.minio-path.project-result}")
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- String projectResultPathOfMinio;
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- @Value("${minio.bucket-name}")
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- String bucketName;
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-
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-
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- /**
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- * 生成视频
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- */
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- @SneakyThrows
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- public void generateVideo(String projectId, String projectType, String taskId) {
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- //1 获取两个 csv 的目录，和 xodr 和 osgb 三个路径
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- String csvDirectoryPath = linuxTempPath + "video/" + projectId + "/" + taskId + "/";
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- String xodrPath = FileUtil.listAbsolutePathByFiletype(csvDirectoryPath, ".xodr").get(0); // xodr 文件在创建项目时已经下载好了
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- String osgbPath = FileUtil.listAbsolutePathByFiletype(csvDirectoryPath, ".osgb").get(0); // osgb 文件在创建项目时已经下载好了
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- //2 下载 csv 文件
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- for (String csvName : csvNameArray) {
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- MinioUtil.downloadToFile(minioClient, bucketName, projectResultPathOfMinio + projectId + "/" + taskId + "/" + csvName, csvDirectoryPath + "/" + csvName);
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- }
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- //3 生成 xosc 文件
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- String xoscPath = generateXosc(csvDirectoryPath, xodrPath, osgbPath, projectId, projectType);
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- //4 生成图片
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- String pictureDirectoryPath = csvDirectoryPath + "picture";
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- FileUtil.createDirectory(pictureDirectoryPath);
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- String esminiCommand = "/root/disk1/simulation-cloud/esmini/build/EnvironmentSimulator/code-examples/image-capture/image-capture "
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- + xoscPath + " " + pictureDirectoryPath + "/screenshot";
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- String esminiResult = LinuxUtil.execute(esminiCommand);
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- //5 生成视频
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- String videoName = "simulation_output.mp4";
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- String videoTargetPathOfLinux = csvDirectoryPath + "video";
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- FileUtil.createDirectory(videoTargetPathOfLinux);
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- String videoTargetPathOfMinio = projectResultPathOfMinio + projectId + "/" + taskId + "/" + videoName;
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-
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- String execute = LinuxUtil.execute("ffmpeg"
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- + " -f image2 -framerate 30 "
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- + " -i " + pictureDirectoryPath + "/screenshot_%05d.tga"
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- + " -c:v libx264 -vf format=yuv420p -crf 20 "
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- + videoTargetPathOfLinux + "/" + videoName
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- );
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- //6 将视频上传到 minio
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- MinioUtil.uploadFromFile(minioClient, videoTargetPathOfLinux + videoName, bucketName, videoTargetPathOfMinio);
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- }
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-
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- /**
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- * Xosc
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- */
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- @SneakyThrows
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- private String generateXosc(String csvDirectoryPath, String xodrPath, String osgbPath, String projectId, String projectType) {
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- //1 生成 xosc 文件
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- String command = "D:\\Users\\anaconda3\\envs\\flaskProject\\python.exe C:/Users/CSS/Desktop/simulation/gqSw/simulation_my.py " + csvDirectoryPath;
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- String execute = LinuxUtil.execute(command); // 执行命令后生成 xosc 到目录下
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- String oldXoscPath = csvDirectoryPath + oldXoscRelativePath; // 生成文件的路径是固定的
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- //2 调用修改xosc
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- return modifyXosc(oldXoscPath, xodrPath, osgbPath, projectId, projectType); // 返回最新的xosc文件全路径
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- }
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-
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-
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- /**
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- * 修改 xosc 文件
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- */
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- @SneakyThrows
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- private String modifyXosc(String oldXoscPath, String xodrPath, String osgbPath, String projectId, String projectType) {
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- String newXoscPath = oldXoscPath.replace(oldXoscName, newXoscName);
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- //获取三维自车对象
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- VehicleTypePO po = vehicleById(projectId, projectType);
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-
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- //1 创建Reader对象
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- SAXReader reader = new SAXReader();
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- //2 加载xml
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- // Document document = reader.read(new File("D:\\simulation_my0.xosc"));
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- Document document = reader.read(new File(oldXoscPath));
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- //3 获取根节点
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- Element root = document.getRootElement();
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- Iterator<Element> iterator0 = root.elementIterator();
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- while (iterator0.hasNext()) { // 第一层遍历
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- Element node1 = iterator0.next();
