carma_wm::SignalizedIntersectionManager Class Reference

This class manages and keeps track of all signalized intersections in the map. All of the SPAT and MAP standard's lane ids to lanelet id mapping is recorded here. NOTE: This class functions do not update the map given. More...

#include <SignalizedIntersectionManager.hpp>

Collaboration diagram for carma_wm::SignalizedIntersectionManager:

Public Member Functions
	SignalizedIntersectionManager ()
	SignalizedIntersectionManager (const SignalizedIntersectionManager &other)
	Copy constructor that copies everything except the traffic signal states. This is to keep the states although the map is updated or a similar event happened NOTE: The function does not update the map with new elements. More...
SignalizedIntersectionManager &	operator= (SignalizedIntersectionManager other)
	Assignment operator that copies everything except the traffic signal states. This is to keep the states although the map is updated or a similar event happened NOTE: The function does not update the map with new elements. More...
bool	operator== (const SignalizedIntersectionManager &rhs)
	Equality operator that checks if every mapping are same except the traffic signal states. This is to keep the states although the map is updated or a similar event happened NOTE: The function does not update the map with new elements. More...
void	createIntersectionFromMapMsg (std::vector< lanelet::SignalizedIntersectionPtr > &intersections, std::vector< lanelet::CarmaTrafficSignalPtr > &traffic_signals, const carma_v2x_msgs::msg::MapData &map_msg, const std::shared_ptr< lanelet::LaneletMap > &map, std::shared_ptr< const lanelet::routing::RoutingGraph > routing_graph)
	Create relevant signalized intersection and carma traffic signals based on the MAP.msg and the lanelet_map NOTE: The function does not update the map with new elements. More...
void	convertLaneToLaneletId (std::unordered_map< uint8_t, lanelet::Id > &entry, std::unordered_map< uint8_t, lanelet::Id > &exit, const carma_v2x_msgs::msg::IntersectionGeometry &intersection, const std::shared_ptr< lanelet::LaneletMap > &map, std::shared_ptr< const lanelet::routing::RoutingGraph > current_routing_graph)
	Returns mapping of MAP lane id to lanelet id for the given map and intersection.msg in the MAP.msg. This function also records signal_group_id_to its own lanelet id, and also signal group to entry and exit lanelets id mappings. More...
void	setMaxLaneWidth (double max_lane_width)
	Sets the max lane width in meters. Map msg points are associated to a lanelet if they are within this distance to a lanelet as map msg points are guaranteed to apply to a single lane. More...
lanelet::Id	matchSignalizedIntersection (const lanelet::Lanelets &entry_llts, const lanelet::Lanelets &exit_llts)
	Returns existing signalized intersection with same entry and exit llts if exists. More...
void	setTargetFrame (const std::string &target_frame)
	Saves the georeference string to be used for converting MAP.msg coordinates. More...
std::shared_ptr< lanelet::CarmaTrafficSignal >	createTrafficSignalUsingSGID (uint8_t signal_group_id, const lanelet::Lanelets &entry_lanelets, const lanelet::Lanelets &exit_lanelets)
	Returns carma traffic signal and saves all id relevant id mappings (signal group to lanelet id) internally. More...
lanelet::Lanelets	identifyInteriorLanelets (const lanelet::Lanelets &entry_llts, const std::shared_ptr< lanelet::LaneletMap > &map)
	Returns carma traffic signal and saves all id relevant id mappings (signal group to lanelet id) internally. More...
void	processSpatFromMsg (const carma_v2x_msgs::msg::SPAT &spat_msg, const std::shared_ptr< lanelet::LaneletMap > &semantic_map)
	processSpatFromMsg update map's traffic light states with SPAT msg NOTE: This is enabled in the individual nodes through wm_listener's setWMSpatProcessingState() More...
std::tuple< std::vector< std::pair< boost::posix_time::ptime, lanelet::CarmaTrafficSignalState > >, std::vector< boost::posix_time::ptime > >	extract_signal_states_from_movement_state (const carma_v2x_msgs::msg::IntersectionState &curr_intersection, const carma_v2x_msgs::msg::MovementState &current_movement_state)
	Extract tuple of 1) vector of pair of traffic signal states' min_end_time and their states, which is mainly used by CARMA to comply with traffic signals. 2) vector of traffic signal states' start_times that match in order. More...
boost::posix_time::ptime	min_end_time_converter_minute_of_year (boost::posix_time::ptime min_end_time, bool moy_exists, uint32_t moy=0, bool is_simulation=true, bool use_real_time_spat_in_sim=false)
	update minimum end time to account for minute of the year More...
lanelet::Id	getTrafficSignalId (uint16_t intersection_id, uint8_t signal_id)
	helper for traffic signal Id More...
lanelet::CarmaTrafficSignalPtr	getTrafficSignal (const lanelet::Id &id, const std::shared_ptr< lanelet::LaneletMap > &semantic_map) const
	helper for getting traffic signal with given lanelet::Id More...
void	logInfoOnce (const std::string &message) const
	Log an info message only once per unique message. More...
void	logWarnOnce (const std::string &message) const
	Log a warning message only once per unique message. More...

Public Attributes
std::unordered_map< uint16_t, std::vector< lanelet::Point3d > >	intersection_nodes_
std::unordered_map< uint16_t, std::pair< double, double > >	intersection_coord_correction_
std::unordered_map< uint16_t, lanelet::Id >	intersection_id_to_regem_id_
std::unordered_map< lanelet::Id, uint16_t >	regem_id_to_intersection_id_
std::unordered_map< uint8_t, lanelet::Id >	signal_group_to_traffic_light_id_
std::unordered_map< uint8_t, std::unordered_set< lanelet::Id > >	signal_group_to_exit_lanelet_ids_
std::unordered_map< uint8_t, std::unordered_set< lanelet::Id > >	signal_group_to_entry_lanelet_ids_
std::optional< rclcpp::Time >	ros1_clock_ = std::nullopt
std::optional< rclcpp::Time >	simulation_clock_ = std::nullopt
bool	use_sim_time_
bool	use_real_time_spat_in_sim_
SIGNAL_PHASE_PROCESSING	spat_processor_state_ = SIGNAL_PHASE_PROCESSING::OFF
std::set< std::string >	previous_busy_log_streams_

Private Attributes
std::string	target_frame_ = ""
double	max_lane_width_ = 4

Detailed Description

This class manages and keeps track of all signalized intersections in the map. All of the SPAT and MAP standard's lane ids to lanelet id mapping is recorded here. NOTE: This class functions do not update the map given.

