Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2024 German Aerospace Center (DLR) and others.
4 : // This program and the accompanying materials are made available under the
5 : // terms of the Eclipse Public License 2.0 which is available at
6 : // https://www.eclipse.org/legal/epl-2.0/
7 : // This Source Code may also be made available under the following Secondary
8 : // Licenses when the conditions for such availability set forth in the Eclipse
9 : // Public License 2.0 are satisfied: GNU General Public License, version 2
10 : // or later which is available at
11 : // https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12 : // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 : /****************************************************************************/
14 : /// @file NIImporter_OpenDrive.h
15 : /// @author Daniel Krajzewicz
16 : /// @author Jakob Erdmann
17 : /// @author Michael Behrisch
18 : /// @author Mirko Barthauer
19 : /// @date Mon, 14.04.2008
20 : ///
21 : // Importer for networks stored in openDrive format
22 : /****************************************************************************/
23 : #pragma once
24 : #include <config.h>
25 :
26 : #include <string>
27 : #include <map>
28 : #include <utils/xml/GenericSAXHandler.h>
29 : #include <utils/geom/PositionVector.h>
30 :
31 :
32 : // ===========================================================================
33 : // class declarations
34 : // ===========================================================================
35 : class NBNetBuilder;
36 : class NBEdge;
37 : class OptionsCont;
38 : class NBNode;
39 : class NBNodeCont;
40 :
41 :
42 : #define UNSET_CONNECTION 100000
43 : #define UNSET_LANEVALIDITY 100000
44 :
45 : // ===========================================================================
46 : // class definitions
47 : // ===========================================================================
48 : /**
49 : * @class NIImporter_OpenDrive
50 : * @brief Importer for networks stored in openDrive format
51 : *
52 : */
53 : class NIImporter_OpenDrive : public GenericSAXHandler {
54 : public:
55 : /** @brief Loads content of the optionally given SUMO file
56 : *
57 : * If the option "opendrive-files" is set, the file stored therein is read and
58 : * the network definition stored therein is stored within the given network
59 : * builder.
60 : *
61 : * If the option "opendrive-files" is not set, this method simply returns.
62 : *
63 : * The loading is done by parsing the network definition as an XML file
64 : * using the SAXinterface and handling the incoming data via this class'
65 : * methods.
66 : *
67 : * @param[in] oc The options to use
68 : * @param[in] nb The network builder to fill
69 : */
70 : static void loadNetwork(const OptionsCont& oc, NBNetBuilder& nb);
71 :
72 :
73 : protected:
74 :
75 : /**
76 : * @enum OpenDriveXMLTag
77 : * @brief Numbers representing openDrive-XML - element names
78 : * @see GenericSAXHandler
79 : */
80 : enum OpenDriveXMLTag {
81 : OPENDRIVE_TAG_NOTHING,
82 : OPENDRIVE_TAG_HEADER,
83 : OPENDRIVE_TAG_ROAD,
84 : OPENDRIVE_TAG_PREDECESSOR,
85 : OPENDRIVE_TAG_SUCCESSOR,
86 : /// @todo OPENDRIVE_TAG_NEIGHBOR,
87 : /// @todo OPENDRIVE_TAG_TYPE,
88 : OPENDRIVE_TAG_GEOMETRY,
89 : OPENDRIVE_TAG_LINE,
90 : OPENDRIVE_TAG_SPIRAL,
91 : OPENDRIVE_TAG_ARC,
92 : OPENDRIVE_TAG_POLY3,
93 : OPENDRIVE_TAG_PARAMPOLY3,
