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 create2RoadJunction(self, roads):
"""[summary]
Args:
roads ([type]): 3 roads with mid as the junction type.
"""
connection = self.connect2LaneRoads(0, 1)
junction = pyodrx.Junction('test',1)
junction.add_connection(connection)
return junction
def test_junction():
con1 = pyodrx.Connection(1,2,pyodrx.ContactPoint.start)
con1.add_lanelink(1,-1)
con1.add_lanelink(2,-2)
con2 = pyodrx.Connection(2,1,pyodrx.ContactPoint.start)
con2.add_lanelink(1,-1)
con2.add_lanelink(2,-2)
con2.add_lanelink(3,-3)
junciton = pyodrx.Junction('',1)
junciton.add_connection(con1)
junciton.add_connection(con2)
pyodrx.prettyprint(junciton.get_element())
def createJunctionFor2Connections(self, roadFirstPred, connectionRoadFirst,
roadFirstSuc, connectionRoadSecond):
# TODO experiment with connecting more lanes for a single connection road.
con1 = pyodrx.Connection(roadFirstPred.id, connectionRoadFirst.id,
pyodrx.ContactPoint.start)
con1.add_lanelink(-1, -1)
con2 = pyodrx.Connection(roadFirstSuc.id, connectionRoadSecond.id,
pyodrx.ContactPoint.start)
con2.add_lanelink(-1, -1)
junction = pyodrx.Junction('junc', 1)
junction.add_connection(con1)
junction.add_connection(con1)
return junction
def createJunctionForASeriesOfRoads(self, roads, id=0):
"""[summary]
Args:
roads ([type]): even indices are roads, odd indices are connection roads of the junction
Returns:
[type]: [description]
"""
# TODO it does not support all lanes.
# ID is wrong
junction = pyodrx.Junction("spiderJunction", id)
connectionId = 1
while (connectionId < len(roads)):
print(f"connecting roads {connectionId-1} {connectionId}")
connectionL = pyodrx.Connection(connectionId - 1, connectionId,
pyodrx.ContactPoint.start)
connectionL.add_lanelink(-1, -1)
# if (connectionId + 1) < len(roads):
# connectionR = pyodrx.Connection(connectionId+1, connectionId, pyodrx.ContactPoint.end)
# else:
# connectionR = pyodrx.Connection(0, connectionId, pyodrx.ContactPoint.end)
# connectionR.add_lanelink(1,1)
junction.add_connection(connectionL)
# junction.add_connection(connectionR)
connectionId += 2
return junction
roads[3].add_successor(pyodrx.ElementType.road,4,pyodrx.ContactPoint.start)
roads[4].add_predecessor(pyodrx.ElementType.junction,1)
roads[5].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
roads[5].add_successor(pyodrx.ElementType.road,6,pyodrx.ContactPoint.start)
roads[6].add_predecessor(pyodrx.ElementType.junction,1)
# create the opendrive
odr = pyodrx.OpenDrive('myroad')
for r in roads:
odr.add_road(r)
# create junction
junction = pyodrx.Junction('test',1)
con1 = pyodrx.Connection(0,1,pyodrx.ContactPoint.start)
con1.add_lanelink(-1,-1)
con2 = pyodrx.Connection(0,3,pyodrx.ContactPoint.start)
con2.add_lanelink(-1,-1)
con3 = pyodrx.Connection(0,5,pyodrx.ContactPoint.start)
con3.add_lanelink(-1,-1)
con4 = pyodrx.Connection(2,1,pyodrx.ContactPoint.end)
con4.add_lanelink(1,1)
con5 = pyodrx.Connection(4,3,pyodrx.ContactPoint.end)
con5.add_lanelink(1,1)
con6 = pyodrx.Connection(6,5,pyodrx.ContactPoint.end)
con6.add_lanelink(1,1)
junction.add_connection(con1)
def createWithRandomLaneConfigurations(self,
straightRoadsPath,
id,
maxNumberOfRoadsPerJunction,
firstRoadId=0,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
randomState=None,
internalLinkStrategy = LaneConfigurationStrategies.SPLIT_ANY,
uTurnLanes=1,
equalAngles=False,
getAsOdr=True):
"""All the incoming roads, except for the first, will have their start endpoint connected to the junction.
