def test_createMShape(self):
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(self.roadBuilder.createMShape(1, 1, np.pi / 1.5, 10))
roads.append(pyodrx.create_straight_road(2, 10))
roads[0].add_successor(pyodrx.ElementType.junction, 1)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.end)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.start)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
junction = self.junctionBuilder.createJunctionForASeriesOfRoads(roads)
odrName = "test_connectionRoad"
odr = extensions.createOdr(odrName, roads, [junction])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/m-shape.xodr"
odr.write_xml(xmlPath)
extensions.saveRoadImageFromFile(xmlPath, self.esminiPath)
def test_createMShapeRightLanes(self):
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(
self.roadBuilder.createMShape(
1,
1,
-np.pi / 1.5,
10,
laneSides=junctions.LaneSides.RIGHT,
direction=CircularDirection.COUNTERCLOCK_WISE))
roads.append(pyodrx.create_straight_road(2, 10))
roads[0].add_successor(pyodrx.ElementType.junction, 1)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.end)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.start)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
junction = self.junctionBuilder.createJunctionForASeriesOfRoads(roads)
odrName = "test_connectionRoad"
odr = extensions.createOdr(odrName, roads, [junction])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
def test_cubicParams(self):
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(self.roadBuilder.createParamPoly3(1, isJunction=True))
roads.append(pyodrx.create_straight_road(2, 1))
roads[0].add_successor(pyodrx.ElementType.junction, 1)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.end)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
con1 = pyodrx.Connection(0, 1, pyodrx.ContactPoint.start)
con1.add_lanelink(-1, -1)
junction = pyodrx.Junction('test', 1)
junction.add_connection(con1)
odr = pyodrx.OpenDrive('test')
for r in roads:
odr.add_road(r)
odr.add_junction(junction)
odr.adjust_roads_and_lanes()
extensions.view_road(odr,
os.path.join('..', 'F:\\myProjects\\av\\esmini'))
def test_getCurvatureForAngleAndLength(self):
numberofLanes = 10
laneOffset = 3
# angle = 120
# curve, angle = AngleCurvatureMap.getCurvatureForNonOverlappingRoads(angle, numberofLanes, laneOffset)
angle = np.pi * 1.2
length = 20
# curve, angle = AngleCurvatureMap.getCurvatureForNonOverlappingRoads(angle, numberofLanes, laneOffset)
maxCurve = AngleCurvatureMap.getMaxCurvatureAgainstMaxRoadWidth(
angle, numberofLanes * laneOffset)
curve = AngleCurvatureMap.getCurvatureForAngleAndLength(angle, length)
print(f"max curve {maxCurve}, current curve {curve}")
roads = []
roads.append(
pyodrx.create_straight_road(0,
50,
n_lanes=numberofLanes,
lane_offset=laneOffset))
roads.append(
self.roadBuilder.
createSimpleCurveWithLongArcWithLaneNumberandOffset(
1,
angle,
False,
curvature=curve,
_n_lanes=numberofLanes,
_lane_offset=laneOffset))
roads.append(
pyodrx.create_straight_road(2,
50,
n_lanes=numberofLanes,
lane_offset=laneOffset))
roads[0].add_successor(pyodrx.ElementType.road, 1,
pyodrx.ContactPoint.start)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.end)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.road, 1,
pyodrx.ContactPoint.end)
odrName = "curve_test"
odr = extensions.createOdr(odrName, roads, [])
extensions.view_road(odr, self.esminiPath)
def getConnectionRoadBetween(self,
newRoadId,
road1,
road2,
cp1=pyodrx.ContactPoint.end,
cp2=pyodrx.ContactPoint.start,
isJunction=True):
""" Works only after roads has been adjusted.
For now we will create a straight road which connects the reference lines of the roads, starts at second road and ends that the first.
