Merge pull request #48 from bark-simulator/lanetype-filtered-graph

Stable Version of support for other Lanetype

docs/source/debugging.md

@@ -66,6 +66,6 @@ We run two Debuggers in parallel. First, check if the shared object "bark.so" co
 ```
 For debugging;
 1. Add a breakpoint in the python file you want to debug, somewhere before an interesting code section, run the launch configuration "Python: Current File" (see before) and wait until the breakpoint is reached.
-2. Run the "(gdb) Attach" launch configuration, select the python interpreter whose path contains "/.vscode/"
+2. Run the "(gdb) Attach" launch configuration, select the python interpreter whose path contains "/.vscode/". You will be promted to enter your user password.
 3. Set breakpoints in the C++ Files
-4. Now, with the F5 vscode automatically jumps between the two debuggers between python and c++ code. 
+4. The python debugger is currently stopped at a break point. Switch back from the debugger "(gdb) Attach" to the other debugger "Python: Current File" and press F5 (Continue). Now, vscode automatically jumps between the two debuggers between python and c++ code.

examples/BUILD

@@ -9,7 +9,6 @@ py_test(
           "//modules/runtime/commons:xodr_parser",
           "//modules/runtime/viewer:pygame_viewer",
           "//modules/runtime/viewer:matplotlib_viewer",
-          "//modules/runtime/commons:roadgraph_generator",
           "//modules/runtime:runtime",],
 )
 
@@ -24,7 +23,6 @@ py_test(
           "//modules/runtime/commons:xodr_parser",
           "//modules/runtime/viewer:pygame_viewer",
           "//modules/runtime/viewer:matplotlib_viewer",
-          "//modules/runtime/commons:roadgraph_generator",
           "//modules/runtime:runtime",],
 )
 
@@ -38,7 +36,6 @@ py_test(
   imports = ['../python/'],
   deps = ["//modules/runtime/commons:parameters",
           "//modules/runtime/commons:xodr_parser",
-          "//modules/runtime/commons:roadgraph_generator",
           "//modules/runtime:runtime",
           "//modules/runtime/scenario/scenario_generation:scenario_generation"],
 )
@@ -53,7 +50,6 @@ py_test(
   deps = [":scenario_generation_dump",
           "//modules/runtime/commons:parameters",
           "//modules/runtime/commons:xodr_parser",
-          "//modules/runtime/commons:roadgraph_generator",
           "//modules/runtime/viewer:pygame_viewer",
           "//modules/runtime/viewer:matplotlib_viewer",
           "//modules/runtime:runtime",

examples/od8_const_vel_one_agent.py

@@ -42,13 +42,13 @@
 map_interface.set_open_drive_map(xodr_parser.map)
 map_interface.set_roadgraph(xodr_parser.roadgraph)
 world.set_map(map_interface)
-
 # Agent Definition
 agent_2d_shape = CarLimousine()
 init_state = np.array([0, -11, -8, 3.14*3.0/4.0, 10/3.6])
 agent_params = param_server.addChild("agent1")
 goal_polygon = Polygon2d([0, 0, 0],[Point2d(-1,-1),Point2d(-1,1),Point2d(1,1), Point2d(1,-1)])
 goal_polygon = goal_polygon.translate(Point2d(-191.789,-50.1725))
+
 agent = Agent(init_state,
               behavior_model,
               dynamic_model,
@@ -60,7 +60,6 @@
 world.add_agent(agent)
 
 # viewer
-
 viewer = PygameViewer(params=param_server,
                       x_range=[-50, 50],
                       y_range=[-50, 50],

examples/od8_const_vel_two_agent.py

@@ -47,7 +47,7 @@
 agent_2d_shape = CarLimousine()
 init_state = np.array([0, -11, -8, 3.14*3.0/4.0, 50/3.6])
 goal_polygon = Polygon2d([0, 0, 0],[Point2d(-1,-1),Point2d(-1,1),Point2d(1,1), Point2d(1,-1)])
-goal_polygon = goal_polygon.translate(Point2d(-191.789,-50.1725))
+goal_polygon = goal_polygon.translate(Point2d(-63,-61))
 agent_params = param_server.addChild("agent1")
 agent1 = Agent(init_state,
                behavior_model,

modules/runtime/commons/BUILD

@@ -21,15 +21,6 @@ py_library(
     srcs = ["xodr_parser.py"],
     data = ['//python:bark.so'],
     imports = ['../../../python'],
-    deps = [":roadgraph_generator"],
-    visibility = ["//visibility:public"],
-)
-
-py_library(
-    name = "roadgraph_generator",
-    srcs = ["roadgraph_generator.py"],
-    data = ['//python:bark.so'],
-    imports = ['../../../python'],
     deps = [],
     visibility = ["//visibility:public"],
-)
+)

modules/runtime/commons/xodr_parser.py

@@ -8,7 +8,6 @@
 from bark.world.opendrive import *
 from bark.world.map import *
 from bark.geometry import *
-from modules.runtime.commons.roadgraph_generator import RoadgraphGenerator
 
 
 class XodrParser(object):
@@ -19,11 +18,7 @@ def __init__(self, file_name):
         self.map = OpenDriveMap()
         self.convert_to_map(self.python_map)
         self.roadgraph = Roadgraph()
-        self.generate_roadgraph()
-
-    def generate_roadgraph(self):
-        rg = RoadgraphGenerator(self.roadgraph)
-        rg.generate(self.map)
+        self.roadgraph.Generate(self.map)
 
     def load_file(self, file_name):
         return open(file_name, 'r')
@@ -90,7 +85,7 @@ def parse_lane(self, lanes, lane_section):
             lane_dict[int(lane.get("id"))] = lane
 
         for id, lane in lane_dict.items():
-            if str(lane.get("type")) not in ["driving"]: #LaneType.__members__.keys(): # skip if lane type currently not supported
