diff --git a/RoadLogicSuite/Internal/MapConversion/mantle_barrier_converter.cpp b/RoadLogicSuite/Internal/MapConversion/mantle_barrier_converter.cpp
index d14198dfacb619d41c833b850b8944c5435a6adc..63d0745838fc3358f4f7cf02a019496dd17e9e8f 100644
--- a/RoadLogicSuite/Internal/MapConversion/mantle_barrier_converter.cpp
+++ b/RoadLogicSuite/Internal/MapConversion/mantle_barrier_converter.cpp
@@ -1,5 +1,5 @@
/*******************************************************************************
- * Copyright (C) 2023, ANSYS, Inc.
+ * Copyright (C) 2023-2025, ANSYS, Inc.
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -31,12 +31,15 @@ std::unique_ptr<map_api::LaneBoundary> MantleBarrierConverter::Convert(const std
const auto height = math_utils::Lerp(barrier.height_start, barrier.height_end, s_percent);
const auto width = math_utils::Lerp(barrier.width_start, barrier.width_end, s_percent);
const auto position =
- converter.ConvertRoadPositionToInertialCoordinates({.road = road_id, .s_offset = s, .t_offset = t}).value();
- points.push_back({
- .position = {position.x, position.y, position.z + z_offset},
- .width = width,
- .height = height,
- });
+ converter.ConvertRoadPositionToInertialCoordinates({.road = road_id, .s_offset = s, .t_offset = t});
+ if (position.has_value())
+ {
+ points.push_back({
+ .position = {position.value().x, position.value().y, position.value().z + z_offset},
+ .width = width,
+ .height = height,
+ });
+ }
}
const auto position = converter.ConvertRoadPositionToInertialCoordinates(
{.road = road_id, .s_offset = barrier.s_end, .t_offset = barrier.t_end});
@@ -49,11 +52,6 @@ std::unique_ptr<map_api::LaneBoundary> MantleBarrierConverter::Convert(const std
.height = barrier.height_end,
});
}
- else
- {
- std::cout << "WARNING: Invalid s_end value of road barrier with road id " << road_id
- << " is discarded in conversion!" << std::endl;
- }
if (config.downsampling)
{
@@ -62,4 +60,4 @@ std::unique_ptr<map_api::LaneBoundary> MantleBarrierConverter::Convert(const std
return std::make_unique<map_api::LaneBoundary>(map_api::LaneBoundary{
.id = id_provider.GetNewId(), .boundary_line = points, .type = utils::ConvertRoadBarrierType(barrier.name)});
}
-} // namespace road_logic_suite::map_conversion
\ No newline at end of file
+} // namespace road_logic_suite::map_conversion
diff --git a/RoadLogicSuite/Internal/MapConversion/mantle_barrier_converter_test.cpp b/RoadLogicSuite/Internal/MapConversion/mantle_barrier_converter_test.cpp
index ca604220c7d1c498ffe7ef6604ec572b6e9bf50e..3138f957e0944a756e443a72575733216fa40f3b 100644
--- a/RoadLogicSuite/Internal/MapConversion/mantle_barrier_converter_test.cpp
+++ b/RoadLogicSuite/Internal/MapConversion/mantle_barrier_converter_test.cpp
@@ -1,5 +1,5 @@
/*******************************************************************************
- * Copyright (C) 2023, ANSYS, Inc.
+ * Copyright (C) 2023-2025, ANSYS, Inc.