Args:
road1 ([type]): first road
road2 ([type]): second road
cp1 ([type], optional): [description]. Defaults to pyodrx.ContactPoint.end. end for the roads which have end points in a junction
cp2 ([type], optional): [description]. Defaults to pyodrx.ContactPoint.start. start for the roads which have start points in a junction
"""
junction = self.getJunctionSelection(isJunction)
x1, y1, h1 = road1.getPosition(cp1)
x2, y2, h2 = road2.getPosition(cp2)
newRoadLength = math.sqrt((x1 - x2)**2 + (y1 - y2)**2)
# fix heading.
newConnection = pyodrx.create_straight_road(newRoadId,
newRoadLength,
junction=junction)
return newConnection
def random2ways2Lanes(self, angleBetweenRoads):
# print( f"random2ways2Lanes: creating a road network for angle: {math.degrees(angleBetweenRoads)}")
roads = []
roads.append(pyodrx.create_straight_road(0, length=self.straightRoadLen)) # cannot reuse roads due to some references to links cannot be reinitialized with pyodrx lib.
roads.append(self.createRandomConnectionConnectionRoad(1, angleBetweenRoads))
roads.append(pyodrx.create_straight_road(2, length=self.straightRoadLen))
self.link3RoadsWithMidAsJunction(roads)
junction = self.create2RoadJunction(roads)
self.lastId += 1
odrName = 'R2_L2_' + str(self.lastId)
odr = self.createOdr(odrName, roads, [junction])
return odr
def test_RightLane(self):
# test scenario for connection road
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
# roads.append(self.roadBuilder.createSimpleCurve(1, np.pi/4, True, curvature = 0.2))
# roads.append(pyodrx.create_straight_road(2, 10))
# roads[0].add_successor(pyodrx.ElementType.junction,1)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
# # roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.start)
# roads[1].add_successor(pyodrx.ElementType.road,2,pyodrx.ContactPoint.start)
# roads[2].add_predecessor(pyodrx.ElementType.junction,1, pyodrx.ContactPoint.end)
odrName = "test_connectionRoad"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
self.laneBuilder.addRightTurnLaneUS(roads[0], 3)
# self.laneBuilder.addRightLaneUS(roads[1])
odr.resetAndReadjust(byPredecessor=True)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test-RightLane.xodr"
odr.write_xml(xmlPath)
def test_repeated_object():
object1 = pyodrx.Object(s=10.0,
t=-2,
dynamic=pyodrx.Dynamic.no,
orientation=pyodrx.Orientation.positive,
zOffset=0.00,
height=1.0,
Type=pyodrx.ObjectType.pole)
object1.repeat(100, 50)
road = pyodrx.create_straight_road(0)
road.add_object(object1)
pyodrx.prettyprint(road.get_element())
def createRandomConnectionConnectionRoad(self, connectionRoadId, angleBetweenRoads):
"""The magic connectionRoad
Args:
angleBetweenRoads ([type]): The angle between the roads which this connectionRoad is suppose to connect together
connectionRoadId ([type]): id to be assigned to the new connection road.
