import json import os import sys from matplotlib import pyplot as plt sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../onsite_parking/") import input.make_map as mp from input import make_car from utils import replay from utils import map_display as mdp from planner.hybridastar import planner as planner import numpy as np import time def linear_interpolation(x1,x2,y1,y2,num): x = np.linspace(x1,x2,num) y = np.linspace(y1,y2,num) return x,y def changeOxyB01(C_,park,ori_ox,ori_oy): ox = ori_ox.copy() oy = ori_oy.copy() C = C_ isSearchFailed = False if 1<=int(park)<=8: x = np.linspace(10300, 10300, 500) y = np.linspace(7000, 1000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(9500, 9500, 500) y = np.linspace(7000, 1000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(8800, 8800, 500) y = np.linspace(5500, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4500, 8800, 500) y = np.linspace(6000, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(0, 9500, 500) y = np.linspace(6700, 6700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(8800, 8800, 500) y = np.linspace(2800, 5500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7200, 8800, 500) y = np.linspace(1300, 2800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(9200, 10300, 500) y = np.linspace(870, 1800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 600 if 9<=int(park)<=10: x = np.linspace(8200, 8200, 500) y = np.linspace(7000, 0, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1500, 5800, 500) y = np.linspace(2000, 2000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(2000, 2000, 500) y = np.linspace(4200, 2800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(2000, 5400, 500) y = np.linspace(2800, 2800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 500 if 11<=int(park)<=12: x = np.linspace(8200, 8200, 500) y = np.linspace(7000, 0, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1500, 5800, 500) y = np.linspace(2000, 2000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1500, 1500, 500) y = np.linspace(2000, 4200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(2800, 2800, 500) y = np.linspace(2800, 4200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(2800, 5800, 500) y = np.linspace(2800, 2800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 400 if 13<=int(park)<=15: x = np.linspace(8200, 8200, 500) y = np.linspace(7000, 0, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1500, 5800, 500) y = np.linspace(2000, 2000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(2400, 2400, 500) y = np.linspace(2000, 4200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4200, 4200, 500) y = np.linspace(2800, 4200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4200, 5800, 500) y = np.linspace(2800, 2800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 400 if int(park)==16: x = np.linspace(8200, 8200, 500) y = np.linspace(7000, 0, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1500, 5800, 500) y = np.linspace(1800, 1800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1500, 5800, 500) y = np.linspace(3200, 3200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 300 if park == '17': # TODO isSearchFailed = True if park == '18': # TODO isSearchFailed = True if park == '19' or park == '20' or park == '21'or park == '22'or park == '23'or park == '24'or park == '25': x = np.linspace(8300, 8300, 500) y = np.linspace(2800, 500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1500, 5100, 500) y = np.linspace(2900, 2900, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1500, 3000, 500) y = np.linspace(2200, 2200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5300, 3000, 500) y = np.linspace(2800, 2200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 200 if park == '26' or park == '27' or park == '28' or park == '29': # TODO isSearchFailed = True if park == '30' or park == '31' or park == '32' or park == '33' or park == '34' or park == '35': x = np.linspace(10000, 7000, 500) y = np.linspace(2000, 2000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) if park == '36' or park == '37' or park == '38' or park == '39' or park == '40': x = np.linspace(10000, 7000, 500) y = np.linspace(2000, 2000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(12000, 14000, 500) y = np.linspace(860, 860, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) if park == '41' or park == '42' or park == '43': # TODO isSearchFailed = True if park == '44' or park == '45' or park == '46'or park == '47'or park == '48'or park == '49': x = np.linspace(9000, 9000, 500) y = np.linspace(2800, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7200, 8800, 500) y = np.linspace(2000, 2800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(8500, 10200, 500) y = np.linspace(940, 1800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(9000, 10500, 500) y = np.linspace(6300, 6300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 200 if park == '50': x = np.linspace(9000, 9000, 500) y = np.linspace(2800, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7200, 8800, 500) y = np.linspace(2000, 2800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(8500, 10200, 500) y = np.linspace(940, 1800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(9000, 10500, 500) y = np.linspace(6300, 6300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 500 x = np.linspace(10100, 10100, 500) y = np.linspace(2500, 4500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(8200, 8200, 500) y = np.linspace(510, 1000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) return ox,oy,isSearchFailed def changeOxyB02(C_,park,ori_ox,ori_oy): ox = ori_ox.copy() oy = ori_oy.copy() isSearchFailed = False C = C_ if park == '1': C.XY_RESO = C.XY_RESO - 200 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 6000, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 6000, 500) y = np.linspace(4000, 4000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 4000, 500) y = np.linspace(5000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '2': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 6000, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 6000, 500) y = np.linspace(4500, 4500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 4000, 500) y = np.linspace(5000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '3': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 6000, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 6000, 500) y = np.linspace(4000, 4000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 4000, 500) y = np.linspace(5000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '4': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 6000, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 6000, 500) y = np.linspace(3500, 3500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 4000, 500) y = np.linspace(5000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '5': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 6000, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 6000, 500) y = np.linspace(3000, 3000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 4000, 500) y = np.linspace(5000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '6': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 6000, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 6000, 500) y = np.linspace(1500, 1500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 4000, 500) y = np.linspace(1500, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '7': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 6000, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 6000, 500) y = np.linspace(1000, 1000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 4000, 500) y = np.linspace(1000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '8': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 6000, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) # x = np.linspace(4000, 6000, 500) # y = np.linspace(1000, 1000, 500) # for i in range(len(x)): # ox.append(x[i]) # oy.append(y[i]) x = np.linspace(4000, 4000, 500) y = np.linspace(1000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '9': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5500, 5500, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5000, 6000, 500) y = np.linspace(6000, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4500, 4500, 500) y = np.linspace(0, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5000, 5000, 500) y = np.linspace(1000, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '10': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5500, 5500, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5000, 6000, 500) y = np.linspace(6000, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '11': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5500, 5500, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5000, 6000, 500) y = np.linspace(6000, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4500, 4500, 500) y = np.linspace(1500, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5000, 5000, 500) y = np.linspace(0, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3000, 4500, 500) y = np.linspace(1500, 1500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '12': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5500, 5500, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5000, 6000, 500) y = np.linspace(6000, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4500, 4500, 500) y = np.linspace(1000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5000, 5000, 500) y = np.linspace(0, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3000, 4500, 500) y = np.linspace(1000, 1000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '13': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5500, 5500, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5000, 6000, 500) y = np.linspace(6000, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4500, 4500, 500) y = np.linspace(1000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5000, 5000, 500) y = np.linspace(0, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(2000, 4500, 500) y = np.linspace(1000, 1000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3000, 5000, 500) y = np.linspace(300, 300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '14': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(4000, 6000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5500, 5500, 500) y = np.linspace(6000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5000, 6000, 500) y = np.linspace(6000, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4500, 4500, 500) y = np.linspace(1000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5000, 5000, 500) y = np.linspace(0, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(0, 4500, 500) y = np.linspace(1000, 1000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(2000, 5000, 500) y = np.linspace(300, 300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '15' or park == '16' or park == '17' or park == '18' or park == '19' or park == '20' or park == '21' or park == '22': C.XY_RESO = C.XY_RESO - 200 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1800, 1800, 500) y = np.linspace(1000, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5000, 500) y = np.linspace(7300, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '23' or park == '24': # TOD: 23,24 C.XY_RESO = C.XY_RESO - 300 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1800, 1800, 500) y = np.linspace(1000, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5000, 500) y = np.linspace(7300, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park =='25': C.XY_RESO = C.XY_RESO - 300 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1800, 1800, 500) y = np.linspace(1000, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5000, 500) y = np.linspace(7300, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 2500, 500) y = np.linspace(5500, 5500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '26': C.XY_RESO = C.XY_RESO - 200 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1800, 1800, 500) y = np.linspace(1000, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5000, 500) y = np.linspace(7300, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '27': C.XY_RESO = C.XY_RESO - 300 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1500, 5000, 500) y = np.linspace(7300, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '28': C.XY_RESO = C.XY_RESO - 300 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5000, 500) y = np.linspace(7300, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '29': # TOD: 29 C.XY_RESO = C.XY_RESO - 300 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4000, 5000, 500) y = np.linspace(7300, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '30': C.XY_RESO = C.XY_RESO - 200 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5000, 500) y = np.linspace(7300, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '31': C.XY_RESO = C.XY_RESO - 200 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5000, 500) y = np.linspace(7300, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1000, 1000, 500) y = np.linspace(200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '32': C.XY_RESO = C.XY_RESO - 700 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5500, 500) y = np.linspace(7200, 7200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1200, 1200, 500) y = np.linspace(200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1800, 1800, 500) y = np.linspace(5500, 6500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5500, 500) y = np.linspace(4200, 4200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '33' or park == '34' or park == '36': C.XY_RESO = C.XY_RESO - 200 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5000, 500) y = np.linspace(7300, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1000, 1000, 500) y = np.linspace(200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '35': C.XY_RESO = C.XY_RESO - 700 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5500, 500) y = np.linspace(7200, 7200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1200, 1200, 500) y = np.linspace(200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1800, 1800, 500) y = np.linspace(4500, 6500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5500, 500) y = np.linspace(1500, 1500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '37': C.XY_RESO = C.XY_RESO - 700 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5500, 500) y = np.linspace(7200, 7200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1200, 1200, 500) y = np.linspace(200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1800, 1800, 500) y = np.linspace(2500, 6500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5500, 500) y = np.linspace(500, 500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '38': C.XY_RESO = C.XY_RESO - 700 x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5500, 500) y = np.linspace(7200, 7200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5500, 500) y = np.linspace(6200, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1200, 1200, 500) y = np.linspace(200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1800, 1800, 500) y = np.linspace(2500, 6500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5500, 500) y = np.linspace(500, 500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '39' or park == '42' or park == '43' or park == '44': x = np.linspace(5500, 5500, 500) y = np.linspace(6200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(500, 5500, 500) y = np.linspace(7200, 7200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4500, 4500, 500) y = np.linspace(500, 6200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 3500, 500) y = np.linspace(6200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '40' or park == '41' or park == '45': x = np.linspace(3500, 3500, 500) y = np.linspace(6200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5100, 5100, 500) y = np.linspace(3700, 6500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '46' or park == '47': x = np.linspace(3500, 3500, 500) y = np.linspace(6200, 7300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5000, 500) y = np.linspace(7000, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(5100, 5100, 500) y = np.linspace(3700, 6500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 5000, 500) y = np.linspace(4500, 4500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) return ox,oy,isSearchFailed def changeOxyB03(C_,park,ori_ox,ori_oy): ox = ori_ox.copy() oy = ori_oy.copy() isSearchFailed = False C = C_ if park == '1' or park == '2' or park == '3' or park == '4' or park == '5' or park == '6' or park == '7' or park == '8' or park == '9' or park == '10' or park == '11' or park == '12' or park == '13' or park == '14' or park == '15' or park == '16': C.XY_RESO = C.XY_RESO - 200 x = np.linspace(4500, 4500, 500) y = np.linspace(6000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 3500, 500) y = np.linspace(3100, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(0, 2100, 500) y = np.linspace(5600, 5600, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(2100, 2100, 500) y = np.linspace(4500, 5700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1000, 4000, 500) y = np.linspace(6600, 6600, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1000, 1000, 100) y = np.linspace(7700, 6600, 100) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1000, 3500, 100) y = np.linspace(3100, 3100, 100) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) elif park == '17' or park == '18' or park == '19' or park == '20': x = np.linspace(4500, 4500, 500) y = np.linspace(6000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) if park == '24' or park == '25' or park == '26' or park == '27' or park == '30' or park == '31' or park == '32': isSearchFailed = True if park == '28' or park == '29': C.XY_RESO = C.XY_RESO - 800 x = np.linspace(1000, 1000, 500) y = np.linspace(7700, 