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -147,8 +147,7 @@ TEST(MantleBarrierConverterTest, GivenBarrierWithGuardRailType_WhenConverting_Th
ASSERT_EQ(result->type, map_api::LaneBoundary::Type::kGuardRail);
}
-TEST(MantleBarrierConverterTest,
- GivenBarrierWithInvalidSEnd_WhenConverting_ThenInvalidPointIsDiscardedAndWarningMessageIsPrinted)
+TEST(MantleBarrierConverterTest, GivenBarrierWithInvalidSEnd_WhenConverting_ThenInvalidPointIsDiscarded)
{
// arrange
road_logic_suite::map_conversion::MantleIdProvider id_provider{};
@@ -179,11 +178,7 @@ TEST(MantleBarrierConverterTest,
.sampling_distance = units::length::meter_t(50.0),
};
- testing::internal::CaptureStdout();
-
const auto expected_boundary_line_size = 2;
- const auto expected_warning_output =
- "WARNING: Invalid s_end value of road barrier with road id 0 is discarded in conversion!\n";
// act
const auto result = road_logic_suite::map_conversion::MantleBarrierConverter::Convert(
@@ -193,9 +188,6 @@ TEST(MantleBarrierConverterTest,
ASSERT_EQ(result->boundary_line.size(), expected_boundary_line_size);
EXPECT_NEAR(result->boundary_line[0].position.x(), 2, kAbsError);
EXPECT_NEAR(result->boundary_line[1].position.x(), 52, kAbsError);
-
- std::string console_output = testing::internal::GetCapturedStdout();
- EXPECT_EQ(console_output, expected_warning_output);
}
-} // namespace
\ No newline at end of file
+} // namespace
diff --git a/RoadLogicSuite/Internal/MapConversion/mantle_map_converter.cpp b/RoadLogicSuite/Internal/MapConversion/mantle_map_converter.cpp
index cb3b07557d044a3e541513a85f4e83c92882ae6f..241ee49c2af50b58fffe4f824007065029fc79d8 100644
--- a/RoadLogicSuite/Internal/MapConversion/mantle_map_converter.cpp
+++ b/RoadLogicSuite/Internal/MapConversion/mantle_map_converter.cpp
@@ -317,6 +317,13 @@ MantleMapConverter::CreateLaneBoundariesForLane(const CoordinateConverter& coord
for (const auto& road_barrier : lane.road_barriers)
{
+ if (road_barrier.s_end > road.length)
+ {
+ std::cout
+ << "[RoadLogicSuite: Barrier Conversion] WARNING: The s_end of the road barrier is larger than the "
+ "road length (ID: "
+ << road.id << "). Points outside the range will be discarded during conversion!" << std::endl;
+ }
physical_boundaries.push_back(
MantleBarrierConverter::Convert(road.id, road_barrier, coordinate_converter, config_, id_provider_));
}
diff --git a/RoadLogicSuite/Internal/MapConversion/mantle_map_converter_test.cpp b/RoadLogicSuite/Internal/MapConversion/mantle_map_converter_test.cpp
index abb636dbcf3f8d41de9ef065dcd4341a3e881b4e..17e7cb7025902812f9127e386e69b59cf51945ae 100644
--- a/RoadLogicSuite/Internal/MapConversion/mantle_map_converter_test.cpp
+++ b/RoadLogicSuite/Internal/MapConversion/mantle_map_converter_test.cpp
@@ -1100,4 +1100,32 @@ TEST(MantleConverterTest,
expected_logical_lane_right_boundary_start_position_y);
}
+TEST(MantleConverterTest, GivenDataStorageWithBarrierOutOfRange_WhenConverting_ThenOutputWarning)
+{
+ // The road length is 100 meters. A barrier with s_end at 150 meters exceeds the valid range.
+ auto data_storage = CreateStraightOneWayRoad();
+ const units::length::meter_t s0(0);
+ const road_logic_suite::RoadBarrier barrier{.s_start = units::length::meter_t(2),
+ .s_end = units::length::meter_t(150),
+ .t_start = units::length::meter_t(0),
+ .t_end = units::length::meter_t(0.04)};
+ data_storage.roads["0"].lane_sections.Find(s0)->second.center_lane.road_barriers.push_back(barrier);
+
+ // The warning message is printed twice because the barrier lies on the centerline, which includes both the left and
+ // right centerlines.