"""
if angleBetweenRoads > 3.05: # when it's greater than 174 degrees, create a straight road
return pyodrx.create_straight_road(connectionRoadId, length=self.straightRoadLen, junction=1)
connectionRoad = self.roadBuilder.createRandomCurve(connectionRoadId, angleBetweenRoads, isJunction=True)
return connectionRoad
def test_object_roadside():
road = pyodrx.create_straight_road(0)
odr = pyodrx.OpenDrive('myroad')
odr.add_road(road)
odr.adjust_roads_and_lanes()
object1 = pyodrx.Object(s=0,
t=0,
dynamic=pyodrx.Dynamic.no,
orientation=pyodrx.Orientation.positive,
zOffset=0.00,
height=1.0,
Type=pyodrx.ObjectType.pole)
road.add_object_roadside(object1, 50, tOffset=0.85)
pyodrx.prettyprint(road.get_element())
def test_object():
object1 = pyodrx.Object(s=10.0,
t=-2,
dynamic=pyodrx.Dynamic.no,
orientation=pyodrx.Orientation.positive,
zOffset=0.00,
id="1",
height=1.0,
Type=pyodrx.ObjectType.pole)
#same chosen ID should cause warning and be resolved automatically
object2 = pyodrx.Object(s=20.0,
t=-2,
dynamic=pyodrx.Dynamic.no,
orientation=pyodrx.Orientation.positive,
zOffset=0.00,
height=10,
id="1",
Type=pyodrx.ObjectType.streetLamp)
road = pyodrx.create_straight_road(0)
road.add_object([object1, object2])
pyodrx.prettyprint(road.get_element())
def test_signal():
signal1 = pyodrx.Signal(s=10.0,
t=-2,
dynamic=pyodrx.Dynamic.no,
orientation=pyodrx.Orientation.positive,
zOffset=0.00,
country="US",
Type="R1",
subtype="1")
signal2 = pyodrx.Signal(s=20.0,
t=-2,
dynamic=pyodrx.Dynamic.no,
orientation=pyodrx.Orientation.positive,
country="DEU",
Type="274",
subtype="120",
value=120,
unit="km/h")
road = pyodrx.create_straight_road(0)
road.add_signal(signal1)
road.add_signal(signal2)
pyodrx.prettyprint(road.get_element())
def test_getConnectionRoadBetween(self):
# test scenario for connection road
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimple(1,
np.pi / 4,
True,
curvature=0.2))
roads.append(pyodrx.create_straight_road(2, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimple(3,
np.pi / 3,
True,
curvature=0.2))
roads.append(pyodrx.create_straight_road(4, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimple(5,
np.pi / 2,
True,
curvature=0.2))
roads.append(pyodrx.create_straight_road(6, 10))
roads[0].add_successor(pyodrx.ElementType.junction, 1)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.start)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
roads[2].add_successor(pyodrx.ElementType.junction, 3)
roads[3].add_predecessor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[3].add_successor(pyodrx.ElementType.road, 4,
pyodrx.ContactPoint.start)
roads[4].add_predecessor(pyodrx.ElementType.junction, 3)
roads[4].add_successor(pyodrx.ElementType.junction, 5)
roads[5].add_predecessor(pyodrx.ElementType.road, 4,
pyodrx.ContactPoint.start)
roads[5].add_successor(pyodrx.ElementType.road, 6,
pyodrx.ContactPoint.start)
roads[6].add_predecessor(pyodrx.ElementType.junction, 5)
junction = self.junctionBuilder.createJunctionForASeriesOfRoads(roads)
odrName = "test_connectionRoad"
odr = extensions.createOdr(odrName, roads, [junction])
lastConnection = self.harvester.junctionBuilder.createLastConnectionForLastAndFirstRoad(
7, roads, junction, cp1=pyodrx.ContactPoint.start)
roads.append(lastConnection)
odr.add_road(lastConnection)
# randConnection = self.harvester.junctionBuilder.createConnectionFor2Roads(8, roads[0], roads[4], junction, cp1=pyodrx.ContactPoint.start)
# roads.append(randConnection)
# odr.add_road(randConnection)
# randConnection2 = self.harvester.junctionBuilder.createConnectionFor2Roads(9, roads[2], roads[6], junction, cp1=pyodrx.ContactPoint.start)
# roads.append(randConnection2)
# odr.add_road(randConnection2)
# odr.reset()
# odr.add_road(lastConnection)
# odr.adjust_roads_and_lanes()
odr.resetAndReadjust()