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- if ("Entities".equals(node1.getName())) { // 找到第一层节点后进入第二层遍历
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- Iterator<Element> iterator1 = node1.elementIterator();
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- while (iterator1.hasNext()) {
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- Element node2 = iterator1.next();
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- // 添加节点
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- if ("ScenarioObject".equals(node2.getName())) {
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- String scenarioObjectName = node2.attribute("name").getValue();
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- if (scenarioObjectName.equals("Ego")) {
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- Iterator<Element> iterator2 = node2.elementIterator();
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- while (iterator2.hasNext()) {
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- Element node3 = iterator2.next();
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- if ("Vehicle".equals(node3.getName())) {
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- Attribute name = node3.attribute("name");
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- name.setText("Audi_A3_2009_red");
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- Attribute vehicleCategory = node3.attribute("vehicleCategory");
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- vehicleCategory.setText(po.getVehicleCategory());
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- node3.addAttribute("model3d",po.getModel3d());//自车渲染
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- Iterator<Element> iterator4 = node3.elementIterator();
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- while (iterator4.hasNext()) {
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- Element node4 = iterator4.next();
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- if ("Performance".equals(node4.getName())) {
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- Attribute maxSpeed = node4.attribute("maxSpeed");
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- maxSpeed.setText(po.getPerformanceMaxSpeed() + "");
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- Attribute maxDeceleration = node4.attribute("maxDeceleration");
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- maxDeceleration.setText(po.getPerformanceMaxDeceleration() + "");
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- Attribute maxAcceleration = node4.attribute("maxAcceleration");
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- maxAcceleration.setText(po.getPerformanceMaxAcceleration());
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- } else if ("BoundingBox".equals(node4.getName())) {
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- Iterator<Element> iterator5 = node4.elementIterator();
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- while (iterator5.hasNext()) {
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- Element node5 = iterator5.next();
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- if ("Center".equals(node5.getName())) {
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- Attribute x = node5.attribute("x");
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- x.setText(po.getCenterX() + "");
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- Attribute y = node5.attribute("y");
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- y.setText(po.getCenterY() + "");
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- Attribute z = node5.attribute("z");
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- z.setText(po.getCenterZ() + "");
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- }
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- if ("Dimensions".equals(node5.getName())) {
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- Attribute width = node5.attribute("width");
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- width.setText(po.getDimensionsWidth() + "");
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- Attribute length = node5.attribute("length");
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- length.setText(po.getDimensionsHeight() + "");
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- Attribute height = node5.attribute("height");
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- height.setText(po.getDimensionsHeight() + "");
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- }
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- }
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- } else if ("Axles".equals(node4.getName())) {
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- Iterator<Element> iterator5 = node4.elementIterator();
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- while (iterator5.hasNext()) {
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- Element node5 = iterator5.next();
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- if ("FrontAxle".equals(node5.getName())) {
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- Attribute maxSteering = node5.attribute("maxSteering");
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- maxSteering.setText(po.getFrontAxleMaxSteering() + "");
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- Attribute wheelDiameter = node5.attribute("wheelDiameter");
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- wheelDiameter.setText(po.getFrontAxleWheelDiameter() + "");
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- Attribute trackWidth = node5.attribute("trackWidth");
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- trackWidth.setText(po.getFrontAxleTrackWidth() + "");
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- Attribute positionX = node5.attribute("positionX");
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- positionX.setText(po.getFrontAxlePositionX() + "");
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- Attribute positionZ = node5.attribute("positionZ");
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- positionZ.setText(po.getFrontAxlePositionZ() + "");
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- }
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- if ("RearAxle".equals(node5.getName())) {
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- Attribute maxSteering = node5.attribute("maxSteering");
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- maxSteering.setText(po.getRearAxleMaxSteering());
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- Attribute wheelDiameter = node5.attribute("wheelDiameter");
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- wheelDiameter.setText(po.getRearAxleWheelDiameter() + "");
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- Attribute trackWidth = node5.attribute("trackWidth");
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- trackWidth.setText(po.getRearAxleTrackWidth() + "");
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- Attribute positionX = node5.attribute("positionX");
