feat(autoware_lanelet_map_validator): add dangling reference checker …

…to non existing intersection_area

Signed-off-by: Mamoru Sobue <[email protected]>

map/autoware_lanelet2_map_validator/CMakeLists.txt

@@ -7,6 +7,7 @@ autoware_package()
 ament_auto_find_build_dependencies()
 find_package(nlohmann_json REQUIRED)
 
+
 file(GLOB_RECURSE autoware_lanelet2_map_validator_lib_src
   src/common/*.cpp
   src/validators/*.cpp
@@ -67,6 +68,7 @@ if(BUILD_TESTING)
   add_validation_test(missing_referrers_for_traffic_lights)
   add_validation_test(intersection_area_validity)
   add_validation_test(intersection_area_segment_type)
+  add_validation_test(intersection_area_dangling_reference)
 endif()
 
 ament_auto_package(

map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/intersection/intersection_area_dangling_reference.hpp

@@ -0,0 +1,51 @@
+// Copyright 2024 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_DANGLING_REFERENCE_HPP_  // NOLINT
+#define LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_DANGLING_REFERENCE_HPP_  // NOLINT
+
+#include <lanelet2_validation/Validation.h>
+#include <lanelet2_validation/ValidatorFactory.h>
+
+#include <string>
+#include <utility>
+
+namespace lanelet::autoware::validation
+{
+class IntersectionAreaDanglingReferenceValidator : public lanelet::validation::MapValidator
+{
+public:
+  constexpr static const char * name()
+  {
+    return "mapping.intersection.intersection_area_dangling_reference";
+  }
+
+  lanelet::validation::Issues operator()(const lanelet::LaneletMap & map) override;
+
+private:
+  /**
+   * @brief queries all intersection lanelets and check if their "intersection_area" custom KEY
+   * entry has existing id as VALUE
+   *
+   * @param map
+   * @return lanelet::validation::Issues
+   */
+  lanelet::validation::Issues check_intersection_area_dangling_reference(
+    const lanelet::LaneletMap & map);
+};
+}  // namespace lanelet::autoware::validation
+
+// clang-format off
+#endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__INTERSECTION_AREA_DANGLING_REFERENCE_HPP_  // NOLINT
+// clang-format on

map/autoware_lanelet2_map_validator/src/validators/intersection/intersection_area_dangling_reference.cpp

@@ -0,0 +1,95 @@
+// Copyright 2024 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "lanelet2_map_validator/validators/intersection/intersection_area_dangling_reference.hpp"
+
+#include "lanelet2_map_validator/utils.hpp"
+
+#include <lanelet2_core/LaneletMap.h>
+
+#include <optional>
+#include <string>
+#include <unordered_set>
+#include <vector>
+
+namespace lanelet::autoware::validation
+{
+
+namespace
+{
+lanelet::validation::RegisterMapValidator<IntersectionAreaDanglingReferenceValidator> reg;
+}  // namespace
+
+lanelet::validation::Issues IntersectionAreaDanglingReferenceValidator::operator()(
+  const lanelet::LaneletMap & map)
+{
+  lanelet::validation::Issues issues;
+
+  lanelet::autoware::validation::appendIssues(
+    issues, check_intersection_area_dangling_reference(map));
+
+  return issues;
+}
+
+lanelet::validation::Issues
+IntersectionAreaDanglingReferenceValidator::check_intersection_area_dangling_reference(
+  const lanelet::LaneletMap & map)
+{
+  // returns the VALUE of intersection_area key
+  auto is_intersection_with_area = [](const auto & lanelet) -> std::optional<lanelet::Id> {
+    if (lanelet.attributeOr("turn_direction", "none") == std::string("none")) {
+      return std::nullopt;
+    }
+
+    const std::string id_str = lanelet.attributeOr("intersection_area", "none");
+    if (id_str == std::string("none")) {
+      return std::nullopt;
+    }
+
+    const auto id = static_cast<lanelet::Id>(std::atoi(id_str.c_str()));
+    return id;
+  };
+
+  std::vector<std::pair<lanelet::ConstLanelet, lanelet::Id>> intersection_with_area_lanelets;
+  for (const auto & lanelet : map.laneletLayer) {
+    if (const auto id_opt = is_intersection_with_area(lanelet); id_opt) {
+      intersection_with_area_lanelets.emplace_back(lanelet, id_opt.value());
+    }
+  }
+
+  std::unordered_set<lanelet::Id> intersection_area_ids;
+  for (const auto & area : map.polygonLayer) {
+    if (
+      area.attributeOr(lanelet::AttributeName::Type, "none") == std::string("intersection_area")) {
+      intersection_area_ids.emplace(area.id());
+    }
+  }
+
+  lanelet::validation::Issues issues;
+  for (const auto & [lanelet, intersection_area_id] : intersection_with_area_lanelets) {
+    if (intersection_area_ids.find(intersection_area_id) == intersection_area_ids.end()) {
+      issues.emplace_back(
+        lanelet::validation::Severity::Error, lanelet::validation::Primitive::Lanelet, lanelet.id(),
+        append_issue_code_prefix(
+          this->name(), 1,
+          "Lanelet of ID " + std::to_string(lanelet.id()) +
+            " has dangling reference to non-existing intersection area of ID " +
+            std::to_string(intersection_area_id)));
+    }
+  }
+
+  return issues;
+}
+
+}  // namespace lanelet::autoware::validation