# pyodrx.prettyprint(odr.get_element())
odr.write_xml(f"output/test_connectionRoad.xodr")
# extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
pass
def test_AdjustStartPointsForAnyRoadCombinations(self):
# test scenario for connection road
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimpleCurveWithLongArc(
1, np.pi / 4, False, curvature=0.2))
roads.append(pyodrx.create_straight_road(2, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimpleCurveWithLongArc(
3, np.pi / 3, True, curvature=0.2))
roads.append(pyodrx.create_straight_road(4, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimpleCurveWithLongArc(
5, np.pi / 2, True, curvature=0.2))
roads.append(pyodrx.create_straight_road(6, 10))
roads[0].add_successor(pyodrx.ElementType.road, 1,
pyodrx.ContactPoint.start)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.start)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.road, 1,
pyodrx.ContactPoint.end)
roads[2].add_successor(pyodrx.ElementType.junction, 3)
roads[3].add_predecessor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[3].add_successor(pyodrx.ElementType.road, 4,
pyodrx.ContactPoint.start)
roads[4].add_predecessor(pyodrx.ElementType.junction, 3)
roads[4].add_successor(pyodrx.ElementType.junction, 5)
roads[5].add_predecessor(pyodrx.ElementType.road, 4,
pyodrx.ContactPoint.start)
roads[5].add_successor(pyodrx.ElementType.road, 6,
pyodrx.ContactPoint.start)
roads[6].add_predecessor(pyodrx.ElementType.junction, 5)
junction = self.junctionBuilder.createJunctionForASeriesOfRoads(roads)
odrName = "test_connectionRoad"
odr = extensions.createOdr(odrName, roads, [junction])
lastConnection = self.harvester.junctionBuilder.createLastConnectionForLastAndFirstRoad(
7, roads, junction, cp1=pyodrx.ContactPoint.start)
roads.append(lastConnection)
odr.add_road(lastConnection)
# randConnection = self.harvester.junctionBuilder.createConnectionFor2Roads(8, roads[0], roads[4], junction, cp1=pyodrx.ContactPoint.start)
# roads.append(randConnection)
# odr.add_road(randConnection)
# randConnection2 = self.harvester.junctionBuilder.createConnectionFor2Roads(9, roads[2], roads[6], junction, cp1=pyodrx.ContactPoint.start)
# roads.append(randConnection2)
# odr.add_road(randConnection2)
odr.resetAndReadjust()
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
pass
roads = []
incoming_roads = 4
angles = []
for i in range(incoming_roads):
signal1 = pyodrx.Signal(s=10.0,
t=2,
dynamic="no",
orientation="+",
zOffset=0.00,
country="US",
Type="R1",
subtype="1",
value=0.00)
signals = pyodrx.Signals()
signals.add_signal(signal1)
roads.append(pyodrx.create_straight_road(i, signals=signals))
# use this instead to change the number of lanes in the crossing
# roads.append(pyodrx.generators.create_straight_road(i, length=100, junction=-1, n_lanes=2, lane_offset=3))
angles.append(i * 2 * np.pi / incoming_roads)
# use this for a T-crossing instead
# angles = [0,np.pi/2, 3*np.pi/2]
print(roads)
junc = pyodrx.create_junction_roads(roads, angles, 8)
odr = pyodrx.OpenDrive('myroad')
junction = pyodrx.create_junction(junc, 1, roads)
odr.add_junction(junction)
for r in roads:
odr.add_road(r)
import numpy as np
import os
import pyodrx
roads = []
numintersections = 4 # 3 or 4
angles = []
for i in range(numintersections):
roads.append(pyodrx.create_straight_road(i))
# use this instead to change the number of lanes in the crossing
#roads.append(pyodrx.generators.create_straight_road(i, length=100, junction=-1, n_lanes=2, lane_offset=3))
angles.append(i * 2*np.pi/numintersections)
# use this for a T-crossing instead
# angles = [0,np.pi/2, 3*np.pi/2]
print(roads)
junc = pyodrx.create_junction_roads(roads,angles,8)
odr = pyodrx.OpenDrive('myroad')
junction = pyodrx.create_junction(junc,1,roads)
odr.add_junction(junction)
for r in roads:
odr.add_road(r)
for j in junc:
odr.add_road(j)