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- positionX.setText(po.getRearAxlePositionX() + "");
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- Attribute positionZ = node5.attribute("positionZ");
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- positionZ.setText(po.getRearAxlePositionZ() + "");
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- }
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- }
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- }
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-
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- }
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- }
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-
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- }
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-
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- // 保存文件
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- // Writer osWrite = new OutputStreamWriter(Files.newOutputStream(Paths.get("D:\\simulation_my0000.xosc")));// 创建输出流
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-
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- }
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- }
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- }
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- }
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-
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- if ("RoadNetwork".equals(node1.getName())) { // 找到第一层节点后进入第二层遍历
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- Iterator<Element> iterator1 = node1.elementIterator();
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- while (iterator1.hasNext()) {
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- Element node2 = iterator1.next();
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- // 添加节点
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- if ("LogicFile".equals(node2.getName())) {
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- Attribute name = node2.attribute("filepath");
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- name.setText(xodrPath);
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- }
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- if ("SceneGraphFile".equals(node2.getName())) {
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- Attribute name = node2.attribute("filepath");
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- name.setText(osgbPath);
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- }
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- }
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- }
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-
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- Writer osWrite = new OutputStreamWriter(Files.newOutputStream(Paths.get(newXoscPath)));
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- OutputFormat format = OutputFormat.createPrettyPrint(); // 获取输出的指定格式
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- format.setEncoding("UTF-8");// 设置编码 ，确保解析的xml为UTF-8格式
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- XMLWriter writer = new XMLWriter(osWrite, format);// XMLWriter
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- writer.write(document);// 把document写入xmlFile指定的文件(可以为被解析的文件或者新创建的文件)
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- writer.flush();
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- writer.close();
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- }
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- return newXoscPath;
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- }
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-
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-
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- //获取三维自车对象
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- @SneakyThrows
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- private VehicleTypePO vehicleById(String projectId, String projectType) {
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- VehicleTypePO po = new VehicleTypePO();
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- //项目类型 1.手动；2.自动
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- String vehicle = "";
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- if (projectType.equals("1")) {
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- vehicle = simulationAutomaticProjectMapper.vehicleBySdId(projectId);
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- } else if (projectType.equals("2")) {
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- vehicle = simulationAutomaticProjectMapper.vehicleByZdId(projectId);
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- }
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- String vehicleId = configMapper.getVehicleId(vehicle);
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-
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- VehicleVO vehicleInfo = vehicleMapper.getVehicleInfo(vehicleId);
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-
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- //自车模型
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- String car = vehicleInfo.getVehicleTypeStr().substring(0, vehicleInfo.getVehicleTypeStr().indexOf(","));
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- car = car.substring(0, 1).toLowerCase() + car.substring(1);
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- if (car.contains("truck")) {
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- po.setVehicleCategory("truck");
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- } else if (car.contains("trailer")) {
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- po.setVehicleCategory("trailer");
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- } else if (car.contains("van")) {
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- po.setVehicleCategory("van");
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- } else if (car.contains("semitrailer")) {
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- po.setVehicleCategory("semitrailer");
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- } else if (car.contains("bus")) {
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- po.setVehicleCategory("bus");
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- } else if (car.contains("motorbike")) {
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- po.setVehicleCategory("motorbike");
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- } else if (car.contains("bicycle")) {
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- po.setVehicleCategory("bicycle");
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- } else if (car.contains("bicycle")) {
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- po.setVehicleCategory("bicycle");
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- } else if (car.contains("train")) {
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- po.setVehicleCategory("train");
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- } else if (car.contains("tram")) {
