From fc82d29fd533db5790dac15da50fbf8967474118 Mon Sep 17 00:00:00 2001
From: arundas <arun.das@bmw.de>
Date: Wed, 27 Jul 2022 13:43:33 +0200
Subject: [PATCH] fix(opSimulation): Update mapper to use OpenDRIVE standard,
fix syntax of error messasge
Co-authored-by: Theresa Hefele <Theresa.Hefele@bmw.de>
---
.../opSimulation/importer/sceneryImporter.cpp | 12 ++++++++
.../World_OSI/OWL/OpenDriveTypeMapper.h | 30 +++++++++----------
.../modules/World_OSI/OWL/TrafficLight.cpp | 17 ++++++-----
.../ImporterTest/IntegrationTestScenery.xodr | 4 +--
.../modules/World_OSI/datatypes_Tests.cpp | 14 ++++-----
.../opSimulation/sceneryImporter_Tests.cpp | 2 +-
6 files changed, 46 insertions(+), 33 deletions(-)
diff --git a/sim/src/core/opSimulation/importer/sceneryImporter.cpp b/sim/src/core/opSimulation/importer/sceneryImporter.cpp
index be7eb27c6..a65948c49 100644
--- a/sim/src/core/opSimulation/importer/sceneryImporter.cpp
+++ b/sim/src/core/opSimulation/importer/sceneryImporter.cpp
@@ -683,6 +683,18 @@ void SceneryImporter::ParseSignals(QDomElement& roadElement,
signalElement, "Attribute " + std::string(ATTRIBUTE::type) + " is missing.");
ThrowIfFalse(ParseAttributeString(signalElement, ATTRIBUTE::subtype, signal.subtype),
signalElement, "Attribute " + std::string(ATTRIBUTE::subtype) + " is missing.");
+
+ //OpenDRIVE 1.6 standard defines subtypes to be "-1". Maps until now use subtype = "".
+ if (signal.subtype == "" || signal.subtype == " "){
+ LOG_INTERN(LogLevel::Warning) << "Encountered signal with empty subtype definition. That is not supported in openDRIVE 1.6 -> interpreting empty subtype as \"-1\"";
+ signal.subtype = "-1";
+
+ } else if (signal.subtype == "none"){
+ LOG_INTERN(LogLevel::Warning) << "Encountered signal with typedefinition \"none\". Translated that to \"-1\"";
+ signal.subtype = "-1";
+ }
+
+
// optional
std::string signalUnit;
ParseAttributeDouble(signalElement, ATTRIBUTE::value, signal.value);
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/OpenDriveTypeMapper.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/OpenDriveTypeMapper.h
index 6336f8488..5d04c8aa4 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/OpenDriveTypeMapper.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/OpenDriveTypeMapper.h
@@ -119,14 +119,14 @@ namespace OpenDriveTypeMapper
{
{"274.1", {osi3::TrafficSignValue_Unit::TrafficSignValue_Unit_UNIT_KILOMETER_PER_HOUR,
{
- {"", {30.0, osi3::TrafficSign_MainSign_Classification_Type::TrafficSign_MainSign_Classification_Type_TYPE_SPEED_LIMIT_ZONE_BEGIN}},
+ {"-1", {30.0, osi3::TrafficSign_MainSign_Classification_Type::TrafficSign_MainSign_Classification_Type_TYPE_SPEED_LIMIT_ZONE_BEGIN}},
{"20", {20.0, osi3::TrafficSign_MainSign_Classification_Type::TrafficSign_MainSign_Classification_Type_TYPE_SPEED_LIMIT_ZONE_BEGIN}}
}
}
},
{"274.2", {osi3::TrafficSignValue_Unit::TrafficSignValue_Unit_UNIT_KILOMETER_PER_HOUR,
{
- {"", {30.0, osi3::TrafficSign_MainSign_Classification_Type::TrafficSign_MainSign_Classification_Type_TYPE_SPEED_LIMIT_ZONE_END}},
+ {"-1", {30.0, osi3::TrafficSign_MainSign_Classification_Type::TrafficSign_MainSign_Classification_Type_TYPE_SPEED_LIMIT_ZONE_END}},
{"20", {20.0, osi3::TrafficSign_MainSign_Classification_Type::TrafficSign_MainSign_Classification_Type_TYPE_SPEED_LIMIT_ZONE_END}}
}
}
@@ -287,7 +287,7 @@ namespace OpenDriveTypeMapper
{
{"1.000.001",
{
- {"", osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_NONE}
+ {"-1", osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_NONE}
}
},
{"1.000.011",
@@ -310,12 +310,12 @@ namespace OpenDriveTypeMapper
{
{"1.000.002",
{
- {"", osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_PEDESTRIAN}
