class test_LaneLinker(unittest.TestCase):
def setUp(self):
self.configuration = Configuration()
self.esminiPath = self.configuration.get("esminipath")
self.roadBuilder = RoadBuilder()
self.laneBuilder = LaneBuilder()
self.laneLinker = LaneLinker()
self.straightRoadBuilder = StraightRoadBuilder()
self.roadLinker = RoadLinker()
def test_normalRoadLinks(self):
roads = []
roads.append(self.straightRoadBuilder.create(0))
roads.append(
self.roadBuilder.curveBuilder.createSimple(1,
np.pi / 4,
False,
curvature=0.2))
roads.append(self.straightRoadBuilder.create(2))
RoadLinker.createExtendedPredSuc(predRoad=roads[0],
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[1],
sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=roads[1],
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[2],
sucCP=pyodrx.ContactPoint.start)
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")))
def test_DifferentCPs(self):
# same cps
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
length=20,
junction=-1,
n_lanes_left=2,
n_lanes_right=1))
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(1,
length=10,
junction=-1,
n_lanes_left=1,
n_lanes_right=2))
roads[0].addExtendedSuccessor(roads[1], 0, pyodrx.ContactPoint.start)
roads[1].addExtendedPredecessor(roads[0], 0, pyodrx.ContactPoint.start)
odrName = "test_DifferentCPs1"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_DifferentCPs1.xodr"
odr.write_xml(xmlPath)
# same cps 2
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
length=20,
junction=-1,
n_lanes_left=2,
n_lanes_right=1))
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(1,
length=10,
junction=-1,
n_lanes_left=2,
n_lanes_right=1))
roads[0].addExtendedSuccessor(roads[1], 0, pyodrx.ContactPoint.start)
roads[1].addExtendedPredecessor(roads[0], 0, pyodrx.ContactPoint.end)
odrName = "test_DifferentCPs2"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_DifferentCPs2.xodr"
odr.write_xml(xmlPath)
class JunctionBuilder:
def __init__(self,
roadBuilder=None,
straightRoadLen=10,
minAngle=np.pi / 6,
maxAngle=None,
country=CountryCodes.US,
random_seed=39):
self.config = Configuration()
self.roadBuilder = roadBuilder
if self.roadBuilder is None:
self.roadBuilder = RoadBuilder()
self.straightRoadBuilder = StraightRoadBuilder()
self.laneBuilder = LaneBuilder()
self.straightRoadLen = straightRoadLen
self.minAngle = minAngle
self.maxAngle = maxAngle
if self.maxAngle == np.pi:
self.maxAngle = 0.99 * np.pi
self.laneWidth = self.config.get("default_lane_width")
self.minConnectionLength = self.config.get("min_connection_length")
self.maxConnectionLength = self.config.get("max_connection_length")
self.curveBuilder = CurveRoadBuilder(country=country)
self.connectionBuilder = ConnectionBuilder()
self.countryCode = country
np.random.seed(random_seed)
pass
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
def createLastConnectionForLastAndFirstRoad(self,
nextRoadId,
roads,
junction,
cp1=pyodrx.ContactPoint.end,
cp2=pyodrx.ContactPoint.start):
lastConnectionId = nextRoadId
lastConnection = self.roadBuilder.getConnectionRoadBetween(
lastConnectionId, roads[-1], roads[0], cp2, cp1)
RoadLinker.createExtendedPredSuc(predRoad=roads[-1],
predCp=cp2,
sucRoad=lastConnection,
sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=lastConnection,
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[0],
sucCP=cp1)
connectionL = pyodrx.Connection(roads[-1].id, lastConnectionId,
pyodrx.ContactPoint.start)
connectionL.add_lanelink(-1, -1)
junction.add_connection(connectionL)
# roads.append(lastConnection) # dangerous. do not add the road
return lastConnection
def createConnectionFor2Roads(self,
nextRoadId,
road1,
road2,
junction,
cp1,
cp2,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH):
"""Does not modify predecessor or successor of the given roads.
Args:
junction: the junction object to add links.
