BasicRegulatoryElements.cpp

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#include "lanelet2_core/primitives/BasicRegulatoryElements.h"
 
#include <vector>
 
#include "lanelet2_core/Exceptions.h"
#include "lanelet2_core/primitives/LineString.h"
#include "lanelet2_core/primitives/Point.h"
#include "lanelet2_core/primitives/RegulatoryElement.h"
#include "lanelet2_core/utility/Utilities.h"
 
namespace std {
bool operator==(const lanelet::LaneletDataConstWptr& lhs, const lanelet::LaneletDataConstWptr& rhs) {
  return !lhs.expired() && !rhs.expired() && lhs.lock() == rhs.lock();
}
}  // namespace std
namespace lanelet {
namespace {
template <typename T>
bool findAndErase(const T& primitive, RuleParameterMap& parameters, RoleName role) {
  auto parameterIt = parameters.find(role);
  if (parameterIt == parameters.end()) {
    return false;
  }
  auto& parameter = parameterIt->second;
  auto it = std::find(parameter.begin(), parameter.end(), RuleParameter(primitive));
  if (it == parameter.end()) {
    return false;
  }
  parameter.erase(it);
  if (parameter.empty()) {
    parameters.erase(parameterIt);
  }
  return true;
}
 
template <typename T>
Optional<T> tryGetFront(const std::vector<T>& vec) {
  if (vec.empty()) {
    return {};
  }
  return vec.front();
}
 
template <typename T>
RuleParameters toRuleParameters(const std::vector<T>& primitives) {
  return utils::transform(primitives, [](const auto& elem) { return static_cast<RuleParameter>(elem); });
}
 
template <>
RuleParameters toRuleParameters(const std::vector<LineStringOrPolygon3d>& primitives) {
  return utils::transform(primitives, [](const auto& elem) { return elem.asRuleParameter(); });
}
 
LineStringsOrPolygons3d getLsOrPoly(const RuleParameterMap& paramsMap, RoleName role) {
  auto params = paramsMap.find(role);
  if (params == paramsMap.end()) {
    return {};
  }
 
  LineStringsOrPolygons3d result;
  for (const auto& param : params->second) {
    const auto* l = boost::get<LineString3d>(&param);
    if (l != nullptr) {
      result.push_back(*l);
    }
    const auto* p = boost::get<Polygon3d>(&param);
    if (p != nullptr) {
      result.push_back(*p);
    }
  }
  return result;
}
 
ConstLineStringsOrPolygons3d getConstLsOrPoly(const RuleParameterMap& params, RoleName role) {
  return utils::transform(getLsOrPoly(params, role),
                          [](auto& lsOrPoly) { return static_cast<ConstLineStringOrPolygon3d>(lsOrPoly); });
}
 
void updateTrafficSigns(TrafficSignsWithType trafficSigns) {
  if (!trafficSigns.type.empty()) {
    for (auto& sign : trafficSigns.trafficSigns) {
      sign.applyVisitor([](auto prim) { prim.setAttribute(AttributeName::Type, AttributeValueString::TrafficSign); });
      sign.applyVisitor([&](auto prim) { prim.setAttribute(AttributeName::Subtype, trafficSigns.type); });
    }
  }
}
 