Definition at line 59 of file SignalizedIntersectionManager.hpp.

Constructor & Destructor Documentation

SignalizedIntersectionManager() [1/2]

carma_wm::SignalizedIntersectionManager::SignalizedIntersectionManager ( )

inline

Definition at line 63 of file SignalizedIntersectionManager.hpp.

{}

SignalizedIntersectionManager() [2/2]

carma_wm::SignalizedIntersectionManager::SignalizedIntersectionManager

(

const SignalizedIntersectionManager &

other

)

Copy constructor that copies everything except the traffic signal states. This is to keep the states although the map is updated or a similar event happened NOTE: The function does not update the map with new elements.

Parameters

[out]

other

manager

Definition at line 470 of file SignalizedIntersectionManager.cpp.

  {
    this->signal_group_to_entry_lanelet_ids_ = other.signal_group_to_entry_lanelet_ids_;
    this->signal_group_to_exit_lanelet_ids_ = other.signal_group_to_exit_lanelet_ids_;
    this->intersection_id_to_regem_id_ = other.intersection_id_to_regem_id_;
    this->signal_group_to_traffic_light_id_ = other.signal_group_to_traffic_light_id_;
    this->intersection_coord_correction_ = other.intersection_coord_correction_;
  }

References intersection_coord_correction_, intersection_id_to_regem_id_, signal_group_to_entry_lanelet_ids_, signal_group_to_exit_lanelet_ids_, and signal_group_to_traffic_light_id_.

Member Function Documentation

convertLaneToLaneletId()

void carma_wm::SignalizedIntersectionManager::convertLaneToLaneletId	(	std::unordered_map< uint8_t, lanelet::Id > &	entry,
		std::unordered_map< uint8_t, lanelet::Id > &	exit,
		const carma_v2x_msgs::msg::IntersectionGeometry &	intersection,
		const std::shared_ptr< lanelet::LaneletMap > &	map,
		std::shared_ptr< const lanelet::routing::RoutingGraph >	current_routing_graph
	)

Returns mapping of MAP lane id to lanelet id for the given map and intersection.msg in the MAP.msg. This function also records signal_group_id_to its own lanelet id, and also signal group to entry and exit lanelets id mappings.

Parameters

[out]	entry	lane id to lanelet id mappings to return
[out]	exit	lane id to lanelet id mappings to return
	intersection	MAP.msg that consists all static data portion of the intersection
	map	lanelet_map to check
	routing_graph	of the lanelet map to accurately detect lanes

Exceptions

invalid_argument

if given coordinates in the msg doesn't exist in the map TODO: Need to think about error buffer in the future. Map msgs are made from google maps or open streets maps normally so this function might run into some errors from that.

Definition at line 58 of file SignalizedIntersectionManager.cpp.

  {
    std::unordered_map<uint8_t, std::unordered_set<uint16_t>> signal_group_to_exit_lanes;
    std::unordered_map<uint8_t, std::unordered_set<uint16_t>> signal_group_to_entry_lanes;
 
    if (target_frame_ == "")
    {
      throw std::invalid_argument("Map is not initialized yet as the georeference was not found...");
    }
 
    lanelet::projection::LocalFrameProjector local_projector(target_frame_.c_str());
 
    lanelet::GPSPoint gps_point;
    gps_point.lat = intersection.ref_point.latitude;
    gps_point.lon = intersection.ref_point.longitude;
    gps_point.ele = intersection.ref_point.elevation;
 
    auto ref_node  = local_projector.forward(gps_point);
 
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Reference node in map frame x: " << ref_node.x() << ", y: " << ref_node.y());
 
 
    for (auto lane : intersection.lane_list)
    {
      if (lane.lane_attributes.lane_type.choice != j2735_v2x_msgs::msg::LaneTypeAttributes::VEHICLE)
      {
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Lane id: " << (int)lane.lane_id << ", is not a lane for vehicle. Only vehicle road is currently supported. Skipping..." );
        continue;
      }
      std::vector<lanelet::Point3d> node_list;
 
      double curr_x = ref_node.x();
      double curr_y = ref_node.y();
 
      if (intersection_coord_correction_.find(intersection.id.id) != intersection_coord_correction_.end())
      {
        curr_x += intersection_coord_correction_[intersection.id.id].first;
        curr_y += intersection_coord_correction_[intersection.id.id].second;
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Applied reference point correction, delta_x: " <<  intersection_coord_correction_[intersection.id.id].first <<
                          ", delta_y: " << intersection_coord_correction_[intersection.id.id].second << ", to intersection id: " << (int)lane.lane_id);
      }
 
      RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Processing Lane id: " << (int)lane.lane_id);
 
      size_t min_number_of_points = 2; // two points minimum are required
 
      size_t size_of_available_points = lane.node_list.nodes.node_set_xy.size();
 
      if (size_of_available_points < min_number_of_points)
      {
        logWarnOnce(
          std::string("Logging Once: Not enough points are provided to match a lane. Skipping... ")
          + "| intersection id: " + std::to_string((int)intersection.id.id));
        continue;
      }
 
      for (size_t i = 0; i < size_of_available_points; i ++ )
      {
        curr_x = lane.node_list.nodes.node_set_xy[i].delta.x + curr_x;
        curr_y = lane.node_list.nodes.node_set_xy[i].delta.y + curr_y;
        lanelet::Point3d curr_node{map->pointLayer.uniqueId(), curr_x, curr_y, 0};
 
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Current node x: " << curr_x << ", y: " << curr_y);
 
        node_list.push_back(curr_node);
      }
 
      RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Lane directions: " << (int)lane.lane_attributes.directional_use.lane_direction);
 
      if (lane.lane_attributes.directional_use.lane_direction == LANE_DIRECTION::INGRESS)
      {
        // flip direction if ingress to pick up correct lanelets
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Reversed the node list!");
        std::reverse(node_list.begin(), node_list.end());
      }
 
      for (auto node : node_list)
      {
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "intersection: " << intersection.id.id << ", " << node.x() << ", " << node.y());
      }
      intersection_nodes_[intersection.id.id].insert(intersection_nodes_[intersection.id.id].end(), node_list.begin(), node_list.end());
 
      // save which signal group connect to which exit lanes
      for (auto connection : lane.connect_to_list)
      {
        signal_group_to_exit_lanes[connection.signal_group].emplace(connection.connecting_lane.lane);
 
        if (lane.lane_attributes.directional_use.lane_direction == LANE_DIRECTION::INGRESS)
          signal_group_to_entry_lanes[connection.signal_group].emplace(lane.lane_id);
      }
 