+ const auto expected_warning_output =
+ "[RoadLogicSuite: Barrier Conversion] WARNING: The s_end of the road barrier is larger than the road length "
+ "(ID: 0). Points outside the range will be discarded during conversion!\n[RoadLogicSuite: Barrier Conversion] "
+ "WARNING: The s_end of the road barrier is larger than the road length (ID: 0). Points outside the range will "
+ "be discarded during conversion!\n";
+
+ road_logic_suite::MapConverterConfig converter_config{};
+ road_logic_suite::map_conversion::MantleMapConverter converter(converter_config);
+
+ testing::internal::CaptureStdout();
+ EXPECT_NO_THROW(converter.Convert(data_storage));
+ std::string console_output = testing::internal::GetCapturedStdout();
+ EXPECT_EQ(console_output, expected_warning_output);
+}
+
} // namespace
diff --git a/RoadLogicSuite/Tests/Data/Maps/simple_road_with_invalid_barrier.xodr b/RoadLogicSuite/Tests/Data/Maps/simple_road_with_invalid_barrier.xodr
index 056f259a45c9a74e9bbb7c8ac9bf336602cc6400..6a88359ea7c08e9be60c6e5e9949767c44673c5e 100644
--- a/RoadLogicSuite/Tests/Data/Maps/simple_road_with_invalid_barrier.xodr
+++ b/RoadLogicSuite/Tests/Data/Maps/simple_road_with_invalid_barrier.xodr
@@ -1,51 +1,63 @@
<?xml version="1.0" encoding="utf-8"?>
<OpenDRIVE>
- <header name="myroad" revMajor="1" revMinor="5" date="2023-03-09 13:17:27.535810" north="0.0" south="0.0" east="0.0" west="0.0"/>
+ <header name="myroad" revMajor="1" revMinor="5" date="2023-03-09 13:17:27.535810" north="0.0"
+ south="0.0" east="0.0" west="0.0" />
<road rule="RHT" id="0" junction="-1" length="1000">
- <link/>
+ <link />
<planView>
<geometry s="0" x="0" y="0" hdg="0" length="1000">
- <line/>
+ <line />
</geometry>
</planView>
- <elevationProfile/>
- <lateralProfile/>
+ <elevationProfile />
+ <lateralProfile />
<lanes>
<laneSection s="0">
<left>
<lane id="2" type="driving" level="false">
- <link/>
- <width a="3" b="0" c="0" d="0" sOffset="0"/>
- <roadMark sOffset="0" type="solid" weight="standard" color="standard" height="0.02" width="0.2"/>
+ <link />
+ <width a="3" b="0" c="0" d="0" sOffset="0" />
+ <roadMark sOffset="0" type="solid" weight="standard" color="standard"
+ height="0.02" width="0.2" />
</lane>
<lane id="1" type="driving" level="false">
- <link/>
- <width a="3" b="0" c="0" d="0" sOffset="0"/>
- <roadMark sOffset="0" type="broken" weight="standard" color="standard" height="0.02" width="0.2"/>
+ <link />
+ <width a="3" b="0" c="0" d="0" sOffset="0" />
+ <roadMark sOffset="0" type="broken" weight="standard" color="standard"
+ height="0.02" width="0.2" />
</lane>
</left>
<center>
<lane id="0" type="none" level="false">
- <roadMark sOffset="0" type="solid" weight="standard" color="standard" height="0.02" width="0.2"/>
+ <roadMark sOffset="0" type="solid" weight="standard" color="standard"
+ height="0.02" width="0.2" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
- <link/>
- <width a="3" b="0" c="0" d="0" sOffset="0"/>
- <roadMark sOffset="0" type="broken" weight="standard" color="standard" height="0.02" width="0.2"/>
+ <link />
