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Bugfix in autoMapStreetLanes function #291

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Merged
Grufoony merged 8 commits into from
Apr 1, 2025
Merged

Bugfix in autoMapStreetLanes function #291

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c078d2b
Fix angle assignment in automapstreetlanes
Grufoony Mar 31, 2025
4e2dbf5
Fix
Grufoony Mar 31, 2025
2c39063
Angles
Grufoony Mar 31, 2025
6fe5a39
Adjust angle threshold
Grufoony Apr 1, 2025
b68ee33
Some fixes
Grufoony Apr 1, 2025
ce88ea0
Add `forbiddenTurns` attribute to Street class
Grufoony Apr 1, 2025
52bafec
Handle forbidden turns into automapstreetlanes
Grufoony Apr 1, 2025
ec24a72
Move forbidden turns to Road class
Grufoony Apr 1, 2025
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2 changes: 1 addition & 1 deletion src/dsm/dsm.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@

static constexpr uint8_t DSM_VERSION_MAJOR = 2;
static constexpr uint8_t DSM_VERSION_MINOR = 6;
static constexpr uint8_t DSM_VERSION_PATCH = 11;
static constexpr uint8_t DSM_VERSION_PATCH = 12;

static auto const DSM_VERSION =
std::format("{}.{}.{}", DSM_VERSION_MAJOR, DSM_VERSION_MINOR, DSM_VERSION_PATCH);
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6 changes: 3 additions & 3 deletions src/dsm/headers/RoadDynamics.hpp
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Expand Up @@ -362,8 +362,8 @@
pair.second->deltaAngle(this->graph().edge(previousStreetId)->angle())};
if (std::abs(delta) < std::numbers::pi) {
if (delta < 0.) {
m_turnMapping[pair.first][dsm::Direction::RIGHT] = previousStreetId;
; // right
m_turnMapping[pair.first][dsm::Direction::RIGHT] =
previousStreetId; // right
} else if (delta > 0.) {
m_turnMapping[pair.first][dsm::Direction::LEFT] =
previousStreetId; // left
Expand Down Expand Up @@ -1049,7 +1049,7 @@
auto const deltaAngle{pNextStreet->deltaAngle(pStreet->angle())};
if (std::abs(deltaAngle) < std::numbers::pi) {
// Lanes are counted as 0 is the far right lane
if (std::abs(deltaAngle) < std::numbers::pi / 4) {
if (std::abs(deltaAngle) < std::numbers::pi / 8) {

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MISRA 12.1 rule Note

MISRA 12.1 rule
std::vector<double> weights;
for (auto const& queue : pStreet->exitQueues()) {
weights.push_back(1. / (queue.size() + 1));
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119 changes: 82 additions & 37 deletions src/dsm/sources/RoadNetwork.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -265,9 +265,8 @@
auto const& pInStreet{m_edges.at(inNodeId * m_nodes.size() + pair.first)};
auto const nLanes{pInStreet->nLanes()};
if (nLanes == 1) {
return;

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MISRA 15.5 rule Note

MISRA 15.5 rule
}
// auto const& laneMapping{pInStreet->laneMapping()};
std::multiset<Direction> allowedTurns;
std::for_each(
outNeighbours.cbegin(),
Expand All @@ -281,9 +280,11 @@
}
auto const deltaAngle{pOutStreet->deltaAngle(pInStreet->angle())};
auto const& outOppositeStreet{this->street(pair.first, outNodeId)};
if (!outOppositeStreet) {
return;

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}
// Actually going straight means remain on the same road, thus...
if (outOppositeStreet &&
((pInStreet->priority() == maxPriority) ==
if (((pInStreet->priority() == maxPriority) ==
(outOppositeStreet->get()->priority() == maxPriority)) &&
!allowedTurns.contains(Direction::STRAIGHT)) {
Logger::debug(
Expand All @@ -298,44 +299,30 @@
// allowedTurns.emplace(Direction::STRAIGHT);
// return;
// }
} else if (std::abs(deltaAngle) < 5 * std::numbers::pi / 6) {
} else if (std::abs(deltaAngle) < std::numbers::pi) {
// Logger::debug(std::format("Angle in {} - angle out {}",
// pInStreet->angle(),
// pOutStreet->angle()));
// Logger::debug(std::format("Delta: {}", deltaAngle));
if (deltaAngle < -std::numbers::pi / 6.) {
Logger::debug(
std::format("Street {} can turn RIGHT", pInStreet->id()));
if (std::abs(deltaAngle) < std::numbers::pi / 8) {

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MISRA 12.1 rule Note

MISRA 12.1 rule
Logger::debug(std::format("Street {} -> {} can turn STRAIGHT",

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pInStreet->source(),
pInStreet->target()));
allowedTurns.emplace(Direction::STRAIGHT);

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} else if (deltaAngle < 0.) {
Logger::debug(std::format("Street {} -> {} can turn RIGHT",

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MISRA 17.7 rule Note

MISRA 17.7 rule
pInStreet->source(),
pInStreet->target()));
allowedTurns.emplace(Direction::RIGHT);
} else if (deltaAngle > std::numbers::pi / 6.) {
Logger::debug(
std::format("Street {} can turn LEFT", pInStreet->id()));
} else if (deltaAngle > 0.) {
Logger::debug(std::format("Street {} -> {} can turn LEFT",

