生成视频

simulation-resource-scheduler/src/main/java/com/css/simulation/resource/scheduler/consumer/ProjectConsumer.java

@@ -27,8 +27,7 @@ import java.util.*;
 @Slf4j
 public class ProjectConsumer {
 
-    @Value("${scheduler.minio-path.project-result}")
-    String resultPathMinio;
+
     @Value("${scheduler.host.hostname}")
     String hostname;
     @Value("${scheduler.host.username}")

simulation-resource-scheduler/src/main/java/com/css/simulation/resource/scheduler/manager/TaskManager.java

@@ -13,6 +13,7 @@ import com.css.simulation.resource.scheduler.pojo.po.ProjectPO;
 import com.css.simulation.resource.scheduler.pojo.po.TaskPO;
 import com.css.simulation.resource.scheduler.pojo.to.PrefixTO;
 import com.css.simulation.resource.scheduler.pojo.to.ScoreTO;
+import com.css.simulation.resource.scheduler.service.VideoService;
 import com.css.simulation.resource.scheduler.util.MinioUtil;
 import com.css.simulation.resource.scheduler.util.ProjectUtil;
 import com.css.simulation.resource.scheduler.util.RedisUtil;
@@ -86,10 +87,12 @@ public class TaskManager {
     RequestConfig requestConfig;
     @Resource
     ProjectUtil projectUtil;
+    @Resource
+    VideoService videoService;
 
     @SneakyThrows
     @Transactional
-    public boolean isProjectCompleted(PrefixTO redisPrefix, String projectId, String taskId, String state, String podName) {
+    public boolean isProjectCompleted(PrefixTO redisPrefix, String projectId,String projectType, String taskId, String state, String podName) {
         String nodeName = projectUtil.getNodeNameOfPod(podName);
         if ("Running".equals(state)) {  // 运行中的 pod 无需删除
             // 将运行中的任务的 pod 名称放入 redis
@@ -130,18 +133,7 @@ public class TaskManager {
                 } else if ("PendingAnalysis".equals(state)) {
                     taskMapper.updateSuccessStateWithStopTime(taskId, state, TimeUtil.getNowForMysql());
                     // 创建视频和生成
-                    //1 获取两个 csv 的目录，和 xodr 和 osgb 三个路径
-                    String csvDirectory = linuxTempPath + "video/" + projectId + "/" + taskId + "/";
-                    String xodrPath = FileUtil.listAbsolutePathByFiletype(csvDirectory, ".xodr").get(0);
-                    String osgbPath = FileUtil.listAbsolutePathByFiletype(csvDirectory, ".osgb").get(0);
-                    String xoscPath = "";
-//                    generateService.generateXosc;
-                    //2 根据获得的 xoscPath 调用 linux 命令生成视频
-                    String cmd = LinuxUtil.execute("cmd");
-                    // 根据 task 对应的场景的 xodr 文件
-                    //2 输入到工具类中获取到图片
-                    //3 将图片生成视频
-                    //3 将视频上传到 minio
+                    videoService.generateVideo(projectId,projectType,taskId);
                 }
                 // -------------------------------- 判断项目是否结束 --------------------------------
                 ProjectMessageDTO projectMessageDTO = JsonUtil.jsonToBean(stringRedisTemplate.opsForValue().get(redisPrefix.getProjectRunningKey()), ProjectMessageDTO.class);

simulation-resource-scheduler/src/main/java/com/css/simulation/resource/scheduler/mapper/ConfigMapper.java

@@ -1,20 +1,10 @@
 package com.css.simulation.resource.scheduler.mapper;
 
 
-import api.common.pojo.param.model.ConfigPageParam;
-import api.common.pojo.po.model.ConfigPO;
-import api.common.pojo.po.model.ConfigSensorPO;
-import api.common.pojo.vo.model.ConfigSensorVO;
-import api.common.pojo.vo.model.ConfigVO;
 import org.apache.ibatis.annotations.Mapper;
-import org.apache.ibatis.annotations.Param;
 import org.apache.ibatis.annotations.Select;
-import org.springframework.stereotype.Repository;
-
-import java.util.List;
 
 @Mapper
-@Repository
 public interface ConfigMapper {
     @Select("select vehicle_id vehicleId\n" +
             "from model_config\n" +

simulation-resource-scheduler/src/main/java/com/css/simulation/resource/scheduler/mapper/SimulationAutomaticProjectMapper.java