94 : OPENDRIVE_TAG_LANESECTION,
95 : OPENDRIVE_TAG_LANEOFFSET,
96 : OPENDRIVE_TAG_ACCESS,
97 : OPENDRIVE_TAG_LEFT,
98 : OPENDRIVE_TAG_CENTER,
99 : OPENDRIVE_TAG_RIGHT,
100 : OPENDRIVE_TAG_LANE,
101 : OPENDRIVE_TAG_SIGNAL,
102 : OPENDRIVE_TAG_SIGNALREFERENCE,
103 : OPENDRIVE_TAG_CONTROLLER,
104 : OPENDRIVE_TAG_CONTROL,
105 : OPENDRIVE_TAG_VALIDITY,
106 : OPENDRIVE_TAG_JUNCTION,
107 : OPENDRIVE_TAG_CONNECTION,
108 : OPENDRIVE_TAG_LANELINK,
109 : OPENDRIVE_TAG_WIDTH,
110 : OPENDRIVE_TAG_SPEED,
111 : OPENDRIVE_TAG_ELEVATION,
112 : OPENDRIVE_TAG_GEOREFERENCE,
113 : OPENDRIVE_TAG_OFFSET,
114 : OPENDRIVE_TAG_OBJECT,
115 : OPENDRIVE_TAG_REPEAT,
116 : OPENDRIVE_TAG_INCLUDE
117 : };
118 :
119 :
120 : /**
121 : * @enum OpenDriveXMLAttr
122 : * @brief Numbers representing openDrive-XML - attributes
123 : * @see GenericSAXHandler
124 : */
125 : enum OpenDriveXMLAttr {
126 : OPENDRIVE_ATTR_NOTHING,
127 : OPENDRIVE_ATTR_REVMAJOR,
128 : OPENDRIVE_ATTR_REVMINOR,
129 : OPENDRIVE_ATTR_ID,
130 : OPENDRIVE_ATTR_LENGTH,
131 : OPENDRIVE_ATTR_WIDTH,
132 : OPENDRIVE_ATTR_RADIUS,
133 : OPENDRIVE_ATTR_DISTANCE,
134 : OPENDRIVE_ATTR_TSTART,
135 : OPENDRIVE_ATTR_TEND,
136 : OPENDRIVE_ATTR_WIDTHSTART,
137 : OPENDRIVE_ATTR_WIDTHEND,
138 : OPENDRIVE_ATTR_JUNCTION,
139 : OPENDRIVE_ATTR_ELEMENTTYPE,
140 : OPENDRIVE_ATTR_ELEMENTID,
141 : OPENDRIVE_ATTR_CONTACTPOINT,
142 : OPENDRIVE_ATTR_S,
143 : OPENDRIVE_ATTR_T,
144 : OPENDRIVE_ATTR_X,
145 : OPENDRIVE_ATTR_Y,
146 : OPENDRIVE_ATTR_Z,
147 : OPENDRIVE_ATTR_HDG,
148 : OPENDRIVE_ATTR_CURVSTART,
149 : OPENDRIVE_ATTR_CURVEND,
150 : OPENDRIVE_ATTR_CURVATURE,
151 : OPENDRIVE_ATTR_A,
152 : OPENDRIVE_ATTR_B,
153 : OPENDRIVE_ATTR_C,
154 : OPENDRIVE_ATTR_D,
155 : OPENDRIVE_ATTR_AU,
156 : OPENDRIVE_ATTR_BU,
157 : OPENDRIVE_ATTR_CU,
158 : OPENDRIVE_ATTR_DU,
159 : OPENDRIVE_ATTR_AV,
160 : OPENDRIVE_ATTR_BV,
161 : OPENDRIVE_ATTR_CV,
162 : OPENDRIVE_ATTR_DV,
163 : OPENDRIVE_ATTR_PRANGE,
164 : OPENDRIVE_ATTR_TYPE,
165 : OPENDRIVE_ATTR_LEVEL,
166 : OPENDRIVE_ATTR_ORIENTATION,
167 : OPENDRIVE_ATTR_DYNAMIC,
168 : OPENDRIVE_ATTR_INCOMINGROAD,
169 : OPENDRIVE_ATTR_CONNECTINGROAD,
170 : OPENDRIVE_ATTR_FROM,
171 : OPENDRIVE_ATTR_TO,
172 : OPENDRIVE_ATTR_FROMLANE,
173 : OPENDRIVE_ATTR_TOLANE,
174 : OPENDRIVE_ATTR_MAX,
175 : OPENDRIVE_ATTR_SOFFSET,
176 : OPENDRIVE_ATTR_RULE,
177 : OPENDRIVE_ATTR_RESTRICTION,
178 : OPENDRIVE_ATTR_NAME,
179 : OPENDRIVE_ATTR_UNIT, // xodr v1.4
180 : OPENDRIVE_ATTR_SIGNALID,
181 : OPENDRIVE_ATTR_FILE
182 : };
183 :
184 :
185 : /** @brief OpenDrive link type enumeration
186 : */
187 : enum LinkType {
188 : OPENDRIVE_LT_SUCCESSOR,
189 : OPENDRIVE_LT_PREDECESSOR
190 : };
191 :
192 :
193 : /** @brief OpenDrive element type enumeration
194 : */
195 : enum ElementType {
196 : OPENDRIVE_ET_UNKNOWN,
197 : OPENDRIVE_ET_ROAD,
198 : OPENDRIVE_ET_JUNCTION
199 : };
200 :
201 :
202 : /** @brief OpenDrive contact type enumeration
203 : */
204 : enum ContactPoint {
205 : OPENDRIVE_CP_UNKNOWN,
206 : OPENDRIVE_CP_START,
207 : OPENDRIVE_CP_END
208 : };
209 :
210 : /** @brief OpenDrive geometry type enumeration
211 : */
212 : enum GeometryType {
213 : OPENDRIVE_GT_UNKNOWN,
214 : OPENDRIVE_GT_LINE,
215 : OPENDRIVE_GT_SPIRAL,
216 : OPENDRIVE_GT_ARC,
217 : OPENDRIVE_GT_POLY3,
218 : OPENDRIVE_GT_PARAMPOLY3 // rev 1.4
219 : };
220 :
221 :
222 :
223 : /**
224 : * @struct OpenDriveLink