+ <width a="3" b="0" c="0" d="0" sOffset="0" />
+ <roadMark sOffset="0" type="broken" weight="standard" color="standard"
+ height="0.02" width="0.2" />
</lane>
<lane id="-2" type="driving" level="false">
- <link/>
- <width a="3" b="0" c="0" d="0" sOffset="0"/>
- <roadMark sOffset="0" type="solid" weight="standard" color="standard" height="0.02" width="0.2"/>
+ <link />
+ <width a="3" b="0" c="0" d="0" sOffset="0" />
+ <roadMark sOffset="0" type="solid" weight="standard" color="standard"
+ height="0.02" width="0.2" />
</lane>
</right>
</laneSection>
</lanes>
<objects>
- <object type="barrier" name="guardRail" id="0" s="9.7037600280e-09" t="-8e+00" zOffset="0.5929">
- <repeat s="9.7037600280e-09" length="1000" distance="0.0000000000e+00" tStart="-8e+00" tEnd="-7.90e+00" widthStart="3.5000000000e-01" widthEnd="3.5000000000e-01" heightStart="3.0000000000e-01" heightEnd="3.0000000000e-01" zOffsetStart="5.9285838688e-01" zOffsetEnd="6.2342519426e-01" />
- </objects>
+ <object type="barrier" name="guardRail" id="0" s="9.7037600280e-09" t="-8e+00"
+ zOffset="0.5929">
+ <repeat s="9.7037600280e-09" length="1000" distance="0.0000000000e+00"
+ tStart="-8e+00"
+ tEnd="-7.90e+00" widthStart="3.5000000000e-01" widthEnd="3.5000000000e-01"
+ heightStart="3.0000000000e-01" heightEnd="3.0000000000e-01"
+ zOffsetStart="5.9285838688e-01" zOffsetEnd="6.2342519426e-01" />
+ </object>
+ </objects>
</road>
</OpenDRIVE>
diff --git a/RoadLogicSuite/Tests/MantleMapConvertIntegrationTest/road_with_invalid_barrier_integration_test.cpp b/RoadLogicSuite/Tests/MantleMapConvertIntegrationTest/road_with_invalid_barrier_integration_test.cpp
index 3e11afa7fc547d33d463840e2c89e21d6d1421b6..99abf3ec56f0c7ccc5f45a49a0344ce184cf5a1a 100644
--- a/RoadLogicSuite/Tests/MantleMapConvertIntegrationTest/road_with_invalid_barrier_integration_test.cpp
+++ b/RoadLogicSuite/Tests/MantleMapConvertIntegrationTest/road_with_invalid_barrier_integration_test.cpp
@@ -1,5 +1,5 @@
/*******************************************************************************
- * Copyright (C) 2024, ANSYS, Inc.
+ * Copyright (C) 2024-2025, ANSYS, Inc.
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -35,4 +35,16 @@ TEST_F(MapConvertIntegrationTestFixture, GivenMapWithInvalidBarrier_WhenParsingM
EXPECT_EQ(lane_minus_2_barrier_last_point_x_position, expected_lane_minus_2_barrier_last_point_x_position);
}
-} // namespace road_logic_suite::test
\ No newline at end of file
+TEST_F(MapConvertIntegrationTestFixture, GivenMapWithInvalidBarrier_WhenParsingMap_ThenOutputWarning)
+{
+ const auto expected_warning_output =
+ "[RoadLogicSuite: Barrier Conversion] WARNING: The s_end of the road barrier is larger than the road length "
+ "(ID: 0). Points outside the range will be discarded during conversion!\n";
+
+ testing::internal::CaptureStdout();
+ EXPECT_NO_THROW(GetMap(GetResolvedMapPathInternal("simple_road_with_invalid_barrier.xodr"), 1.0, 0.01, false));
+ std::string console_output = testing::internal::GetCapturedStdout();
+ EXPECT_EQ(console_output, expected_warning_output);
+}
+
+} // namespace road_logic_suite::test