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- po.setVehicleCategory("tram");
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- } else {
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- po.setVehicleCategory("car");
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- }
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-
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- //车前距
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- BigDecimal frontDistance = vehicleInfo.getFrontDistance();
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- //车后距
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- BigDecimal mo2 = new BigDecimal("2");
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- BigDecimal rearDistance = vehicleInfo.getRearDistance();
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- if (frontDistance.compareTo(rearDistance) > 0) {
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- BigDecimal CenterX = (frontDistance.add(rearDistance)).divide(mo2).subtract(rearDistance);
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- po.setCenterX(CenterX);
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- } else {
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- BigDecimal CenterX = (frontDistance.add(rearDistance)).divide(mo2).subtract(frontDistance);
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- po.setCenterX(CenterX);
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- }
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- //车高
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- BigDecimal mo3 = new BigDecimal("3");
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- po.setCenterZ(vehicleInfo.getHeightDistance().divide(mo3));
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- //车左距 车右距
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- BigDecimal LeftDistance = vehicleInfo.getLeftDistance();
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- BigDecimal RightDistance = vehicleInfo.getRightDistance();
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- po.setDimensionsWidth(LeftDistance.add(RightDistance));
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- po.setDimensionsHeight(vehicleInfo.getHeightDistance());
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- po.setDimensionsLength(frontDistance.add(rearDistance));
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-
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- po.setPerformanceMaxSpeed(vehicleInfo.getMaxSpeed());
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- po.setPerformanceMaxDeceleration(vehicleInfo.getMaxDeceleration());
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- BigDecimal moπ = new BigDecimal("3.141516");
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- BigDecimal mo180 = new BigDecimal("180");
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- po.setFrontAxleMaxSteering(vehicleInfo.getMaxSteeringAngle().multiply(moπ).divide(mo180));
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- po.setFrontAxleWheelDiameter(vehicleInfo.getWheelDiameter());
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- BigDecimal mo4 = new BigDecimal("4");
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- BigDecimal mo5 = new BigDecimal("5");
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- po.setFrontAxleTrackWidth(LeftDistance.add(RightDistance).multiply(mo4).divide(mo5));
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- po.setFrontAxlePositionX(po.getCenterX());
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- po.setFrontAxlePositionZ(po.getCenterZ());
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-
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- po.setRearAxleWheelDiameter(vehicleInfo.getWheelDiameter());
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- po.setRearAxleTrackWidth(po.getFrontAxleTrackWidth());
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- po.setRearAxlePositionX(po.getFrontAxlePositionX());
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- po.setRearAxlePositionZ(po.getFrontAxlePositionZ());
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- return po;
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-
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- }
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-
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-
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-}
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+//package com.css.simulation.resource.scheduler.service;
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+//
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+//import api.common.pojo.po.scene.VehicleTypePO;
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+//import api.common.pojo.vo.model.VehicleVO;
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+//import api.common.util.FileUtil;
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+//import api.common.util.LinuxUtil;
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+//import com.css.simulation.resource.scheduler.mapper.ConfigMapper;
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+//import com.css.simulation.resource.scheduler.mapper.SimulationAutomaticProjectMapper;
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+//import com.css.simulation.resource.scheduler.mapper.VehicleMapper;
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+//import com.css.simulation.resource.scheduler.util.MinioUtil;
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+//import io.minio.MinioClient;
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+//import lombok.SneakyThrows;
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+//import org.dom4j.Attribute;
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+//import org.dom4j.Document;
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+//import org.dom4j.Element;
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+//import org.dom4j.io.OutputFormat;
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+//import org.dom4j.io.SAXReader;
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+//import org.dom4j.io.XMLWriter;
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+//import org.springframework.beans.factory.annotation.Value;
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+//import org.springframework.stereotype.Service;
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+//
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+//import javax.annotation.Resource;
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+//import java.io.File;
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+//import java.io.OutputStreamWriter;
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+//import java.io.Writer;
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+//import java.math.BigDecimal;
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+//import java.nio.file.Files;
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+//import java.nio.file.Paths;
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+//import java.util.Iterator;
