void
NWWriter_OpenDrive::writeNormalEdge(OutputDevice& device, const NBEdge* e,
int edgeID, int fromNodeID, int toNodeID,
const bool origNames,
const double straightThresh) {
// buffer output because some fields are computed out of order
OutputDevice_String elevationOSS(false, 3);
elevationOSS.setPrecision(8);
OutputDevice_String planViewOSS(false, 2);
planViewOSS.setPrecision(8);
double length = 0;
planViewOSS.openTag("planView");
// for the shape we need to use the leftmost border of the leftmost lane
const std::vector<NBEdge::Lane>& lanes = e->getLanes();
PositionVector ls = getLeftLaneBorder(e);
#ifdef DEBUG_SMOOTH_GEOM
if (DEBUGCOND) {
std::cout << "write planview for edge " << e->getID() << "\n";
}
#endif
if (ls.size() == 2 || e->getPermissions() == SVC_PEDESTRIAN) {
// foot paths may contain sharp angles
length = writeGeomLines(ls, planViewOSS, elevationOSS);
} else {
bool ok = writeGeomSmooth(ls, e->getSpeed(), planViewOSS, elevationOSS, straightThresh, length);
if (!ok) {
WRITE_WARNING("Could not compute smooth shape for edge '" + e->getID() + "'.");
}
}
planViewOSS.closeTag();
device.openTag("road");
device.writeAttr("name", StringUtils::escapeXML(e->getStreetName()));
device.setPrecision(8); // length requires higher precision
device.writeAttr("length", MAX2(POSITION_EPS, length));
device.setPrecision(gPrecision);
device.writeAttr("id", edgeID);
device.writeAttr("junction", -1);
if (fromNodeID != INVALID_ID || toNodeID != INVALID_ID) {
device.openTag("link");
if (fromNodeID != INVALID_ID) {
device.openTag("predecessor");
device.writeAttr("elementType", "junction");
device.writeAttr("elementId", fromNodeID);
device.closeTag();
}
if (toNodeID != INVALID_ID) {
device.openTag("successor");
device.writeAttr("elementType", "junction");
device.writeAttr("elementId", toNodeID);
device.closeTag();
}
device.closeTag();
}
device.openTag("type").writeAttr("s", 0).writeAttr("type", "town").closeTag();
device << planViewOSS.getString();
writeElevationProfile(ls, device, elevationOSS);
device << " <lateralProfile/>\n";
device << " <lanes>\n";
device << " <laneSection s=\"0\">\n";
const std::string centerMark = e->getPermissions(e->getNumLanes() - 1) == 0 ? "none" : "solid";
writeEmptyCenterLane(device, centerMark, 0.13);
device << " <right>\n";
for (int j = e->getNumLanes(); --j >= 0;) {
device << " <lane id=\"-" << e->getNumLanes() - j << "\" type=\"" << getLaneType(e->getPermissions(j)) << "\" level=\"true\">\n";
device << " <link/>\n";
// this could be used for geometry-link junctions without u-turn,
// predecessor and sucessors would be lane indices,
// road predecessor / succesfors would be of type 'road' rather than
// 'junction'
//device << " <predecessor id=\"-1\"/>\n";
//device << " <successor id=\"-1\"/>\n";
//device << " </link>\n";
device << " <width sOffset=\"0\" a=\"" << e->getLaneWidth(j) << "\" b=\"0\" c=\"0\" d=\"0\"/>\n";
std::string markType = "broken";
if (j == 0) {
markType = "solid";
} else if (j > 0
&& (e->getPermissions(j - 1) & ~(SVC_PEDESTRIAN | SVC_BICYCLE)) == 0) {
// solid road mark to the left of sidewalk or bicycle lane
markType = "solid";
} else if (e->getPermissions(j) == 0) {
// solid road mark to the right of a forbidden lane
markType = "solid";
}
device << " <roadMark sOffset=\"0\" type=\"" << markType << "\" weight=\"standard\" color=\"standard\" width=\"0.13\"/>\n";
device << " <speed sOffset=\"0\" max=\"" << lanes[j].speed << "\"/>\n";
device << " </lane>\n";
}
device << " </right>\n";