RegulatoryElementDataPtr constructTrafficLightData(Id id, const AttributeMap& attributes,
                                                   const LineStringsOrPolygons3d& trafficLights,
                                                   const Optional<LineString3d>& stopLine) {
  RuleParameterMap rpm = {{RoleNameString::Refers, toRuleParameters(trafficLights)}};
  if (!!stopLine) {
    rpm.insert({RoleNameString::RefLine, {*stopLine}});
  }
  auto data = std::make_shared<RegulatoryElementData>(id, std::move(rpm), attributes);
  data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement;
  data->attributes[AttributeName::Subtype] = AttributeValueString::TrafficLight;
  return data;
}
RegulatoryElementDataPtr constructTrafficSignData(Id id, const AttributeMap& attributes,
                                                  const TrafficSignsWithType& trafficSigns,
                                                  const TrafficSignsWithType& cancellingTrafficSigns,
                                                  const LineStrings3d& refLines, const LineStrings3d& cancelLines) {
  updateTrafficSigns(trafficSigns);
  updateTrafficSigns(cancellingTrafficSigns);
  RuleParameterMap rpm = {{RoleNameString::Refers, toRuleParameters(trafficSigns.trafficSigns)},
                          {RoleNameString::Cancels, toRuleParameters(cancellingTrafficSigns.trafficSigns)},
                          {RoleNameString::RefLine, toRuleParameters(refLines)},
                          {RoleNameString::CancelLine, toRuleParameters(cancelLines)}};
  auto data = std::make_shared<RegulatoryElementData>(id, std::move(rpm), attributes);
  data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement;
  data->attributes[AttributeName::Subtype] = AttributeValueString::TrafficSign;
  return data;
}
RegulatoryElementDataPtr constructSpeedLimitData(Id id, const AttributeMap& attributes,
                                                 const TrafficSignsWithType& trafficSigns,
                                                 const TrafficSignsWithType& cancellingTrafficSigns,
                                                 const LineStrings3d& refLines, const LineStrings3d& cancelLines) {
  auto data = constructTrafficSignData(id, attributes, trafficSigns, cancellingTrafficSigns, refLines, cancelLines);
  data->attributes[AttributeName::Subtype] = AttributeValueString::SpeedLimit;
  return data;
}
RegulatoryElementDataPtr constructRightOfWayData(Id id, const AttributeMap& attributes, const Lanelets& rightOfWay,
                                                 const Lanelets& yield, const Optional<LineString3d>& stopLine) {
  RuleParameterMap rpm = {{RoleNameString::RightOfWay, toRuleParameters(rightOfWay)},
                          {RoleNameString::Yield, toRuleParameters(yield)}};
  auto data = std::make_shared<RegulatoryElementData>(id, std::move(rpm), attributes);
  data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement;
  data->attributes[AttributeName::Subtype] = AttributeValueString::RightOfWay;
  if (stopLine) {
    data->parameters[RoleName::RefLine] = {*stopLine};
  }
  return data;
}
RegulatoryElementDataPtr constructAllWayStopData(Id id, const AttributeMap& attributes,
                                                 const LaneletsWithStopLines& lltWithStop,
                                                 const LineStringsOrPolygons3d& signs) {
  RuleParameters llts =
      utils::transform(lltWithStop, [](auto& llt) { return static_cast<RuleParameter>(llt.lanelet); });
  auto sl = utils::createReserved<RuleParameters>(lltWithStop.size());
  utils::forEach(lltWithStop, [&](auto& stop) {
    if (!!stop.stopLine) {
      sl.push_back(static_cast<RuleParameter>(*stop.stopLine));
    }
  });
  RuleParameterMap rpm = {
      {RoleNameString::Yield, llts}, {RoleNameString::RefLine, sl}, {RoleNameString::Refers, toRuleParameters(signs)}};
  auto data = std::make_shared<RegulatoryElementData>(id, std::move(rpm), attributes);
  data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement;
  data->attributes[AttributeName::Subtype] = AttributeValueString::AllWayStop;
  return data;
}
}  // namespace
 
static RegisterRegulatoryElement<TrafficLight> regTraffic;
static RegisterRegulatoryElement<RightOfWay> regRightOfWay;
static RegisterRegulatoryElement<TrafficSign> regTrafficSign;
static RegisterRegulatoryElement<SpeedLimit> regSpeedLimit;
static RegisterRegulatoryElement<AllWayStop> regAllWayStop;
#if __cplusplus < 201703L
constexpr char TrafficLight::RuleName[];
constexpr char RightOfWay::RuleName[];
constexpr char TrafficSign::RuleName[];
constexpr char SpeedLimit::RuleName[];
constexpr char AllWayStop::RuleName[];
#endif
 
TrafficLight::TrafficLight(const RegulatoryElementDataPtr& data) : RegulatoryElement(data) {
  if (getConstLsOrPoly(data->parameters, RoleName::Refers).empty()) {
    throw InvalidInputError("No traffic light defined!");
  }
  if (getParameters<ConstLineString3d>(RoleName::RefLine).size() > 1) {
    throw InvalidInputError("There can not exist more than one stop line!");
  }
}
 
TrafficLight::TrafficLight(Id id, const AttributeMap& attributes, const LineStringsOrPolygons3d& trafficLights,
                           const Optional<LineString3d>& stopLine)
    : TrafficLight(constructTrafficLightData(id, attributes, trafficLights, stopLine)) {}
 
Optional<ConstLineString3d> TrafficLight::stopLine() const {
  return tryGetFront(getParameters<ConstLineString3d>(RoleName::RefLine));
}
 
Optional<LineString3d> TrafficLight::stopLine() { return tryGetFront(getParameters<LineString3d>(RoleName::RefLine)); }
 