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+//
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+//@Service
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+//public class VideoService {
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+// @Resource
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+// VehicleMapper vehicleMapper;
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+// @Resource
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+// ConfigMapper configMapper;
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+// @Resource
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+// SimulationAutomaticProjectMapper simulationAutomaticProjectMapper;
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+// @Resource
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+// MinioClient minioClient;
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+//
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+//
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+// //* -------------------------------- Comment --------------------------------
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+//
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+// public static final String oldXoscName = "simulation_my0.xosc";
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+// public static final String newXoscName = "simulation_my05.xosc";
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+// public static final String oldXoscRelativePath = "xosc/simulation_my0.xosc";
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+// public static final String[] csvNameArray = {"Ego.csv", "evaluation.csv"};
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+//
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+// //* -------------------------------- Comment --------------------------------
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+// @Value("${scheduler.linux-path.temp}")
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+// String linuxTempPath;
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+// @Value("${scheduler.minio-path.project-result}")
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+// String projectResultPathOfMinio;
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+// @Value("${minio.bucket-name}")
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+// String bucketName;
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+//
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+//
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+// /**
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+// * 生成视频
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+// */
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+// @SneakyThrows
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+// public void generateVideo(String projectId, String projectType, String taskId) {
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+// //1 获取两个 csv 的目录，和 xodr 和 osgb 三个路径
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+// String csvDirectoryPath = linuxTempPath + "video/" + projectId + "/" + taskId + "/";
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+// String xodrPath = FileUtil.listAbsolutePathByFiletype(csvDirectoryPath, ".xodr").get(0); // xodr 文件在创建项目时已经下载好了
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+// String osgbPath = FileUtil.listAbsolutePathByFiletype(csvDirectoryPath, ".osgb").get(0); // osgb 文件在创建项目时已经下载好了
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+// //2 下载 csv 文件
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+// for (String csvName : csvNameArray) {
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+// MinioUtil.downloadToFile(minioClient, bucketName, projectResultPathOfMinio + projectId + "/" + taskId + "/" + csvName, csvDirectoryPath + "/" + csvName);
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+// }
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+// //3 生成 xosc 文件
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+// String xoscPath = generateXosc(csvDirectoryPath, xodrPath, osgbPath, projectId, projectType);
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+// //4 生成图片
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+// String pictureDirectoryPath = csvDirectoryPath + "picture";
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+// FileUtil.createDirectory(pictureDirectoryPath);
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+// String esminiCommand = "/root/disk1/simulation-cloud/esmini/build/EnvironmentSimulator/code-examples/image-capture/image-capture "
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+// + xoscPath + " " + pictureDirectoryPath + "/screenshot";
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+// String esminiResult = LinuxUtil.execute(esminiCommand);
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+// //5 生成视频
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+// String videoName = "simulation_output.mp4";
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+// String videoTargetPathOfLinux = csvDirectoryPath + "video";
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+// FileUtil.createDirectory(videoTargetPathOfLinux);
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+// String videoTargetPathOfMinio = projectResultPathOfMinio + projectId + "/" + taskId + "/" + videoName;
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+//
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+// String execute = LinuxUtil.execute("ffmpeg"
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+// + " -f image2 -framerate 30 "
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+// + " -i " + pictureDirectoryPath + "/screenshot_%05d.tga"
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+// + " -c:v libx264 -vf format=yuv420p -crf 20 "
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+// + videoTargetPathOfLinux + "/" + videoName
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+// );
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+// //6 将视频上传到 minio
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+// MinioUtil.uploadFromFile(minioClient, videoTargetPathOfLinux + videoName, bucketName, videoTargetPathOfMinio);
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+// }
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+//
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+// /**
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+// * Xosc
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+// */
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+// @SneakyThrows
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+// private String generateXosc(String csvDirectoryPath, String xodrPath, String osgbPath, String projectId, String projectType) {
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+// //1 生成 xosc 文件
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+// String command = "D:\\Users\\anaconda3\\envs\\flaskProject\\python.exe C:/Users/CSS/Desktop/simulation/gqSw/simulation_my.py " + csvDirectoryPath;
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+// String execute = LinuxUtil.execute(command); // 执行命令后生成 xosc 到目录下