6600, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1000, 5000, 500) y = np.linspace(6600, 6600, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1000, 5000, 500) y = np.linspace(4500, 4500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4500, 4500, 500) y = np.linspace(5000, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) if park == '62'or park == '61': for i in range(0, 3000, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(3000, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 7800, 500) y = np.linspace(5000, 5300, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(8200, 10500, 500) y = np.linspace(5720, 7700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9200, 500) y = np.linspace(4050, 4400, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) if park == '60' or park == '59': x = np.linspace(0, 3000, 500) y = np.linspace(5600, 5600, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(3000, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9200, 500) y = np.linspace(5000, 4400, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 7000, 500) y = np.linspace(3100, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(8500, 7500, 500) y = np.linspace(3100, 4800, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) if park == '58' or park == '57': for i in range(0, 3000, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(3000, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9200, 500) y = np.linspace(5000, 4400, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 7000, 500) y = np.linspace(4000, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) if park == '56': x = np.linspace(0, 3000, 500) y = np.linspace(5600, 5600, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(3000, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9200, 500) y = np.linspace(5000, 4100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 8500, 500) y = np.linspace(4100, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 200 if park == '55': for i in range(0, 3000, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(3000, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9200, 500) y = np.linspace(5000, 4100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 8500, 500) y = np.linspace(4100, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 300 if park == '54': x = np.linspace(0, 3000, 500) y = np.linspace(5750, 5750, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(3000, 4500, 500) y = np.linspace(5750, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9600, 500) y = np.linspace(5000, 4050, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9200, 500) y = np.linspace(4000, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4500, 4200, 500) y = np.linspace(6000, 6500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 400 if park == '53' or park == '52': for i in range(0, 3000, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(3000, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9900, 500) y = np.linspace(5000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7500, 7500, 500) y = np.linspace(3100, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) # x = np.linspace(6000, 7500, 500) # y = np.linspace(730, 730, 500) # for i in range(len(x)): # ox.append(x[i]) # oy.append(y[i]) x = np.linspace(7000, 7500, 500) y = np.linspace(1700, 1700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO-100 if park == '51' or park == '50' or park == '49'or park == '48'or park == '47': for i in range(0, 3000, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(3000, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9100, 500) y = np.linspace(5000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) # x = np.linspace(6000, 10500, 500) # y = np.linspace(700, 700, 500) # for i in range(len(x)): # ox.append(x[i]) # oy.append(y[i]) x = np.linspace(7500, 7500, 500) y = np.linspace(3100, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 8000, 500) y = np.linspace(3100, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 100 if park == '46' or park == '45': for i in range(0, 2200, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(2100, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9100, 500) y = np.linspace(5000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) if park == '44' or park == '43': for i in range(0, 2200, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(2100, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 10500, 500) y = np.linspace(3100, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 10500, 500) y = np.linspace(5000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(8500, 8500, 500) y = np.linspace(3100, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) if park == '42': for i in range(0, 2200, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(2100, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 10500, 500) y = np.linspace(3100, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 8000, 500) y = np.linspace(5000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6900, 6900, 500) y = np.linspace(3100, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6950, 6950, 500) y = np.linspace(1700, 2700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 100 if park == '41': for i in range(0, 2200, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(2100, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 10500, 500) y = np.linspace(3100, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 8000, 500) y = np.linspace(5000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6900, 6900, 500) y = np.linspace(3100, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 8000, 500) y = np.linspace(750, 750, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 100 if park == '40': for i in range(0, 2200, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(2100, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 10500, 500) y = np.linspace(3100, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 8000, 500) y = np.linspace(5000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6900, 6900, 500) y = np.linspace(3100, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 100 if park == '39': for i in range(0, 2200, 1): ox.append(i) oy.append(5700) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(2100, 4500, 500) y = np.linspace(5700, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 10500, 500) y = np.linspace(3100, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 8000, 500) y = np.linspace(5700, 5700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 7000, 500) y = np.linspace(3100, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 9000, 500) y = np.linspace(1700, 1700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 8500, 500) y = np.linspace(5000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6950, 6950, 500) y = np.linspace(1600, 3700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 8500, 500) y = np.linspace(780, 780, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 6500, 500) y = np.linspace(1200, 750, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4500, 4000, 500) y = np.linspace(6000, 6500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 300 if park == '38': for i in range(0, 2200, 1): ox.append(i) oy.append(5700) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(2200, 4500, 500) y = np.linspace(5700, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 10500, 500) y = np.linspace(3100, 3100, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 8000, 500) y = np.linspace(5700, 5700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 7000, 500) y = np.linspace(3100, 6000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(7000, 9500, 500) y = np.linspace(1700, 1700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 8500, 500) y = np.linspace(5000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6950, 6950, 500) y = np.linspace(1600, 3700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9500, 500) y = np.linspace(780, 780, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 6500, 500) y = np.linspace(1200, 750, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(4500, 4100, 500) y = np.linspace(6000, 6500, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 400 if park == '37'or park == '36' or park == '35' or park == '34': for i in range(0, 2200, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(2100, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9200, 500) y = np.linspace(4000, 4400, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) if park == '33': for i in range(0, 2200, 1): ox.append(i) oy.append(5600) for i in range(1000, 4500, 1): ox.append(i) oy.append(6500) for i in range(6500, 7700, 1): ox.append(1000) oy.append(i) x = np.linspace(2100, 4500, 500) y = np.linspace(5600, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(6000, 9900, 500) y = np.linspace(4000, 5200, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(8800, 8800, 500) y = np.linspace(6700, 4000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) if park == '23' or park == '22' or park == '21': x = np.linspace(4500, 4500, 500) y = np.linspace(6000, 5000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(0, 2100, 500) y = np.linspace(5700, 5700, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(0, 1000, 500) y = np.linspace(3000, 3000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(3500, 3500, 500) y = np.linspace(3100, 7000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(0, 2100, 500) y = np.linspace(4000, 4000, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(2100, 2100, 100) y = np.linspace(4600, 5100, 100) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1000, 4000, 500) y = np.linspace(6600, 6600, 500) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(1000, 1000, 100) y = np.linspace(7700, 6600, 100) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) x = np.linspace(2500, 3500, 100) y = np.linspace(3100, 3100, 100) for i in range(len(x)): ox.append(x[i]) oy.append(y[i]) C.XY_RESO = C.XY_RESO - 100 return ox,oy,isSearchFailed def main(): in_path="./input/" # 遍历input文件夹下所有文件 start = time.time() for root,dirs,files in os.walk(in_path): for file in files: if "json" in file: # 找到.json文件 t1 = time.time() map_path = in_path+file # mdp.map_display(map_path) # 仅绘制地图 ori_ox, ori_oy,sp,gp = mp.make_map(in_path+file) #获取地图信息（障碍物，起点，车位） sx, sy, syaw0 = sp['x'], sp['y'], sp['yaw']# 获取起点的信息 C = make_car.C # 获取车辆的属性信息 isSearchFailed = False # 遍历所有车位 for i in range(1,len(gp)+1): # print(f"parking:{str(i)}") # 获取该车位的信息 gx, gy, gyaw0 = gp[str(i)]['x_end'], gp[str(i)]['y_end'], gp[str(i)]['yaw'] if file == "B01.json": # continue add_ox,add_oy,isSearchFailed = changeOxyB01(C,str(i),ori_ox, ori_oy) # continue elif file == "B02.json": # continue add_ox,add_oy,isSearchFailed = changeOxyB02(C,str(i),ori_ox, ori_oy) elif file == "B03.json": add_ox,add_oy,isSearchFailed = changeOxyB03(C,str(i),ori_ox, ori_oy) # 请在此调用planer文件夹下的规控算法 if isSearchFailed: print(f"Searching failed! parking:{str(i)}") with open(f"./output/result_{str(file).split('.json')[0]}_{str(i)}.json", "w") as file1: json.dump({}, file1) isSearchFailed = False continue try: path = planner.hybrid_astar_planning(sx, sy, syaw0, gx, gy, gyaw0, add_ox, add_oy, C.XY_RESO, C.YAW_RESO) C.XY_RESO = 1000 except: continue # 算法测试结果保存 # print(C.XY_RESO) if not path: print("Searching failed!") continue output_dit={ "parking":str(i), "output_x": path.x, "output_y": path.y, "output_yaw": path.yaw, "output_dir": path.direction, } with open(f"./output/result_{str(file).split('.json')[0]}_{str(i)}.json", "w") as file1: json.dump(output_dit, file1) print(f"output/result_{str(file).split('.json')[0]}_{str(i)}.json saved!") # 仿真回放 # result_path = f"./Onsite_Parking/output/result_{map_path.split('/')[-1].split('.json')[0]}_{str(i)}.json" # replay.replay(map_path, result_path) t2 = time.time() print(f"Time in map {file}: {t2-t1}") end = time.time() print("Time:", end-start) if __name__ == '__main__': main()