From 383c0ebb74afb9112ee19203273b57a51e5e39f1 Mon Sep 17 00:00:00 2001
From: Axel <axellopez92@outlook.com>
Date: Mon, 21 Dec 2020 10:06:05 +0100
Subject: [PATCH] Fixed missing laneChange record in OSM converted OpenDRIVE
 maps.

---
 CHANGELOG.md                                     |  1 +
 Util/OSM2ODR/src/netwrite/NWWriter_OpenDrive.cpp | 16 +++++++++++++---
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4b367d066..70f84367c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -24,6 +24,7 @@
   * Fixed bug causing camera-based sensors to stop sending data
   * Added `WorldSettings.deterministic_ragdolls` to enable deterministic or physically based ragdolls
   * Fixed the lack of determinism on the output of raycast sensors
+  * Fixed missing `laneChange` record in converted OSM maps
   * Fixed bug in the actor's id returned by the semantic lidar
   * Fixed error when using `--config` parameter in `make package`
   * Fixed dependency of library **Xerces-c** on package
diff --git a/Util/OSM2ODR/src/netwrite/NWWriter_OpenDrive.cpp b/Util/OSM2ODR/src/netwrite/NWWriter_OpenDrive.cpp
index 1acd6a894..ce5f93a53 100644
--- a/Util/OSM2ODR/src/netwrite/NWWriter_OpenDrive.cpp
+++ b/Util/OSM2ODR/src/netwrite/NWWriter_OpenDrive.cpp
@@ -286,7 +286,8 @@ NWWriter_OpenDrive::writeNormalEdge(OutputDevice& device, const NBEdge* e,
     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";
+        std::string laneType = getLaneType(e->getPermissions(j));
+        device << "                    <lane id=\"-" << e->getNumLanes() - j << "\" type=\"" << laneType << "\" level=\"true\">\n";
         device << "                        <link/>\n";
         // this could be used for geometry-link junctions without u-turn,
         // predecessor and sucessors would be lane indices,
@@ -307,7 +308,15 @@ NWWriter_OpenDrive::writeNormalEdge(OutputDevice& device, const NBEdge* e,
             // 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";
+        std::string laneChange = "both";
+        if (j == 0) {
+            laneChange = "none";
+        } else if (getLaneType(e->getPermissions(j - 1)) == laneType) {
+            laneChange = "both";
+        } else {
+            laneChange = "none";
+        }
+        device << "                        <roadMark sOffset=\"0\" type=\"" << markType << "\" weight=\"standard\" color=\"standard\" width=\"0.13\" laneChange=\"" << laneChange << "\"/>\n";
         device << "                        <speed sOffset=\"0\" max=\"" << lanes[j].speed << "\"/>\n";
         device << "                    </lane>\n";
     }
@@ -509,7 +518,8 @@ NWWriter_OpenDrive::writeEmptyCenterLane(OutputDevice& device, const std::string
     device << "                <center>\n";
     device << "                    <lane id=\"0\" type=\"none\" level=\"true\">\n";
     device << "                        <link/>\n";
-    device << "                        <roadMark sOffset=\"0\" type=\"" << mark << "\" weight=\"standard\" color=\"standard\" width=\"" << markWidth << "\"/>\n";
+    // laneChange = none as roads contain lanes in one direction only
+    device << "                        <roadMark sOffset=\"0\" type=\"" << mark << "\" weight=\"standard\" color=\"standard\" width=\"" << markWidth << "\" laneChange=\"none\"/>\n";
     device << "                    </lane>\n";
     device << "                </center>\n";
 }