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+// String oldXoscPath = csvDirectoryPath + oldXoscRelativePath; // 生成文件的路径是固定的
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+// //2 调用修改xosc
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+// return modifyXosc(oldXoscPath, xodrPath, osgbPath, projectId, projectType); // 返回最新的xosc文件全路径
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+// }
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+//
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+//
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+// /**
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+// * 修改 xosc 文件
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+// */
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+// @SneakyThrows
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+// private String modifyXosc(String oldXoscPath, String xodrPath, String osgbPath, String projectId, String projectType) {
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+// String newXoscPath = oldXoscPath.replace(oldXoscName, newXoscName);
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+// //获取三维自车对象
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+// VehicleTypePO po = vehicleById(projectId, projectType);
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+//
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+// //1 创建Reader对象
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+// SAXReader reader = new SAXReader();
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+// //2 加载xml
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+// // Document document = reader.read(new File("D:\\simulation_my0.xosc"));
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+// Document document = reader.read(new File(oldXoscPath));
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+// //3 获取根节点
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+// Element root = document.getRootElement();
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+// Iterator<Element> iterator0 = root.elementIterator();
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+// while (iterator0.hasNext()) { // 第一层遍历
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+// Element node1 = iterator0.next();
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+// if ("Entities".equals(node1.getName())) { // 找到第一层节点后进入第二层遍历
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+// Iterator<Element> iterator1 = node1.elementIterator();
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+// while (iterator1.hasNext()) {
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+// Element node2 = iterator1.next();
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+// // 添加节点
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+// if ("ScenarioObject".equals(node2.getName())) {
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+// String scenarioObjectName = node2.attribute("name").getValue();
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+// if (scenarioObjectName.equals("Ego")) {
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+// Iterator<Element> iterator2 = node2.elementIterator();
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+// while (iterator2.hasNext()) {
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+// Element node3 = iterator2.next();
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+// if ("Vehicle".equals(node3.getName())) {
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+// Attribute name = node3.attribute("name");
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+// name.setText("Audi_A3_2009_red");
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+// Attribute vehicleCategory = node3.attribute("vehicleCategory");
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+// vehicleCategory.setText(po.getVehicleCategory());
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+// node3.addAttribute("model3d",po.getModel3d());//自车渲染
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+// Iterator<Element> iterator4 = node3.elementIterator();
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+// while (iterator4.hasNext()) {
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+// Element node4 = iterator4.next();
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+// if ("Performance".equals(node4.getName())) {
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+// Attribute maxSpeed = node4.attribute("maxSpeed");
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+// maxSpeed.setText(po.getPerformanceMaxSpeed() + "");
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+// Attribute maxDeceleration = node4.attribute("maxDeceleration");
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+// maxDeceleration.setText(po.getPerformanceMaxDeceleration() + "");
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+// Attribute maxAcceleration = node4.attribute("maxAcceleration");
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+// maxAcceleration.setText(po.getPerformanceMaxAcceleration());
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+// } else if ("BoundingBox".equals(node4.getName())) {
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+// Iterator<Element> iterator5 = node4.elementIterator();
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+// while (iterator5.hasNext()) {
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+// Element node5 = iterator5.next();
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+// if ("Center".equals(node5.getName())) {
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+// Attribute x = node5.attribute("x");
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+// x.setText(po.getCenterX() + "");
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+// Attribute y = node5.attribute("y");
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+// y.setText(po.getCenterY() + "");
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+// Attribute z = node5.attribute("z");
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+// z.setText(po.getCenterZ() + "");
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+// }
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+// if ("Dimensions".equals(node5.getName())) {
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+// Attribute width = node5.attribute("width");
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+// width.setText(po.getDimensionsWidth() + "");
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+// Attribute length = node5.attribute("length");
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+// length.setText(po.getDimensionsHeight() + "");
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+// Attribute height = node5.attribute("height");
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+// height.setText(po.getDimensionsHeight() + "");
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+// }
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+// }
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+// } else if ("Axles".equals(node4.getName())) {