+ {"-1", osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_PEDESTRIAN}
}
},
{"1.000.007",
{
- {"", osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_PEDESTRIAN_AND_BICYCLE}
+ {"-1", osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_PEDESTRIAN_AND_BICYCLE}
}
},
{"1.000.009",
@@ -333,7 +333,7 @@ namespace OpenDriveTypeMapper
},
{"1.000.013",
{
- {"", osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_BICYCLE}
+ {"-1", osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_BICYCLE}
}
},
};
@@ -342,13 +342,13 @@ namespace OpenDriveTypeMapper
{
{"1.000.002",
{
- {"", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_RED,
+ {"-1", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_RED,
osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_GREEN}}
}
},
{"1.000.007",
{
- {"", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_RED,
+ {"-1", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_RED,
osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_GREEN}}
}
},
@@ -375,7 +375,7 @@ namespace OpenDriveTypeMapper
},
{"1.000.013",
{
- {"", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_RED,
+ {"-1", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_RED,
osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_GREEN}}
}
},
@@ -398,7 +398,7 @@ namespace OpenDriveTypeMapper
},
{"1.000.008",
{
- {"", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_NONE}},
+ {"-1", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_NONE}},
{"10", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_ARROW_LEFT}},
{"20", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_ARROW_RIGHT}},
{"30", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_ARROW_STRAIGHT_AHEAD}},
@@ -410,7 +410,7 @@ namespace OpenDriveTypeMapper
},
{"1.000.012",
{
- {"", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_NONE}},
+ {"-1", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_NONE}},
{"10", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_ARROW_LEFT}},
{"20", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_ARROW_RIGHT}},
{"30", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_ARROW_STRAIGHT_AHEAD}},
@@ -422,7 +422,7 @@ namespace OpenDriveTypeMapper
},
{"1.000.020",
{
- {"", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_NONE}},
+ {"-1", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_NONE}},
{"10", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_ARROW_LEFT}},
{"20", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_ARROW_RIGHT}},
{"30", {osi3::TrafficLight_Classification_Icon::TrafficLight_Classification_Icon_ICON_ARROW_STRAIGHT_AHEAD}},
@@ -458,7 +458,7 @@ namespace OpenDriveTypeMapper
},
{"1.000.008",
{
- {"", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_YELLOW}},
+ {"-1", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_YELLOW}},
{"10", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_YELLOW}},
{"20", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_YELLOW}},
{"30", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_YELLOW}},
@@ -470,7 +470,7 @@ namespace OpenDriveTypeMapper
},
{"1.000.012",
{
- {"", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_GREEN}},
+ {"-1", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_GREEN}},
{"10", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_GREEN}},
{"20", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_GREEN}},
{"30", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_GREEN}},
@@ -482,7 +482,7 @@ namespace OpenDriveTypeMapper
},
{"1.000.020",
{
- {"", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_RED}},
+ {"-1", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_RED}},
{"10", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_RED}},
