Enable Import of OpenSCENARIO files

.gitignore

@@ -0,0 +1,2 @@
+__pycache__/
+*.pyc

Docs/OpenSCENARIO_Support.md

@@ -0,0 +1,135 @@
+## OpenSCENARIO Tags Support
+
+Based on [OpenSCENARIO 1.0.0](https://releases.asam.net/OpenSCENARIO/1.0.0/Model-Documentation/RenderedXsdOutput.html)
+
+- [OpenSCENARIO Tags Support](#openscenario-tags-support)
+- [File Header](#file-header)
+- [Catalog](#catalog)
+- [Parameter Declarations](#parameter-declarations)
+- [Road Network](#road-network)
+- [Entities](#entities)
+  - [Scenario Object - Vehicle](#scenario-object---vehicle)
+  - [Scenario Object - Pedestrian](#scenario-object---pedestrian)
+  - [Scenario Object - MiscObject](#scenario-object---miscobject)
+- [Actions - Global Actions](#actions---global-actions)
+- [Actions - User Defined Actions](#actions---user-defined-actions)
+- [Actions - Private Actions](#actions---private-actions)
+- [Start / Stop Conditions - By Entity](#start--stop-conditions---by-entity)
+- [Start / Stop Conditions - By Value](#start--stop-conditions---by-value)
+
+## File Header
+| Tag         | Import | Export | Remarks                                |
+| ----------- | :----: | :----: | -------------------------------------- |
+| revMajor    |   ❌    |   🟡    | Exports constant value                 |
+| revMinor    |   ❌    |   🟡    | Exports constant value                 |
+| date        |   ❌    |   🟡    | Exports time and date of file creation |
+| description |   ❌    |   🟡    | Exports constant value                 |
+| author      |   ❌    |   🟡    | Exports constant value                 |
+
+## Catalog
+❌ Catalog references are currently not supported for import and export
+
+## Parameter Declarations
+⚠️ _Note: Local parameters are currently not supported, only global parameters._
+| Tag                  | Import | Export | Remarks                    |
+| -------------------- | :----: | :----: | -------------------------- |
+| ParameterDeclaration |   ✅    |   ✅    | Only for global parameters |
+
+## Road Network
+| Tag                     | Import | Export | Remarks                                                |
+| ----------------------- | :----: | :----: | ------------------------------------------------------ |
+| LogicFile               |   ✅    |   ✅    | On import, will save information into `Metadata` layer |
+| SceneGraphFile          |   ❌    |   ❌    | Exports blank filepath                                 |
+| TrafficSignals          |   ❌    |   ❌    |
+| TrafficSignalController |   ❌    |   ❌    |
+
+## Entities
+| Tag              | Import | Export | Remarks                                   |
+| ---------------- | :----: | :----: | ----------------------------------------- |
+| ScenarioObject   |   ✅    |   ✅    | Entity `name` is not preserved on import  |
+| ObjectController |   ❌    |   ❌    |
+| CatalogReference |   ❌    |   ❌    | `CatalogReference` for `ObjectController` |
+| Controller       |   ❌    |   ❌    |
+| CatalogReference |   ❌    |   ❌    | `CatalogReference` for `ScenarioObject`   |
+
+### Scenario Object - Vehicle
+| Tag                   | Import | Export | Remarks                                        |
+| --------------------- | :----: | :----: | ---------------------------------------------- |
+| ParameterDeclarations |   ❌    |   ❌    | Only global parameters are supported           |
+| BoundingBox           |   🟡    |   🟡    | Exports constant value                         |
+| Performance           |   🟡    |   🟡    | Exports constant value                         |
+| Axles                 |   🟡    |   🟡    | Exports constant value                         |
+| Properties            |   🟡    |   🟡    | Exports `ego_vehicle` if it is ego, else empty |
+
+### Scenario Object - Pedestrian
+| Tag                   | Import | Export | Remarks                              |
+| --------------------- | :----: | :----: | ------------------------------------ |
+| ParameterDeclarations |   ❌    |   ❌    | Only global parameters are supported |