225 : * @brief Representation of an OpenDrive link
226 : */
227 5702 : struct OpenDriveLink {
228 : /** @brief Constructor
229 : * @param[in] linkTypeArg The link type
230 : * @param[in] elementIDArg The element id
231 : */
232 : OpenDriveLink(LinkType linkTypeArg, const std::string& elementIDArg)
233 1632 : : linkType(linkTypeArg), elementID(elementIDArg),
234 1632 : elementType(OPENDRIVE_ET_UNKNOWN), contactPoint(OPENDRIVE_CP_UNKNOWN) { }
235 :
236 : LinkType linkType;
237 : std::string elementID;
238 : ElementType elementType;
239 : ContactPoint contactPoint;
240 : };
241 :
242 :
243 : /**
244 : * @struct OpenDriveGeometry
245 : * @brief Representation of an OpenDrive geometry part
246 : */
247 6822 : struct OpenDriveGeometry {
248 : /** @brief Constructor
249 : * @param[in] lengthArg The length of this geometry part
250 : * @param[in] sArg The offset from the start, counted from the begin
251 : * @param[in] xArg x-position at this part's begin
252 : * @param[in] yArg y-position at this part's begin
253 : * @param[in] hdgArg heading at this part's begin
254 : */
255 : OpenDriveGeometry(double lengthArg, double sArg, double xArg, double yArg, double hdgArg)
256 1246 : : length(lengthArg), s(sArg), x(xArg), y(yArg), hdg(hdgArg),
257 1246 : type(OPENDRIVE_GT_UNKNOWN) { }
258 :
259 : double length;
260 : double s;
261 : double x;
262 : double y;
263 : double hdg;
264 : GeometryType type;
265 : std::vector<double> params;
266 : };
267 :
268 : /**
269 : * @struct OpenDriveElevation
270 : * @brief Coefficients of an elevation profile (3rd degree polynomial)
271 : */
272 : struct Poly3 {
273 : /** @brief Constructor
274 : * @param[in] s The start offset
275 : * @param[in] a constant
276 : * @param[in] b first order
277 : * @param[in] c second order
278 : * @param[in] d third order
279 : */
280 2900 : Poly3(double _s, double _a, double _b, double _c, double _d) :
281 2900 : s(_s), a(_a), b(_b), c(_c), d(_d) {}
282 :
283 : double computeAt(double pos) const {
284 17741 : const double ds = pos - s;
285 17741 : return a + b * ds + c * ds * ds + d * ds * ds * ds;
286 : }
287 :
288 : double s;
289 : double a;
290 : double b;
291 : double c;
292 : double d;
293 : };
294 :
295 : /// LaneOffset has the same fields as Elevation
296 : typedef Poly3 OpenDriveElevation;
297 : typedef Poly3 OpenDriveLaneOffset;
298 : typedef Poly3 OpenDriveWidth;
299 :
300 : /**
301 : * @struct LaneAttributeChange
302 : * @brief Attribute set applied at a certain position along a lane
303 : */
304 6328 : struct LaneAttributeChange {
305 : /** @brief Constructor
306 : * @param[in] speed The lane speed
307 : */
308 830 : LaneAttributeChange(double speed) : speed(speed) {}
309 :
310 : double speed;
311 : std::vector<std::string> allowed;
312 : std::vector<std::string> denied;
313 : };
314 :
315 :
316 :
317 : /**
318 : * @struct OpenDriveLane
319 : * @brief Representation of a lane
320 : */
321 : struct OpenDriveLane {
322 : /** @brief Constructor
323 : * @param[in] idArg The OpenDrive id of the lane
324 : * @param[in] levelArg The level
325 : * @param[in] typeArg type of the lane
326 : */
327 2653 : OpenDriveLane(int idArg, const std::string& levelArg, const std::string& typeArg) :
328 5306 : id(idArg), level(levelArg), type(typeArg), successor(UNSET_CONNECTION), predecessor(UNSET_CONNECTION),
329 2653 : speed(0), width(NBEdge::UNSPECIFIED_WIDTH), permission(0) { }