      // query corresponding lanelet lane from local map
      auto affected_llts = carma_wm::query::getAffectedLaneletOrAreas(node_list, map, current_routing_graph, max_lane_width_);
 
      if (affected_llts.empty())
      {
        // https://github.com/usdot-fhwa-stol/carma-platform/issues/1593
        // Open issue TODO on how this error is handled
        logWarnOnce("Logging Once: Given offset points are not inside the map for lane: " 
          + std::to_string((int)lane.lane_id)
          + "| intersection id: " + std::to_string((int)intersection.id.id));
        continue;
      }
 
      lanelet::Id corresponding_lanelet_id;
      if (lane.lane_attributes.directional_use.lane_direction == LANE_DIRECTION::EGRESS)
      {
        corresponding_lanelet_id = affected_llts.front().id();
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Default corresponding_lanelet_id: " << corresponding_lanelet_id <<", in EGRESS");
 
      }
      else //ingress
      {
        corresponding_lanelet_id = affected_llts.back().id();
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Default corresponding_lanelet_id: " << corresponding_lanelet_id <<", in INGRESS");
      }
 
      for (auto llt : affected_llts) // filter out intersection lanelets
      {
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Checking if we can get entry/exit from lanelet " << llt.id());
        //TODO direction of affected_llts may play role, but it should be good
        if (llt.lanelet().get().hasAttribute("turn_direction") &&
            (llt.lanelet().get().attribute("turn_direction").value().compare("left") == 0 ||
            llt.lanelet().get().attribute("turn_direction").value().compare("right") == 0))
        {
          std::vector<lanelet::ConstLanelet> connecting_llts;
          if (lane.lane_attributes.directional_use.lane_direction == LANE_DIRECTION::EGRESS)
          {
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "lanelet " << llt.id() << " is actually part of the intersecion. Trying to detect EGRESS...");
            connecting_llts = current_routing_graph->following(llt.lanelet().get());
          }
          else
          {
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "lanelet " << llt.id() << " is actually part of the intersecion. Trying to detect INGRESS...");
            connecting_llts = current_routing_graph->previous(llt.lanelet().get());
          }
 
          if (!connecting_llts.empty())
          {
            corresponding_lanelet_id = connecting_llts[0].id();
          }
          else
          {
            logWarnOnce(
              std::string("Logging Once: No connecting lanelets were detected inside!")
              + " | intersection id: " + std::to_string((int)intersection.id.id));
            continue;
          }
 
          break;
        }
      }
 
      RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Found existing lanelet id: " << corresponding_lanelet_id);
 
      if (lane.lane_attributes.directional_use.lane_direction == LANE_DIRECTION::INGRESS)
      {
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Detected INGRESS, " << (int)lane.lane_id);
        entry[lane.lane_id] = corresponding_lanelet_id;
      }
      else if (lane.lane_attributes.directional_use.lane_direction == LANE_DIRECTION::EGRESS)
      {
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Detected EGRESS, " << (int)lane.lane_id);
        exit[lane.lane_id] = corresponding_lanelet_id;
      }
      // ignoring types that are neither ingress nor egress
    }
 
    // convert and save exit lane ids into lanelet ids with their corresponding signal group ids
    for (auto iter = signal_group_to_exit_lanes.begin(); iter != signal_group_to_exit_lanes.end(); iter++)
    {
      for (auto exit_lane : iter->second)
      {
        if (exit.find(exit_lane) != exit.end())
        {
          RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Adding exit_lane id: " << exit_lane);
          signal_group_to_exit_lanelet_ids_[iter->first].insert(exit[exit_lane]);
        }
        else
        {
          // https://github.com/usdot-fhwa-stol/carma-platform/issues/1593
          // Open issue TODO on how this error is handled
          logWarnOnce("Logging Once: Unable to convert exit lane Id: "
            + std::to_string((int)exit_lane) + ", to lanelet id using the given MAP.msg!"
            + "| intersection id: " + std::to_string((int)intersection.id.id));
        }
      }
    }
 
    // convert and save entry lane ids into lanelet ids with their corresponding signal group ids
    for (auto iter = signal_group_to_entry_lanes.begin(); iter != signal_group_to_entry_lanes.end(); iter++)
    {
      for (auto entry_lane : iter->second)
      {
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Adding entry_lane id: " << entry_lane);
        if (entry.find(entry_lane) != entry.end())
        {
          signal_group_to_entry_lanelet_ids_[iter->first].insert(entry[entry_lane]);
        }
        else
        {
          // https://github.com/usdot-fhwa-stol/carma-platform/issues/1593
          // Open issue TODO on how this error is handled
          logWarnOnce("Logging Once: Unable to convert entry lane Id: "
            + std::to_string((int)entry_lane) + ", to lanelet id using the given MAP.msg!"
            + "| intersection id: " + std::to_string((int)intersection.id.id));
        }
      }
    }
  }

References carma_wm::LANE_DIRECTION::EGRESS, carma_wm::query::getAffectedLaneletOrAreas(), process_bag::i, carma_wm::LANE_DIRECTION::INGRESS, intersection_coord_correction_, intersection_nodes_, logWarnOnce(), max_lane_width_, signal_group_to_entry_lanelet_ids_, signal_group_to_exit_lanelet_ids_, target_frame_, and carma_cooperative_perception::to_string().

Referenced by createIntersectionFromMapMsg().

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createIntersectionFromMapMsg()

void carma_wm::SignalizedIntersectionManager::createIntersectionFromMapMsg	(	std::vector< lanelet::SignalizedIntersectionPtr > &	intersections,
		std::vector< lanelet::CarmaTrafficSignalPtr > &	traffic_signals,
		const carma_v2x_msgs::msg::MapData &	map_msg,
		const std::shared_ptr< lanelet::LaneletMap > &	map,
		std::shared_ptr< const lanelet::routing::RoutingGraph >	routing_graph
	)

Create relevant signalized intersection and carma traffic signals based on the MAP.msg and the lanelet_map NOTE: The function does not update the map with new elements.

Parameters

[out]	intersections	to return
[out]	traffic_signals	to return
	map_msg	MAP.msg that consists all static data portion of the intersection
	map	lanelet_map to check
	routing_graph	of the lanelet map to accurately detect lanes

Definition at line 359 of file SignalizedIntersectionManager.cpp.