{"20", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_RED}},
{"30", {osi3::TrafficLight_Classification_Color::TrafficLight_Classification_Color_COLOR_RED}},
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.cpp b/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.cpp
index f4a65f163..92cc48dd2 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.cpp
@@ -86,15 +86,16 @@ TrafficLightBase::fetchColorsFromSignal(RoadSignalInterface *signal, const std::
auto colorTypeSet = helper::map::query(colorMap, signal->GetType());
if (!colorTypeSet.has_value())
{
- LOGERROR("Could not get colorTypeSet for trafficlight signal \"" + signal->GetType());
+ LOGERROR("Could not get colorTypeSet for trafficlight signal \"" + signal->GetType() + "\"");
return {osi3::TrafficLight_Classification_Color_COLOR_UNKNOWN};
}
auto colors = helper::map::query(colorTypeSet.value(), signal->GetSubType());
+
if (!colors.has_value())
{
- LOGERROR("Could not get color spec for trafficlight signal \"" + signal->GetType() + "and subtype " + signal->GetSubType());
+ LOGERROR("Could not get color spec for trafficlight signal \"" + signal->GetType() + "\" and subtype \"" + signal->GetSubType() + "\"");
return {osi3::TrafficLight_Classification_Color_COLOR_UNKNOWN};
}
@@ -105,15 +106,15 @@ osi3::TrafficLight_Classification_Icon TrafficLightBase::fetchIconsFromSignal(Ro
const std::map<std::string, std::map<std::string, osi3::TrafficLight_Classification_Icon>> &iconMap) {
auto type = helper::map::query(iconMap, signal->GetType());
-
if (!type.has_value()) {
- LOGERROR("Could not get Icons for trafficlight signal \"" + signal->GetType());
+ LOGERROR("Could not get Icons for trafficlight signal \"" + signal->GetType() + "\"") ;
return osi3::TrafficLight_Classification_Icon_ICON_UNKNOWN;
}
- auto icons = helper::map::query(type.value(), signal->GetSubType());
+ auto icons = helper::map::query(type.value(), signal->GetSubType());
+
if (!icons.has_value()) {
- LOGERROR("Could not get icon spec for trafficlight signal \"" + signal->GetType() + "and subtype " + signal->GetSubType());
+ LOGERROR("Could not get icon spec for trafficlight signal \"" + signal->GetType() + "\" and subtype \"" + signal->GetSubType() + "\"");
return osi3::TrafficLight_Classification_Icon_ICON_UNKNOWN;
}
@@ -529,7 +530,7 @@ bool OWL::Implementation::TwoSignalsTrafficLight::SetSpecificationOnOsiObject
osiTrafficLightObject->mutable_classification()->set_color(colors[colorIndex]);
return true;
} else {
- LOGERROR("Colors from the \"" + signal->GetType() + "and subtype " + signal->GetSubType());
+ LOGERROR("Colors from the \"" + signal->GetType() + "\" and subtype \"" + signal->GetSubType() + "\"");
return false;
}
}
@@ -654,7 +655,7 @@ bool OWL::Implementation::OneSignalsTrafficLight::SetSpecificationOnOsiObject
osiTrafficLightObject->mutable_classification()->set_color(colors[0]);
return true;
} else {
- LOGERROR("Colors from the \"" + signal->GetType() + "and subtype " + signal->GetSubType());
+ LOGERROR("Colors from the \"" + signal->GetType() + "\" and subtype \"" + signal->GetSubType() + "\"");
return false;
}
}
diff --git a/sim/tests/integrationTests/opSimulation_IntegrationTests/Resources/ImporterTest/IntegrationTestScenery.xodr b/sim/tests/integrationTests/opSimulation_IntegrationTests/Resources/ImporterTest/IntegrationTestScenery.xodr
index bf49f4abd..808171023 100644
--- a/sim/tests/integrationTests/opSimulation_IntegrationTests/Resources/ImporterTest/IntegrationTestScenery.xodr
+++ b/sim/tests/integrationTests/opSimulation_IntegrationTests/Resources/ImporterTest/IntegrationTestScenery.xodr
@@ -205,10 +205,10 @@ This scenery consists of linear sections only.