330 :
331 : /// @brief compute the actual SUMO lane permissions given the lane type as a start solution
332 : SVCPermissions computePermission(const NBTypeCont& tc, const std::vector<std::string>& allowed, const std::vector<std::string>& denied) const;
333 :
334 : int id; //!< The lane's id
335 : std::string level; //!< The lane's level (not used)
336 : std::string type; //!< The lane's type
337 : int successor; //!< The lane's successor lane
338 : int predecessor; //!< The lane's predecessor lane
339 : std::vector < std::pair<double, LaneAttributeChange> > attributeChanges; //!< List of permission and speed changes
340 : double speed; //!< The lane's speed (set in post-processing)
341 : double width; //The lane's maximum width
342 : SVCPermissions permission; //!< The access permissions (set in post-processing)
343 : std::vector<OpenDriveWidth> widthData;
344 : };
345 :
346 :
347 : /**
348 : * @struct OpenDriveLaneSection
349 : * @brief Representation of a lane section
350 : */
351 : struct OpenDriveLaneSection {
352 : /** @brief Constructor
353 : * @param[in] sArg The offset from the start, counted from the begin
354 : */
355 : OpenDriveLaneSection(double sArg);
356 :
357 :
358 : /** @brief Build the mapping from OpenDrive to SUMO lanes
359 : *
360 : * Not all lanes are converted to SUMO-lanes; the mapping includes only those
361 : * which are included in the SUMO network.
362 : * @param[in] tc The type container needed to determine whether a lane shall be imported by using the lane's type
363 : */
364 : void buildLaneMapping(const NBTypeCont& tc);
365 :
366 :
367 : /** @brief Returns the links from the previous to this lane section
368 : * @param[in] dir The OpenDrive-direction of drive
369 : * @param[in] pre The previous lane section
370 : * @return which lane is approached from which lane of the given previous lane section
371 : */
372 : std::map<int, int> getInnerConnections(OpenDriveXMLTag dir, const OpenDriveLaneSection& prev);
373 :
374 :
375 : bool buildAttributeChanges(const NBTypeCont& tc, std::vector<OpenDriveLaneSection>& newSections);
376 : OpenDriveLaneSection buildLaneSection(const NBTypeCont& tc, double startPos);
377 : /// @brief The starting offset of this lane section
378 : double s;
379 : /// @brief The original starting offset of this lane section (differs from s if the section had to be split)
380 : double sOrig;
381 : /// @brief The length of this lane section
382 : double length;
383 : /// @brief A mapping from OpenDrive to SUMO-index (the first is signed, the second unsigned)
384 : std::map<int, int> laneMap;
385 : /// @brief The lanes, sorted by their direction
386 : std::map<OpenDriveXMLTag, std::vector<OpenDriveLane> > lanesByDir;
387 : /// @brief The id (generic, without the optionally leading '-') of the edge generated for this section
388 : std::string sumoID;
389 : /// @brief The number of lanes on the right and on the left side, respectively
390 : int rightLaneNumber, leftLaneNumber;
391 : /// @brief the composite type built from all used lane types
392 : std::string rightType;
393 : std::string leftType;
394 : /// @brief average width of removed inside lanes
395 : double discardedInnerWidthLeft;
396 : double discardedInnerWidthRight;
397 : };
398 :
399 :
400 :
401 : /**
402 : * @struct OpenDriveSignal
403 : * @brief Representation of a signal
404 : */
405 : struct OpenDriveSignal {