@@ -3,10 +3,8 @@ package com.css.simulation.resource.scheduler.mapper;
 
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Select;
-import org.springframework.stereotype.Repository;
 
 @Mapper
-@Repository
 public interface SimulationAutomaticProjectMapper {
      @Select("select vehicle\n" +
              "from simulation_manual_project\n" +

simulation-resource-scheduler/src/main/java/com/css/simulation/resource/scheduler/mapper/VehicleMapper.java

@@ -4,6 +4,7 @@ import api.common.pojo.vo.model.VehicleVO;
 import com.css.simulation.resource.scheduler.pojo.po.VehiclePO;
 import org.apache.ibatis.annotations.*;
 import org.apache.ibatis.type.JdbcType;
+import org.springframework.stereotype.Component;
 
 @Mapper
 public interface VehicleMapper {

simulation-resource-scheduler/src/main/java/com/css/simulation/resource/scheduler/service/TaskService.java

@@ -48,7 +48,7 @@ public class TaskService {
         String userId = taskPO.getCreateUserId();   // 用户 id
         PrefixTO redisPrefix = projectUtil.getRedisPrefixByUserIdAndProjectIdAndTaskId(userId, projectId, taskId);  // 项目前缀
         //1 判断项目是否已完成
-        boolean projectCompleted = taskManager.isProjectCompleted(redisPrefix, projectId, taskId, state, podName);
+        boolean projectCompleted = taskManager.isProjectCompleted(redisPrefix, projectId,projectType, taskId, state, podName);
         if (!projectCompleted) {
             return;
         }

simulation-resource-scheduler/src/main/java/com/css/simulation/resource/scheduler/service/GenerateVideoService.java → simulation-resource-scheduler/src/main/java/com/css/simulation/resource/scheduler/service/VideoService.java

@@ -1,12 +1,15 @@
 package com.css.simulation.resource.scheduler.service;
 
-import api.common.pojo.param.model.VehicleParam;
 import api.common.pojo.po.scene.VehicleTypePO;
 import api.common.pojo.vo.model.VehicleVO;
+import api.common.util.FileUtil;
 import api.common.util.LinuxUtil;
 import com.css.simulation.resource.scheduler.mapper.ConfigMapper;
 import com.css.simulation.resource.scheduler.mapper.SimulationAutomaticProjectMapper;
 import com.css.simulation.resource.scheduler.mapper.VehicleMapper;
+import com.css.simulation.resource.scheduler.util.MinioUtil;
+import io.minio.MinioClient;
+import lombok.NoArgsConstructor;
 import lombok.SneakyThrows;
 import org.dom4j.Attribute;
 import org.dom4j.Document;
@@ -14,153 +17,113 @@ import org.dom4j.Element;
 import org.dom4j.io.OutputFormat;
 import org.dom4j.io.SAXReader;
 import org.dom4j.io.XMLWriter;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.RequestBody;
+import org.jvnet.hk2.annotations.Service;
+import org.springframework.beans.factory.annotation.Value;
 
 import javax.annotation.Resource;
 import java.io.File;
-import java.io.IOException;
 import java.io.OutputStreamWriter;
 import java.io.Writer;
 import java.math.BigDecimal;
 import java.nio.file.Files;
 import java.nio.file.Paths;
 import java.util.Iterator;
-import java.util.Map;
 
-public class GenerateVideoService {
-    @Autowired
+@Service
+@NoArgsConstructor
+public class VideoService {
+    @Resource
     VehicleMapper vehicleMapper;
-    @Autowired
+    @Resource
     ConfigMapper configMapper;
     @Resource
     SimulationAutomaticProjectMapper simulationAutomaticProjectMapper;
-    @SneakyThrows
-    //map必传 xoscPath 文件夹路径  ；osgbPath，xodrPath 全路径；projectType 项目类型 1.手动；2.自动 ；id项目id;
-    public void GenerateVideo( Map<String ,String> map) throws IOException {
-        String xoscPath=map.get("xoscPath");
-        LinuxUtil.execute("D:\\Users\\anaconda3\\envs\\flaskProject\\python.exe C:/Users/CSS/Desktop/simulation/gqSw/simulation_my.py "+xoscPath);
-        //xosc全路径
-        xoscPath= xoscPath+"\\xosc\\simulation_my0.xosc";
-        map.put("xoscPath",xoscPath);
-         //调用修改xosc
-      String xoscNewPath=  changeXos(map);//返回最新的xosc文件全路径
+    @Resource
+    MinioClient minioClient;
 