+| BoundingBox           |   🟡    |   🟡    | Exports constant value               |
+| Performance           |   🟡    |   🟡    | Exports constant value               |
+
+### Scenario Object - MiscObject
+| Tag                   | Import | Export | Remarks                              |
+| --------------------- | :----: | :----: | ------------------------------------ |
+| ParameterDeclarations |   ❌    |   ❌    | Only global parameters are supported |
+| BoundingBox           |   🟡    |   🟡    | Exports constant value               |
+| Performance           |   🟡    |   🟡    | Exports constant value               |
+
+## Actions - Global Actions
+| Tag                  | Import | Export | Remarks                 |
+| -------------------- | :----: | :----: | ----------------------- |
+| EnvironmentActions   |   ✅    |   ✅    |
+| EntityAction         |   ❌    |   ❌    |
+| ParameterAction      |   ❌    |   ❌    |
+| InfrastructureAction |   ✅    |   ✅    | Controls traffic lights |
+| TrafficAction        |   ❌    |   ❌    |
+
+## Actions - User Defined Actions
+| Tag                 | Import | Export | Remarks |
+| ------------------- | :----: | :----: | ------- |
+| CustomCommandAction |   ❌    |   ❌    |
+
+## Actions - Private Actions
+| Tag                                             | Import | Export | Remarks                           |
+| ----------------------------------------------- | :----: | :----: | --------------------------------- |
+| LongitudinalAction / SpeedAction                |   ✅    |   ✅    |
+| LongitudinalAction / LongitudinalDistanceAction |   ✅    |   ✅    |
+| LateralAction / LaneChangeAction                |   ✅    |   ✅    |
+| LateralAction / LaneOffsetAction                |   ✅    |   ✅    |
+| LateralAction / LateralDistanceAction           |   ✅    |   ✅    |
+| VisibilityAction                                |   ❌    |   ❌    |
+| SynchronizeAction                               |   ❌    |   ❌    |
+| ActivateControllerAction                        |   ❌    |   ❌    |
+| ControllerAction / AssignControllerAction       |   ✅    |   ✅    |
+| ControllerAction / OverrideControllerAction     |   🟡    |   🟡    | Exports pre-determined values     |
+| TeleportAction                                  |   🟡    |   🟡    | Only `WorldPosition` is supported |
+| RoutingAction / AssignRouteAction               |   ✅    |   ✅    |
+| RoutingAction / FollowTrajectoryAction          |   ❌    |   ❌    |
+| RoutingAction / AcquitePositionAction           |   ❌    |   ❌    |
+
+## Start / Stop Conditions - By Entity
+| Tag                       | Import | Export | Remarks |
+| ------------------------- | :----: | :----: | ------- |
+| EndOfRoadCondition        |   ✅    |   ✅    |
+| CollisionCondition        |   ✅    |   ✅    |
+| OffroadCondition          |   ✅    |   ✅    |
+| TimeHeadwayCondition      |   ✅    |   ✅    |
+| AccelerationCondition     |   ✅    |   ✅    |
+| StandStillCondition       |   ✅    |   ✅    |
+| SpeedContidion            |   ✅    |   ✅    |
+| RelativeSpeedCondition    |   ✅    |   ✅    |
+| TraveledDistanceCondition |   ✅    |   ✅    |
+| ReachPositionCondition    |   ✅    |   ✅    |
+| DistanceCondition         |   ✅    |   ✅    |
+| RelativeDistanceCondition |   ✅    |   ✅    |
+
+## Start / Stop Conditions - By Value
+| Tag                              | Import | Export | Remarks                                           |
+| -------------------------------- | :----: | :----: | ------------------------------------------------- |
+| ParameterCondition               |   ✅    |   ✅    |
+| TimeOfDayCondition               |   ✅    |   ✅    |
+| SimulationTimeCondition          |   ✅    |   ✅    |
+| StoryboardElementStateCondition  |   ✅    |   ✅    | Needs to manually specity storyboard element name |
+| UserDefinedValueCondition        |   ✅    |   ✅    |
+| TrafficSignalCondition           |   ✅    |   ✅    |
+| TrafficSignalControllerCondition |   ✅    |   ✅    |

