Changed the order to validate in regulatory_element_details

Signed-off-by: TaikiYamada4 <[email protected]>
autowarefoundation · Nov 14, 2024 · 78815f8 · 78815f8
1 parent ac6ff25
commit 78815f8
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Showing 2 changed files with 43 additions and 42 deletions.
diff --git a/...let2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp b/...let2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp
@@ -63,35 +63,6 @@ RegulatoryElementsDetailsForCrosswalksValidator::checkRegulatoryElementOfCrosswa
     auto crosswalk_polygons = elem->getParameters<lanelet::ConstPolygon3d>(
       lanelet::autoware::Crosswalk::AutowareRoleNameString::CrosswalkPolygon);
 
-    // If this is a crosswalk type regulatory element, the "refers" has to be a "crosswalk" subtype
-    // lanelet
-    const auto & issue_cw = lanelet::validation::Issue(
-      lanelet::validation::Severity::Error, lanelet::validation::Primitive::Lanelet,
-      lanelet::utils::getId(),
-      "Refers of crosswalk regulatory element must have type of crosswalk.");
-    lanelet::autoware::validation::checkPrimitivesType(
-      refers, lanelet::AttributeValueString::Lanelet, lanelet::AttributeValueString::Crosswalk,
-      issue_cw, issues);
-
-    // If this is a crosswalk type regulatory element, the "ref_line" has to be a "stop_line" type
-    // linestring
-    const auto & issue_sl = lanelet::validation::Issue(
-      lanelet::validation::Severity::Error, lanelet::validation::Primitive::LineString,
-      lanelet::utils::getId(),
-      "ref_line of crosswalk regulatory element must have type of stopline.");
-    lanelet::autoware::validation::checkPrimitivesType(
-      ref_lines, lanelet::AttributeValueString::StopLine, issue_sl, issues);
-
-    // If this is a crosswalk type regulatory element, the "crosswalk_polygon" has to be a
-    // "crosswalk_polygon" type polygon
-    const auto & issue_poly = lanelet::validation::Issue(
-      lanelet::validation::Severity::Error, lanelet::validation::Primitive::Polygon,
-      lanelet::utils::getId(),
-      "Crosswalk polygon of crosswalk regulatory element must have type of Crosswalk_polygon.");
-    lanelet::autoware::validation::checkPrimitivesType(
-      crosswalk_polygons, lanelet::autoware::Crosswalk::AutowareRoleNameString::CrosswalkPolygon,
-      issue_poly, issues);
-
     // Report warning if regulatory element does not have crosswalk polygon
     if (crosswalk_polygons.empty()) {
       issues.emplace_back(
@@ -121,6 +92,35 @@ RegulatoryElementsDetailsForCrosswalksValidator::checkRegulatoryElementOfCrosswa
         elem->id(),
         "Regulatory element of crosswalk must have only one lanelet of crosswalk(refers).");
     }
+
+    // If this is a crosswalk type regulatory element, the "refers" has to be a "crosswalk" subtype
+    // lanelet
+    const auto & issue_cw = lanelet::validation::Issue(
+      lanelet::validation::Severity::Error, lanelet::validation::Primitive::Lanelet,
+      lanelet::utils::getId(),
+      "Refers of crosswalk regulatory element must have type of crosswalk.");
+    lanelet::autoware::validation::checkPrimitivesType(
+      refers, lanelet::AttributeValueString::Lanelet, lanelet::AttributeValueString::Crosswalk,
+      issue_cw, issues);
+
+    // If this is a crosswalk type regulatory element, the "ref_line" has to be a "stop_line" type
+    // linestring
+    const auto & issue_sl = lanelet::validation::Issue(
+      lanelet::validation::Severity::Error, lanelet::validation::Primitive::LineString,
+      lanelet::utils::getId(),
+      "ref_line of crosswalk regulatory element must have type of stopline.");
+    lanelet::autoware::validation::checkPrimitivesType(
+      ref_lines, lanelet::AttributeValueString::StopLine, issue_sl, issues);
+
+    // If this is a crosswalk type regulatory element, the "crosswalk_polygon" has to be a
+    // "crosswalk_polygon" type polygon
+    const auto & issue_poly = lanelet::validation::Issue(
+      lanelet::validation::Severity::Error, lanelet::validation::Primitive::Polygon,
+      lanelet::utils::getId(),
+      "Crosswalk polygon of crosswalk regulatory element must have type of Crosswalk_polygon.");
+    lanelet::autoware::validation::checkPrimitivesType(
+      crosswalk_polygons, lanelet::autoware::Crosswalk::AutowareRoleNameString::CrosswalkPolygon,
+      issue_poly, issues);
   }
   return issues;
 }

diff --git a/..._validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp b/..._validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp
@@ -72,19 +72,6 @@ RegulatoryElementsDetailsForTrafficLightsValidator::checkRegulatoryElementOfTraf
     auto refers = elem->getParameters<lanelet::ConstLineString3d>(lanelet::RoleName::Refers);
     // Get stop line referred by regulatory element
     auto ref_lines = elem->getParameters<lanelet::ConstLineString3d>(lanelet::RoleName::RefLine);
-    const auto & issue_tl = lanelet::validation::Issue(
-      lanelet::validation::Severity::Error, lanelet::validation::Primitive::LineString,
-      lanelet::utils::getId(),
-      "Refers of traffic light regulatory element must have type of traffic_light.");
-    lanelet::autoware::validation::checkPrimitivesType(
-      refers, lanelet::AttributeValueString::TrafficLight, issue_tl, issues);
-
-    const auto & issue_sl = lanelet::validation::Issue(
-      lanelet::validation::Severity::Error, lanelet::validation::Primitive::LineString,
-      lanelet::utils::getId(),
-      "ref_line of traffic light regulatory element must have type of stop_line.");
-    lanelet::autoware::validation::checkPrimitivesType(
-      ref_lines, lanelet::AttributeValueString::StopLine, issue_sl, issues);
 
     if (refers.empty()) {
       issues.emplace_back(
@@ -106,6 +93,20 @@ RegulatoryElementsDetailsForTrafficLightsValidator::checkRegulatoryElementOfTraf
         lanelet::validation::Severity::Error, lanelet::validation::Primitive::RegulatoryElement,
         elem->id(), "Regulatory element of traffic light must have a stop line(ref_line).");
     }
+
+    const auto & issue_tl = lanelet::validation::Issue(
+      lanelet::validation::Severity::Error, lanelet::validation::Primitive::LineString,
+      lanelet::utils::getId(),
+      "Refers of traffic light regulatory element must have type of traffic_light.");
+    lanelet::autoware::validation::checkPrimitivesType(
+      refers, lanelet::AttributeValueString::TrafficLight, issue_tl, issues);
+
+    const auto & issue_sl = lanelet::validation::Issue(
+      lanelet::validation::Severity::Error, lanelet::validation::Primitive::LineString,
+      lanelet::utils::getId(),
+      "ref_line of traffic light regulatory element must have type of stop_line.");
+    lanelet::autoware::validation::checkPrimitivesType(
+      ref_lines, lanelet::AttributeValueString::StopLine, issue_sl, issues);
   }
   return issues;
 }