class StraightRoadBuilder:
def __init__(self, country=CountryCodes.US):
self.STD_ROADMARK = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,
0.2,
rule=pyodrx.MarkRule.no_passing)
self.STD_START_CLOTH = 1 / 1000000000
self.country = country
self.laneBuilder = LaneBuilder()
self.configuration = Configuration()
self.name = 'StraightRoadBuilder'
pass
def createPVForLine(self, length):
line1 = pyodrx.Line(length)
# create planviews
pv = extensions.ExtendedPlanview()
pv.add_geometry(line1)
return pv
def createRandom(self,
roadId,
randomState=None,
length=20,
junction=-1,
lane_offset=None,
maxLanePerSide=2,
minLanePerSide=0,
turns=False,
merges=False,
medianType=None,
medianWidth=3,
skipEndpoint=None,
force3Section=False):
if randomState is not None:
np.random.set_state(randomState)
if lane_offset is None:
lane_offset = self.configuration.get("default_lane_width")
if maxLanePerSide < 1:
raise Exception(
f"{self.name}: createRandom: maxLanePerSide cannot be less than 1"
)
laneRange = np.arange(minLanePerSide, maxLanePerSide + 1)
n_lanes_left = np.random.choice(laneRange)
n_lanes_right = np.random.choice(laneRange)
if (n_lanes_left == 0) and (n_lanes_right == 0):
return self.createRandom(roadId,
randomState=randomState,
length=length,
junction=junction,
lane_offset=lane_offset,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
turns=turns,
merges=merges,
medianType=medianType,
medianWidth=3,
skipEndpoint=skipEndpoint,
force3Section=force3Section)
numLeftTurnsOnLeft = 0
numRightTurnsOnRight = 0
numLeftMergeOnLeft = 0
numRightMergeOnRight = 0
numberOfLeftTurnLanesOnRight = 0
numberOfRightTurnLanesOnLeft = 0
mergeLaneOnTheOppositeSideForInternalTurn = np.random.choice(
[True, False])
if turns:
numLeftTurnsOnLeft = np.random.choice([0, 1])
numRightTurnsOnRight = np.random.choice([0, 1])
numberOfLeftTurnLanesOnRight = np.random.choice([0, 1])
numberOfRightTurnLanesOnLeft = np.random.choice([0, 1])
elif merges:
numLeftMergeOnLeft = np.random.choice([0, 1])
numRightMergeOnRight = np.random.choice([0, 1])
if medianType is None:
return self.create(
roadId,
n_lanes_left=n_lanes_left,
n_lanes_right=n_lanes_right,
length=length,
junction=junction,
lane_offset=lane_offset,
laneSides=LaneSides.BOTH,
numLeftTurnsOnLeft=numLeftTurnsOnLeft,
numRightTurnsOnRight=numRightTurnsOnRight,
numLeftMergeOnLeft=numLeftMergeOnLeft,
numRightMergeOnRight=numRightMergeOnRight,
numberOfLeftTurnLanesOnRight=numberOfLeftTurnLanesOnRight,
numberOfRightTurnLanesOnLeft=numberOfRightTurnLanesOnLeft,
mergeLaneOnTheOppositeSideForInternalTurn=
mergeLaneOnTheOppositeSideForInternalTurn,
force3Section=force3Section)
else:
return self.createWithMedianRestrictedLane(
roadId,
n_lanes_left=n_lanes_left,
n_lanes_right=n_lanes_right,
length=length,
junction=junction,
lane_offset=lane_offset,
laneSides=LaneSides.BOTH,
numLeftTurnsOnLeft=numLeftTurnsOnLeft,
numRightTurnsOnRight=numRightTurnsOnRight,
numLeftMergeOnLeft=numLeftMergeOnLeft,
numRightMergeOnRight=numRightMergeOnRight,
numberOfLeftTurnLanesOnRight=numberOfLeftTurnLanesOnRight,
numberOfRightTurnLanesOnLeft=numberOfRightTurnLanesOnLeft,
mergeLaneOnTheOppositeSideForInternalTurn=
mergeLaneOnTheOppositeSideForInternalTurn,
medianType=medianType,
medianWidth=medianWidth,
skipEndpoint=skipEndpoint)
pass
def create(self,
roadId,
n_lanes_left=1,
n_lanes_right=1,
length=20,
junction=-1,
lane_offset=3,
laneSides=LaneSides.BOTH,
numLeftTurnsOnLeft=0,
numRightTurnsOnRight=0,
numLeftMergeOnLeft=0,
numRightMergeOnRight=0,