  {
 
    if (target_frame_ == "")
    {
      logWarnOnce("Logging Once: Georeference is not loaded yet. Returning without processing this MAP msg.");
      return;
    }
 
    for (auto const& intersection : map_msg.intersections)
    {
      std::unordered_map<uint8_t, lanelet::Id> entry;
      std::unordered_map<uint8_t, lanelet::Id> exit;
 
      convertLaneToLaneletId(entry, exit, intersection, map, routing_graph);
 
      std::vector<lanelet::Lanelet> entry_llts;
      std::vector<lanelet::Lanelet> exit_llts;
 
      for (auto iter = entry.begin(); iter != entry.end(); iter++)
      {
        entry_llts.push_back(map->laneletLayer.get(iter->second));
      }
      for (auto iter = exit.begin(); iter != exit.end(); iter++)
      {
        exit_llts.push_back(map->laneletLayer.get(iter->second));
      }
 
      lanelet::Id intersection_id = matchSignalizedIntersection(entry_llts, exit_llts);
 
      if (intersection_id == lanelet::InvalId)
      {
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "No existing intersection found. Creating a new one...");
        intersection_id = lanelet::utils::getId();
 
        std::vector<lanelet::Lanelet> interior_llts = identifyInteriorLanelets(entry_llts, map);
 
        std::shared_ptr<lanelet::SignalizedIntersection> sig_inter(new lanelet::SignalizedIntersection
                                                          (lanelet::SignalizedIntersection::buildData(intersection_id, entry_llts, exit_llts, interior_llts)));
        intersection_id_to_regem_id_[intersection.id.id] = intersection_id;
        regem_id_to_intersection_id_[intersection_id] = intersection.id.id;
        sig_intersections.push_back(sig_inter);
      }
    }
 
 
    // create signal group for each from the message
    // check if it already exists
    for (auto sig_grp_pair : signal_group_to_exit_lanelet_ids_)
    {
      RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm::SignalizedIntersectionManager"), "Creating signal for: " << (int)sig_grp_pair.first);
      // ignore the traffic signals already inside
      if (signal_group_to_traffic_light_id_.find(sig_grp_pair.first) != signal_group_to_traffic_light_id_.end() &&
           map->regulatoryElementLayer.exists(signal_group_to_traffic_light_id_[sig_grp_pair.first]))
      {
        continue;
      }
 
      std::vector<lanelet::Lanelet> exit_lanelets;
      for (auto iter = sig_grp_pair.second.begin(); iter != sig_grp_pair.second.end(); iter++)
      {
        exit_lanelets.push_back(map->laneletLayer.get(*iter));
      }
      std::vector<lanelet::Lanelet> entry_lanelets;
      for (auto iter = signal_group_to_entry_lanelet_ids_[sig_grp_pair.first].begin(); iter != signal_group_to_entry_lanelet_ids_[sig_grp_pair.first].end(); iter++)
      {
        entry_lanelets.push_back(map->laneletLayer.get(*iter));
      }
 
      traffic_signals.push_back(createTrafficSignalUsingSGID(sig_grp_pair.first, entry_lanelets, exit_lanelets));
    }
  }

References convertLaneToLaneletId(), createTrafficSignalUsingSGID(), identifyInteriorLanelets(), intersection_id_to_regem_id_, logWarnOnce(), matchSignalizedIntersection(), regem_id_to_intersection_id_, signal_group_to_entry_lanelet_ids_, signal_group_to_exit_lanelet_ids_, signal_group_to_traffic_light_id_, and target_frame_.

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createTrafficSignalUsingSGID()

std::shared_ptr< lanelet::CarmaTrafficSignal > carma_wm::SignalizedIntersectionManager::createTrafficSignalUsingSGID	(	uint8_t	signal_group_id,
		const lanelet::Lanelets &	entry_lanelets,
		const lanelet::Lanelets &	exit_lanelets
	)

Returns carma traffic signal and saves all id relevant id mappings (signal group to lanelet id) internally.

Parameters

signal_group_id	of the traffic signal
exit_llts	of the signal_group
entry_llts	of the signal_group

Returns

traffic signal corresponding to the signal group

Definition at line 331 of file SignalizedIntersectionManager.cpp.

  {
    std::vector<lanelet::LineString3d> stop_lines;
    for (auto llt : entry_lanelets)
    {
      std::vector<lanelet::Point3d> points;
      points.push_back(lanelet::Point3d(lanelet::utils::getId(), llt.leftBound2d().back().x(), llt.leftBound2d().back().y(), 0));
      points.push_back(lanelet::Point3d(lanelet::utils::getId(), llt.rightBound().back().x(), llt.rightBound().back().y(), 0));
 
      lanelet::LineString3d stop_line(lanelet::utils::getId(), points);
      stop_lines.push_back(stop_line);
    }
 
    lanelet::Id traffic_light_id = lanelet::utils::getId();
    std::shared_ptr<lanelet::CarmaTrafficSignal> traffic_light(new lanelet::CarmaTrafficSignal(lanelet::CarmaTrafficSignal::buildData(traffic_light_id, stop_lines, entry_lanelets, exit_lanelets)));
    signal_group_to_traffic_light_id_[signal_group_id] =  traffic_light_id;
 
    for (auto llt : exit_lanelets)
    {
      signal_group_to_exit_lanelet_ids_[signal_group_id].insert(llt.id());
    }
    for (auto llt : entry_lanelets)
    {
      signal_group_to_entry_lanelet_ids_[signal_group_id].insert(llt.id());
    }
    return traffic_light;
  }

References signal_group_to_entry_lanelet_ids_, signal_group_to_exit_lanelet_ids_, and signal_group_to_traffic_light_id_.

Referenced by createIntersectionFromMapMsg().

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extract_signal_states_from_movement_state()

std::tuple< std::vector< std::pair< boost::posix_time::ptime, lanelet::CarmaTrafficSignalState > >, std::vector< boost::posix_time::ptime > > carma_wm::SignalizedIntersectionManager::extract_signal_states_from_movement_state	(	const carma_v2x_msgs::msg::IntersectionState &	curr_intersection,
		const carma_v2x_msgs::msg::MovementState &	current_movement_state
	)

Extract tuple of 1) vector of pair of traffic signal states' min_end_time and their states, which is mainly used by CARMA to comply with traffic signals. 2) vector of traffic signal states' start_times that match in order.