</signal>
<signal id="4" type="531" subtype="21" s="36" t="-8" width="0.5" height="1.0" zOffset="1.5" hOffset="0" pitch="0" roll="0" dynamic="no" country="DE" name="" orientation="+">
</signal>
- <signal id="5" type="206" subtype="" s="40" t="-8" width="0.4" height="0.4" zOffset="1.5" hOffset="0" pitch="0" roll="0" dynamic="no" country="DE" name="" orientation="+">
+ <signal id="5" type="206" subtype="-1" s="40" t="-8" width="0.4" height="0.4" zOffset="1.5" hOffset="0" pitch="0" roll="0" dynamic="no" country="DE" name="" orientation="+">
<validity toLane="-2" fromLane="-2"/>
</signal>
- <signal id="6" type="294" subtype="" s="41" t="-7" width="4.0" hOffset="0" pitch="0" roll="0" dynamic="no" country="DE" name="" orientation="+" zOffset="0">
+ <signal id="6" type="294" subtype="none" s="41" t="-7" width="4.0" hOffset="0" pitch="0" roll="0" dynamic="no" country="DE" name="" orientation="+" zOffset="0">
<validity toLane="-2" fromLane="-2"/>
</signal>
<signal id="7" type="1004" subtype="30" value="200" s="40" t="-8" width="0.4" height="0.2" hOffset="0" zOffset="1.2" pitch="0" roll="0" dynamic="no" country="DE" name="" orientation="+">
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/datatypes_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/datatypes_Tests.cpp
index 6e7c69f6d..f901c7618 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/datatypes_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/datatypes_Tests.cpp
@@ -425,7 +425,7 @@ TEST(TrafficLights, SetSpecification_TwoLights_13)
{
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.013"));
- ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
+ ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("-1"));
ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
Position position{};
@@ -562,7 +562,7 @@ TEST(TrafficLights, SetSpecification_TwoLights_Pedestrian)
{
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.002"));
- ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
+ ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("-1"));
ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
Position position{};
@@ -590,7 +590,7 @@ TEST(TrafficLights, SetSpecification_TwoLights_PedestrianAndBike)
{
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.007"));
- ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
+ ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("-1"));
ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
Position position{};
@@ -657,7 +657,7 @@ TEST(TrafficLights, SetSpecification_OneLight_WithArrows_Red)
{
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.020"));
- ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
+ ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("-1"));
ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
Position position{};
@@ -700,7 +700,7 @@ TEST(TrafficLights, SetSpecification_OneLight_WithArrows_Yellow)
{
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.008"));
- ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
+ ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("-1"));
ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
Position position{};
@@ -743,7 +743,7 @@ TEST(TrafficLights, SetSpecification_OneLight_WithArrows_Green)
{
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.012"));
- ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
+ ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("-1"));
ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
Position position{};
@@ -835,7 +835,7 @@ TEST(TrafficLights, SetSpecification_SetsCorrectBaseTwoSignalTrafficLight)
ON_CALL(roadSignal, GetHOffset()).WillByDefault(Return(1.0));
ON_CALL(roadSignal, GetOrientation()).WillByDefault(Return(false));
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.002"));
- ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
+ ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("-1"));
Position position{10, 11, 1.5, 0};
osi3::TrafficLight osiLightRed;
diff --git a/sim/tests/unitTests/core/opSimulation/sceneryImporter_Tests.cpp b/sim/tests/unitTests/core/opSimulation/sceneryImporter_Tests.cpp
index 5a188e24e..5df5f9000 100644
--- a/sim/tests/unitTests/core/opSimulation/sceneryImporter_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/sceneryImporter_Tests.cpp
@@ -123,7 +123,7 @@ TEST(SceneryImporter_UnitTests, ParseSignalsWithValidSignal_ReturnsCorrectValues
EXPECT_DOUBLE_EQ(SignalInterceptor::signal.zOffset, 0.1);
EXPECT_EQ(SignalInterceptor::signal.country, "c1");
EXPECT_EQ(SignalInterceptor::signal.type, "none");
- EXPECT_EQ(SignalInterceptor::signal.subtype, "none");
+ EXPECT_EQ(SignalInterceptor::signal.subtype, "-1"); //accoount for openDrive standard 1.6, subtype of "none" and "" are parsed to "-1"
EXPECT_DOUBLE_EQ(SignalInterceptor::signal.value, 0.123);
EXPECT_EQ(SignalInterceptor::signal.unit, RoadSignalUnit::Undefined);
EXPECT_DOUBLE_EQ(SignalInterceptor::signal.height, 1.01);
--
GitLab