Returns:
[type]: connection road with first road as the predecessor and second road as the successor
"""
newConnectionId = nextRoadId
newConnectionRoad = self.roadBuilder.getConnectionRoadBetween(
newConnectionId,
road1,
road2,
cp1,
cp2,
isJunction=True,
n_lanes=n_lanes,
lane_offset=lane_offset,
laneSides=laneSides)
RoadLinker.createExtendedPredSuc(predRoad=road1,
predCp=cp1,
sucRoad=newConnectionRoad,
sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=newConnectionRoad,
predCp=pyodrx.ContactPoint.end,
sucRoad=road2,
sucCP=cp2)
if junction is not None:
if laneSides == LaneSides.LEFT or laneSides == LaneSides.BOTH:
connectionL = pyodrx.Connection(road2.id, newConnectionId,
pyodrx.ContactPoint.end)
connectionL.add_lanelink(-1, -1)
junction.add_connection(connectionL)
else:
connectionL = pyodrx.Connection(road1.id, newConnectionId,
pyodrx.ContactPoint.start)
connectionL.add_lanelink(1, 1)
junction.add_connection(connectionL)
return newConnectionRoad
def createInternalConnectionsForConnectionSeres(self, roads,
connectionSeres, junction):
"""Assumes last road has the largest id. Used to create internal connections inside a junction. Assumes a connection series has middle roads which are connected by an internal connection road. Normally each series will have 3 roads.
Args:
roads ([type]): [description]
connectionSeres ([type]): list of ConnectionSeries type
"""
# for each last road in a series, connect with the next first road
length = len(connectionSeres)
nextRoadId = connectionSeres[-1].getLast().id + 1 # last id so far.
for i in range(length):
currentConnectionS = connectionSeres[i]
if (i + 1) < length:
nextConnectionS = connectionSeres[i + 1]
else:
nextConnectionS = connectionSeres[0]
# traffic will go from current to next
fromRoad = currentConnectionS.getMiddle()
toRoad = nextConnectionS.getMiddle()
print(
f"creating internal connection from {fromRoad.id} to {toRoad.id}"
)
newConnection = self.createConnectionFor2Roads(
nextRoadId,
fromRoad,
toRoad,
cp1=pyodrx.ContactPoint.end,
cp2=pyodrx.ContactPoint.start,
junction=junction,
laneSides=LaneSides.RIGHT)
roads.append(newConnection)
nextRoadId += 1
return nextRoadId
def buildSimpleRoundAbout(self,
odrId=0,
numRoads=4,
radius=10,
cp1=pyodrx.ContactPoint.start,
direction=CircularDirection.COUNTERCLOCK_WISE):
"""In a simple roundabout, there is a circle inside the junction, the connection roads reside in the circle.
Args:
numRoads (int, optional): [description]. Defaults to 4.
radius : in meters.
cp1: contact point on the first road.
"""
anglePerRoad = (np.pi * 2) / numRoads
roads = []
roads.append(
self.straightRoadBuilder.create(0, length=self.straightRoadLen))
nextRoadId = 1
roadsCreated = 1
connectionSeres = [
] # holds all the connection road series so that we can create internal connections later.
while roadsCreated < numRoads:
previousRoadId = nextRoadId - 1
newConnectionId = nextRoadId
# 1. create a new connection road series and increase nextRoadId
newConnectionSeries = self.roadBuilder.createRoundAboutConnection(
newConnectionId, anglePerRoad, radius)
connectionSeres.append(newConnectionSeries)
nextRoadId += newConnectionSeries.length()
newRoadId = nextRoadId
nextRoadId += 1
# 2. create a road
newRoad = self.straightRoadBuilder.create(
newRoadId, length=self.straightRoadLen)
# 3 add new roads
roads += newConnectionSeries.getAll()
roads.append(newRoad)
roads[previousRoadId].addExtendedSuccessor(
newConnectionSeries.getFirst(), 0, pyodrx.ContactPoint.start)
if newConnectionSeries.getFirst().id == 1:
newConnectionSeries.getFirst().addExtendedPredecessor(
roads[previousRoadId], 0, cp1)