device << " </laneSection>\n";
device << " </lanes>\n";
device << " <objects/>\n";
device << " <signals/>\n";
if (origNames) {
device << " <userData code=\"sumoId\" value=\"" << e->getID() << "\"/>\n";
}
device.closeTag();
checkLaneGeometries(e);
}
int
NWWriter_OpenDrive::writeInternalEdge(OutputDevice& device, OutputDevice& junctionDevice, const NBEdge* inEdge, int nodeID,
int edgeID, int inEdgeID, int outEdgeID,
int connectionID,
const std::vector<NBEdge::Connection>& parallel,
const bool isOuterEdge,
const double straightThresh,
const std::string& centerMark) {
assert(parallel.size() != 0);
const NBEdge::Connection& cLeft = parallel.back();
const NBEdge* outEdge = cLeft.toEdge;
PositionVector begShape = getLeftLaneBorder(inEdge, cLeft.fromLane);
PositionVector endShape = getLeftLaneBorder(outEdge, cLeft.toLane);
//std::cout << "computing reference line for internal lane " << cLeft.getInternalLaneID() << " begLane=" << inEdge->getLaneShape(cLeft.fromLane) << " endLane=" << outEdge->getLaneShape(cLeft.toLane) << "\n";
double length;
double laneOffset = 0;
PositionVector fallBackShape;
fallBackShape.push_back(begShape.back());
fallBackShape.push_back(endShape.front());
const bool turnaround = inEdge->isTurningDirectionAt(outEdge);
bool ok = true;
PositionVector init = NBNode::bezierControlPoints(begShape, endShape, turnaround, 25, 25, ok, 0, straightThresh);
if (init.size() == 0) {
length = fallBackShape.length2D();
// problem with turnarounds is known, method currently returns 'ok' (#2539)
if (!ok) {
WRITE_WARNING("Could not compute smooth shape from lane '" + inEdge->getLaneID(cLeft.fromLane) + "' to lane '" + outEdge->getLaneID(cLeft.toLane) + "'. Use option 'junctions.scurve-stretch' or increase radius of junction '" + inEdge->getToNode()->getID() + "' to fix this.");
} else if (length <= NUMERICAL_EPS) {
// left-curving geometry-like edges must use the right
// side as reference line and shift
begShape = getRightLaneBorder(inEdge, cLeft.fromLane);
endShape = getRightLaneBorder(outEdge, cLeft.toLane);
init = NBNode::bezierControlPoints(begShape, endShape, turnaround, 25, 25, ok, 0, straightThresh);
if (init.size() != 0) {
length = bezier(init, 12).length2D();
laneOffset = outEdge->getLaneWidth(cLeft.toLane);
//std::cout << " internalLane=" << cLeft.getInternalLaneID() << " length=" << length << "\n";
}
}
} else {
length = bezier(init, 12).length2D();
}
junctionDevice << " <connection id=\"" << connectionID << "\" incomingRoad=\"" << inEdgeID << "\" connectingRoad=\"" << edgeID << "\" contactPoint=\"start\">\n";
device.openTag("road");
device.writeAttr("name", cLeft.id);
device.setPrecision(8); // length requires higher precision
device.writeAttr("length", MAX2(POSITION_EPS, length));
device.setPrecision(gPrecision);
device.writeAttr("id", edgeID);
device.writeAttr("junction", nodeID);
device.openTag("link");
device.openTag("predecessor");
device.writeAttr("elementType", "road");
device.writeAttr("elementId", inEdgeID);
device.writeAttr("contactPoint", "end");
device.closeTag();
device.openTag("successor");
device.writeAttr("elementType", "road");
device.writeAttr("elementId", outEdgeID);
device.writeAttr("contactPoint", "start");
device.closeTag();
device.closeTag();
device.openTag("type").writeAttr("s", 0).writeAttr("type", "town").closeTag();
device.openTag("planView");
device.setPrecision(8); // geometry hdg requires higher precision
OutputDevice_String elevationOSS(false, 3);
elevationOSS.setPrecision(8);
