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Fill MapBuilder with asserts

This commit is contained in:
nsubiron 2019-03-29 17:41:55 +01:00
parent adb3583511
commit 8206ac335c
1 changed files with 40 additions and 6 deletions
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46
LibCarla/source/carla/road/MapBuilder.cpp
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@ -39,10 +39,12 @@ namespace road {
CreatePointersBetweenRoadSegments();
for (auto &&info : _temp_road_info_container) {
DEBUG_ASSERT(info.first != nullptr);
info.first->_info = InformationSet(std::move(info.second));
}
for (auto &&info : _temp_lane_info_container) {
DEBUG_ASSERT(info.first != nullptr);
info.first->_info = InformationSet(std::move(info.second));
}
@ -64,7 +66,7 @@ namespace road {
const double b,
const double c,
const double d) {
DEBUG_ASSERT(road != nullptr);
auto elevation = std::make_unique<RoadInfoElevation>(s, a, b, c, d);
_temp_road_info_container[road].emplace_back(std::move(elevation));
}
@ -91,6 +93,7 @@ namespace road {
Lane *lane,
const double s,
const std::string restriction) {
DEBUG_ASSERT(lane != nullptr);
_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneAccess>(s, restriction));
}
@ -101,6 +104,7 @@ namespace road {
const double b,
const double c,
const double d) {
DEBUG_ASSERT(lane != nullptr);
_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneBorder>(s, a, b, c, d));
}
@ -109,6 +113,7 @@ namespace road {
const double s,
const double inner,
const double outer) {
DEBUG_ASSERT(lane != nullptr);
_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneHeight>(s, inner, outer));
}
@ -118,6 +123,7 @@ namespace road {
const std::string surface,
const double friction,
const double roughness) {
DEBUG_ASSERT(lane != nullptr);
_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneMaterial>(s, surface, friction,
roughness));
}
@ -126,6 +132,7 @@ namespace road {
Lane *lane,
const double s,
const std::string value) {
DEBUG_ASSERT(lane != nullptr);
_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneRule>(s, value));
}
@ -136,6 +143,7 @@ namespace road {
const double back,
const double left,
const double right) {
DEBUG_ASSERT(lane != nullptr);
_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneVisibility>(s, forward, back,
left, right));
}
@ -147,6 +155,7 @@ namespace road {
const double b,
const double c,
const double d) {
DEBUG_ASSERT(lane != nullptr);
_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoLaneWidth>(s, a, b, c, d));
}
@ -163,6 +172,7 @@ namespace road {
const double height,
const std::string type_name,
const double type_width) {
DEBUG_ASSERT(lane != nullptr);
RoadInfoMarkRecord::LaneChange lc;
StringUtil::ToLower(lane_change);
@ -190,6 +200,7 @@ namespace road {
const double s,
const std::string rule,
const double width) {
DEBUG_ASSERT(lane != nullptr);
auto it = MakeRoadInfoIterator<RoadInfoMarkRecord>(_temp_lane_info_container[lane]);
for (; !it.IsAtEnd(); ++it) {
if(it->GetRoadMarkId() == road_mark_id) {
@ -206,6 +217,7 @@ namespace road {
const double s,
const double max,
const std::string /*unit*/) {
DEBUG_ASSERT(lane != nullptr);
_temp_lane_info_container[lane].emplace_back(std::make_unique<RoadInfoSpeed>(s, max));
}
@ -229,8 +241,9 @@ namespace road {
const double hOffset,
const double pitch,
const double roll) {
_map_data.GetRoad(road_id).getSignals()->emplace(signal_id,
auto signals = _map_data.GetRoad(road_id).getSignals();
DEBUG_ASSERT(signals != nullptr);
signals->emplace(signal_id,
signal::Signal(road_id, signal_id, s, t, name, dynamic,
orientation, zOffset, country, type, subtype, value, unit, height, width,
text, hOffset, pitch, roll));
@ -286,6 +299,7 @@ namespace road {
const bool lane_level,
const int32_t predecessor,
const int32_t successor) {
DEBUG_ASSERT(section != nullptr);
// add the lane
auto *lane = &((section->_lanes.emplace(lane_id, Lane()).first)->second);
@ -308,6 +322,7 @@ namespace road {
const double y,
const double hdg,
const double length) {
DEBUG_ASSERT(road != nullptr);
auto line_geometry = std::make_unique<GeometryLine>(s,
length,
@ -324,6 +339,7 @@ namespace road {
const std::string /*type*/,
const double max,
const std::string /*unit*/) {
DEBUG_ASSERT(road != nullptr);
_temp_road_info_container[road].emplace_back(std::make_unique<RoadInfoSpeed>(s, max));