Args:
straightRoadsPath ([type]): [description]
odrId ([type]): [description]
maxNumberOfRoadsPerJunction ([type]): [description]
maxLanePerSide (int, optional): [description]. Defaults to 2.
minLanePerSide (int, optional): [description]. Defaults to 0.
internalConnections (bool, optional): [description]. Defaults to True.
cp1 ([type], optional): [description]. Defaults to pyodrx.ContactPoint.start.
randomState ([type], optional): [description]. Defaults to None.
Raises:
Exception: [description]
Returns:
[type]: [description]
"""
if maxNumberOfRoadsPerJunction < 2:
raise Exception("Please add more than 1 roads")
if uTurnLanes > 1:
raise Exception("U-turn from more than one lanes is not implemented")
harvestedStraightRoads = []
# if restrictedLanes:
# harvestedStraightRoads = []
# else:
# harvestedStraightRoads = extensions.getObjectsFromDill(straightRoadsPath)
if randomState is not None:
np.random.set_state(randomState)
incidentContactPoints = []
outsideRoads = [] # all the incoming/outgoing roads in this junction
geoConnectionRoads = [] # connections roads which are for geometric positions, having no lanes
laneConnectionRoads = [] # connection roads that have lanes.
roads = []
if cp1 == pyodrx.ContactPoint.end:
roads.append(self.createRandomStraightRoad(0, maxLanePerSide=maxLanePerSide, minLanePerSide=minLanePerSide, skipEndpoint=pyodrx.ContactPoint.start)) # first road
else:
roads.append(self.createRandomStraightRoad(0, maxLanePerSide=maxLanePerSide, minLanePerSide=minLanePerSide, skipEndpoint=pyodrx.ContactPoint.end)) # first road
# if restrictedLanes:
# if cp1 == pyodrx.ContactPoint.end:
# roads.append(self.createRandomStraightRoad(0, maxLanePerSide=maxLanePerSide, minLanePerSide=minLanePerSide, skipEndpoint=pyodrx.ContactPoint.start)) # first road
# else:
# roads.append(self.createRandomStraightRoad(0, maxLanePerSide=maxLanePerSide, minLanePerSide=minLanePerSide, skipEndpoint=pyodrx.ContactPoint.end)) # first road
# else:
# roads.append(self.getRandomHarvestedStraightRoad(0, harvestedStraightRoads, maxLanePerSide, minLanePerSide)) # first road
roads[0].id = firstRoadId
outsideRoads.append(roads[0])
incidentContactPoints.append(cp1)
availableAngle = 1.8 * np.pi # 360 degrees
if equalAngles:
availableAngle = np.pi * 2
maxAnglePerConnection = availableAngle / maxNumberOfRoadsPerJunction
action = self.actionAfterDrawingOne(roads, availableAngle, maxNumberOfRoadsPerJunction)
nextRoadId = firstRoadId + 1
otherContactPoints = pyodrx.ContactPoint.start
nIncidentAdded = 1
while (action != "end"):
logging.debug(f"{self.name}: availableAngle {math.degrees(availableAngle)}, number of roads: {len(roads) / 2}")
# 0. road id generation
previousRoadId = nextRoadId - 1
prevIncidentRoad = roads[-1]
newConnectionId = nextRoadId
nextRoadId += 1
newRoadId = nextRoadId
nextRoadId += 1
prevCp = otherContactPoints
if len(roads) == 1: # first road
prevCp = cp1
# 1. create a road
# newRoad = self.getRandomHarvestedStraightRoad(newRoadId, harvestedStraightRoads, maxLanePerSide, minLanePerSide)
newRoad = self.createRandomStraightRoad(newRoadId, maxLanePerSide, minLanePerSide, skipEndpoint=pyodrx.ContactPoint.end)
# if restrictedLanes:
# newRoad = self.createRandomStraightRoad(newRoadId, maxLanePerSide, minLanePerSide, skipEndpoint=pyodrx.ContactPoint.end)
# else:
# newRoad = self.getRandomHarvestedStraightRoad(newRoadId, harvestedStraightRoads, maxLanePerSide, minLanePerSide)
outsideRoads.append(newRoad)