README.md

@@ -39,7 +39,7 @@
 ### Prerequisites
 - Python 3.6
 - [QGIS 3](https://www.qgis.org/)
-- [CARLA AD Map plugin version 2.4.2 and above](https://github.com/carla-simulator/map/releases)
+- [CARLA AD Map plugin version 2.4.5 and above](https://github.com/carla-simulator/map/releases)
 - [CARLA](https://github.com/carla-simulator/carla/releases/) (Version >= 0.9.10)
 - [CARLA Scenario Runner](https://github.com/carla-simulator/scenario_runner/releases)
 
@@ -79,63 +79,65 @@ pip3 install --user -r /path/to/requirements.txt
 
 ## OpenSCENARIO Support List
 
+_For the full support list, visit [OpenSCENARIO Tags Support](Docs/OpenSCENARIO_Support.md)_
+
 ✅ - Supported
 
 ❌ - Not supported
 
 ### Environment
-Description | Support | Notes
--- | -- | --
-Time of day | ✅ | Includes enabling animation of time
-Cloud state | ✅ | 
-Fog visual range | ✅ | 
-Sun | ✅ | Includes intensity, azimuth, elevation
-Precipitation | ✅ | Includes precipitation type and intensity
+| Description      | Support | Notes                                     |
+| ---------------- | ------- | ----------------------------------------- |
+| Time of day      | ✅       | Includes enabling animation of time       |
+| Cloud state      | ✅       |
+| Fog visual range | ✅       |
+| Sun              | ✅       | Includes intensity, azimuth, elevation    |
+| Precipitation    | ✅       | Includes precipitation type and intensity |
 
 ### Actors
-Description | Support | Notes
--- | -- | --
-Spawn with World Position | ✅ | 
-Set initial speed | ✅ | 
-Set orientation | ✅ | Can either use lane heading, or manually specified
-Set as ego vehicle | ✅ | Only for vehicles
-Agent selection | ✅ | Only for ego vehicles (manual_control will require manually changing `Ego_1` tag to `hero`)
-Agent parameter overrides | ❌ | Only for ego vehicles (overriding throttle, brake, clutch, parking brake, steering, gear)
+| Description               | Support | Notes                                                                                       |
+| ------------------------- | ------- | ------------------------------------------------------------------------------------------- |
+| Spawn with World Position | ✅       |
+| Set initial speed         | ✅       |
+| Set orientation           | ✅       | Can either use lane heading, or manually specified                                          |
+| Set as ego vehicle        | ✅       | Only for vehicles                                                                           |
+| Agent selection           | ✅       | Only for ego vehicles (manual_control will require manually changing `Ego_1` tag to `hero`) |
+| Agent parameter overrides | ❌       | Only for ego vehicles (overriding throttle, brake, clutch, parking brake, steering, gear)   |
 
 ### Static Objects (Props)
-Description | Support | Notes
--- | -- | --
-Spawn with World Position | ✅ | 
-Set object type | ✅ | 
-Set object mass | ✅ | 
-Set orientation | ✅ | Can either use lane heading, or manually specified
-Enable/Disable physics | ✅ | 
+| Description               | Support | Notes                                              |
+| ------------------------- | ------- | -------------------------------------------------- |
+| Spawn with World Position | ✅       |
+| Set object type           | ✅       |
+| Set object mass           | ✅       |
+| Set orientation           | ✅       | Can either use lane heading, or manually specified |
+| Enable/Disable physics    | ✅       |
 
 ### End Evaluation KPIs
-Description | Support | Notes
--- | -- | --
-Running stop test | ✅ | 
-Running red light test | ✅ | 
-Wrong lane test | ✅ | 
-On sidewalk test | ✅ | 
-Keep lane test | ✅ | 
-Collision test | ✅ | 
-Driven distance test | ✅ | 
+| Description            | Support | Notes |
+| ---------------------- | ------- | ----- |
+| Running stop test      | ✅       |
+| Running red light test | ✅       |
+| Wrong lane test        | ✅       |
+| On sidewalk test       | ✅       |
+| Keep lane test         | ✅       |
+| Collision test         | ✅       |
+| Driven distance test   | ✅       |
 
 ### Entity Maneuvers
-Description | Support | Notes
--- | -- | --
-Waypoints | ✅ | 
-Longitudinal | ✅ | 
-Lateral | ✅ | 
-Synchronize Action | ❌ | 
-Teleport Action | ❌ | 
+| Description        | Support | Notes |
+| ------------------ | ------- | ----- |
+| Waypoints          | ✅       |
+| Longitudinal       | ✅       |
+| Lateral            | ✅       |
+| Synchronize Action | ❌       |
+| Teleport Action    | ❌       |
 
 ### Global Maneuvers
-Description | Support | Notes
--- | -- | --
-Environment | ❌ | 
-Infrastructure Action | ✅ | Traffic light signal control
+| Description           | Support | Notes                        |
+| --------------------- | ------- | ---------------------------- |
+| Environment           | ❌       |
+| Infrastructure Action | ✅       | Traffic light signal control |
 