#ifdef DEBUG_SMOOTH_GEOM
if (DEBUGCOND) {
std::cout << "write planview for internal edge " << cLeft.id << " init=" << init << " fallback=" << fallBackShape
<< " begShape=" << begShape << " endShape=" << endShape
<< "\n";
}
#endif
if (init.size() == 0) {
writeGeomLines(fallBackShape, device, elevationOSS);
} else {
writeGeomPP3(device, elevationOSS, init, length);
}
device.setPrecision(gPrecision);
device.closeTag();
writeElevationProfile(fallBackShape, device, elevationOSS);
device << " <lateralProfile/>\n";
device << " <lanes>\n";
if (laneOffset != 0) {
device << " <laneOffset s=\"0\" a=\"" << laneOffset << "\" b=\"0\" c=\"0\" d=\"0\"/>\n";
}
device << " <laneSection s=\"0\">\n";
writeEmptyCenterLane(device, centerMark, 0);
device << " <right>\n";
for (int j = (int)parallel.size(); --j >= 0;) {
const NBEdge::Connection& c = parallel[j];
const int fromIndex = c.fromLane - inEdge->getNumLanes();
const int toIndex = c.toLane - outEdge->getNumLanes();
device << " <lane id=\"-" << parallel.size() - j << "\" type=\"" << getLaneType(outEdge->getPermissions(c.toLane)) << "\" level=\"true\">\n";
device << " <link>\n";
device << " <predecessor id=\"" << fromIndex << "\"/>\n";
device << " <successor id=\"" << toIndex << "\"/>\n";
device << " </link>\n";
device << " <width sOffset=\"0\" a=\"" << outEdge->getLaneWidth(c.toLane) << "\" b=\"0\" c=\"0\" d=\"0\"/>\n";
std::string markType = "broken";
if (inEdge->isTurningDirectionAt(outEdge)) {
markType = "none";
} else if (c.fromLane == 0 && c.toLane == 0 && isOuterEdge) {
// solid road mark at the outer border
markType = "solid";
} else if (isOuterEdge && j > 0
&& (outEdge->getPermissions(parallel[j - 1].toLane) & ~(SVC_PEDESTRIAN | SVC_BICYCLE)) == 0) {
// solid road mark to the left of sidewalk or bicycle lane
markType = "solid";
} else if (!inEdge->getToNode()->geometryLike()) {
// draw shorter road marks to indicate turning paths
LinkDirection dir = inEdge->getToNode()->getDirection(inEdge, outEdge, OptionsCont::getOptions().getBool("lefthand"));
if (dir == LINKDIR_LEFT || dir == LINKDIR_RIGHT || dir == LINKDIR_PARTLEFT || dir == LINKDIR_PARTRIGHT) {
// XXX <type><line/><type> is not rendered by odrViewer so cannot be validated
// device << " <type name=\"broken\" width=\"0.13\">\n";
// device << " <line length=\"0.5\" space=\"0.5\" tOffset=\"0\" sOffset=\"0\" rule=\"none\"/>\n";
// device << " </type>\n";
markType = "none";
}
}
device << " <roadMark sOffset=\"0\" type=\"" << markType << "\" weight=\"standard\" color=\"standard\" width=\"0.13\"/>\n";
device << " <speed sOffset=\"0\" max=\"" << c.vmax << "\"/>\n";
device << " </lane>\n";
junctionDevice << " <laneLink from=\"" << fromIndex << "\" to=\"" << toIndex << "\"/>\n";
connectionID++;
}
device << " </right>\n";
device << " </laneSection>\n";
device << " </lanes>\n";
device << " <objects/>\n";
device << " <signals/>\n";
device.closeTag();
junctionDevice << " </connection>\n";
return connectionID;
}
// ===========================================================================
// method definitions
// ===========================================================================
// ---------------------------------------------------------------------------
// static methods
// ---------------------------------------------------------------------------
void
NWWriter_OpenDrive::writeNetwork(const OptionsCont& oc, NBNetBuilder& nb) {
// check whether an opendrive-file shall be generated
if (!oc.isSet("opendrive-output")) {
return;
}
