Creating tests for opendrive

LibCarla/cmake/server/CMakeLists.txt

@@ -104,6 +104,12 @@ file(GLOB libcarla_server_sources
     "${libcarla_source_path}/carla/road/element/*.h"
     "${libcarla_source_path}/carla/road/element/cephes/*.cpp"
     "${libcarla_source_path}/carla/road/element/cephes/*.h"
+    "${libcarla_source_path}/carla/road/general/*.cpp"
+    "${libcarla_source_path}/carla/road/general/*.h"
+    "${libcarla_source_path}/carla/road/object/*.cpp"
+    "${libcarla_source_path}/carla/road/object/*.h"
+    "${libcarla_source_path}/carla/road/signal/*.cpp"
+    "${libcarla_source_path}/carla/road/signal/*.h"
     "${libcarla_source_path}/carla/rpc/*.cpp"
     "${libcarla_source_path}/carla/rpc/*.h"
     "${libcarla_source_path}/carla/sensor/*.h"

LibCarla/source/carla/road/MapBuilder.cpp

@@ -20,6 +20,10 @@
 #include "carla/road/element/RoadInfoMarkTypeLine.h"
 #include "carla/road/element/RoadInfoSpeed.h"
 #include "carla/road/element/RoadInfoVisitor.h"
+#include "carla/road/general/Validity.h"
+#include "carla/road/signal/Signal.h"
+#include "carla/road/signal/SignalReference.h"
+#include "carla/road/signal/SignalDependency.h"
 
 #include <iterator>
 #include <memory>
@@ -245,12 +249,11 @@ namespace road {
   }
 
   void MapBuilder::AddValidityToLastAddedSignal(
-      uint32_t road_id,
-      uint32_t signal_id,
-      int32_t from_lane,
-      int32_t to_lane) {
-    _map_data.GetRoad(road_id)->GetSignal(signal_id)->AddValidity(general::Validity(signal_id, from_lane,
-        to_lane));
+      const uint32_t road_id,
+      const uint32_t signal_id,
+      const int32_t from_lane,
+      const int32_t to_lane) {
+    _map_data.GetRoad(road_id)->GetSignal(signal_id)->AddValidity(general::Validity(signal_id, from_lane, to_lane));
   }
 
   // build road objects
@@ -413,10 +416,10 @@ namespace road {
   }
 
   void MapBuilder::AddValidityToSignal(
-      uint32_t road_id,
-      uint32_t signal_id,
-      int32_t from_lane,
-      int32_t to_lane) {
+      const uint32_t road_id,
+      const uint32_t signal_id,
+      const int32_t from_lane,
+      const int32_t to_lane) {
     _map_data.GetRoad(road_id)->GetSignal(signal_id)->AddValidity(general::Validity(signal_id, from_lane,
         to_lane));
   }

LibCarla/source/carla/road/MapBuilder.h

@@ -156,10 +156,10 @@ namespace road {
         const float roll);
 
     void AddValidityToLastAddedSignal(
-        uint32_t road_id,
-        uint32_t signal_id,
-        int32_t from_lane,
-        int32_t to_lane);
+        const uint32_t road_id,
+        const uint32_t signal_id,
+        const int32_t from_lane,
+        const int32_t to_lane);
 
     // called from junction parser
     void AddJunction(const int32_t id, const std::string name);

LibCarla/source/carla/road/signal/Signal.cpp

@@ -6,10 +6,18 @@
 
 #include "Signal.h"
 
-void carla::road::signal::Signal::AddValidity(carla::road::general::Validity &&validity) {
+namespace carla {
+namespace road {
+namespace signal {
+
+void Signal::AddValidity(general::Validity &&validity) {
   _validities.push_back(std::move(validity));
 }
 
-void carla::road::signal::Signal::AddDependency(carla::road::signal::SignalDependency &&dependency) {
+void Signal::AddDependency(SignalDependency &&dependency) {
   _dependencies.push_back(std::move(dependency));
+}
+
+}
+}
 }

LibCarla/source/test/common/test_road.cpp

@@ -10,11 +10,31 @@
 #include <carla/geom/Location.h>
 #include <carla/geom/Math.h>
 #include <carla/road/element/RoadInfoVisitor.h>
+#include <carla/opendrive/OpenDriveParser.h>
+#include <sstream>
+#include <fstream>
 
 using namespace carla::road;
 using namespace carla::road::element;
 using namespace carla::geom;
+using namespace carla::opendrive;
 
+TEST(road, parse_file) {
+
+  // read
+  std::ostringstream content;
+  std::ifstream file;
+  file.open("opentest.xodr", std::ios::in);
+  content << file.rdbuf();
+  file.close();
+
+  auto map = OpenDriveParser::Load(content.str());
+
+
+  ASSERT_TRUE(map.has_value());
+
+}
+/*
 TEST(road, add_geometry) {
 
 }
@@ -42,3 +62,4 @@ TEST(road, geom_spiral) {
 TEST(road, get_information) {
 
 }
+*/