Class RoadGraph

limsim/utils/roadgraph.py:166–212

Road graph of the map

@dataclass
class RoadGraph:
    """
    Road graph of the map
    """

    edges: Dict[str, Edge] = field(default_factory=dict)
    lanes: Dict[str, AbstractLane] = field(default_factory=dict)
    junction_lanes: Dict[str, JunctionLane] = field(default_factory=dict)

    def get_lane_by_id(self, lane_id: str) -> AbstractLane:
        if lane_id in self.lanes:
            return self.lanes[lane_id]
        elif lane_id in self.junction_lanes:
            return self.junction_lanes[lane_id]
        else:
            logging.debug(f"cannot find lane {lane_id}")
            return None

    def get_next_lane(self, lane_id: str) -> AbstractLane:
        lane = self.get_lane_by_id(lane_id)
        if isinstance(lane, NormalLane):
            next_lanes = list(lane.next_lanes.values())
            if len(next_lanes) > 0:
                # first_next_lane = list(lane.next_lanes.values())[0][0]
                return self.get_lane_by_id(next_lanes[0][0])
            else:
                return None
        elif isinstance(lane, JunctionLane):
            return self.get_lane_by_id(lane.next_lane_id)
        return None

    def get_available_next_lane(self, lane_id: str, available_lanes: list[str]) -> AbstractLane:
        lane = self.get_lane_by_id(lane_id)
        if isinstance(lane, NormalLane):
            for next_lane_i in lane.next_lanes.values():
                if next_lane_i[0] in available_lanes:
                    return self.get_lane_by_id(next_lane_i[0])
        elif isinstance(lane, JunctionLane):
            if lane.next_lane_id in available_lanes:
                return self.get_lane_by_id(lane.next_lane_id)
        return None

    def __str__(self):
        return 'edges: {}, \nlanes: {}, \njunctions lanes: {}'.format(
            self.edges.keys(), self.lanes.keys(),
            self.junction_lanes.keys()
        )


if __name__ == "__main__":