# TODO this is a hack. It will not eventually work because outgoing roads' ends will come to join other junctions.
else:
newConnectionSeries.getFirst().addExtendedPredecessor(
roads[previousRoadId], 0, pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(
predRoad=newConnectionSeries.getLast(),
predCp=pyodrx.ContactPoint.end,
sucRoad=newRoad,
sucCP=pyodrx.ContactPoint.start)
# 6 get next action
roadsCreated += 1
pass
lastRoad = roads[-1]
# 3. create connections and junction
junction = self.createJunctionForASeriesOfRoads(roads)
# print(f"number of roads created {len(roads)}")
odrName = 'Simple-Roundabout-' + str(numRoads) + '_L2_' + str(odrId)
odr = extensions.createOdrByPredecessor(odrName, roads, [junction])
# The last connection and resetting odr
finalConnectionSeries = self.roadBuilder.createRoundAboutConnection(
nextRoadId, anglePerRoad, radius)
connectionSeres.append(finalConnectionSeries)
roads += finalConnectionSeries.getAll()
RoadLinker.createExtendedPredSuc(
predRoad=lastRoad,
predCp=pyodrx.ContactPoint.start,
sucRoad=finalConnectionSeries.getFirst(),
sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(
predRoad=finalConnectionSeries.getLast(),
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[0],
sucCP=cp1)
odr.updateRoads(roads)
odr.resetAndReadjust(byPredecessor=True)
# Last step, link connection series by curves
self.createInternalConnectionsForConnectionSeres(
roads, connectionSeres, junction)
odr.updateRoads(roads)
odr.resetAndReadjust(byPredecessor=True)
return odr
def createConnectionRoads(self,
roads,
adjusted=False,
areaType=JunctionAreaTypes.SQUARE):
if adjusted is False:
# set up x,y positions and headings for the roads around the boundary of the area
if areaType == JunctionAreaTypes.SQUARE:
# maximum roads to connect to a side
maxRoadsPerSide = math.floor(len(roads) / 4) + 1
def createWithRandomLaneConfigurations(self, numRoads=3):
raise NotImplementedError()
class test_LaneConfiguration(unittest.TestCase):
def setUp(self):
self.configuration = Configuration()
self.straightRoadBuilder = StraightRoadBuilder()
def test_getLaneLinksByMergingEdge(self):
# 1
centerLane = ExtendedLane(pyodrx.LaneType.median)
section1 = ExtendedLaneSection(0, centerLane)
section2 = ExtendedLaneSection(0, centerLane)
section1.add_left_lane(ExtendedLane(a=3))
section1.add_right_lane(ExtendedLane(a=3))
section2.add_left_lane(ExtendedLane(a=3))
ls, rs = LaneConfiguration.getLaneLinksByMergingEdge(
section1, section2, False)
assert len(ls) == max(len(section1.leftlanes), len(section2.leftlanes))
assert len(rs) == 0
# [(1, 1, False)]
assert ls[0][0] == 1 and ls[0][1] == 1 and ls[0][2] == False
print("test 1")
print(ls)
print(rs)
#2
section2.add_right_lane(ExtendedLane(a=3))
ls, rs = LaneConfiguration.getLaneLinksByMergingEdge(
section1, section2, False)
assert len(ls) == max(len(section1.leftlanes), len(section2.leftlanes))
assert len(rs) == max(len(section1.rightlanes),
len(section2.rightlanes))
assert ls[0][0] == 1 and ls[0][1] == 1 and ls[0][2] == False
assert rs[0][0] == -1 and rs[0][1] == -1 and rs[0][2] == False
print("test 2")
print(ls)
print(rs)
section1.add_left_lane(ExtendedLane(a=3))
section1.add_left_lane(ExtendedLane(a=3))
ls, rs = LaneConfiguration.getLaneLinksByMergingEdge(
section1, section2, False)
print("test 3")
print(ls)
print(rs)
assert len(ls) == max(len(section1.leftlanes), len(section2.leftlanes))
assert len(rs) == max(len(section1.rightlanes),