const NBNodeCont& nc = nb.getNodeCont();
const NBEdgeCont& ec = nb.getEdgeCont();
const bool origNames = oc.getBool("output.original-names");
const SUMOReal straightThresh = DEG2RAD(oc.getFloat("opendrive-output.straight-threshold"));
// some internal mapping containers
int nodeID = 1;
int edgeID = nc.size() * 10; // distinct from node ids
StringBijection<int> edgeMap;
StringBijection<int> nodeMap;
//
OutputDevice& device = OutputDevice::getDevice(oc.getString("opendrive-output"));
device << "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n";
device.openTag("OpenDRIVE");
time_t now = time(0);
std::string dstr(ctime(&now));
const Boundary& b = GeoConvHelper::getFinal().getConvBoundary();
// write header
device.openTag("header");
device.writeAttr("revMajor", "1");
device.writeAttr("revMinor", "4");
device.writeAttr("name", "");
device.writeAttr("version", "1.00");
device.writeAttr("date", dstr.substr(0, dstr.length() - 1));
device.writeAttr("north", b.ymax());
device.writeAttr("south", b.ymin());
device.writeAttr("east", b.xmax());
device.writeAttr("west", b.xmin());
/* @note obsolete in 1.4
device.writeAttr("maxRoad", ec.size());
device.writeAttr("maxJunc", nc.size());
device.writeAttr("maxPrg", 0);
*/
device.closeTag();
// write normal edges (road)
for (std::map<std::string, NBEdge*>::const_iterator i = ec.begin(); i != ec.end(); ++i) {
const NBEdge* e = (*i).second;
// buffer output because some fields are computed out of order
OutputDevice_String elevationOSS(false, 3);
elevationOSS.setPrecision(8);
OutputDevice_String planViewOSS(false, 2);
planViewOSS.setPrecision(8);
SUMOReal length = 0;
planViewOSS.openTag("planView");
planViewOSS.setPrecision(8); // geometry hdg requires higher precision
// for the shape we need to use the leftmost border of the leftmost lane
const std::vector<NBEdge::Lane>& lanes = e->getLanes();
PositionVector ls = getLeftLaneBorder(e);
#ifdef DEBUG_SMOOTH_GEOM
if (DEBUGCOND) {
std::cout << "write planview for edge " << e->getID() << "\n";
}
#endif
if (ls.size() == 2 || e->getPermissions() == SVC_PEDESTRIAN) {
// foot paths may contain sharp angles
length = writeGeomLines(ls, planViewOSS, elevationOSS);
} else {
bool ok = writeGeomSmooth(ls, e->getSpeed(), planViewOSS, elevationOSS, straightThresh, length);
if (!ok) {
WRITE_WARNING("Could not compute smooth shape for edge '" + e->getID() + "'.");
}
}
planViewOSS.closeTag();
device.openTag("road");
device.writeAttr("name", StringUtils::escapeXML(e->getStreetName()));
device.setPrecision(8); // length requires higher precision
device.writeAttr("length", MAX2(POSITION_EPS, length));
device.setPrecision(OUTPUT_ACCURACY);
device.writeAttr("id", getID(e->getID(), edgeMap, edgeID));
device.writeAttr("junction", -1);
const bool hasSucc = e->getConnections().size() > 0;
const bool hasPred = e->getIncomingEdges().size() > 0;
if (hasPred || hasSucc) {
device.openTag("link");
if (hasPred) {
device.openTag("predecessor");
device.writeAttr("elementType", "junction");
device.writeAttr("elementId", getID(e->getFromNode()->getID(), nodeMap, nodeID));
device.closeTag();
}
if (hasSucc) {
device.openTag("successor");
device.writeAttr("elementType", "junction");
device.writeAttr("elementId", getID(e->getToNode()->getID(), nodeMap, nodeID));
device.closeTag();
}
device.closeTag();
}
device.openTag("type").writeAttr("s", 0).writeAttr("type", "town").closeTag();
device << planViewOSS.getString();
writeElevationProfile(ls, device, elevationOSS);