Parameters

curr_intersection	carma_v2x_msgs::msg::IntersectionState from SPAT
current_movement_state	carma_v2x_msgs::msg::MovementState from SPAT

Returns

tuple of 2 vectors. 1) vector of min_end_time and state pairs 2) vector of start_time

Definition at line 651 of file SignalizedIntersectionManager.cpp.

  {
    std::vector<std::pair<boost::posix_time::ptime, lanelet::CarmaTrafficSignalState>>
      min_end_t_and_states;
 
    std::vector<boost::posix_time::ptime> start_time_and_states;
 
    for(const auto& current_movement_event:current_movement_state.movement_event_list)
    {
      // raw min_end_time in seconds measured from the most recent full hour
      boost::posix_time::ptime min_end_time = lanelet::time::timeFromSec(
        current_movement_event.timing.min_end_time);
      boost::posix_time::ptime start_time = lanelet::time::timeFromSec(
        current_movement_event.timing.start_time);
 
      min_end_time = min_end_time_converter_minute_of_year(min_end_time,
        curr_intersection.moy_exists,curr_intersection.moy,
        use_sim_time_, use_real_time_spat_in_sim_); // Accounting minute of the year
 
      start_time = min_end_time_converter_minute_of_year(start_time,
        curr_intersection.moy_exists,curr_intersection.moy,
        use_sim_time_, use_real_time_spat_in_sim_); // Accounting minute of the year
 
      auto received_state = static_cast<lanelet::CarmaTrafficSignalState>(
        current_movement_event.event_state.movement_phase_state);
 
      min_end_t_and_states.push_back(std::make_pair(min_end_time, received_state));
 
      start_time_and_states.push_back(start_time);
 
      RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm"), "intersection id: "
        << (int)curr_intersection.id.id << ", signal: " << (int)current_movement_state.signal_group
        << ", start_time: " << std::to_string(lanelet::time::toSec(start_time))
        << ", end_time: " << std::to_string(lanelet::time::toSec(min_end_time))
        << ", state: " << received_state);
    }
 
    return std::make_tuple(min_end_t_and_states, start_time_and_states);
  }

References min_end_time_converter_minute_of_year(), carma_cooperative_perception::to_string(), use_real_time_spat_in_sim_, and use_sim_time_.

Referenced by processSpatFromMsg().

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getTrafficSignal()

lanelet::CarmaTrafficSignalPtr carma_wm::SignalizedIntersectionManager::getTrafficSignal	(	const lanelet::Id &	id,
		const std::shared_ptr< lanelet::LaneletMap > &	semantic_map
	)		const

helper for getting traffic signal with given lanelet::Id

Definition at line 604 of file SignalizedIntersectionManager.cpp.

  {
    auto general_regem = semantic_map->regulatoryElementLayer.get(id);
 
    auto lanelets_general = semantic_map->laneletLayer.findUsages(general_regem);
    if (lanelets_general.empty())
    {
      logWarnOnce(
        "Logging Once: There was an error querying lanelet for traffic light with id: "
        + std::to_string((int)id));
    }
 
    if (auto curr_light_list =
      lanelets_general[0].regulatoryElementsAs<lanelet::CarmaTrafficSignal>();
    curr_light_list.empty())
    {
      logWarnOnce(
        "Logging Once: There was an error querying traffic light with id: "
        + std::to_string((int)id));
      return nullptr;
    }
 
    lanelet::CarmaTrafficSignalPtr curr_light;
 
    for (auto signal : lanelets_general[0].regulatoryElementsAs<lanelet::CarmaTrafficSignal>())
    {
      if (signal->id() == id)
      {
        curr_light = signal;
        break;
      }
    }
 
    if (!curr_light)
    {
      logWarnOnce(
        "Logging Once: Was not able to find traffic signal with id: "
        + std::to_string((int)id) + ", ignoring...");
      return nullptr;
    }
 
    return curr_light;
  }

References logWarnOnce(), and carma_cooperative_perception::to_string().

Referenced by processSpatFromMsg().

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getTrafficSignalId()

lanelet::Id carma_wm::SignalizedIntersectionManager::getTrafficSignalId	(	uint16_t	intersection_id,
		uint8_t	signal_id
	)

helper for traffic signal Id

Definition at line 567 of file SignalizedIntersectionManager.cpp.

  {
    lanelet::Id signal_id = lanelet::InvalId;
 
    // Printing only once because MAP/SPAT is broadcasted frequently and can easily spam the log
    if (intersection_id_to_regem_id_.find(intersection_id) == intersection_id_to_regem_id_.end())
    {
      // Currently, platform is not supporting multiple intersections, so if the id exists
      // signal_group is expected to be for that intersection
      logWarnOnce("Logging Once: Intersection id: "
        + std::to_string((int)intersection_id)
        + " is not found in the map. Only printing once. Returning...");
      return lanelet::InvalId;
    }
 
    if (signal_group_to_traffic_light_id_.find(signal_group_id)
      != signal_group_to_traffic_light_id_.end())
    {
      signal_id = signal_group_to_traffic_light_id_[signal_group_id];
    }
    else
    {
      logWarnOnce("Logging Once: Signal group id: "
        + std::to_string((int)signal_group_id) + " for intersection id: "
        + std::to_string((int)intersection_id) + " is not found in the map. "
        + "Only printing once until found. Returning...");
      return signal_id;
    }
 
    logInfoOnce("Signal group id: "
      + std::to_string((int)signal_group_id) + " for intersection id: "
      + std::to_string((int)intersection_id) + " is found in the map with regem id: "
      + std::to_string((int)signal_id));
 
    return signal_id;
  }

References intersection_id_to_regem_id_, logInfoOnce(), logWarnOnce(), signal_group_to_traffic_light_id_, and carma_cooperative_perception::to_string().

Referenced by processSpatFromMsg().

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identifyInteriorLanelets()

lanelet::Lanelets carma_wm::SignalizedIntersectionManager::identifyInteriorLanelets	(	const lanelet::Lanelets &	entry_llts,
		const std::shared_ptr< lanelet::LaneletMap > &	map
	)

Returns carma traffic signal and saves all id relevant id mappings (signal group to lanelet id) internally.

Parameters

signal_group_id	of the traffic signal
exit_llts	of the signal_group
entry_llts	of the signal_group

Returns

traffic signal corresponding to the signal group

Definition at line 433 of file SignalizedIntersectionManager.cpp.