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MISRA 17.7 rule Note

MISRA 17.7 rule
pInStreet->source(),
pInStreet->target()));
allowedTurns.emplace(Direction::LEFT);
} else {
Logger::debug(
std::format("Street {} can go STRAIGHT", pInStreet->id()));
if (!allowedTurns.contains(Direction::STRAIGHT)) {
allowedTurns.emplace(Direction::STRAIGHT);
} else if (deltaAngle > 0.) {
allowedTurns.emplace(Direction::LEFT);
} else {
allowedTurns.emplace(Direction::RIGHT);
}
}
}
});
// if (!allowedTurns.contains(Direction::RIGHT)) {
// std::multiset<Direction> updatedTurns;
// for (auto turn : allowedTurns) {
// if (turn > Direction::RIGHT && turn <= Direction::UTURN) {
// updatedTurns.insert(static_cast<Direction>(turn - 1));
// } else {
// updatedTurns.insert(turn);
// }
// }
// allowedTurns = std::move(updatedTurns); // Replace with the updated set
// }
while (allowedTurns.size() < static_cast<size_t>(nLanes)) {

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MISRA 15.7 rule Note

MISRA 15.7 rule
if (allowedTurns.contains(Direction::STRAIGHT)) {
allowedTurns.emplace(Direction::STRAIGHT);
} else if (allowedTurns.contains(Direction::RIGHT)) {
Expand All @@ -347,11 +334,36 @@
}
}
// If allowedTurns contains all RIGHT, STRAIGHT and LEFT, transform RIGHT into RIGHTANDSTRAIGHT
if (allowedTurns.contains(Direction::STRAIGHT) &&
allowedTurns.contains(Direction::RIGHT) &&
allowedTurns.contains(Direction::LEFT)) {
allowedTurns.erase(Direction::RIGHT);
allowedTurns.emplace(Direction::RIGHTANDSTRAIGHT);
if (allowedTurns.size() > static_cast<size_t>(nLanes)) {
if (pair.second->isTrafficLight()) {

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MISRA 14.4 rule Note

MISRA 14.4 rule
auto& tl = dynamic_cast<TrafficLight&>(*pair.second);
auto const& cycles{tl.cycles()};

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if (cycles.contains(pInStreet->id())) {

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MISRA 14.4 rule Note

MISRA 14.4 rule
if (cycles.size() == static_cast<size_t>(nLanes)) {
// Replace with the traffic light cycles
Logger::debug(
std::format("Using traffic light {} cycles for street {} -> {}",
tl.id(),
pInStreet->source(),
pInStreet->target()));
auto const& cycle{cycles.at(pInStreet->id())};
allowedTurns.clear();

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for (auto const& [direction, cycle] : cycle) {
allowedTurns.emplace(direction);

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}
} else if (cycles.at(pInStreet->id())

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MISRA 14.4 rule Note

MISRA 14.4 rule
.contains(Direction::LEFTANDSTRAIGHT)) {
allowedTurns.erase(Direction::LEFT);
allowedTurns.erase(Direction::STRAIGHT);
allowedTurns.emplace(Direction::LEFTANDSTRAIGHT);

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} else if (cycles.at(pInStreet->id())

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MISRA 14.4 rule Note

MISRA 14.4 rule
.contains(Direction::RIGHTANDSTRAIGHT)) {
allowedTurns.erase(Direction::RIGHT);
allowedTurns.erase(Direction::STRAIGHT);
allowedTurns.emplace(Direction::RIGHTANDSTRAIGHT);

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}

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MISRA 15.7 rule Note

MISRA 15.7 rule
}
}
}
switch (nLanes) {
case 1:
Expand All @@ -361,11 +373,44 @@
if (allowedTurns.contains(Direction::STRAIGHT) &&
allowedTurns.contains(Direction::RIGHT) &&
allowedTurns.contains(Direction::LEFT)) {
break;
if (pair.second->isTrafficLight()) {

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MISRA 14.4 rule Note

MISRA 14.4 rule
auto& tl = dynamic_cast<TrafficLight&>(*pair.second);
auto const& cycles{tl.cycles()};

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MISRA 17.7 rule Note

MISRA 17.7 rule
if (cycles.contains(pInStreet->id())) {

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MISRA 14.4 rule
auto const& cycle{cycles.at(pInStreet->id())};

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if (cycle.contains(Direction::LEFTANDSTRAIGHT) &&
cycle.contains(Direction::RIGHT)) {
allowedTurns.erase(Direction::LEFT);
allowedTurns.erase(Direction::STRAIGHT);
allowedTurns.emplace(Direction::LEFTANDSTRAIGHT);

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MISRA 17.7 rule Note

MISRA 17.7 rule
break;

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}
}
}
allowedTurns.clear();
allowedTurns.emplace(Direction::RIGHTANDSTRAIGHT);

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MISRA 17.7 rule
allowedTurns.emplace(Direction::LEFT);

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}
if (allowedTurns.size() > 2) {
// Remove duplicates
std::set<Direction> uniqueDirections;
std::copy(allowedTurns.begin(),

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allowedTurns.end(),
std::inserter(uniqueDirections, uniqueDirections.begin()));
allowedTurns.clear();
std::copy(uniqueDirections.begin(),

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uniqueDirections.end(),
std::inserter(allowedTurns, allowedTurns.begin()));
}
[[fallthrough]];
default:
assert(allowedTurns.size() == static_cast<size_t>(nLanes));
// Logger::info(
// std::format("Street {}->{} with {} lanes and {} allowed turns",

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MISRA 15.5 rule Note

MISRA 15.5 rule
// pInStreet->source(),
// pInStreet->target(),
// nLanes,
// allowedTurns.size()));
std::vector<Direction> newMapping(nLanes);
auto it{allowedTurns.cbegin()};
for (size_t i{0}; i < allowedTurns.size(); ++i, ++it) {
Expand Down
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