406 : /** @brief Constructor
407 : * @param[in] idArg The OpenDrive id of the signal
408 : * @param[in] typeArg The type of the signal
409 : * @param[in] nameArg The type of the signal
410 : * @param[in] orientationArg The direction the signal belongs to
411 : * @param[in] dynamicArg Whether the signal is dynamic
412 : * @param[in] sArg The offset from the start, counted from the begin
413 : */
414 25 : OpenDriveSignal(const std::string& idArg, const std::string typeArg, const std::string nameArg,
415 25 : int orientationArg, bool dynamicArg, double sArg) :
416 50 : id(idArg), type(typeArg), name(nameArg),
417 25 : orientation(orientationArg), dynamic(dynamicArg), s(sArg),
418 25 : minLane(-UNSET_LANEVALIDITY), maxLane(UNSET_LANEVALIDITY)
419 25 : { }
420 :
421 : /// dummy constructor for use in maps
422 25 : OpenDriveSignal() {}
423 :
424 : std::string id;
425 : std::string type;
426 : std::string name;
427 : int orientation;
428 : bool dynamic;
429 : double s;
430 : /// @brief signal validity range
431 : int minLane;
432 : int maxLane;
433 : /// @brief the controller ID
434 : std::string controller;
435 : };
436 :
437 :
438 : /**
439 : * @struct OpenDriveController
440 : * @brief Representation of a signal group
441 : */
442 : struct OpenDriveController {
443 : /** @brief Constructor
444 : * @param[in] idArg The OpenDrive id of the signal group
445 : * @param[in] nameArg The type of the signal group
446 : */
447 1948 : OpenDriveController(const std::string& idArg, const std::string nameArg) :
448 3896 : id(idArg), name(nameArg) { }
449 :
450 : /// dummy constructor for use in maps
451 0 : OpenDriveController() {}
452 :
453 : std::string id;
454 : std::string name;
455 : std::vector<std::string> signalIDs;
456 : std::string junction;
457 : };
458 :
459 : /**
460 : * @struct Connection
461 : * @brief A connection between two roads
462 : */
463 : struct Connection {
464 : std::string fromEdge;
465 : std::string toEdge;
466 : int fromLane;
467 : int toLane;
468 : ContactPoint fromCP;
469 : ContactPoint toCP;
470 : bool all;
471 : std::string origID;
472 : int origLane;
473 : PositionVector shape;
474 :
475 : std::string getDescription() const {
476 : return "Connection from=" + fromEdge + "_" + toString(fromLane)
477 : + " to=" + toEdge + "_" + toString(toLane)
478 : + " fromCP=" + (fromCP == OPENDRIVE_CP_START ? "start" : fromCP == OPENDRIVE_CP_END ? "end" : "unknown")
479 : + " toCP=" + (toCP == OPENDRIVE_CP_START ? "start" : toCP == OPENDRIVE_CP_END ? "end" : "unknown")
480 : + " all=" + toString(all);
481 : //+ " origID=" + origID + " origLane=" + toString(origLane);
482 : }
483 : };
484 :
485 : /**
486 : * @struct Object
487 : * @brief A road object (e.g. parkingSpace)
488 : */
489 : struct OpenDriveObject {
490 : std::string type;
491 : std::string name;
492 : std::string id;
493 : double s;
494 : double t;
495 : double zOffset;
496 : double length;
497 : double width;
498 : double height;
499 : double radius;
500 : double hdg;
501 : double pitch;
502 : double roll;
503 : };
504 :
505 : /**
506 : * @struct OpenDriveEdge
507 : * @brief Representation of an openDrive "link"
508 : */
509 : struct OpenDriveEdge {
510 877 : OpenDriveEdge(const std::string& idArg, const std::string& streetNameArg, const std::string& junctionArg, double lengthArg) :
511 877 : id(idArg),
512 877 : streetName(streetNameArg),