-    }
 
-    //获取三维自车对象
-    @SneakyThrows
-    public VehicleTypePO vehicleById(Map<String,String> map) {
-        VehicleTypePO po=new VehicleTypePO();
-        String projectType=map.get("projectType");
-        String id=map.get("id");
-        //项目类型 1.手动；2.自动
-        String vehicle="";
-        if(projectType.equals("1"))
-        {
-            vehicle = simulationAutomaticProjectMapper.vehicleBySdId(id);
-        }else if (projectType.equals("2")){
-            vehicle = simulationAutomaticProjectMapper.vehicleByZdId(id);
-        }
-        String vehicleId=configMapper.getVehicleId(vehicle);
-
-        VehicleVO vehicleInfo = vehicleMapper.getVehicleInfo(vehicleId);
+    //* -------------------------------- Comment --------------------------------
 
-        //自车模型
-        String car= vehicleInfo.getVehicleTypeStr().substring(0,vehicleInfo.getVehicleTypeStr().indexOf(","));
-        car=car.substring(0,1).toLowerCase()+car.substring(1);
-        if(car.indexOf("truck")>-1){
-            po.setVehicleCategory("truck");
-        }else if(car.indexOf("trailer")>-1){
-            po.setVehicleCategory("trailer");
-        }else if(car.indexOf("van")>-1){
-            po.setVehicleCategory("van");
-        }else if(car.indexOf("semitrailer")>-1){
-            po.setVehicleCategory("semitrailer");
-        }else if(car.indexOf("bus")>-1){
-            po.setVehicleCategory("bus");
-        }else if(car.indexOf("motorbike")>-1){
-            po.setVehicleCategory("motorbike");
-        }else if(car.indexOf("bicycle")>-1){
-            po.setVehicleCategory("bicycle");
-        }else if(car.indexOf("bicycle")>-1){
-            po.setVehicleCategory("bicycle");
-        }else if(car.indexOf("train")>-1){
-            po.setVehicleCategory("train");
-        }else if(car.indexOf("tram")>-1){
-            po.setVehicleCategory("tram");
-        }else{
-            po.setVehicleCategory("car");
-        }
+    public static final String oldXoscName = "simulation_my0.xosc";
+    public static final String newXoscName = "simulation_my05.xosc";
+    public static final String oldXoscRelativePath = "xosc/simulation_my0.xosc";
+    public static final String[] csvNameArray = {"Ego.csv", "evaluation.csv"};
 
-        //车前距
-        BigDecimal frontDistance=vehicleInfo.getFrontDistance();
-        //车后距
-        BigDecimal mo2=new BigDecimal("2");
-        BigDecimal rearDistance=vehicleInfo.getRearDistance();
-        if(frontDistance.compareTo(rearDistance)>0){
-            BigDecimal  CenterX= (frontDistance.add(rearDistance)).divide(mo2).subtract(rearDistance);
-            po.setCenterX(CenterX);
-        }else{
-            BigDecimal  CenterX= (frontDistance.add(rearDistance)).divide(mo2).subtract(frontDistance);
-            po.setCenterX(CenterX);
-        }
-        //车高
-        BigDecimal mo3=new BigDecimal("3");
-        po.setCenterZ(vehicleInfo.getHeightDistance().divide(mo3));
-        //车左距  车右距
-        BigDecimal LeftDistance=vehicleInfo.getLeftDistance();
-        BigDecimal RightDistance= vehicleInfo.getRightDistance();
-        po.setDimensionsWidth(LeftDistance.add(RightDistance));
-        po.setDimensionsHeight(vehicleInfo.getHeightDistance());
-        po.setDimensionsLength(frontDistance.add(rearDistance));
+    //* -------------------------------- Comment --------------------------------
+    @Value("${scheduler.linux-path.temp}")
+    String linuxTempPath;
+    @Value("${scheduler.minio-path.project-result}")
+    String projectResultPathOfMinio;
+    @Value("${minio.bucket-name}")
+    String bucketName;
 
