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refactor(lanelet2_map_validator): move headers to include/ #144

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merged 4 commits into from
Nov 6, 2024
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refactor(lanelet2_map_validator): move headers to include/ #144

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369ac54
refactor(lanelet2_map_validator): move headers to include/
soblin Nov 5, 2024
902c88f
reflect comment
soblin Nov 6, 2024
52b1eb8
nullptr check for projector/map
soblin Nov 6, 2024
2a56d33
move private headers to src/
soblin Nov 6, 2024
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16 changes: 10 additions & 6 deletions map/autoware_lanelet2_map_validator/CMakeLists.txt
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Expand Up @@ -7,20 +7,24 @@ autoware_package()
ament_auto_find_build_dependencies()
find_package(nlohmann_json REQUIRED)

include_directories(
src
)

file(GLOB_RECURSE autoware_lanelet2_map_validator_lib_src
src/common/*.cpp
src/validators/*.cpp
)

ament_auto_add_library(autoware_lanelet2_map_validator_lib SHARED
${autoware_lanelet2_map_validator_lib_src}
)

ament_auto_add_executable(autoware_lanelet2_map_validator src/main.cpp)
add_dependencies(autoware_lanelet2_map_validator autoware_lanelet2_map_validator_lib)
target_include_directories(
autoware_lanelet2_map_validator_lib PUBLIC
src/include
)

ament_auto_add_executable(autoware_lanelet2_map_validator
src/main.cpp
)

target_link_libraries(autoware_lanelet2_map_validator
autoware_lanelet2_map_validator_lib
nlohmann_json
Expand Down
2 changes: 1 addition & 1 deletion map/autoware_lanelet2_map_validator/src/common/cli.cpp
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Expand Up @@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "common/cli.hpp"
#include "lanelet2_map_validator/cli.hpp"

namespace po = boost::program_options;

Expand Down
44 changes: 27 additions & 17 deletions map/autoware_lanelet2_map_validator/src/common/validation.cpp
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Expand Up @@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "common/validation.hpp"
#include "lanelet2_map_validator/validation.hpp"

#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
#include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp>
Expand All @@ -27,31 +27,42 @@ namespace autoware
namespace validation
{

std::unique_ptr<lanelet::Projector> getProjector(const MetaConfig & config)
std::unique_ptr<lanelet::Projector> getProjector(
const std::string & projector_type, const lanelet::GPSPoint & origin)

{
const auto & val_config = config.command_line_config.validationConfig;
if (config.projector_type == projector_names::mgrs) {
if (projector_type == projector_names::mgrs) {
return std::make_unique<lanelet::projection::MGRSProjector>();
} else if (config.projector_type == projector_names::transverse_mercator) {
}
if (projector_type == projector_names::transverse_mercator) {
return std::make_unique<lanelet::projection::TransverseMercatorProjector>(
lanelet::Origin{val_config.origin});
} else if (config.projector_type == projector_names::utm) {
return std::make_unique<lanelet::projection::UtmProjector>(lanelet::Origin{val_config.origin});
lanelet::Origin{origin});
}
if (projector_type == projector_names::utm) {
return std::make_unique<lanelet::projection::UtmProjector>(lanelet::Origin{origin});
}
return std::make_unique<lanelet::projection::MGRSProjector>();
return nullptr;
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}

std::vector<lanelet::validation::DetectedIssues> validateMap(const MetaConfig & config)
std::vector<lanelet::validation::DetectedIssues> validateMap(
const std::string & projector_type, const std::string & map_file,
const lanelet::validation::ValidationConfig & val_config)
{
const auto & cm_config = config.command_line_config;
const auto & val_config = config.command_line_config.validationConfig;

std::vector<lanelet::validation::DetectedIssues> issues;
lanelet::LaneletMapPtr map;
lanelet::LaneletMapPtr map{nullptr};
lanelet::validation::Strings errors;
try {
const auto & projector = getProjector(config);
map = lanelet::load(cm_config.mapFile, *projector, &errors);
const auto projector = getProjector(projector_type, val_config.origin);
if (!projector) {
errors.push_back("No valid map projection type specified!");
} else {
map = lanelet::load(map_file, *projector, &errors);
}
if (map) {
appendIssues(issues, lanelet::validation::validateMap(*map, val_config));
} else {
errors.push_back("Failed to load map!");
}
if (!errors.empty()) {
issues.emplace_back("general", utils::transform(errors, [](auto & error) {
return lanelet::validation::Issue(
Expand All @@ -65,7 +76,6 @@ std::vector<lanelet::validation::DetectedIssues> validateMap(const MetaConfig &
}));
}

appendIssues(issues, lanelet::validation::validateMap(*map, val_config));
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return issues;
}