513 877 : junction(junctionArg),
514 877 : length(lengthArg),
515 877 : from(0),
516 877 : to(0) {
517 877 : isInner = junction != "" && junction != "-1";
518 877 : }
519 :
520 :
521 : /** @brief Returns the edge's priority, regarding the direction
522 : *
523 : * The priority is determined by evaluating the signs located at the road
524 : * @param[in] dir The direction which priority shall be returned
525 : * @return The priority of the given direction
526 : */
527 : int getPriority(OpenDriveXMLTag dir) const;
528 :
529 :
530 : /// @brief The id of the edge
531 : std::string id;
532 : /// @brief The road name of the edge
533 : std::string streetName;
534 : /// @brief The id of the junction the edge belongs to
535 : std::string junction;
536 : /// @brief The length of the edge
537 : double length;
538 : std::vector<OpenDriveLink> links;
539 : std::vector<OpenDriveGeometry> geometries;
540 : std::vector<OpenDriveElevation> elevations;
541 : std::vector<OpenDriveLaneOffset> offsets;
542 : NBNode* from;
543 : NBNode* to;
544 : PositionVector geom;
545 : std::vector<double> laneOffsets;
546 : std::vector<OpenDriveLaneSection> laneSections;
547 : std::vector<OpenDriveSignal> signals;
548 : std::set<Connection> connections;
549 : std::vector<OpenDriveObject> objects;
550 : bool isInner;
551 : };
552 :
553 :
554 : /** @brief A class for sorting lane sections by their s-value */
555 : class sections_by_s_sorter {
556 : public:
557 : /// @brief Constructor
558 : explicit sections_by_s_sorter() { }
559 :
560 : /// @brief Sorting function; compares OpenDriveLaneSection::s
561 : int operator()(const OpenDriveLaneSection& ls1, const OpenDriveLaneSection& ls2) {
562 0 : return ls1.s < ls2.s;
563 : }
564 : };
565 :
566 : /* @brief A class for search in position/attribute change tuple vectors for the given position */
567 : class same_position_finder {
568 : public:
569 : /** @brief constructor */
570 834 : explicit same_position_finder(double pos) : myPosition(pos) { }
571 :
572 : /** @brief the comparing function */
573 : bool operator()(const std::pair<double, LaneAttributeChange>& ps) {
574 8 : return ps.first == myPosition;
575 : }
576 :
577 : private:
578 : /// @brief The position to search for
579 : double myPosition;
580 :
581 : };
582 :
583 : protected:
584 : /** @brief Constructor
585 : * @param[in] tc The type container used to determine whether a lane shall kept
586 : * @param[in] nc The edge map to fill
587 : */
588 : NIImporter_OpenDrive(const NBTypeCont& tc, std::map<std::string, OpenDriveEdge*>& edges);
589 :
590 :
591 : /// @brief Destructor
592 : ~NIImporter_OpenDrive();
593 :
594 :
595 :
596 : /// @name inherited from GenericSAXHandler
597 : //@{
598 :
599 : /** @brief Called on the opening of a tag;
600 : *
601 : * In dependence to the obtained type, an appropriate parsing
602 : * method is called ("addEdge" if an edge encounters, f.e.).
603 : *
604 : * @param[in] element ID of the currently opened element
605 : * @param[in] attrs Attributes within the currently opened element
606 : * @exception ProcessError If something fails
607 : * @see GenericSAXHandler::myStartElement
608 : */
609 : void myStartElement(int element, const SUMOSAXAttributes& attrs);
610 :
611 : /**
612 : * @brief Callback method for characters to implement by derived classes
613 : *
614 : * Called by "endElement" (see there).