-        po.setPerformanceMaxSpeed(vehicleInfo.getMaxSpeed());
-        po.setPerformanceMaxDeceleration(vehicleInfo.getMaxDeceleration());
-        BigDecimal moπ=new BigDecimal("3.141516");
-        BigDecimal mo180=new BigDecimal("180");
-        po.setFrontAxleMaxSteering(vehicleInfo.getMaxSteeringAngle().multiply(moπ).divide(mo180));
-        po.setFrontAxleWheelDiameter(vehicleInfo.getWheelDiameter());
-        BigDecimal mo4=new BigDecimal("4");
-        BigDecimal mo5=new BigDecimal("5");
-        po.setFrontAxleTrackWidth(LeftDistance.add(RightDistance).multiply(mo4).divide(mo5));
-        po.setFrontAxlePositionX(po.getCenterX());
-        po.setFrontAxlePositionZ(po.getCenterZ());
 
-        po.setRearAxleWheelDiameter(vehicleInfo.getWheelDiameter());
-        po.setRearAxleTrackWidth(po.getFrontAxleTrackWidth());
-        po.setRearAxlePositionX(po.getFrontAxlePositionX());
-        po.setRearAxlePositionZ(po.getFrontAxlePositionZ());
-        return po;
+    /**
+     * 生成视频
+     */
+    @SneakyThrows
+    public void generateVideo(String projectId, String projectType, String taskId) {
+        //1 获取两个 csv 的目录，和 xodr 和 osgb 三个路径
+        String csvDirectoryPath = linuxTempPath + "video/" + projectId + "/" + taskId + "/";
+        String xodrPath = FileUtil.listAbsolutePathByFiletype(csvDirectoryPath, ".xodr").get(0);    // xodr 文件在创建项目时已经下载好了
+        String osgbPath = FileUtil.listAbsolutePathByFiletype(csvDirectoryPath, ".osgb").get(0);    // osgb 文件在创建项目时已经下载好了
+        //2 下载 csv 文件
+        for (String csvName : csvNameArray) {
+            MinioUtil.downloadToFile(minioClient, bucketName, projectResultPathOfMinio + projectId + "/" + taskId + "/" + csvName, csvDirectoryPath + "/" + csvName);
+        }
+        //3 生成 xosc 文件
+        String xoscPath = generateXosc(csvDirectoryPath, xodrPath, osgbPath, projectId, projectType);
+        //4 生成图片
+        String pictureDirectoryPath = csvDirectoryPath + "picture";
+        String esminiCommand = "" + pictureDirectoryPath;
+        String esminiResult = LinuxUtil.execute(esminiCommand);
+        //5 生成视频
+        String videoName = "";
+        String videoTargetPathOfLinux = csvDirectoryPath + "video";
+        String videoTargetPathOfMinio = projectResultPathOfMinio + projectId + "/" + taskId + "/" + videoName;
+        String ffmpegCommand = " " + pictureDirectoryPath + " " + videoTargetPathOfLinux;
+        String ffmpegResult = LinuxUtil.execute(ffmpegCommand);
+        //6 将视频上传到 minio
+        MinioUtil.uploadFromFile(minioClient, videoTargetPathOfLinux, bucketName, videoTargetPathOfMinio);
+    }
 
+    /**
+     * Xosc
+     */
+    @SneakyThrows
+    private String generateXosc(String csvDirectoryPath, String xodrPath, String osgbPath, String projectId, String projectType) {
+        //1 生成 xosc 文件
+        String command = "D:\\Users\\anaconda3\\envs\\flaskProject\\python.exe C:/Users/CSS/Desktop/simulation/gqSw/simulation_my.py " + csvDirectoryPath;
+        String execute = LinuxUtil.execute(command);    // 执行命令后生成 xosc 到目录下
+        String oldXoscPath = csvDirectoryPath + oldXoscRelativePath;  // 生成文件的路径是固定的
+        //2 调用修改xosc
+        return modifyXosc(oldXoscPath, xodrPath, osgbPath, projectId, projectType);  // 返回最新的xosc文件全路径
     }
 
 
-    //转换xosc自车形态
+    /**
+     * 修改 xosc 文件
+     */
     @SneakyThrows
-    public String changeXos(Map<String, String> map){
-
-        String xoscPath=map.get("xoscPath");
-        String osgbPath=map.get("osgbPath");
-        String xodrPath=map.get("xodrPath");
-        String xoscNewPath= xoscPath.substring(0,xoscPath.length()-5)+"5.xosc";//
+    private String modifyXosc(String oldXoscPath, String xodrPath, String osgbPath, String projectId, String projectType) {
+        String newXoscPath = oldXoscPath.replace(oldXoscName, newXoscName);
         //获取三维自车对象
-        VehicleTypePO po =vehicleById(map);
+        VehicleTypePO po = vehicleById(projectId, projectType);
 