+            if str(lane.get("type")) not in ["driving", "border", "sidewalk"]: #LaneType.__members__.keys(): # skip if lane type currently not supported
                 continue
             new_lane = {}
             new_lane["id"] = id
@@ -265,17 +260,17 @@ def create_cpp_plan_view(self, plan_view):
 
     def create_cpp_road_link(self, link):
         # TODO(hart): insert road_link
-        new_link = Link()
+        new_link = RoadLink()
         try:
-            new_pre_info = LinkInfo()
+            new_pre_info = RoadLinkInfo()
             new_pre_info.id = int(link["predecessor"]["element_id"])
             new_pre_info.type = link["predecessor"]["element_type"]
             new_link.predecessor = new_pre_info
         except:
             pass
 
         try:
-            new_suc_info = LinkInfo()
+            new_suc_info = RoadLinkInfo()
             new_suc_info.id = int(link["successor"]["element_id"])
             new_suc_info.type = link["successor"]["element_type"]
             new_link.successor = new_suc_info
@@ -294,20 +289,17 @@ def create_cpp_road(self, road):
         return new_road
 
     def create_lane_link(self, link):
-        new_link = Link()
+        new_link = LaneLink()
 
         try:
-            new_suc = LinkInfo()
-            new_suc.id = int(link["successor"])
-            new_link.successor = new_suc
+            new_link.from_position = int(link["predecessor"])
         except:
-            print("Roadlink has no successor.")
+            print("No LaneLink.predecessor")
         try:
-            new_pre = LinkInfo()
-            new_pre.id = int(link["predecessor"])
-            new_link.predecessor = new_pre
+            new_link.to_position = int(link["successor"])
         except:
-            print("Roadlink has no predeseccor.")
+            print("No LaneLink.successor")
+
         return new_link
 
     def create_cpp_lane(self, new_lane_section, new_road, lane, s_start,
@@ -395,8 +387,8 @@ def create_cpp_junction(self, junction):
             # TODO(hart): contact point
             for lane_link in connection["lane_links"]:
                 new_lane_link = LaneLink()
-                new_lane_link.from_id = int(lane_link["from"])
-                new_lane_link.to_id = int(lane_link["to"])
+                new_lane_link.from_position = int(lane_link["from"])
+                new_lane_link.to_position = int(lane_link["to"])
                 new_connection.add_lane_link(new_lane_link)
             new_junction.add_connection(new_connection)
         return new_junction

modules/runtime/ml/tests/BUILD

@@ -9,8 +9,7 @@ py_test(
             "//modules/runtime/commons:parameters",
             "//modules/runtime/commons:commons",
             "//modules/runtime/scenario/scenario_generation:scenario_generation",
-            "//modules/runtime/commons:xodr_parser",
-            "//modules/runtime/commons:roadgraph_generator"],
+            "//modules/runtime/commons:xodr_parser"],
     visibility = ["//visibility:public"],
 )
 
@@ -25,8 +24,7 @@ py_test(
             "//modules/runtime/commons:parameters",
             "//modules/runtime/commons:commons",
             "//modules/runtime/scenario/scenario_generation:scenario_generation",
-            "//modules/runtime/commons:xodr_parser",
-            "//modules/runtime/commons:roadgraph_generator"],
+            "//modules/runtime/commons:xodr_parser"],
     visibility = ["//visibility:public"],
 )
 

modules/runtime/scenario/scenario.py

@@ -8,7 +8,6 @@
 from bark.world import *
 from bark.world.map import *
 from modules.runtime.commons.parameters import ParameterServer
-from modules.runtime.commons.roadgraph_generator import RoadgraphGenerator
 from modules.runtime.commons.xodr_parser import XodrParser
 
 import copy

modules/runtime/scenario/scenario_generation/uniform_vehicle_distribution.py

@@ -16,7 +16,6 @@
 from bark.geometry import *
 from bark.geometry.standard_shapes import *
 from modules.runtime.commons.parameters import ParameterServer
-from modules.runtime.commons.roadgraph_generator import RoadgraphGenerator
 from modules.runtime.commons.xodr_parser import XodrParser
 
 import numpy as np

modules/runtime/tests/BUILD

@@ -13,7 +13,6 @@ py_test(
   imports = ['../../../python/'],
   deps = ["//modules/runtime/commons:parameters",
           "//modules/runtime/commons:xodr_parser",
-          "//modules/runtime/commons:roadgraph_generator",
           "//modules/runtime:runtime"],
 )
 
@@ -25,7 +24,6 @@ py_test(
   imports = ['../../../python/'],
   deps = ["//modules/runtime/commons:parameters",
           "//modules/runtime/commons:xodr_parser",
-          "//modules/runtime/commons:roadgraph_generator",
           "//modules/runtime/scenario/scenario_generation:scenario_generation"],
 )
 

modules/runtime/tests/data/CulDeSac_ideal.dot

@@ -0,0 +1,15 @@
+digraph G {
+0[label="road_id=1 lane_id=1 lane_pos=0"];
+1[label="road_id=1 lane_id=2 lane_pos=1"];
+2[label="road_id=1 lane_id=3 lane_pos=-1"];
+3[label="road_id=3 lane_id=4 lane_pos=0"];
+4[label="road_id=3 lane_id=5 lane_pos=-1"];
+2->4 [label="0"color="red"];
+4->1 [label="0"color="red"];
+1->0 [label="1"color="blue"];
+0->1 [label="2"color="blue"];
+2->0 [label="1"color="blue"];
+0->2 [label="2"color="blue"];
+4->3 [label="1"color="blue"];
+3->4 [label="2"color="blue"];
+}