len(section2.rightlanes))
assert ls[0][0] == 1 and ls[0][1] == 1 and ls[0][2] == False
assert rs[0][0] == -1 and rs[0][1] == -1 and rs[0][2] == False
section2.add_right_lane(ExtendedLane(a=3))
ls, rs = LaneConfiguration.getLaneLinksByMergingEdge(
section1, section2, False)
print("test 4")
print(ls)
print(rs)
assert len(ls) == max(len(section1.leftlanes), len(section2.leftlanes))
assert len(rs) == max(len(section1.rightlanes),
len(section2.rightlanes))
assert ls[0][0] == 1 and ls[0][1] == 1 and ls[0][2] == False
assert rs[0][0] == -1 and rs[0][1] == -1 and rs[0][2] == False
section2.add_left_lane(ExtendedLane(a=3))
section2.add_left_lane(ExtendedLane(a=3))
section2.add_left_lane(ExtendedLane(a=3))
section2.add_left_lane(ExtendedLane(a=3))
section1.add_right_lane(ExtendedLane(a=3))
section1.add_right_lane(ExtendedLane(a=3))
ls, rs = LaneConfiguration.getLaneLinksByMergingEdge(
section1, section2, False)
print("test 5")
print(ls)
print(rs)
assert len(ls) == max(len(section1.leftlanes), len(section2.leftlanes))
assert len(rs) == max(len(section1.rightlanes),
len(section2.rightlanes))
assert ls[0][0] == 1 and ls[0][1] == 1 and ls[0][2] == False
assert rs[0][0] == -1 and rs[0][1] == -1 and rs[0][2] == False
straightLanesLeft = set([i for i, _, conType in ls if conType == 0])
print(straightLanesLeft)
def test_getIntersectionLinks1ToMany(self):
incomingLanes = ['1:-1', '1:-2']
outgoingLanes = ['2:1']
try:
LaneConfiguration.getIntersectionLinks1ToMany(
incomingLanes, outgoingLanes)
assert False
except Exception as e:
print(e)
pass
incomingLanes = ['1:-1', '1:-2']
outgoingLanes = ['2:1', '2:2']
try:
connections = LaneConfiguration.getIntersectionLinks1ToMany(
incomingLanes, outgoingLanes)
assert connections[0][0] == '1:-1'
assert connections[0][1] == '2:1'
assert connections[0][2] == 0
assert connections[1][0] == '1:-2'
assert connections[1][1] == '2:2'
assert connections[1][2] == 0
# print(connections)
except Exception as e:
print(e)
assert False
incomingLanes = ['1:-1', '1:-2']
outgoingLanes = ['2:1', '2:2', '3:1']
try:
connections = LaneConfiguration.getIntersectionLinks1ToMany(
incomingLanes, outgoingLanes)
assert connections[0][0] == '1:-1'
assert connections[0][1] == '2:1'
assert connections[0][2] == 0
assert connections[1][0] == '1:-2'
assert connections[1][1] == '2:2'
assert connections[1][2] == 0
assert connections[2][0] == '1:-2'
assert connections[2][1] == '3:1'
assert connections[2][2] == 2
print(connections)
except Exception as e:
print(e)
assert False
def test_getUniqueLaneIds(self):
roads = []
roads.append(self.straightRoadBuilder.create(0, length=10, n_lanes=2))
laneIds = LaneConfiguration.getUniqueLaneIds(
roads[0],
roads[0].getLaneSectionByCP(pyodrx.ContactPoint.start).leftlanes)
# print(laneIds)
assert laneIds[0] == '0:1'
assert laneIds[1] == '0:2'
laneIds = LaneConfiguration.getUniqueLaneIds(
roads[0],
roads[0].getLaneSectionByCP(pyodrx.ContactPoint.start).rightlanes)
assert laneIds[0] == '0:-1'
assert laneIds[1] == '0:-2'
def test_getOutgoingLanesFromARoad(self):
roads = []
roads.append(
self.straightRoadBuilder.create(0,
length=10,
n_lanes_left=2,
n_lanes_right=2))
roads.append(
self.straightRoadBuilder.create(1,
length=10,
n_lanes_left=1,
n_lanes_right=1))
roads.append(
self.straightRoadBuilder.create(2,
length=10,
n_lanes_left=2,
n_lanes_right=2))
inLanes = LaneConfiguration.getIncomingLaneIdsOnARoad(