}
@ -334,6 +350,7 @@ namespace road {
const double b,
const double c,
const double d) {
DEBUG_ASSERT(road != nullptr);
_temp_road_info_container[road].emplace_back(std::make_unique<RoadInfoLaneOffset>(s, a, b, c, d));
}
@ -345,6 +362,7 @@ namespace road {
const double hdg,
const double length,
const double curvature) {
DEBUG_ASSERT(road != nullptr);
auto arc_geometry = std::make_unique<GeometryArc>(s,
length,
@ -364,7 +382,9 @@ namespace road {
const double /*hdg*/,
const double /*length*/,
const double /*curvStart*/,
const double /*curvEnd*/) {}
const double /*curvEnd*/) {
throw_exception(std::runtime_error("geometry spiral not supported"));
}
void MapBuilder::AddRoadGeometryPoly3(
carla::road::Road * /*road*/,
@ -376,7 +396,9 @@ namespace road {
const double /*a*/,
const double /*b*/,
const double /*c*/,
const double /*d*/) {}
const double /*d*/) {
throw_exception(std::runtime_error("geometry poly3 not supported"));
}
void MapBuilder::AddRoadGeometryParamPoly3(
carla::road::Road * /*road*/,
@ -393,7 +415,9 @@ namespace road {
const double /*bV*/,
const double /*cV*/,
const double /*dV*/,
const std::string /*p_range*/) {}
const std::string /*p_range*/) {
throw_exception(std::runtime_error("geometry poly3 not supported"));
}
void MapBuilder::AddJunction(const int32_t id, const std::string name) {
_map_data.GetJunctions().emplace(id, Junction(id, name));
@ -404,6 +428,7 @@ namespace road {
const int32_t connection_id,
const int32_t incoming_road,
const int32_t connecting_road) {
DEBUG_ASSERT(_map_data.GetJunction(junction_id) != nullptr);
_map_data.GetJunction(junction_id)->GetConnections().emplace(connection_id,
Junction::Connection(connection_id, incoming_road, connecting_road));
}
@ -413,6 +438,7 @@ namespace road {
const int32_t connection_id,
const int32_t from,
const int32_t to) {
DEBUG_ASSERT(_map_data.GetJunction(junction_id) != nullptr);
_map_data.GetJunction(junction_id)->GetConnection(connection_id)->AddLaneLink(from, to);
}
@ -421,6 +447,7 @@ namespace road {
const uint32_t signal_id,
const int32_t from_lane,
const int32_t to_lane) {
DEBUG_ASSERT(_map_data.GetRoad(road_id).GetSignal(signal_id) != nullptr);
_map_data.GetRoad(road_id).GetSignal(signal_id)->AddValidity(general::Validity(signal_id, from_lane,
to_lane));
}
@ -430,6 +457,7 @@ namespace road {
const uint32_t signal_reference_id,
const int32_t from_lane,
const int32_t to_lane) {
DEBUG_ASSERT(_map_data.GetRoad(road_id).GetSignalRef(signal_reference_id) != nullptr);
_map_data.GetRoad(road_id).GetSignalRef(signal_reference_id)->AddValidity(general::Validity(
signal_reference_id, from_lane, to_lane));
}
@ -440,6 +468,7 @@ namespace road {
const double s_position,
const double t_position,
const std::string signal_reference_orientation) {
DEBUG_ASSERT(_map_data.GetRoad(road_id).getSignalReferences() != nullptr);
_map_data.GetRoad(road_id).getSignalReferences()->emplace(signal_reference_id,
signal::SignalReference(road_id, signal_reference_id, s_position, t_position,
signal_reference_orientation));
@ -450,6 +479,7 @@ namespace road {
const uint32_t signal_id,
const uint32_t dependency_id,
const std::string dependency_type) {
DEBUG_ASSERT(_map_data.GetRoad(road_id).GetSignal(signal_id) != nullptr);
_map_data.GetRoad(road_id).GetSignal(signal_id)->AddDependency(signal::SignalDependency(
road_id,
signal_id,
@ -485,6 +515,7 @@ namespace road {
section = road.GetEndSection(lane_id);
// get the lane
DEBUG_ASSERT(section != nullptr);
return section->GetLane(lane_id);
}
@ -502,6 +533,7 @@ namespace road {
// get the lane
Lane *lane = section.GetLane(lane_id);
DEBUG_ASSERT(lane != nullptr);
// successor and predecessor (road and lane)
LaneId next;
@ -605,6 +637,7 @@ namespace road {
// add next roads
for (auto next_lane : lane.second._next_lanes) {
DEBUG_ASSERT(next_lane != nullptr);
// avoid same road
if (next_lane->GetRoad() != &road.second) {
if (std::find(road.second._nexts.begin(), road.second._nexts.end(), next_lane->GetRoad()) == road.second._nexts.end()) {
@ -615,6 +648,7 @@ namespace road {
// add prev roads
for (auto prev_lane : lane.second._prev_lanes) {
DEBUG_ASSERT(prev_lane != nullptr);
// avoid same road
if (prev_lane->GetRoad() != &road.second) {
if (std::find(road.second._prevs.begin(), road.second._prevs.end(), prev_lane->GetRoad()) == road.second._prevs.end()) {