ConstLineStringsOrPolygons3d TrafficLight::trafficLights() const {
  return getConstLsOrPoly(parameters(), RoleName::Refers);
}
 
LineStringsOrPolygons3d TrafficLight::trafficLights() { return getLsOrPoly(parameters(), RoleName::Refers); }
 
void TrafficLight::addTrafficLight(const LineStringOrPolygon3d& primitive) {
  parameters()[RoleName::Refers].emplace_back(primitive.asRuleParameter());
}
 
bool TrafficLight::removeTrafficLight(const LineStringOrPolygon3d& primitive) {
  return findAndErase(primitive.asRuleParameter(), parameters(), RoleName::Refers);
}
 
void TrafficLight::setStopLine(const LineString3d& stopLine) { parameters()[RoleName::RefLine] = {stopLine}; }
 
void TrafficLight::removeStopLine() { parameters()[RoleName::RefLine] = {}; }
 
RightOfWay::RightOfWay(const RegulatoryElementDataPtr& data) : RegulatoryElement(data) {
  if (getParameters<WeakLanelet>(RoleName::RightOfWay).empty()) {
    throw InvalidInputError("A maneuver must refer to at least one lanelet that has right of way!");
  }
  if (getParameters<WeakLanelet>(RoleName::Yield).empty()) {
    throw InvalidInputError("A maneuver must refer to at least one lanelet that has to yield!");
  }
}
 
RightOfWay::RightOfWay(Id id, const AttributeMap& attributes, const Lanelets& rightOfWay, const Lanelets& yield,
                       const Optional<LineString3d>& stopLine)
    : RightOfWay(constructRightOfWayData(id, attributes, rightOfWay, yield, stopLine)) {}
 
ManeuverType RightOfWay::getManeuver(const ConstLanelet& lanelet) const {
  if (utils::contains(rightOfWayLanelets(), lanelet)) {
    return ManeuverType::RightOfWay;
  }
  if (utils::contains(yieldLanelets(), lanelet)) {
    return ManeuverType::Yield;
  }
  return ManeuverType::Unknown;
}
 
ConstLanelets RightOfWay::rightOfWayLanelets() const { return getParameters<ConstLanelet>(RoleName::RightOfWay); }
 
Lanelets RightOfWay::rightOfWayLanelets() { return utils::strong(getParameters<WeakLanelet>(RoleName::RightOfWay)); }
 
ConstLanelets RightOfWay::yieldLanelets() const { return getParameters<ConstLanelet>(RoleName::Yield); }
 
Lanelets RightOfWay::yieldLanelets() { return utils::strong(getParameters<WeakLanelet>(RoleName::Yield)); }
 
Optional<ConstLineString3d> RightOfWay::stopLine() const {
  auto stopLine = getParameters<ConstLineString3d>(RoleName::RefLine);
  if (!stopLine.empty()) {
    return stopLine.front();
  }
  return {};
}
 
Optional<LineString3d> RightOfWay::stopLine() {
  auto stopLine = getParameters<LineString3d>(RoleName::RefLine);
  if (!stopLine.empty()) {
    return stopLine.front();
  }
  return {};
}
 
void RightOfWay::setStopLine(const LineString3d& stopLine) { parameters()[RoleName::RefLine] = {stopLine}; }
 
void RightOfWay::addRightOfWayLanelet(const Lanelet& lanelet) {
  parameters()[RoleName::RightOfWay].emplace_back(lanelet);
}
 
void RightOfWay::addYieldLanelet(const Lanelet& lanelet) { parameters()[RoleName::Yield].emplace_back(lanelet); }
 
bool RightOfWay::removeRightOfWayLanelet(const Lanelet& lanelet) {
  return findAndErase(lanelet, parameters(), RoleName::RightOfWay);
}
 
bool RightOfWay::removeYieldLanelet(const Lanelet& lanelet) {
  return findAndErase(lanelet, parameters(), RoleName::Yield);
}
 
void RightOfWay::removeStopLine() { parameters()[RoleName::RefLine] = {}; }
 
TrafficSign::TrafficSign(const RegulatoryElementDataPtr& data) : RegulatoryElement{data} {
  type();  // will throw if type is invalid
}
 
TrafficSign::TrafficSign(Id id, const AttributeMap& attributes, const TrafficSignsWithType& trafficSigns,
                         const TrafficSignsWithType& cancellingTrafficSigns, const LineStrings3d& refLines,
                         const LineStrings3d& cancelLines)
    : TrafficSign(
          constructTrafficSignData(id, attributes, trafficSigns, cancellingTrafficSigns, refLines, cancelLines)) {}
 