 
 ## Guide
@@ -146,18 +148,19 @@ Infrastructure Action | ✅ | Traffic light signal control
 
 ![OpenSCENARIO Generator Toolbar](Docs/OSCGenerator_Toolbar.png)
 
-Icon | Description
--- | --
-<img src="icons/icon_weather.png" alt="Edit environment" width="50"/> | Edit environment
-<img src="icons/icon_vehicle.png" alt="Add vehicles" width="50"/> | Add vehicles
-<img src="icons/icon_pedestrian.png" alt="Add pedestrians" width="50"/> | Add pedestrians
-<img src="icons/icon_static.png" alt="Add static objects" width="50"/> | Add static objects
-<img src="icons/icon_maneuver.png" alt="Add maneuvers" width="50"/> | Add maneuvers
-<img src="icons/icon_parameter.png" alt="Add parmeters" width="50"/> | Add parameters
-<img src="icons/icon_endEval.png" alt="Add end evaluation KPIs" width="50"/> | Add end evaluation KPIs (Specific for Scenario Runner)
-<img src="icons/icon_code.png" alt="Export OpenSCENARIO" width="50"/> | Export OpenSCENARIO file
-<img src="icons/carla_logo.png" alt="Connect to CARLA instance" width="50"/> | Connect to carla instance 
-<img src="icons/video_cam.png" alt="Insert camera" width="50"/> | Add bird eye view camera 
+| Icon                                                                         | Description                                            |
+| ---------------------------------------------------------------------------- | ------------------------------------------------------ |
+| <img src="icons/icon_weather.png" alt="Edit environment" width="50"/>        | Edit environment                                       |
+| <img src="icons/icon_vehicle.png" alt="Add vehicles" width="50"/>            | Add vehicles                                           |
+| <img src="icons/icon_pedestrian.png" alt="Add pedestrians" width="50"/>      | Add pedestrians                                        |
+| <img src="icons/icon_static.png" alt="Add static objects" width="50"/>       | Add static objects                                     |
+| <img src="icons/icon_maneuver.png" alt="Add maneuvers" width="50"/>          | Add maneuvers                                          |
+| <img src="icons/icon_parameter.png" alt="Add parmeters" width="50"/>         | Add parameters                                         |
+| <img src="icons/icon_endEval.png" alt="Add end evaluation KPIs" width="50"/> | Add end evaluation KPIs (Specific for Scenario Runner) |
+| <img src="icons/icon_code.png" alt="Export OpenSCENARIO" width="50"/>        | Export OpenSCENARIO file                               |
+| <img src="icons/icon_import.png" alt="Import OpenSCENARIO" width="50"/>      | Import OpenSCENARIO file                               |
+| <img src="icons/carla_logo.png" alt="Connect to CARLA instance" width="50"/> | Connect to carla instance                              |
+| <img src="icons/video_cam.png" alt="Insert camera" width="50"/>              | Add bird eye view camera                               |
 
 
 ### Adding Environment Variables
@@ -183,6 +186,12 @@ _Note: To change environment settings, simply adjust the parameters and press 'A
 
    ![Selecting Lane ID](Docs/OSCGenerator_Vehicles_LaneID.png)
 
+7. If click point contains lanes with multiple elevations, a dialog box will appear and ask to select the desired elevation.
+
+   ![Selection Elevation](Docs/OSCGenerator_Elevation.png)
+
+_Note: Sometimes there will be a "Click point too far from lane" error. Try choosing a different elevation._
+
 _Note: Currently you can insert vehicle one at a time._
 
 _Note: You can toggle labels on and off by clicking on the 'Label' button_
@@ -199,6 +208,12 @@ _Note: You can toggle labels on and off by clicking on the 'Label' button_
 6. If click point contains multiple lanes and 'Use lane heading' is enabled, a dialog box will appear and ask to select lane ID to use for lane heading.
 
    ![Selecting Lane ID](Docs/OSCGenerator_Vehicles_LaneID.png)
+
+7. If click point contains lanes with multiple elevations, a dialog box will appear and ask to select the desired elevation.
+
+   ![Selection Elevation](Docs/OSCGenerator_Elevation.png)
+
+_Note: Sometimes there will be a "Click point too far from lane" error. Try choosing a different elevation._
 
 _Note: You can insert as many pedestrians as you desire after pressing on 'Insert'_