615 : * @param[in] element The opened element, given as a int
616 : * @param[in] chars The complete embedded character string
617 : * @exceptions ProcessError These method may throw a ProcessError if something fails
618 : */
619 : void myCharacters(int element, const std::string& chars);
620 :
621 :
622 : /** @brief Called when a closing tag occurs
623 : *
624 : * @param[in] element ID of the currently opened element
625 : * @exception ProcessError If something fails
626 : * @see GenericSAXHandler::myEndElement
627 : */
628 : void myEndElement(int element);
629 : //@}
630 :
631 : std::map<std::string, OpenDriveSignal>& getSignals() {
632 : return mySignals;
633 : }
634 :
635 : std::map<std::string, OpenDriveController>& getControllers() {
636 : return myControllers;
637 : }
638 :
639 : std::map<std::string, std::vector<std::string>>& getJunctions2Controllers() {
640 : return myJunctions2Controllers;
641 : }
642 :
643 0 : const OpenDriveController& getController(std::string signalID) {
644 0 : if (mySignals.find(signalID) != mySignals.end() && myControllers.find(mySignals[signalID].controller) != myControllers.end()) {
645 0 : return myControllers[mySignals[signalID].controller];
646 : }
647 : return myDummyController;
648 : }
649 :
650 0 : int getTLIndexForController(std::string controllerID) {
651 : // sort them by their id
652 0 : std::string junctionID = myControllers[controllerID].junction;
653 : std::vector<std::string> junctionControllers;
654 0 : for (auto& it : myControllers) {
655 0 : if (it.second.junction == junctionID) {
656 0 : junctionControllers.push_back(it.first);
657 : }
658 : }
659 0 : std::sort(junctionControllers.begin(), junctionControllers.end());
660 0 : auto it = std::find(junctionControllers.begin(), junctionControllers.end(), controllerID);
661 0 : return (int)(it - junctionControllers.begin());
662 0 : }
663 :
664 :
665 : private:
666 : void addLink(LinkType lt, const std::string& elementType, const std::string& elementID,
667 : const std::string& contactPoint);
668 : void addGeometryShape(GeometryType type, const std::vector<double>& vals);
669 : static void setEdgeLinks2(OpenDriveEdge& e, const std::map<std::string, OpenDriveEdge*>& edges);
670 : static void buildConnectionsToOuter(const Connection& c,
671 : const std::map<std::string, OpenDriveEdge*>& innerEdges,
672 : const std::map<std::string, OpenDriveEdge*>& edges,
673 : const NBTypeCont& tc,
674 : std::vector<Connection>& into, std::set<Connection>& seen);
675 : static bool laneSectionsConnected(OpenDriveEdge* edge, int in, int out);
676 : friend bool operator<(const Connection& c1, const Connection& c2);
677 : static std::string revertID(const std::string& id);
678 : const NBTypeCont& myTypeContainer;
679 : OpenDriveEdge myCurrentEdge;
680 : OpenDriveController myCurrentController;
681 :
682 : std::map<std::string, OpenDriveEdge*>& myEdges;
683 : std::vector<int> myElementStack;
684 : OpenDriveXMLTag myCurrentLaneDirection;
685 : std::string myCurrentJunctionID;
686 : std::string myCurrentIncomingRoad;
687 : std::string myCurrentConnectingRoad;
688 : ContactPoint myCurrentContactPoint;
689 : bool myConnectionWasEmpty;
690 : std::map<std::string, OpenDriveSignal> mySignals;
691 : std::map<std::string, OpenDriveController> myControllers;
692 : std::map<std::string, std::vector<std::string>> myJunctions2Controllers;
693 : Position myOffset;
694 : bool myUseCurrentNode;
695 :
696 : static bool myImportAllTypes;
697 : static bool myImportWidths;
698 : static double myMinWidth;
699 : static bool myImportInternalShapes;
700 : static bool myIgnoreMisplacedSignals;
701 : static OpenDriveController myDummyController;
702 :
703 :
704 : protected:
705 : /** @brief Builds a node or returns the already built
706 : *
707 : * If the node is already known, it is returned. Otherwise, the
708 : * node is built. If the newly built node can not be added to
709 : * the container, a ProcessError is thrown.
710 : * Otherwise this node is returned.