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+// Iterator<Element> iterator5 = node4.elementIterator();
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+// while (iterator5.hasNext()) {
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+// Element node5 = iterator5.next();
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+// if ("FrontAxle".equals(node5.getName())) {
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+// Attribute maxSteering = node5.attribute("maxSteering");
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+// maxSteering.setText(po.getFrontAxleMaxSteering() + "");
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+// Attribute wheelDiameter = node5.attribute("wheelDiameter");
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+// wheelDiameter.setText(po.getFrontAxleWheelDiameter() + "");
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+// Attribute trackWidth = node5.attribute("trackWidth");
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+// trackWidth.setText(po.getFrontAxleTrackWidth() + "");
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+// Attribute positionX = node5.attribute("positionX");
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+// positionX.setText(po.getFrontAxlePositionX() + "");
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+// Attribute positionZ = node5.attribute("positionZ");
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+// positionZ.setText(po.getFrontAxlePositionZ() + "");
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+// }
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+// if ("RearAxle".equals(node5.getName())) {
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+// Attribute maxSteering = node5.attribute("maxSteering");
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+// maxSteering.setText(po.getRearAxleMaxSteering());
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+// Attribute wheelDiameter = node5.attribute("wheelDiameter");
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+// wheelDiameter.setText(po.getRearAxleWheelDiameter() + "");
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+// Attribute trackWidth = node5.attribute("trackWidth");
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+// trackWidth.setText(po.getRearAxleTrackWidth() + "");
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+// Attribute positionX = node5.attribute("positionX");
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+// positionX.setText(po.getRearAxlePositionX() + "");
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+// Attribute positionZ = node5.attribute("positionZ");
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+// positionZ.setText(po.getRearAxlePositionZ() + "");
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+// }
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+// }
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+// }
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+//
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+// }
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+// }
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+//
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+// }
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+//
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+// // 保存文件
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+// // Writer osWrite = new OutputStreamWriter(Files.newOutputStream(Paths.get("D:\\simulation_my0000.xosc")));// 创建输出流
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+//
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+// }
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+// }
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+// }
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+// }
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+//
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+// if ("RoadNetwork".equals(node1.getName())) { // 找到第一层节点后进入第二层遍历
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+// Iterator<Element> iterator1 = node1.elementIterator();
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+// while (iterator1.hasNext()) {
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+// Element node2 = iterator1.next();
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+// // 添加节点
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+// if ("LogicFile".equals(node2.getName())) {
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+// Attribute name = node2.attribute("filepath");
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+// name.setText(xodrPath);
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+// }
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+// if ("SceneGraphFile".equals(node2.getName())) {
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+// Attribute name = node2.attribute("filepath");
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+// name.setText(osgbPath);
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+// }
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+// }
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+// }
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+//
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+// Writer osWrite = new OutputStreamWriter(Files.newOutputStream(Paths.get(newXoscPath)));
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+// OutputFormat format = OutputFormat.createPrettyPrint(); // 获取输出的指定格式
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+// format.setEncoding("UTF-8");// 设置编码 ，确保解析的xml为UTF-8格式
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+// XMLWriter writer = new XMLWriter(osWrite, format);// XMLWriter
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+// writer.write(document);// 把document写入xmlFile指定的文件(可以为被解析的文件或者新创建的文件)
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+// writer.flush();
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+// writer.close();
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+// }
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+// return newXoscPath;
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+// }
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+//
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+//
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+// //获取三维自车对象
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+// @SneakyThrows
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+// private VehicleTypePO vehicleById(String projectId, String projectType) {
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+// VehicleTypePO po = new VehicleTypePO();
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+// //项目类型 1.手动；2.自动
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+// String vehicle = "";
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+// if (projectType.equals("1")) {
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+// vehicle = simulationAutomaticProjectMapper.vehicleBySdId(projectId);
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+// } else if (projectType.equals("2")) {
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+// vehicle = simulationAutomaticProjectMapper.vehicleByZdId(projectId);