  {
    lanelet::BasicLineString2d polygon_corners;
 
    if (entry_llts.size() < 2) //at least two lanes (1 ingress and 1 egress) needed to form intersection
    {
      return {};
    }
 
    for (auto llt : entry_llts)
    {
      lanelet::BasicPoint2d pt(llt.centerline2d().back().x(), llt.centerline2d().back().y());
      polygon_corners.push_back(pt);
    }
    lanelet::BasicPolygon2d polygon(polygon_corners);
    auto interior_llt_pairs = lanelet::geometry::findWithin2d(map->laneletLayer, polygon);
    lanelet::Lanelets interior_llts;
 
    for (auto pair : interior_llt_pairs)
    {
      if (std::find(entry_llts.begin(),entry_llts.end(), pair.second) == entry_llts.end())
        interior_llts.push_back(pair.second);
    }
    return interior_llts;
  }

Referenced by createIntersectionFromMapMsg().

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logInfoOnce()

void carma_wm::SignalizedIntersectionManager::logInfoOnce

(

const std::string &

message

)

const

Log an info message only once per unique message.

Parameters

message

The message to log

Definition at line 543 of file SignalizedIntersectionManager.cpp.

                                                                                {
    static std::mutex log_mutex;
 
    std::lock_guard<std::mutex> lock(log_mutex);
    if (previous_busy_log_streams_.find(message) == previous_busy_log_streams_.end()) {
      RCLCPP_INFO_STREAM(rclcpp::get_logger("carma_wm"), message);
      previous_busy_log_streams_.insert(message);
    }
  }

References previous_busy_log_streams_.

Referenced by getTrafficSignalId().

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logWarnOnce()

void carma_wm::SignalizedIntersectionManager::logWarnOnce

(

const std::string &

message

)

const

Log a warning message only once per unique message.

Parameters

message

The message to log

Definition at line 557 of file SignalizedIntersectionManager.cpp.

                                                                                {
    static std::mutex log_mutex;
 
    std::lock_guard<std::mutex> lock(log_mutex);
    if (previous_busy_log_streams_.find(message) == previous_busy_log_streams_.end()) {
      RCLCPP_WARN_STREAM(rclcpp::get_logger("carma_wm"), message);
      previous_busy_log_streams_.insert(message);
    }
  }

References previous_busy_log_streams_.

Referenced by convertLaneToLaneletId(), createIntersectionFromMapMsg(), getTrafficSignal(), getTrafficSignalId(), and processSpatFromMsg().

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matchSignalizedIntersection()

lanelet::Id carma_wm::SignalizedIntersectionManager::matchSignalizedIntersection	(	const lanelet::Lanelets &	entry_llts,
		const lanelet::Lanelets &	exit_llts
	)

Returns existing signalized intersection with same entry and exit llts if exists.

Parameters

entry_llts	of the intersection
exit_llts	of the intersection

Returns

id of the matching intersection in the map, or lanelet::InvalId if none exists

Definition at line 270 of file SignalizedIntersectionManager.cpp.

  {
    lanelet::Id matching_id = lanelet::InvalId;
 
    std::vector<lanelet::SignalizedIntersectionPtr> existing_si;
 
    for (auto llt : entry_llts)
    {
      auto intersections = llt.regulatoryElementsAs<lanelet::SignalizedIntersection>();
 
      if (intersections.empty())
      {
        // no match if any of the entry lanelet is not part of any intersection.
        break;
      }
      existing_si.insert(existing_si.end(), intersections.begin(),intersections.end());
    }
 
    for (auto intersection : existing_si)
    {
      auto existing_entry_llts = intersection->getEntryLanelets();
      auto existing_exit_llts = intersection->getExitLanelets();
 
      if (existing_exit_llts.size() != exit_llts.size() || existing_entry_llts.size() != entry_llts.size())
        continue;
 
      bool is_different = false;
 
      for (auto llt: existing_entry_llts)
      {
        if (std::find(entry_llts.begin(), entry_llts.end(), llt) == entry_llts.end())
        {
          is_different = true;
 
          break;
        }
      }
 
      for (auto llt: existing_exit_llts)
      {
        if (std::find(exit_llts.begin(), exit_llts.end(), llt) == exit_llts.end())
        {
          is_different = true;
 
          break;
        }
      }
 
      if (!is_different)
      {
        // found a match
        matching_id = intersection->id();
 
        break;
      }
 
    }
 
    return matching_id;
  }

Referenced by createIntersectionFromMapMsg().

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min_end_time_converter_minute_of_year()

boost::posix_time::ptime carma_wm::SignalizedIntersectionManager::min_end_time_converter_minute_of_year	(	boost::posix_time::ptime	min_end_time,
		bool	moy_exists,
		uint32_t	moy = 0,
		bool	is_simulation = true,
		bool	use_real_time_spat_in_sim = false
	)

update minimum end time to account for minute of the year

Parameters

min_end_time	minimum end time of the spat movement event list
moy_exists	tells weather minute of the year exist or not
moy	value of the minute of the year
use_real_time_spat_in_sim	Boolean to indicate if the incoming spat is based on wall clock. Required in edge cases where deployment in simulation is receiving SPaT messages based on wall clock.

Definition at line 693 of file SignalizedIntersectionManager.cpp.

  {
    double simulation_time_difference_in_seconds = 0.0;
    double wall_time_offset_in_seconds = 0.0;
    // NOTE: In simulation, ROS1 clock (often coming from CARLA) can have a large time ahead.
    // the timing calculated here is in Simulation time, which is behind. Therefore, the world model adds the offset to make it meaningful to carma-platform:
    // https://github.com/usdot-fhwa-stol/carma-platform/issues/2217
    if (ros1_clock_ && simulation_clock_)
    {
      simulation_time_difference_in_seconds = ros1_clock_.value().seconds() - simulation_clock_.value().seconds();
    }
    else if (ros1_clock_ && use_real_time_spat_in_sim)
    {
      // NOTE: If carma-platform is running in simulation with clock synced to sim time but the incoming spat information is based on wall clock
      // the spat signal phase time must be offset to sim time.
      wall_time_offset_in_seconds = (std::chrono::duration<double>(std::chrono::system_clock::now().time_since_epoch()).count()) - ros1_clock_.value().seconds();
    }
 
    min_end_time += lanelet::time::durationFromSec(simulation_time_difference_in_seconds);
    min_end_time -= lanelet::time::durationFromSec(wall_time_offset_in_seconds);
 
    if (moy_exists) //account for minute of the year
    {
      auto inception_boost(boost::posix_time::time_from_string("1970-01-01 00:00:00.000")); // inception of epoch
      auto duration_since_inception(lanelet::time::durationFromSec(std::chrono::duration<double>(std::chrono::system_clock::now().time_since_epoch()).count()));
      auto curr_time_boost = inception_boost + duration_since_inception;
 
      int curr_year = curr_time_boost.date().year();
 