numberOfLeftTurnLanesOnRight=0,
numberOfRightTurnLanesOnLeft=0,
mergeLaneOnTheOppositeSideForInternalTurn=True,
force3Section=False):
# create geometry
pv = self.createPVForLine(length)
# laneSections = self.laneBuilder.getStandardLanes(n_lanes, lane_offset, laneSides,
# roadLength=length,
# isLeftTurnLane=isLeftTurnLane, isRightTurnLane=isRightTurnLane,
# isLeftMergeLane=isLeftMergeLane, isRightMergeLane=isRightMergeLane)
singleSide = False
if laneSides != LaneSides.BOTH:
singleSide = True
laneSections = self.laneBuilder.getLanes(
n_lanes_left,
n_lanes_right,
lane_offset=lane_offset,
singleSide=singleSide,
roadLength=length,
numLeftTurnsOnLeft=numLeftTurnsOnLeft,
numRightTurnsOnRight=numRightTurnsOnRight,
numLeftMergeOnLeft=numLeftMergeOnLeft,
numRightMergeOnRight=numRightMergeOnRight,
numberOfLeftTurnLanesOnRight=numberOfLeftTurnLanesOnRight,
numberOfRightTurnLanesOnLeft=numberOfRightTurnLanesOnLeft,
mergeLaneOnTheOppositeSideForInternalTurn=
mergeLaneOnTheOppositeSideForInternalTurn,
force3Section=force3Section)
road = ExtendedRoad(roadId, pv, laneSections, road_type=junction)
return road
def createWithMedianRestrictedLane(
self,
roadId,
n_lanes_left=1,
n_lanes_right=1,
length=20,
junction=-1,
lane_offset=3,
laneSides=LaneSides.BOTH,
numLeftTurnsOnLeft=0,
numRightTurnsOnRight=0,
numLeftMergeOnLeft=0,
numRightMergeOnRight=0,
numberOfLeftTurnLanesOnRight=0,
numberOfRightTurnLanesOnLeft=0,
mergeLaneOnTheOppositeSideForInternalTurn=True,
medianType='partial',
medianWidth=3,
skipEndpoint=None):
road = self.create(
roadId,
n_lanes_left=n_lanes_left,
n_lanes_right=n_lanes_right,
length=length,
junction=junction,
lane_offset=lane_offset,
laneSides=laneSides,
numLeftTurnsOnLeft=numLeftTurnsOnLeft,
numRightTurnsOnRight=numRightTurnsOnRight,
numLeftMergeOnLeft=numLeftMergeOnLeft,
numRightMergeOnRight=numRightMergeOnRight,
numberOfLeftTurnLanesOnRight=numberOfLeftTurnLanesOnRight,
numberOfRightTurnLanesOnLeft=numberOfRightTurnLanesOnLeft,
mergeLaneOnTheOppositeSideForInternalTurn=
mergeLaneOnTheOppositeSideForInternalTurn,
force3Section=True)
if medianType == 'partial':
if skipEndpoint is None:
raise Exception(
f"{self.name}: createWithMedianRestrictedLane skipEndpoint cannot be None for partial median lanes."
)
self.laneBuilder.addMedianIslandsTo2Of3Sections(
road,
roadLength=length,
skipEndpoint=skipEndpoint,
width=medianWidth)
else:
self.laneBuilder.addMedianIslandsToAllSections(road,
width=medianWidth)
return road
def createWithRightTurnLanesOnLeft(
self,
roadId,
length=100,
junction=-1,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False,
numberOfRightTurnLanesOnLeft=1,
mergeLaneOnTheOppositeSideForInternalTurn=True):
# create geometry
pv = self.createPVForLine(length)
laneSections = self.laneBuilder.getStandardLanesWithInternalTurns(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane,
numberOfRightTurnLanesOnLeft=numberOfRightTurnLanesOnLeft,
mergeLaneOnTheOppositeSideForInternalTurn=
mergeLaneOnTheOppositeSideForInternalTurn)
road = ExtendedRoad(roadId, pv, laneSections, road_type=junction)
return road
def createWithLeftTurnLanesOnRight(
self,
roadId,
length=100,
junction=-1,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False,
numberOfLeftTurnLanesOnRight=1,
mergeLaneOnTheOppositeSideForInternalTurn=True):
"""Will create numberOfLeftTurnLanesOnRight left turn lanes on the right side of the center line. Equal number of mergelanes will be created on the left side of the center lane, too.