device << " <lateralProfile/>\n";
device << " <lanes>\n";
device << " <laneSection s=\"0\">\n";
writeEmptyCenterLane(device, "solid", 0.13);
device << " <right>\n";
for (int j = e->getNumLanes(); --j >= 0;) {
device << " <lane id=\"-" << e->getNumLanes() - j << "\" type=\"" << getLaneType(e->getPermissions(j)) << "\" level=\"true\">\n";
device << " <link/>\n";
// this could be used for geometry-link junctions without u-turn,
// predecessor and sucessors would be lane indices,
// road predecessor / succesfors would be of type 'road' rather than
// 'junction'
//device << " <predecessor id=\"-1\"/>\n";
//device << " <successor id=\"-1\"/>\n";
//device << " </link>\n";
device << " <width sOffset=\"0\" a=\"" << e->getLaneWidth(j) << "\" b=\"0\" c=\"0\" d=\"0\"/>\n";
std::string markType = "broken";
if (j == 0) {
markType = "solid";
}
device << " <roadMark sOffset=\"0\" type=\"" << markType << "\" weight=\"standard\" color=\"standard\" width=\"0.13\"/>\n";
device << " <speed sOffset=\"0\" max=\"" << lanes[j].speed << "\"/>\n";
device << " </lane>\n";
}
device << " </right>\n";
device << " </laneSection>\n";
device << " </lanes>\n";
device << " <objects/>\n";
device << " <signals/>\n";
if (origNames) {
device << " <userData code=\"sumoId\" value=\"" << e->getID() << "\"/>\n";
}
device.closeTag();
checkLaneGeometries(e);
}
device.lf();
// write junction-internal edges (road). In OpenDRIVE these are called 'paths' or 'connecting roads'
for (std::map<std::string, NBNode*>::const_iterator i = nc.begin(); i != nc.end(); ++i) {
NBNode* n = (*i).second;
const std::vector<NBEdge*>& incoming = (*i).second->getIncomingEdges();
for (std::vector<NBEdge*>::const_iterator j = incoming.begin(); j != incoming.end(); ++j) {
const NBEdge* inEdge = *j;
const std::vector<NBEdge::Connection>& elv = inEdge->getConnections();
for (std::vector<NBEdge::Connection>::const_iterator k = elv.begin(); k != elv.end(); ++k) {
const NBEdge::Connection& c = *k;
const NBEdge* outEdge = c.toEdge;
if (outEdge == 0) {
continue;
}
const SUMOReal width = c.toEdge->getLaneWidth(c.toLane);
const PositionVector begShape = getLeftLaneBorder(inEdge, c.fromLane);
const PositionVector endShape = getLeftLaneBorder(outEdge, c.toLane);
//std::cout << "computing reference line for internal lane " << c.getInternalLaneID() << " begLane=" << inEdge->getLaneShape(c.fromLane) << " endLane=" << outEdge->getLaneShape(c.toLane) << "\n";
SUMOReal length;
PositionVector fallBackShape;
fallBackShape.push_back(begShape.back());
fallBackShape.push_back(endShape.front());
const bool turnaround = inEdge->isTurningDirectionAt(outEdge);
bool ok = true;
PositionVector init = NBNode::bezierControlPoints(begShape, endShape, turnaround, 25, 25, ok, 0, straightThresh);
if (init.size() == 0) {
length = fallBackShape.length2D();
// problem with turnarounds is known, method currently returns 'ok' (#2539)
if (!ok) {
WRITE_WARNING("Could not compute smooth shape from lane '" + inEdge->getLaneID(c.fromLane) + "' to lane '" + outEdge->getLaneID(c.toLane) + "'. Use option 'junctions.scurve-stretch' or increase radius of junction '" + inEdge->getToNode()->getID() + "' to fix this.");
}
} else {
length = bezier(init, 12).length2D();
}
device.openTag("road");
device.writeAttr("name", c.getInternalLaneID());
device.setPrecision(8); // length requires higher precision
device.writeAttr("length", MAX2(POSITION_EPS, length));
device.setPrecision(OUTPUT_ACCURACY);
device.writeAttr("id", getID(c.getInternalLaneID(), edgeMap, edgeID));