      // Force the current year to start of epoch if it is simulation
      if (is_simulation && !use_real_time_spat_in_sim)
        curr_year = 1970;
 
      auto curr_year_start_boost(boost::posix_time::time_from_string(std::to_string(curr_year)+ "-01-01 00:00:00.000"));
 
      auto curr_minute_stamp_boost = curr_year_start_boost + boost::posix_time::minutes((int)moy);
 
      long hours_of_day = curr_minute_stamp_boost.time_of_day().hours();
      long curr_month = curr_minute_stamp_boost.date().month();
      long curr_day = curr_minute_stamp_boost.date().day();
 
      auto curr_day_boost(boost::posix_time::time_from_string(std::to_string(curr_year) + "/" + std::to_string(curr_month) + "/" + std::to_string(curr_day) +" 00:00:00.000")); // GMT is the standard
      auto curr_hour_boost = curr_day_boost + boost::posix_time::hours(hours_of_day);
 
      min_end_time += lanelet::time::durationFromSec(lanelet::time::toSec(curr_hour_boost));
      return min_end_time;
    }
    else
    {
      return min_end_time; // return unchanged
    }
  }

References ros1_clock_, simulation_clock_, and carma_cooperative_perception::to_string().

Referenced by extract_signal_states_from_movement_state().

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operator=()

SignalizedIntersectionManager & carma_wm::SignalizedIntersectionManager::operator=

(

SignalizedIntersectionManager

other

)

Assignment operator that copies everything except the traffic signal states. This is to keep the states although the map is updated or a similar event happened NOTE: The function does not update the map with new elements.

Parameters

[out]

other

manager

Definition at line 459 of file SignalizedIntersectionManager.cpp.

  {
    this->signal_group_to_entry_lanelet_ids_ = other.signal_group_to_entry_lanelet_ids_;
    this->signal_group_to_exit_lanelet_ids_ = other.signal_group_to_exit_lanelet_ids_;
    this->intersection_id_to_regem_id_ = other.intersection_id_to_regem_id_;
    this->signal_group_to_traffic_light_id_ = other.signal_group_to_traffic_light_id_;
    this->intersection_coord_correction_ = other.intersection_coord_correction_;
 
    return *this;
  }

References intersection_coord_correction_, intersection_id_to_regem_id_, signal_group_to_entry_lanelet_ids_, signal_group_to_exit_lanelet_ids_, and signal_group_to_traffic_light_id_.

operator==()

bool carma_wm::SignalizedIntersectionManager::operator==

(

const SignalizedIntersectionManager &

rhs

)

Equality operator that checks if every mapping are same except the traffic signal states. This is to keep the states although the map is updated or a similar event happened NOTE: The function does not update the map with new elements.

Parameters

[out]

rhs

manager

Definition at line 35 of file SignalizedIntersectionManager.cpp.

  {
    bool is_same = true;
    if (rhs.intersection_id_to_regem_id_ != this->intersection_id_to_regem_id_)
    {
      is_same = false;
    }
    if (rhs.signal_group_to_entry_lanelet_ids_ != this->signal_group_to_entry_lanelet_ids_)
    {
      is_same = false;
    }
    if (rhs.signal_group_to_exit_lanelet_ids_ != this->signal_group_to_exit_lanelet_ids_)
    {
      is_same = false;
    }
    if (rhs.signal_group_to_traffic_light_id_ != this->signal_group_to_traffic_light_id_)
    {
      is_same = false;
    }
 
    return is_same;
  }

References intersection_id_to_regem_id_, signal_group_to_entry_lanelet_ids_, signal_group_to_exit_lanelet_ids_, and signal_group_to_traffic_light_id_.

processSpatFromMsg()

void carma_wm::SignalizedIntersectionManager::processSpatFromMsg	(	const carma_v2x_msgs::msg::SPAT &	spat_msg,
		const std::shared_ptr< lanelet::LaneletMap > &	semantic_map
	)

processSpatFromMsg update map's traffic light states with SPAT msg NOTE: This is enabled in the individual nodes through wm_listener's setWMSpatProcessingState()

Parameters

spat_msg	Msg to update with
lanelet_map	to update the regulatory elements according to internal signals recorded

Definition at line 479 of file SignalizedIntersectionManager.cpp.

  {
    if (spat_processor_state_ == SIGNAL_PHASE_PROCESSING::OFF)
    {
      return;
    }
 
    if (!semantic_map)
    {
      RCLCPP_INFO_STREAM(rclcpp::get_logger("carma_wm"), "Map is not set yet.");
      return;
    }
 
    if (spat_msg.intersection_state_list.empty())
    {
      logWarnOnce("Logging Once: No intersection_state_list in the newly received SPAT msg. Returning...");
      return;
    }
 
    for (const auto& curr_intersection : spat_msg.intersection_state_list)
    {
      for (const auto& current_movement_state : curr_intersection.movement_list)
      {
        lanelet::Id curr_light_id = getTrafficSignalId(curr_intersection.id.id, current_movement_state.signal_group);
 
        if (curr_light_id == lanelet::InvalId)
        {
          continue;
        }
 
        lanelet::CarmaTrafficSignalPtr curr_light =
          getTrafficSignal(curr_light_id, semantic_map);
 
        if (curr_light == nullptr)
        {
          continue;
        }
 
        // all maneuver types in same signal group is currently expected to share signal timing, so only 0th index is used when setting states
        if (current_movement_state.movement_event_list.empty())
        {
          RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm"), "Movement_event_list is empty . intersection_id: " << (int)curr_intersection.id.id << ", and signal_group_id: " << (int)current_movement_state.signal_group);
          continue;
        }
        else
        {
          RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm"), "Movement_event_list size: " << current_movement_state.movement_event_list.size() << " . intersection_id: " << (int)curr_intersection.id.id << ", and signal_group_id: " << (int)current_movement_state.signal_group);
        }
 
        curr_light->revision_ = curr_intersection.revision; // valid SPAT msg
 
        auto [new_end_times_and_states, new_start_times ]=
          extract_signal_states_from_movement_state(curr_intersection, current_movement_state);
 
        curr_light->recorded_time_stamps = new_end_times_and_states;
        curr_light->recorded_start_time_stamps = new_start_times;
      }
    }
  }

References extract_signal_states_from_movement_state(), getTrafficSignal(), getTrafficSignalId(), logWarnOnce(), carma_wm::OFF, and spat_processor_state_.