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+// }
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+// String vehicleId = configMapper.getVehicleId(vehicle);
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+//
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+// VehicleVO vehicleInfo = vehicleMapper.getVehicleInfo(vehicleId);
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+//
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+// //自车模型
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+// String car = vehicleInfo.getVehicleTypeStr().substring(0, vehicleInfo.getVehicleTypeStr().indexOf(","));
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+// car = car.substring(0, 1).toLowerCase() + car.substring(1);
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+// if (car.contains("truck")) {
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+// po.setVehicleCategory("truck");
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+// } else if (car.contains("trailer")) {
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+// po.setVehicleCategory("trailer");
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+// } else if (car.contains("van")) {
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+// po.setVehicleCategory("van");
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+// } else if (car.contains("semitrailer")) {
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+// po.setVehicleCategory("semitrailer");
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+// } else if (car.contains("bus")) {
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+// po.setVehicleCategory("bus");
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+// } else if (car.contains("motorbike")) {
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+// po.setVehicleCategory("motorbike");
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+// } else if (car.contains("bicycle")) {
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+// po.setVehicleCategory("bicycle");
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+// } else if (car.contains("bicycle")) {
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+// po.setVehicleCategory("bicycle");
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+// } else if (car.contains("train")) {
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+// po.setVehicleCategory("train");
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+// } else if (car.contains("tram")) {
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+// po.setVehicleCategory("tram");
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+// } else {
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+// po.setVehicleCategory("car");
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+// }
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+//
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+// //车前距
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+// BigDecimal frontDistance = vehicleInfo.getFrontDistance();
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+// //车后距
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+// BigDecimal mo2 = new BigDecimal("2");
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+// BigDecimal rearDistance = vehicleInfo.getRearDistance();
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+// if (frontDistance.compareTo(rearDistance) > 0) {
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+// BigDecimal CenterX = (frontDistance.add(rearDistance)).divide(mo2).subtract(rearDistance);
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+// po.setCenterX(CenterX);
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+// } else {
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+// BigDecimal CenterX = (frontDistance.add(rearDistance)).divide(mo2).subtract(frontDistance);
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+// po.setCenterX(CenterX);
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+// }
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+// //车高
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+// BigDecimal mo3 = new BigDecimal("3");
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+// po.setCenterZ(vehicleInfo.getHeightDistance().divide(mo3));
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+// //车左距 车右距
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+// BigDecimal LeftDistance = vehicleInfo.getLeftDistance();
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+// BigDecimal RightDistance = vehicleInfo.getRightDistance();
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+// po.setDimensionsWidth(LeftDistance.add(RightDistance));
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+// po.setDimensionsHeight(vehicleInfo.getHeightDistance());
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+// po.setDimensionsLength(frontDistance.add(rearDistance));
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+//
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+// po.setPerformanceMaxSpeed(vehicleInfo.getMaxSpeed());
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+// po.setPerformanceMaxDeceleration(vehicleInfo.getMaxDeceleration());
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+// BigDecimal moπ = new BigDecimal("3.141516");
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+// BigDecimal mo180 = new BigDecimal("180");
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+// po.setFrontAxleMaxSteering(vehicleInfo.getMaxSteeringAngle().multiply(moπ).divide(mo180));
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+// po.setFrontAxleWheelDiameter(vehicleInfo.getWheelDiameter());
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+// BigDecimal mo4 = new BigDecimal("4");
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+// BigDecimal mo5 = new BigDecimal("5");
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+// po.setFrontAxleTrackWidth(LeftDistance.add(RightDistance).multiply(mo4).divide(mo5));
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+// po.setFrontAxlePositionX(po.getCenterX());
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+// po.setFrontAxlePositionZ(po.getCenterZ());
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+//
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+// po.setRearAxleWheelDiameter(vehicleInfo.getWheelDiameter());
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+// po.setRearAxleTrackWidth(po.getFrontAxleTrackWidth());
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+// po.setRearAxlePositionX(po.getFrontAxlePositionX());
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+// po.setRearAxlePositionZ(po.getFrontAxlePositionZ());
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+// return po;
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+//
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+// }
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+//
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+//
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+//}
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root