device.writeAttr("junction", getID(n->getID(), nodeMap, nodeID));
device.openTag("link");
device.openTag("predecessor");
device.writeAttr("elementType", "road");
device.writeAttr("elementId", getID(inEdge->getID(), edgeMap, edgeID));
device.writeAttr("contactPoint", "end");
device.closeTag();
device.openTag("successor");
device.writeAttr("elementType", "road");
device.writeAttr("elementId", getID(outEdge->getID(), edgeMap, edgeID));
device.writeAttr("contactPoint", "start");
device.closeTag();
device.closeTag();
device.openTag("type").writeAttr("s", 0).writeAttr("type", "town").closeTag();
device.openTag("planView");
device.setPrecision(8); // geometry hdg requires higher precision
OutputDevice_String elevationOSS(false, 3);
#ifdef DEBUG_SMOOTH_GEOM
if (DEBUGCOND) {
std::cout << "write planview for internal edge " << c.getInternalLaneID() << " init=" << init << " fallback=" << fallBackShape << "\n";
}
#endif
if (init.size() == 0) {
writeGeomLines(fallBackShape, device, elevationOSS);
} else {
writeGeomPP3(device, elevationOSS, init, length);
}
device.setPrecision(OUTPUT_ACCURACY);
device.closeTag();
writeElevationProfile(fallBackShape, device, elevationOSS);
device << " <lateralProfile/>\n";
device << " <lanes>\n";
device << " <laneSection s=\"0\">\n";
writeEmptyCenterLane(device, "none", 0);
device << " <right>\n";
device << " <lane id=\"-1\" type=\"" << getLaneType(outEdge->getPermissions(c.toLane)) << "\" level=\"true\">\n";
device << " <link>\n";
device << " <predecessor id=\"-" << inEdge->getNumLanes() - c.fromLane << "\"/>\n";
device << " <successor id=\"-" << outEdge->getNumLanes() - c.toLane << "\"/>\n";
device << " </link>\n";
device << " <width sOffset=\"0\" a=\"" << width << "\" b=\"0\" c=\"0\" d=\"0\"/>\n";
device << " <roadMark sOffset=\"0\" type=\"none\" weight=\"standard\" color=\"standard\" width=\"0.13\"/>\n";
device << " </lane>\n";
device << " </right>\n";
device << " </laneSection>\n";
device << " </lanes>\n";
device << " <objects/>\n";
device << " <signals/>\n";
device.closeTag();
}
}
}
// write junctions (junction)
for (std::map<std::string, NBNode*>::const_iterator i = nc.begin(); i != nc.end(); ++i) {
NBNode* n = (*i).second;
const std::vector<NBEdge*>& incoming = n->getIncomingEdges();
// check if any connections must be written
int numConnections = 0;
for (std::vector<NBEdge*>::const_iterator j = incoming.begin(); j != incoming.end(); ++j) {
numConnections += (int)((*j)->getConnections().size());
}
if (numConnections == 0) {
continue;
}
device << " <junction name=\"" << n->getID() << "\" id=\"" << getID(n->getID(), nodeMap, nodeID) << "\">\n";
int index = 0;
for (std::vector<NBEdge*>::const_iterator j = incoming.begin(); j != incoming.end(); ++j) {
const NBEdge* inEdge = *j;
const std::vector<NBEdge::Connection>& elv = inEdge->getConnections();
for (std::vector<NBEdge::Connection>::const_iterator k = elv.begin(); k != elv.end(); ++k) {
const NBEdge::Connection& c = *k;
const NBEdge* outEdge = c.toEdge;
if (outEdge == 0) {
continue;
}
device << " <connection id=\""
<< index << "\" incomingRoad=\"" << getID(inEdge->getID(), edgeMap, edgeID)
<< "\" connectingRoad=\""
<< getID(c.getInternalLaneID(), edgeMap, edgeID)
<< "\" contactPoint=\"start\">\n";
device << " <laneLink from=\"-" << inEdge->getNumLanes() - c.fromLane
<< "\" to=\"-1" // every connection has its own edge
<< "\"/>\n";
device << " </connection>\n";
++index;
}
}
device << " </junction>\n";
}
device.closeTag();
device.close();
}