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setMaxLaneWidth()

void carma_wm::SignalizedIntersectionManager::setMaxLaneWidth

(

double

max_lane_width

)

Sets the max lane width in meters. Map msg points are associated to a lanelet if they are within this distance to a lanelet as map msg points are guaranteed to apply to a single lane.

Definition at line 30 of file SignalizedIntersectionManager.cpp.

  {
    max_lane_width_ = max_lane_width;
  }

References max_lane_width_.

setTargetFrame()

void carma_wm::SignalizedIntersectionManager::setTargetFrame

(

const std::string &

target_frame

)

Saves the georeference string to be used for converting MAP.msg coordinates.

Parameters

target_frame

PROJ string of the map

Definition at line 25 of file SignalizedIntersectionManager.cpp.

  {
    target_frame_ = target_frame;
  }

References target_frame_.

Member Data Documentation

intersection_coord_correction_

std::unordered_map<uint16_t, std::pair<double, double> > carma_wm::SignalizedIntersectionManager::intersection_coord_correction_

Definition at line 214 of file SignalizedIntersectionManager.hpp.

Referenced by SignalizedIntersectionManager(), convertLaneToLaneletId(), and operator=().

intersection_id_to_regem_id_

std::unordered_map<uint16_t, lanelet::Id> carma_wm::SignalizedIntersectionManager::intersection_id_to_regem_id_

Definition at line 217 of file SignalizedIntersectionManager.hpp.

Referenced by SignalizedIntersectionManager(), createIntersectionFromMapMsg(), getTrafficSignalId(), boost::serialization::load(), carma_wm::logSignalizedIntersectionManager(), operator=(), operator==(), and boost::serialization::save().

intersection_nodes_

std::unordered_map<uint16_t, std::vector<lanelet::Point3d> > carma_wm::SignalizedIntersectionManager::intersection_nodes_

Definition at line 211 of file SignalizedIntersectionManager.hpp.

Referenced by convertLaneToLaneletId().

max_lane_width_

double carma_wm::SignalizedIntersectionManager::max_lane_width_ = 4

private

Definition at line 246 of file SignalizedIntersectionManager.hpp.

Referenced by convertLaneToLaneletId(), and setMaxLaneWidth().

previous_busy_log_streams_

std::set<std::string> carma_wm::SignalizedIntersectionManager::previous_busy_log_streams_

mutable

Definition at line 240 of file SignalizedIntersectionManager.hpp.

Referenced by logInfoOnce(), and logWarnOnce().

regem_id_to_intersection_id_

std::unordered_map<lanelet::Id, uint16_t> carma_wm::SignalizedIntersectionManager::regem_id_to_intersection_id_

Definition at line 220 of file SignalizedIntersectionManager.hpp.

Referenced by createIntersectionFromMapMsg().

ros1_clock_

std::optional<rclcpp::Time> carma_wm::SignalizedIntersectionManager::ros1_clock_ = std::nullopt

Definition at line 231 of file SignalizedIntersectionManager.hpp.

Referenced by min_end_time_converter_minute_of_year(), and carma_wm::CARMAWorldModel::setRos1Clock().

signal_group_to_entry_lanelet_ids_

std::unordered_map<uint8_t, std::unordered_set<lanelet::Id> > carma_wm::SignalizedIntersectionManager::signal_group_to_entry_lanelet_ids_

Definition at line 229 of file SignalizedIntersectionManager.hpp.

Referenced by SignalizedIntersectionManager(), convertLaneToLaneletId(), createIntersectionFromMapMsg(), createTrafficSignalUsingSGID(), boost::serialization::load(), carma_wm::logSignalizedIntersectionManager(), operator=(), operator==(), and boost::serialization::save().

signal_group_to_exit_lanelet_ids_

std::unordered_map<uint8_t, std::unordered_set<lanelet::Id> > carma_wm::SignalizedIntersectionManager::signal_group_to_exit_lanelet_ids_

Definition at line 226 of file SignalizedIntersectionManager.hpp.

Referenced by SignalizedIntersectionManager(), convertLaneToLaneletId(), createIntersectionFromMapMsg(), createTrafficSignalUsingSGID(), boost::serialization::load(), carma_wm::logSignalizedIntersectionManager(), operator=(), operator==(), and boost::serialization::save().

signal_group_to_traffic_light_id_

std::unordered_map<uint8_t, lanelet::Id> carma_wm::SignalizedIntersectionManager::signal_group_to_traffic_light_id_

Definition at line 223 of file SignalizedIntersectionManager.hpp.

Referenced by SignalizedIntersectionManager(), createIntersectionFromMapMsg(), createTrafficSignalUsingSGID(), getTrafficSignalId(), boost::serialization::load(), carma_wm::logSignalizedIntersectionManager(), operator=(), operator==(), and boost::serialization::save().

simulation_clock_

std::optional<rclcpp::Time> carma_wm::SignalizedIntersectionManager::simulation_clock_ = std::nullopt

Definition at line 232 of file SignalizedIntersectionManager.hpp.

Referenced by min_end_time_converter_minute_of_year(), and carma_wm::CARMAWorldModel::setSimulationClock().

spat_processor_state_

SIGNAL_PHASE_PROCESSING carma_wm::SignalizedIntersectionManager::spat_processor_state_ = SIGNAL_PHASE_PROCESSING::OFF

Definition at line 236 of file SignalizedIntersectionManager.hpp.

Referenced by processSpatFromMsg().

target_frame_

std::string carma_wm::SignalizedIntersectionManager::target_frame_ = ""

private

Definition at line 243 of file SignalizedIntersectionManager.hpp.

Referenced by convertLaneToLaneletId(), createIntersectionFromMapMsg(), and setTargetFrame().

use_real_time_spat_in_sim_

bool carma_wm::SignalizedIntersectionManager::use_real_time_spat_in_sim_

Definition at line 235 of file SignalizedIntersectionManager.hpp.

Referenced by extract_signal_states_from_movement_state().

use_sim_time_

bool carma_wm::SignalizedIntersectionManager::use_sim_time_

Definition at line 234 of file SignalizedIntersectionManager.hpp.

Referenced by extract_signal_states_from_movement_state().

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The documentation for this class was generated from the following files:

• carma_wm/include/carma_wm/SignalizedIntersectionManager.hpp
• carma_wm/src/SignalizedIntersectionManager.cpp