         //1 创建Reader对象
         SAXReader reader = new SAXReader();
         //2 加载xml
         // Document document = reader.read(new File("D:\\simulation_my0.xosc"));
-        Document document = reader.read(new File(xoscPath));
+        Document document = reader.read(new File(oldXoscPath));
         //3 获取根节点
         Element root = document.getRootElement();
-        Iterator iterator0 = root.elementIterator();
+        Iterator<Element> iterator0 = root.elementIterator();
         while (iterator0.hasNext()) {   // 第一层遍历
-            Element node1 = (Element) iterator0.next();
+            Element node1 = iterator0.next();
             if ("Entities".equals(node1.getName())) { // 找到第一层节点后进入第二层遍历
-                Iterator iterator1 = node1.elementIterator();
+                Iterator<Element> iterator1 = node1.elementIterator();
                 while (iterator1.hasNext()) {
-                    Element node2 = (Element) iterator1.next();
+                    Element node2 = iterator1.next();
                     // 添加节点
                     if ("ScenarioObject".equals(node2.getName())) {
                         String scenarioObjectName = node2.attribute("name").getValue();
@@ -178,12 +141,12 @@ public class GenerateVideoService {
                                         Element node4 = iterator4.next();
                                         if ("Performance".equals(node4.getName())) {
                                             Attribute maxSpeed = node4.attribute("maxSpeed");
-                                            maxSpeed.setText(po.getPerformanceMaxSpeed()+"");
+                                            maxSpeed.setText(po.getPerformanceMaxSpeed() + "");
                                             Attribute maxDeceleration = node4.attribute("maxDeceleration");
-                                            maxDeceleration.setText(po.getPerformanceMaxDeceleration()+"");
+                                            maxDeceleration.setText(po.getPerformanceMaxDeceleration() + "");
                                             Attribute maxAcceleration = node4.attribute("maxAcceleration");
                                             maxAcceleration.setText(po.getPerformanceMaxAcceleration());
-                                        }else if("BoundingBox".equals(node4.getName())){
+                                        } else if ("BoundingBox".equals(node4.getName())) {
                                             Iterator<Element> iterator5 = node4.elementIterator();
                                             while (iterator5.hasNext()) {
                                                 Element node5 = iterator5.next();
@@ -204,7 +167,7 @@ public class GenerateVideoService {
                                                     height.setText(po.getDimensionsHeight() + "");
                                                 }
                                             }
-                                        }else if("Axles".equals(node4.getName())){
+                                        } else if ("Axles".equals(node4.getName())) {
                                             Iterator<Element> iterator5 = node4.elementIterator();
                                             while (iterator5.hasNext()) {
                                                 Element node5 = iterator5.next();
@@ -249,9 +212,9 @@ public class GenerateVideoService {
             }
 
             if ("RoadNetwork".equals(node1.getName())) { // 找到第一层节点后进入第二层遍历
-                Iterator iterator1 = node1.elementIterator();
+                Iterator<Element> iterator1 = node1.elementIterator();
                 while (iterator1.hasNext()) {
-                    Element node2 = (Element) iterator1.next();
+                    Element node2 = iterator1.next();
                     // 添加节点
                     if ("LogicFile".equals(node2.getName())) {
                         Attribute name = node2.attribute("filepath");
@@ -264,7 +227,7 @@ public class GenerateVideoService {
                 }
             }
 