roads[0], pyodrx.ContactPoint.end, CountryCodes.US)
outLanes = LaneConfiguration.getOutgoingLanesIdsFromARoad(
roads[0],
roads,
cp1=pyodrx.ContactPoint.end,
countryCode=CountryCodes.US)
assert inLanes[0] == '0:-1'
assert inLanes[1] == '0:-2'
assert outLanes[0] == '1:-1'
assert outLanes[1] == '2:-1'
assert outLanes[2] == '2:-2'
inLanes = LaneConfiguration.getIncomingLaneIdsOnARoad(
roads[1], pyodrx.ContactPoint.start, CountryCodes.US)
outLanes = LaneConfiguration.getOutgoingLanesIdsFromARoad(
roads[1],
roads,
cp1=pyodrx.ContactPoint.end,
countryCode=CountryCodes.US)
print(inLanes)
print(outLanes)
assert inLanes[0] == '1:1'
assert outLanes[0] == '2:-1'
assert outLanes[1] == '2:-2'
assert outLanes[2] == '0:1'
assert outLanes[3] == '0:2'
inLanes = LaneConfiguration.getIncomingLaneIdsOnARoad(
roads[2], pyodrx.ContactPoint.start, CountryCodes.US)
outLanes = LaneConfiguration.getOutgoingLanesIdsFromARoad(
roads[2],
roads,
cp1=pyodrx.ContactPoint.end,
countryCode=CountryCodes.US)
print(inLanes)
print(outLanes)
assert inLanes[0] == '2:1'
assert inLanes[1] == '2:2'
assert outLanes[0] == '0:1'
assert outLanes[1] == '0:2'
assert outLanes[2] == '1:-1'
linkConfig = LaneConfiguration.getIntersectionLinks1ToMany(
inLanes, outLanes)
print(linkConfig)
def test_get1To1Connections(self):
incomingLanes = ['1:-1', '1:-2']
outgoingLanes = ['2:1', '2:2']
connections = LaneConfiguration.get1To1Connections(
incomingLanes, outgoingLanes, True)
assert connections[0][0] == '1:-1'
assert connections[0][1] == '2:1'
assert connections[0][2] == 0
assert connections[1][0] == '1:-2'
assert connections[1][1] == '2:2'
assert connections[1][2] == 0
incomingLanes = ['1:-1', '1:-2']
outgoingLanes = ['2:1', '2:2', '3:1']
connections = LaneConfiguration.get1To1Connections(
incomingLanes, outgoingLanes, True)
assert len(connections) == 2
assert connections[0][0] == '1:-1'
assert connections[0][1] == '2:1'
assert connections[0][2] == 0
assert connections[1][0] == '1:-2'
assert connections[1][1] == '2:2'
assert connections[1][2] == 0
connections = LaneConfiguration.get1To1Connections(
incomingLanes, outgoingLanes, False)
# print(connections)
assert len(connections) == 2
assert connections[0][0] == '1:-1'
assert connections[0][1] == '2:2'
assert connections[0][2] == 0
assert connections[1][0] == '1:-2'
assert connections[1][1] == '3:1'
assert connections[1][2] == 0
incomingLanes = ['1:-1']
outgoingLanes = ['2:1', '2:2', '3:1']
connections = LaneConfiguration.get1To1Connections(
incomingLanes, outgoingLanes, False)
# print(connections)
assert len(connections) == 1
assert connections[0][0] == '1:-1'
assert connections[0][1] == '3:1'
assert connections[0][2] == 0
def test_getIntersectionLinks1ToManyBySplittingFirst(self):
incomingLanes = ['1:-1', '1:-2']
outgoingLanes = ['2:1', '2:2']
connections = LaneConfiguration.getIntersectionLinks1ToManyBySplittingFirst(
incomingLanes, outgoingLanes)
assert connections[0][0] == '1:-1'
assert connections[0][1] == '2:1'
assert connections[0][2] == 0
assert connections[1][0] == '1:-2'
assert connections[1][1] == '2:2'
assert connections[1][2] == 0
incomingLanes = ['1:-1', '1:-2']
outgoingLanes = ['2:1', '2:2', '3:1']
connections = LaneConfiguration.getIntersectionLinks1ToManyBySplittingFirst(
incomingLanes, outgoingLanes)
print(connections)
assert len(connections) == 3
assert connections[0][0] == '1:-1'
assert connections[0][1] == '2:1'
assert connections[0][2] == 2