incidentContactPoints.append(otherContactPoints)
# 2. create a new connection road
prevLanes, nextLanes = self.laneBuilder.getClockwiseAdjacentLanes(prevIncidentRoad, prevCp, newRoad, otherContactPoints)
# maxLaneWidth = ((len(prevLanes) + len(nextLanes)) * self.laneWidth) / 2
maxLaneWidth = max(len(prevLanes), len(nextLanes)) * self.laneWidth
if len(prevLanes) == 0 or len(nextLanes) == 0:
maxLaneWidth = ((len(prevLanes) + len(nextLanes)) * self.laneWidth) / 2
availableAngle -= (maxNumberOfRoadsPerJunction - nIncidentAdded - 1) * self.minAngle
# print(f"Before connection road: minAngle: remaining roads:{maxNumberOfRoadsPerJunction - nIncidentAdded - 1}, {math.degrees(self.minAngle)}, available Angle: {math.degrees(availableAngle)}")
newConnection, availableAngle = self.createGeoConnectionRoad(action, newConnectionId, availableAngle, maxAnglePerConnection, maxLaneWidth=maxLaneWidth, equalAngles=equalAngles)
geoConnectionRoads.append(newConnection)
availableAngle += (maxNumberOfRoadsPerJunction - nIncidentAdded - 1) * self.minAngle
# print(f"after connection road: minAngle: {math.degrees(self.minAngle)}, available Angle: {math.degrees(availableAngle)}")
# 5 add new roads
roads.append(newConnection)
roads.append(newRoad)
RoadLinker.createExtendedPredSuc(predRoad=prevIncidentRoad, predCp=prevCp, sucRoad=newConnection, sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=newConnection, predCp=pyodrx.ContactPoint.end, sucRoad=newRoad, sucCP=otherContactPoints)
self.laneBuilder.createLanesForConnectionRoad(newConnection, prevIncidentRoad, newRoad)
# 6 get next action
action = self.actionAfterDrawingOne(roads, availableAngle, maxNumberOfRoadsPerJunction)
nIncidentAdded += 1
pass
# 3.0 fix outgoing lane numbers
self.fixNumOutgoingLanes(outsideRoads, cp1)
# 3. create connections and junction
# TODO this is not correct anymore.
# junction = self.createJunctionForASeriesOfRoads(roads)
junction = pyodrx.Junction("singleConnectionsJunction", id)
# junction = pyodrx.Junction("singleConnectionsJunction", firstRoadId)
odrName = 'Draw_Rmax' + str(maxNumberOfRoadsPerJunction) + '_L2_' + str(id)
odr = extensions.createOdrByPredecessor(odrName, roads, [junction])
logging.debug(f"{self.name}: roads before internal connections {len(roads)}")
# Permanent connection roads
if internalConnections:
internalConnections = self.connectionBuilder.createSingleLaneConnectionRoads(nextRoadId, outsideRoads, cp1, internalLinkStrategy)
nextRoadId += len(internalConnections)
roads += internalConnections
odr.updateRoads(roads)
# remove lanes from connection roads which are used for geometric positioning of roads
for geoRoad in geoConnectionRoads:
geoRoad.clearLanes()
# TODO create the junction
self.addInternalConnectionsToJunction(junction, internalConnections)
# U-Turns
if uTurnLanes == 1:
uTurnConnections = self.connectionBuilder.createUTurnConnectionRoads(nextRoadId, outsideRoads, cp1)
nextRoadId += 1
roads += uTurnConnections
odr.updateRoads(roads)
self.addInternalConnectionsToJunction(junction, internalConnections)
logging.debug(f"{self.name}: roads after internal connections {len(roads)}")
odr.resetAndReadjust(byPredecessor=True)
if getAsOdr:
return odr
intersection = Intersection(id, outsideRoads, incidentContactPoints, geoConnectionRoads=geoConnectionRoads, odr=odr)
return intersection