-            Writer osWrite = new OutputStreamWriter(Files.newOutputStream(Paths.get(xoscNewPath)));
+            Writer osWrite = new OutputStreamWriter(Files.newOutputStream(Paths.get(newXoscPath)));
             OutputFormat format = OutputFormat.createPrettyPrint(); // 获取输出的指定格式
             format.setEncoding("UTF-8");// 设置编码 ，确保解析的xml为UTF-8格式
             XMLWriter writer = new XMLWriter(osWrite, format);// XMLWriter
@@ -272,6 +235,93 @@ public class GenerateVideoService {
             writer.flush();
             writer.close();
         }
-        return xoscNewPath;
+        return newXoscPath;
     }
+
+
+    //获取三维自车对象
+    @SneakyThrows
+    private VehicleTypePO vehicleById(String projectId, String projectType) {
+        VehicleTypePO po = new VehicleTypePO();
+        //项目类型 1.手动；2.自动
+        String vehicle = "";
+        if (projectType.equals("1")) {
+            vehicle = simulationAutomaticProjectMapper.vehicleBySdId(projectId);
+        } else if (projectType.equals("2")) {
+            vehicle = simulationAutomaticProjectMapper.vehicleByZdId(projectId);
+        }
+        String vehicleId = configMapper.getVehicleId(vehicle);
+
+        VehicleVO vehicleInfo = vehicleMapper.getVehicleInfo(vehicleId);
+
+        //自车模型
+        String car = vehicleInfo.getVehicleTypeStr().substring(0, vehicleInfo.getVehicleTypeStr().indexOf(","));
+        car = car.substring(0, 1).toLowerCase() + car.substring(1);
+        if (car.contains("truck")) {
+            po.setVehicleCategory("truck");
+        } else if (car.contains("trailer")) {
+            po.setVehicleCategory("trailer");
+        } else if (car.contains("van")) {
+            po.setVehicleCategory("van");
+        } else if (car.contains("semitrailer")) {
+            po.setVehicleCategory("semitrailer");
+        } else if (car.contains("bus")) {
+            po.setVehicleCategory("bus");
+        } else if (car.contains("motorbike")) {
+            po.setVehicleCategory("motorbike");
+        } else if (car.contains("bicycle")) {
+            po.setVehicleCategory("bicycle");
+        } else if (car.contains("bicycle")) {
+            po.setVehicleCategory("bicycle");
+        } else if (car.contains("train")) {
+            po.setVehicleCategory("train");
+        } else if (car.contains("tram")) {
+            po.setVehicleCategory("tram");
+        } else {
+            po.setVehicleCategory("car");
+        }
+
+        //车前距
+        BigDecimal frontDistance = vehicleInfo.getFrontDistance();
+        //车后距
+        BigDecimal mo2 = new BigDecimal("2");
+        BigDecimal rearDistance = vehicleInfo.getRearDistance();
+        if (frontDistance.compareTo(rearDistance) > 0) {
+            BigDecimal CenterX = (frontDistance.add(rearDistance)).divide(mo2).subtract(rearDistance);
+            po.setCenterX(CenterX);
+        } else {
+            BigDecimal CenterX = (frontDistance.add(rearDistance)).divide(mo2).subtract(frontDistance);
+            po.setCenterX(CenterX);
+        }
+        //车高
+        BigDecimal mo3 = new BigDecimal("3");
+        po.setCenterZ(vehicleInfo.getHeightDistance().divide(mo3));
+        //车左距  车右距
+        BigDecimal LeftDistance = vehicleInfo.getLeftDistance();
+        BigDecimal RightDistance = vehicleInfo.getRightDistance();
+        po.setDimensionsWidth(LeftDistance.add(RightDistance));
+        po.setDimensionsHeight(vehicleInfo.getHeightDistance());
+        po.setDimensionsLength(frontDistance.add(rearDistance));
+
+        po.setPerformanceMaxSpeed(vehicleInfo.getMaxSpeed());
+        po.setPerformanceMaxDeceleration(vehicleInfo.getMaxDeceleration());
+        BigDecimal moπ = new BigDecimal("3.141516");
+        BigDecimal mo180 = new BigDecimal("180");
+        po.setFrontAxleMaxSteering(vehicleInfo.getMaxSteeringAngle().multiply(moπ).divide(mo180));
+        po.setFrontAxleWheelDiameter(vehicleInfo.getWheelDiameter());
+        BigDecimal mo4 = new BigDecimal("4");
+        BigDecimal mo5 = new BigDecimal("5");
+        po.setFrontAxleTrackWidth(LeftDistance.add(RightDistance).multiply(mo4).divide(mo5));
+        po.setFrontAxlePositionX(po.getCenterX());
+        po.setFrontAxlePositionZ(po.getCenterZ());
+
+        po.setRearAxleWheelDiameter(vehicleInfo.getWheelDiameter());
+        po.setRearAxleTrackWidth(po.getFrontAxleTrackWidth());
+        po.setRearAxlePositionX(po.getFrontAxlePositionX());
+        po.setRearAxlePositionZ(po.getFrontAxlePositionZ());
+        return po;
+
+    }
+
+
 }