ConstLineStringsOrPolygons3d TrafficSign::trafficSigns() const {
  return getConstLsOrPoly(parameters(), RoleName::Refers);
}
 
LineStringsOrPolygons3d TrafficSign::trafficSigns() { return getLsOrPoly(parameters(), RoleName::Refers); }
 
std::string TrafficSign::type() const {
  auto signs = trafficSigns();
  if (!signs.empty() &&
      signs.front().applyVisitor([](auto& prim) { return prim.hasAttribute(AttributeName::Subtype); })) {
    const auto& attr = signs.front().applyVisitor([](auto& prim) { return prim.attribute(AttributeName::Subtype); });
    return attr.value();
  }
  if (!signs.empty()) {
    throw InvalidInputError("Regulatory element has a traffic sign without subtype attribute!");
  }
  if (hasAttribute(AttributeNamesString::SignType)) {
    return attribute(AttributeNamesString::SignType).value();
  }
  throw InvalidInputError("Regulatory element can not determine the type of the traffic sign!");
}  // namespace lanelet
 
ConstLineStrings3d TrafficSign::refLines() const { return getParameters<ConstLineString3d>(RoleName::RefLine); }
 
LineStrings3d TrafficSign::refLines() { return getParameters<LineString3d>(RoleName::RefLine); }
 
void TrafficSign::addTrafficSign(const LineStringOrPolygon3d& sign) {
  parameters()[RoleName::Refers].emplace_back(sign.asRuleParameter());
}
 
bool TrafficSign::removeTrafficSign(const LineStringOrPolygon3d& sign) {
  return findAndErase(sign.asRuleParameter(), parameters(), RoleName::Refers);
}
 
void TrafficSign::addRefLine(const LineString3d& line) { parameters()[RoleName::RefLine].emplace_back(line); }
 
bool TrafficSign::removeRefLine(const LineString3d& line) {
  return findAndErase(line, parameters(), RoleName::RefLine);
}
 
void TrafficSign::addCancellingRefLine(const LineString3d& line) {
  parameters()[RoleName::CancelLine].emplace_back(line);
}
 
bool TrafficSign::removeCancellingRefLine(const LineString3d& line) {
  return findAndErase(line, parameters(), RoleName::CancelLine);
}
 
SpeedLimit::SpeedLimit(Id id, const AttributeMap& attributes, const TrafficSignsWithType& trafficSigns,
                       const TrafficSignsWithType& cancellingTrafficSigns, const LineStrings3d& refLines,
                       const LineStrings3d& cancelLines)
    : TrafficSign(
          constructSpeedLimitData(id, attributes, trafficSigns, cancellingTrafficSigns, refLines, cancelLines)) {}
 
SpeedLimit::SpeedLimit(const RegulatoryElementDataPtr& data) : TrafficSign(data) {}
 
void TrafficSign::addCancellingTrafficSign(const TrafficSignsWithType& signs) {
  updateTrafficSigns(signs);
  for (const auto& sign : signs.trafficSigns) {
    parameters()[RoleName::Cancels].emplace_back(sign.asRuleParameter());
  }
}
 
bool TrafficSign::removeCancellingTrafficSign(const LineStringOrPolygon3d& sign) {
  return findAndErase(sign.asRuleParameter(), parameters(), RoleName::Cancels);
}
 
ConstLineStringsOrPolygons3d TrafficSign::cancellingTrafficSigns() const {
  return getConstLsOrPoly(parameters(), RoleName::Cancels);
}
 
LineStringsOrPolygons3d TrafficSign::cancellingTrafficSigns() { return getLsOrPoly(parameters(), RoleName::Cancels); }
 
std::vector<std::string> TrafficSign::cancelTypes() const {
  auto signs = cancellingTrafficSigns();
  std::vector<std::string> types;
  types.reserve(signs.size());
  for (auto& sign : signs) {
    types.push_back(sign.applyVisitor([](auto& prim) { return prim.attribute(AttributeName::Subtype); }).value());
  }
  std::sort(types.begin(), types.end());
  types.erase(std::unique(types.begin(), types.end()), types.end());
  return types;
}
 
ConstLineStrings3d TrafficSign::cancelLines() const { return getParameters<ConstLineString3d>(RoleName::CancelLine); }
 
LineStrings3d TrafficSign::cancelLines() { return getParameters<LineString3d>(RoleName::CancelLine); }
 
