test_lanelet2.py

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import unittest
import lanelet2  # if we fail here, there is something wrong with registration
from lanelet2.core import AttributeMap, getId, BasicPoint2d, Point3d, LineString3d, Lanelet, RegulatoryElement, RightOfWay, TrafficLight, LaneletMap, createMapFromLanelets
from lanelet2.geometry import distance, intersects2d, boundingBox2d, to2D, intersection
 
 
def getAttributes():
    return AttributeMap({"key": "value"})
 
 
def getPoint():
    return Point3d(getId(), 0, 0, 0, getAttributes())
 
 
def getLineString():
    return LineString3d(getId(), [getPoint(), getPoint()], getAttributes())
 
 
def getLanelet():
    return Lanelet(getId(), getLineString(), getLineString(), getAttributes())
 
 
def getRegelem():
    return TrafficLight(getId(), AttributeMap(), [getLineString()], getLineString())
 
 
def getLaneletMap():
    lanelet = getLanelet()
    lanelet.addRegulatoryElement(getRegelem())
    return createMapFromLanelets([lanelet])
 
 
def checkPrimitiveId(testClass: unittest.TestCase, primitive: Lanelet):
    primitive.id = 30
    testClass.assertEqual(primitive.id, 30)
 
 
def checkPrimitiveAttributes(testClass: unittest.TestCase, primitive: Lanelet):
    lenBefore = len(primitive.attributes)
    primitive.attributes["newkey"] = "newvalue"
    testClass.assertEqual(lenBefore + 1, len(primitive.attributes))
    testClass.assertTrue("newkey" in primitive.attributes)
    testClass.assertEqual(primitive.attributes["newkey"], "newvalue")
    del primitive.attributes["newkey"]
    testClass.assertFalse("newkey" in primitive.attributes)
 
 
class LaneletApiTestCase(unittest.TestCase):
    def test_lanelet_id(self):
        checkPrimitiveId(self, getLanelet())
 
    def test_lanelet_attributes(self):
        checkPrimitiveAttributes(self, getLanelet())
 
    def test_lanelet_modification(self):
        lanelet = getLanelet()
        bound = getLineString()
        lanelet.leftBound = bound
        self.assertEqual(bound, lanelet.leftBound)
 
    def test_lanelet_regelem(self):
        regelem = getRegelem()
        llt = getLanelet()
        llt.addRegulatoryElement(regelem)
        self.assertEqual(len(llt.trafficLights()), 1)
        self.assertEqual(len(llt.trafficSigns()), 0)
        self.assertEqual(len(llt.regulatoryElements), 1)
    
    def test_lanelet_repr(self):
        llt = getLanelet()
        llt_from_repr = eval(repr(llt))
        self.assertEqual(llt.id, llt_from_repr.id)
        self.assertEqual(llt.leftBound.id, llt_from_repr.leftBound.id)
        self.assertEqual(llt.rightBound.id, llt_from_repr.rightBound.id)
        self.assertEqual(llt.attributes, llt_from_repr.attributes)
 
    def test_lanelet_repr_regelem_cycle(self):
        llt = getLanelet()
        llt2 = getLanelet()
        regelem = RightOfWay(getId(), AttributeMap(), [llt], [llt2])
        llt.addRegulatoryElement(regelem)
        self.assertIn(f"Lanelet({llt.id}", repr(llt))
        self.assertIn(f"RightOfWay({regelem.id},", repr(regelem))
 
 
class LaneletMapApiTestCase(unittest.TestCase):
    def test_lanelet_map_basic(self):
        map = getLaneletMap()
        self.assertEqual(len(map.laneletLayer), 1)
        self.assertEqual(len(map.regulatoryElementLayer), 1)
 
    def test_lanelet_map_search(self):
        map = getLaneletMap()
        nearest = map.laneletLayer.nearest(BasicPoint2d(0, 0), 1)
        self.assertEqual(len(nearest), 1)
        self.assertTrue(map.laneletLayer.exists(nearest[0].id))
 
 
class GeometryApiTestCase(unittest.TestCase):
    def test_distance_p2p(self):
        self.assertEqual(distance(getPoint(), getPoint()), 0)
 
    def test_distance_basic_p2p(self):
        self.assertEqual(distance(getPoint().basicPoint(), getPoint()), 0)
 
    def test_distance_l2l(self):
        self.assertEqual(distance(getLineString(), getLineString()), 0)
 
    def test_distance_llt2llt(self):
        self.assertEqual(distance(getLanelet(), getLanelet()), 0)
 
    def test_intersects_l2l(self):
        self.assertTrue(intersects2d(to2D(getLineString()), to2D(getLineString())))
 
    def test_bounding_box_line(self):
        bbox = boundingBox2d(to2D(getLineString()))
        self.assertEqual(bbox.min.x, 0)
 
    def test_intersection_l2l(self):
        point_list = intersection(to2D(getLineString()), to2D(getLineString()))
        self.assertEqual(point_list[0].x, 0.0)
        self.assertEqual(point_list[0].y, 0.0)
 
 
if __name__ == '__main__':
    unittest.main()