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.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)