ControllerParser.cpp

浏览该文件的文档.

// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#include "carla/opendrive/parser/ControllerParser.h"
 
#include "carla/road/MapBuilder.h"
 
#include <pugixml/pugixml.hpp>
 
namespace carla {
namespace opendrive {
namespace parser {
 
  void ControllerParser::Parse(
      const pugi::xml_document &xml,
      carla::road::MapBuilder &map_builder) {
 
    // Extracting the OpenDRIVE
    const pugi::xml_node opendrive_node = xml.child("OpenDRIVE");
    for (pugi::xml_node controller_node = opendrive_node.child("controller");
        controller_node;
        controller_node = controller_node.next_sibling("controller")) {
 
      const road::ContId controller_id = controller_node.attribute("id").value();
      const std::string controller_name = controller_node.attribute("name").value();
      const uint32_t controller_sequence = controller_node.attribute("sequence").as_uint();
 
      log_debug("Controller: ",
        controller_id,
        controller_name,
        controller_sequence);
 
      std::set<road::SignId> signals;
 
      for (pugi::xml_node control_node : controller_node.children("control")) {
        const road::SignId signal_id = control_node.attribute("signalId").value();
        // The controller_type is included in the OpenDrive format but not used yet
        // const std::string controller_type = control_node.attribute("type").value();
        signals.insert(signal_id);
      }
 
      map_builder.CreateController(
        controller_id,
        controller_name,
        controller_sequence,
        std::move(signals)
      );
    }
 
  }
 
} // namespace parser
} // namespace opendrive
} // namespace carla