assert connections[1][0] == '1:-1'
assert connections[1][1] == '2:2'
assert connections[1][2] == 0
assert connections[2][0] == '1:-2'
assert connections[2][1] == '3:1'
assert connections[2][2] == 0
class test_LaneBuilder(unittest.TestCase):
def setUp(self):
self.configuration = Configuration()
self.esminiPath = self.configuration.get("esminipath")
self.roadBuilder = RoadBuilder()
self.laneBuilder = LaneBuilder()
self.laneLinker = LaneLinker()
self.straightRoadBuilder = StraightRoadBuilder()
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_DifferentLaneConfigurations(self):
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
10,
n_lanes_left=1,
n_lanes_right=1))
connectionRoad = self.straightRoadBuilder.createWithDifferentLanes(
1, 10, n_lanes_left=2, n_lanes_right=2)
roads.append(connectionRoad)
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(2,
10,
n_lanes_left=1,
n_lanes_right=2))
roads[0].addExtendedSuccessor(roads[1], 0, pyodrx.ContactPoint.start)
roads[1].addExtendedPredecessor(roads[0], 0, pyodrx.ContactPoint.end)
roads[1].addExtendedSuccessor(roads[2], 0, pyodrx.ContactPoint.start)
roads[2].addExtendedPredecessor(roads[1], 0, pyodrx.ContactPoint.end)
self.laneBuilder.createLanesForConnectionRoad(connectionRoad, roads[0],
roads[2])
odrName = "test_DifferentLaneConfigurations"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_DifferentLaneConfigurations.xodr"
odr.write_xml(xmlPath)
def test_addMedianIslandsToAllSections(self):
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
10,
n_lanes_left=1,
n_lanes_right=1))
self.laneBuilder.addMedianIslandsToAllSections(
roads[0], self.configuration.get('default_lane_width'))
odrName = "test_DifferentLaneConfigurations"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_addMedianIslandsToAllSections.xodr"
odr.write_xml(xmlPath)
def test_addMedianIslandsTo3Sections(self):
road = self.straightRoadBuilder.create(1,
n_lanes_left=1,
n_lanes_right=1,
length=20,
force3Section=False)
try:
self.laneBuilder.addMedianIslandsTo2Of3Sections(
road, 20, skipEndpoint=pyodrx.ContactPoint.start, width=3)
assert False
except:
assert True
road = self.straightRoadBuilder.create(1,
n_lanes_left=1,
n_lanes_right=1,
length=20,
force3Section=True)
self.laneBuilder.addMedianIslandsTo2Of3Sections(
road, 20, skipEndpoint=pyodrx.ContactPoint.start, width=3)
assert len(road.lanes.lanesections[0].leftlanes) == 1
assert len(road.lanes.lanesections[0].rightlanes) == 1
assert len(road.lanes.lanesections[1].leftlanes) == 2
assert len(road.lanes.lanesections[1].rightlanes) == 2
assert len(road.lanes.lanesections[2].leftlanes) == 2
assert len(road.lanes.lanesections[2].rightlanes) == 2
road = self.straightRoadBuilder.create(1,
n_lanes_left=1,
n_lanes_right=1,
length=20,
force3Section=True)
self.laneBuilder.addMedianIslandsTo2Of3Sections(
road, 20, skipEndpoint=pyodrx.ContactPoint.end, width=3)
assert len(road.lanes.lanesections[0].leftlanes) == 2
assert len(road.lanes.lanesections[0].rightlanes) == 2
assert len(road.lanes.lanesections[1].leftlanes) == 2
assert len(road.lanes.lanesections[1].rightlanes) == 2
assert len(road.lanes.lanesections[2].leftlanes) == 1
assert len(road.lanes.lanesections[2].rightlanes) == 1
odrName = "test_DifferentLaneConfigurations"
odr = extensions.createOdrByPredecessor(odrName, [road], [])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_addMedianIslandsTo3Sections.xodr"
odr.write_xml(xmlPath)