ConstLanelets AllWayStop::lanelets() const { return getParameters<ConstLanelet>(RoleName::Yield); }
 
Lanelets AllWayStop::lanelets() { return utils::strong(getParameters<WeakLanelet>(RoleName::Yield)); }
 
ConstLineStrings3d AllWayStop::stopLines() const { return getParameters<ConstLineString3d>(RoleName::RefLine); }
 
LineStrings3d AllWayStop::stopLines() { return getParameters<LineString3d>(RoleName::RefLine); }
 
Optional<ConstLineString3d> AllWayStop::getStopLine(const ConstLanelet& llt) const {
  auto sl = stopLines();
  if (sl.empty()) {
    return {};
  }
  auto llts = lanelets();
  auto it = std::find(llts.begin(), llts.end(), llt);
  if (it == llts.end()) {
    return {};
  }
  return sl.at(size_t(std::distance(llts.begin(), it)));
}
 
Optional<LineString3d> AllWayStop::getStopLine(const ConstLanelet& llt) {
  auto sl = stopLines();
  if (sl.empty()) {
    return {};
  }
  auto llts = lanelets();
  auto it = std::find(llts.begin(), llts.end(), llt);
  if (it == llts.end()) {
    return {};
  }
  return sl.at(size_t(std::distance(llts.begin(), it)));
}
 
ConstLineStringsOrPolygons3d AllWayStop::trafficSigns() const {
  return getConstLsOrPoly(parameters(), RoleName::Refers);
}
 
LineStringsOrPolygons3d AllWayStop::trafficSigns() { return getLsOrPoly(parameters(), RoleName::Refers); }
 
void AllWayStop::addTrafficSign(const LineStringOrPolygon3d& sign) {
  parameters()[RoleName::Refers].push_back(sign.asRuleParameter());
}
 
bool AllWayStop::removeTrafficSign(const LineStringOrPolygon3d& sign) {
  return findAndErase(sign.asRuleParameter(), parameters(), RoleName::Refers);
}
 
void AllWayStop::addLanelet(const LaneletWithStopLine& lltWithStop) {
  auto sl = stopLines();
  if (sl.empty() && !lanelets().empty() && !!lltWithStop.stopLine) {
    throw InvalidInputError("A lanelet with stop line was added, but existing lanelets don't have a stop line!");
  }
  if (!sl.empty() && !lltWithStop.stopLine) {
    throw InvalidInputError("A lanelet without stopline was added, but existing lanelets have a stop line!");
  }
  parameters()[RoleName::Yield].emplace_back(lltWithStop.lanelet);
  if (!!lltWithStop.stopLine) {
    parameters()[RoleName::RefLine].emplace_back(*lltWithStop.stopLine);
  }
}
 
bool AllWayStop::removeLanelet(const Lanelet& llt) {
  auto yieldIt = parameters().find(RoleName::Yield);
  if (yieldIt == parameters().end()) {
    return false;
  }
  auto& yieldLLts = yieldIt->second;
  auto lltIt = std::find(yieldLLts.begin(), yieldLLts.end(), RuleParameter(llt));
  if (lltIt == yieldLLts.end()) {
    return false;
  }
  auto linesIt = parameters().find(RoleName::RefLine);
  if (linesIt != parameters().end() && !linesIt->second.empty()) {
    linesIt->second.erase(linesIt->second.begin() + std::distance(yieldLLts.begin(), lltIt));
  }
  yieldLLts.erase(lltIt);
  return true;
}
 
AllWayStop::AllWayStop(Id id, const AttributeMap& attributes, const LaneletsWithStopLines& lltsWithStop,
                       const LineStringsOrPolygons3d& signs)
    : AllWayStop{constructAllWayStopData(id, attributes, lltsWithStop, signs)} {}
 
AllWayStop::AllWayStop(const RegulatoryElementDataPtr& data) : RegulatoryElement{data} {
  auto yields = parameters().find(RoleName::Yield);
  auto lines = parameters().find(RoleName::RefLine);
  auto row = parameters().find(RoleName::RightOfWay);
  if (row != parameters().end() && !row->second.empty()) {
    throw InvalidInputError("An all way stop must not have a lanelet with right of way!");
  }
  if (lines == parameters().end() || lines->second.empty()) {
    return;
  }
  if (yields == parameters().end() || lines->second.size() != yields->second.size()) {
    throw InvalidInputError(
        "Inconsistent number of lanelets and stop lines found! Either one stop line per lanelet or no stop lines!");
  }
}
 
}  // namespace lanelet