711 : *
712 : * @param[in] id The id of the node to build/get
713 : * @param[in, changed] pos The position of the node to build/get
714 : * @param[filled] nc The node container to retrieve/add the node to
715 : * @return The retrieved/built node
716 : * @exception ProcessError If the node could not be built/retrieved
717 : */
718 : static NBNode* getOrBuildNode(const std::string& id, const Position& pos, NBNodeCont& nc);
719 :
720 :
721 : static PositionVector geomFromLine(const OpenDriveEdge& e, const OpenDriveGeometry& g, double resolution);
722 : static PositionVector geomFromSpiral(const OpenDriveEdge& e, const OpenDriveGeometry& g, double resolution);
723 : static PositionVector geomFromArc(const OpenDriveEdge& e, const OpenDriveGeometry& g, double resolution);
724 : static PositionVector geomFromPoly(const OpenDriveEdge& e, const OpenDriveGeometry& g, double resolution);
725 : static PositionVector geomFromParamPoly(const OpenDriveEdge& e, const OpenDriveGeometry& g, double resolution);
726 : static Position calculateStraightEndPoint(double hdg, double length, const Position& start);
727 : static void calculateCurveCenter(double* ad_x, double* ad_y, double ad_radius, double ad_hdg);
728 : static void calcPointOnCurve(double* ad_x, double* ad_y, double ad_centerX, double ad_centerY,
729 : double ad_r, double ad_length);
730 :
731 :
732 : /** @brief Computes a polygon representation of each edge's geometry
733 : * @param[in] edges The edges which geometries shall be converted
734 : */
735 : static void computeShapes(std::map<std::string, OpenDriveEdge*>& edges);
736 :
737 : static bool hasNonLinearElevation(const OpenDriveEdge& e);
738 :
739 : /// transform Poly3 into a list of offsets, adding intermediate points to geom if needed
740 : static std::vector<double> discretizeOffsets(PositionVector& geom, const std::vector<OpenDriveLaneOffset>& offsets, const std::string& id);
741 :
742 : static void addOffsets(bool left, PositionVector& geom, const std::vector<OpenDriveLaneOffset>& offsets, const std::string& id, std::vector<double>& result);
743 :
744 : /** @brief Rechecks lane sections of the given edges
745 : *
746 : *
747 : * @param[in] edges The edges which lane sections shall be reviewed
748 : */
749 : static void revisitLaneSections(const NBTypeCont& tc, std::map<std::string, OpenDriveEdge*>& edges);
750 :
751 : static void setNodeSecure(NBNodeCont& nc, OpenDriveEdge& e,
752 : const std::string& nodeID, NIImporter_OpenDrive::LinkType lt, std::vector<NodeSet>& joinedNodeIDs);
753 :
754 : static NBTrafficLightDefinition* getTLSSecure(NBEdge* inEdge, /*const NBEdge::Connection& conn,*/ NBNetBuilder& nb);
755 :
756 :
757 : static std::pair<NBEdge*, NBEdge*> retrieveSignalEdges(NBNetBuilder& nb, const std::string& fromID, const std::string& toID, const std::string& junction);
758 :
759 : static void splitMinWidths(OpenDriveEdge* e, const NBTypeCont& tc, double minDist);
760 :
761 : static void findWidthSplit(const NBTypeCont& tc, std::vector<OpenDriveLane>& lanes,
762 : int section, double sectionStart, double sectionEnd,
763 : std::vector<double>& splitPositions);
764 :
765 : static void sanitizeWidths(OpenDriveEdge* e);
766 : static void sanitizeWidths(std::vector<OpenDriveLane>& lanes, double length);
767 :
768 : static void setStraightConnections(std::vector<OpenDriveLane>& lanes);
769 : static void recomputeWidths(OpenDriveLaneSection& sec, double start, double end, double sectionStart, double sectionEnd);
770 : static void recomputeWidths(std::vector<OpenDriveLane>& lanes, double start, double end, double sectionStart, double sectionEnd);
771 : static void setLaneAttributes(const OpenDriveEdge* e, NBEdge::Lane& sumoLane, const OpenDriveLane& odLane, bool saveOrigIDs, const NBTypeCont& tc);
772 : static void writeRoadObjects(const OpenDriveEdge* e);
773 :
774 : /// The names of openDrive-XML elements (for passing to GenericSAXHandler)
775 : static SequentialStringBijection::Entry openDriveTags[];
776 :
777 : /// The names of openDrive-XML attributes (for passing to GenericSAXHandler)
778 : static SequentialStringBijection::Entry openDriveAttrs[];
779 :
780 : class LaneSorter {
781 : public:
782 : /// constructor
783 : explicit LaneSorter() {}
784 :
785 : /// comparing operation
786 : int operator()(const OpenDriveLane& a, const OpenDriveLane& b) const {
787 : // sort from the reference line outwards (desceding order of sumo lane ids)
788 828 : return abs(a.id) < abs(b.id);
789 : }
790 :
791 : };
792 :
793 : };
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