Args:
roadId ([type]): [description]
length (int, optional): [description]. Defaults to 100.
junction (int, optional): [description]. Defaults to -1.
n_lanes (int, optional): [description]. Defaults to 1.
lane_offset (int, optional): [description]. Defaults to 3.
laneSides ([type], optional): [description]. Defaults to LaneSides.BOTH.
isLeftTurnLane (bool, optional): [description]. Defaults to False.
isRightTurnLane (bool, optional): [description]. Defaults to False.
isLeftMergeLane (bool, optional): [description]. Defaults to False.
isRightMergeLane (bool, optional): [description]. Defaults to False.
numberOfLeftTurnLanesOnRight (int, optional): [description]. Defaults to 1.
Returns:
[type]: [description]
"""
# create geometry
pv = self.createPVForLine(length)
laneSections = self.laneBuilder.getStandardLanesWithInternalTurns(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane,
numberOfLeftTurnLanesOnRight=numberOfLeftTurnLanesOnRight,
mergeLaneOnTheOppositeSideForInternalTurn=
mergeLaneOnTheOppositeSideForInternalTurn)
road = ExtendedRoad(roadId, pv, laneSections, road_type=junction)
return road
def createWithDifferentLanes(self,
roadId,
length=100,
junction=-1,
n_lanes_left=1,
n_lanes_right=1,
lane_offset=3,
force3Section=False):
return self.create(roadId,
n_lanes_left=n_lanes_left,
n_lanes_right=n_lanes_right,
length=length,
junction=junction,
lane_offset=lane_offset,
force3Section=force3Section)
class test_LaneBuilder(unittest.TestCase):
def setUp(self):
self.configuration = Configuration()
self.laneBuilder = LaneBuilder()
def test_widths(self):
roadLength = 10
#1 simple Lanes
lanes = self.laneBuilder.getStandardLanes(1, 3)
for laneSec in lanes.lanesections:
widths = laneSec.widths(roadLength)
assert widths[0] == 6
assert widths[1] == 6
#1 turn lanes
lanes = self.laneBuilder.getStandardLanes(1,
3,
roadLength=roadLength,
isLeftTurnLane=True,
isRightTurnLane=True)
widths = lanes.lanesections[0].widths(roadLength, LaneOffset(s=0),
LaneOffset(s=1))
print(widths)
assert widths[0] == 6
assert widths[1] == 6
widths = lanes.lanesections[1].widths(roadLength, LaneOffset(s=1),
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 6
assert widths[1] == 12
widths = lanes.lanesections[2].widths(roadLength,
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 12
assert widths[1] == 12
#2 merge lanes
lanes = self.laneBuilder.getStandardLanes(1,
3,
roadLength=roadLength,
isLeftMergeLane=True,
isRightMergeLane=True)
widths = lanes.lanesections[0].widths(roadLength, LaneOffset(s=0),
LaneOffset(s=1))
print(widths)
assert widths[0] == 12
assert widths[1] == 12
widths = lanes.lanesections[1].widths(roadLength, LaneOffset(s=1),
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 12
assert widths[1] == 6
widths = lanes.lanesections[2].widths(roadLength,
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 6
assert widths[1] == 6
#2 internal lanes
lanes = self.laneBuilder.getStandardLanesWithInternalTurns(
1, 3, roadLength=roadLength, numberOfLeftTurnLanesOnRight=2)
widths = lanes.lanesections[0].widths(roadLength, LaneOffset(s=0),
LaneOffset(s=1))
print(widths)
assert widths[0] == 12
assert widths[1] == 12
widths = lanes.lanesections[1].widths(roadLength, LaneOffset(s=1),
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 12
assert widths[1] == 12
widths = lanes.lanesections[2].widths(roadLength,
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 12
assert widths[1] == 12