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fix(lanelet2_map_validator): change validation order in regulatory_elements_details #151

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merged 2 commits into from
Nov 14, 2024
Merged

fix(lanelet2_map_validator): change validation order in regulatory_elements_details #151

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78815f8
Changed the order to validate in regulatory_element_details
TaikiYamada4 Nov 14, 2024
cd0648a
Revised test code
TaikiYamada4 Nov 14, 2024
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58 changes: 29 additions & 29 deletions ...let2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
Expand Down Expand Up @@ -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;
}
Expand Down
27 changes: 14 additions & 13 deletions ..._validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
Expand All @@ -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;
}
Expand Down
40 changes: 4 additions & 36 deletions map/autoware_lanelet2_map_validator/test/src/test_regulatory_element_details.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -185,23 +185,15 @@ TEST_F(TestSuite, RegulatoryElementOfTrafficLightWithoutTrafficLight) // NOLINT
lanelet::validation::RegulatoryElementsDetailsForTrafficLightsValidator checker;
const auto & issues = checker(*test_map_ptr);

uint8_t expected_num_issues = 2;
uint8_t expected_num_issues = 1;
static constexpr const char * expected_message1 =
"Refers of traffic light regulatory element must have type of traffic_light.";
static constexpr const char * expected_message2 =
"Regulatory element of traffic light must have a traffic light(refers).";
EXPECT_EQ(expected_num_issues, issues.size());
for (const auto & issue : issues) {
if (issue.id == 99998) {
EXPECT_EQ(expected_message1, issue.message);
EXPECT_EQ(lanelet::validation::Severity::Error, issue.severity);
EXPECT_EQ(lanelet::validation::Primitive::LineString, issue.primitive);
} else if (issue.id == 99999) {
EXPECT_EQ(expected_message2, issue.message);
EXPECT_EQ(lanelet::validation::Severity::Error, issue.severity);
EXPECT_EQ(lanelet::validation::Primitive::RegulatoryElement, issue.primitive);
} else {
FAIL() << "Unexpected issue id: " << issue.id;
}
}
}
Expand All @@ -225,23 +217,15 @@ TEST_F(TestSuite, RegulatoryElementOfTrafficLightWithoutStopLine) // NOLINT for
lanelet::validation::RegulatoryElementsDetailsForTrafficLightsValidator checker;
const auto & issues = checker(*test_map_ptr);

uint8_t expected_num_issues = 2;
uint8_t expected_num_issues = 1;
static constexpr const char * expected_message1 =
"ref_line of traffic light regulatory element must have type of stop_line.";
static constexpr const char * expected_message2 =
"Regulatory element of traffic light must have a stop line(ref_line).";
EXPECT_EQ(expected_num_issues, issues.size());
for (const auto & issue : issues) {
if (issue.id == 99998) {
EXPECT_EQ(expected_message1, issue.message);
EXPECT_EQ(lanelet::validation::Severity::Error, issue.severity);
EXPECT_EQ(lanelet::validation::Primitive::LineString, issue.primitive);
} else if (issue.id == 99999) {
EXPECT_EQ(expected_message2, issue.message);
EXPECT_EQ(lanelet::validation::Severity::Error, issue.severity);
EXPECT_EQ(lanelet::validation::Primitive::RegulatoryElement, issue.primitive);
} else {
FAIL() << "Unexpected issue id: " << issue.id;
}
}
}
Expand Down Expand Up @@ -270,23 +254,15 @@ TEST_F(TestSuite, RegulatoryElementOfCrosswalkWithoutPolygon) // NOLINT for gte
lanelet::validation::RegulatoryElementsDetailsForCrosswalksValidator checker;
const auto & issues = checker(*test_map_ptr);

uint8_t expected_num_issues = 2;
uint8_t expected_num_issues = 1;
static constexpr const char * expected_message1 =
"Crosswalk polygon of crosswalk regulatory element must have type of Crosswalk_polygon.";
static constexpr const char * expected_message2 =
"Regulatory element of crosswalk is nice to have crosswalk_polygon.";
EXPECT_EQ(expected_num_issues, issues.size());
for (const auto & issue : issues) {
if (issue.id == 99998) {
EXPECT_EQ(expected_message1, issue.message);
EXPECT_EQ(lanelet::validation::Severity::Error, issue.severity);
EXPECT_EQ(lanelet::validation::Primitive::Polygon, issue.primitive);
} else if (issue.id == 99999) {
EXPECT_EQ(expected_message2, issue.message);
EXPECT_EQ(lanelet::validation::Severity::Warning, issue.severity);
EXPECT_EQ(lanelet::validation::Primitive::RegulatoryElement, issue.primitive);
} else {
FAIL() << "Unexpected issue id: " << issue.id;
}
}
}
Expand Down Expand Up @@ -346,23 +322,15 @@ TEST_F(TestSuite, RegulatoryElementOfCrosswalkWithoutCrosswalk) // NOLINT for g
lanelet::validation::RegulatoryElementsDetailsForCrosswalksValidator checker;
const auto & issues = checker(*test_map_ptr);

uint8_t expected_num_issues = 2;
uint8_t expected_num_issues = 1;
static constexpr const char * expected_message1 =
"Refers of crosswalk regulatory element must have type of crosswalk.";
static constexpr const char * expected_message2 =
"Regulatory element of crosswalk must have lanelet of crosswalk(refers).";
EXPECT_EQ(expected_num_issues, issues.size());
for (const auto & issue : issues) {
if (issue.id == 99998) {
EXPECT_EQ(expected_message1, issue.message);
EXPECT_EQ(lanelet::validation::Severity::Error, issue.severity);
EXPECT_EQ(lanelet::validation::Primitive::Lanelet, issue.primitive);
} else if (issue.id == 99999) {
EXPECT_EQ(expected_message2, issue.message);
EXPECT_EQ(lanelet::validation::Severity::Error, issue.severity);
EXPECT_EQ(lanelet::validation::Primitive::RegulatoryElement, issue.primitive);
} else {
FAIL() << "Unexpected issue id: " << issue.id;
}
}
}
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