Expand Down
6 changes: 3 additions & 3 deletions ...lanelet2_map_validator/src/common/cli.hpp → ...rc/include/lanelet2_map_validator/cli.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef COMMON__CLI_HPP_
#define COMMON__CLI_HPP_
#ifndef LANELET2_MAP_VALIDATOR__CLI_HPP_
#define LANELET2_MAP_VALIDATOR__CLI_HPP_

#include <boost/program_options.hpp>

Expand Down Expand Up @@ -42,4 +42,4 @@ MetaConfig parseCommandLine(int argc, const char * argv[]);
} // namespace autoware
} // namespace lanelet

#endif // COMMON__CLI_HPP_
#endif // LANELET2_MAP_VALIDATOR__CLI_HPP_
6 changes: 3 additions & 3 deletions ...nelet2_map_validator/src/common/utils.hpp → .../include/lanelet2_map_validator/utils.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef COMMON__UTILS_HPP_
#define COMMON__UTILS_HPP_
#ifndef LANELET2_MAP_VALIDATOR__UTILS_HPP_
#define LANELET2_MAP_VALIDATOR__UTILS_HPP_

#include <lanelet2_validation/Validation.h>
#include <lanelet2_validation/ValidatorFactory.h>
Expand Down Expand Up @@ -80,4 +80,4 @@ void checkPrimitivesType(
} // namespace autoware
} // namespace lanelet

#endif // COMMON__UTILS_HPP_
#endif // LANELET2_MAP_VALIDATOR__UTILS_HPP_
18 changes: 11 additions & 7 deletions ...2_map_validator/src/common/validation.hpp → ...ude/lanelet2_map_validator/validation.hpp
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Expand Up @@ -12,11 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef COMMON__VALIDATION_HPP_
#define COMMON__VALIDATION_HPP_
#ifndef LANELET2_MAP_VALIDATOR__VALIDATION_HPP_
#define LANELET2_MAP_VALIDATOR__VALIDATION_HPP_

#include "common/cli.hpp"
#include "common/utils.hpp"
#include "lanelet2_map_validator/cli.hpp"
#include "lanelet2_map_validator/utils.hpp"

#include <lanelet2_io/Io.h>
#include <lanelet2_projection/UTM.h>
Expand All @@ -25,6 +25,7 @@

#include <memory>
#include <regex>
#include <string>
#include <vector>

namespace
Expand All @@ -43,10 +44,13 @@ namespace autoware
{
namespace validation
{
std::unique_ptr<lanelet::Projector> getProjector(const MetaConfig & config);
std::vector<lanelet::validation::DetectedIssues> validateMap(const MetaConfig & config);
std::unique_ptr<lanelet::Projector> getProjector(
const std::string & projector_type, const lanelet::GPSPoint & origin);
std::vector<lanelet::validation::DetectedIssues> validateMap(
const std::string & projector_type, const std::string & map_file,
const lanelet::validation::ValidationConfig & val_config);
} // namespace validation
} // namespace autoware
} // namespace lanelet

#endif // COMMON__VALIDATION_HPP_
#endif // LANELET2_MAP_VALIDATOR__VALIDATION_HPP_
8 changes: 5 additions & 3 deletions ...ng_regulatory_elements_for_crosswalks.hpp → ...ng_regulatory_elements_for_crosswalks.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_
#define VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_
#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_ // NOLINT
#define LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_ // NOLINT

#include <lanelet2_validation/Validation.h>
#include <lanelet2_validation/ValidatorFactory.h>
Expand All @@ -36,4 +36,6 @@ class MissingRegulatoryElementsForCrosswalksValidator : public lanelet::validati
} // namespace validation
} // namespace lanelet

#endif // VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_
// clang-format off
#endif // LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_ // NOLINT
// clang-format on
8 changes: 5 additions & 3 deletions ...latory_element_details_for_crosswalks.hpp → ...latory_element_details_for_crosswalks.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_
#define VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_
#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_ // NOLINT
#define LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_ // NOLINT

#include <lanelet2_validation/Validation.h>
#include <lanelet2_validation/ValidatorFactory.h>
Expand All @@ -36,4 +36,6 @@ class RegulatoryElementsDetailsForCrosswalksValidator : public lanelet::validati
} // namespace validation
} // namespace lanelet

#endif // VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_
// clang-format off
#endif // LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_ // NOLINT
// clang-format on
8 changes: 5 additions & 3 deletions ...ng_regulatory_elements_for_stop_lines.hpp → ...ng_regulatory_elements_for_stop_lines.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_
#define VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_
#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_ // NOLINT
#define LANELET2_MAP_VALIDATOR__VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_ // NOLINT

#include <lanelet2_validation/Validation.h>
#include <lanelet2_validation/ValidatorFactory.h>
Expand All @@ -36,4 +36,6 @@ class MissingRegulatoryElementsForStopLinesValidator : public lanelet::validatio
} // namespace validation
} // namespace lanelet

#endif // VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_
// clang-format off
#endif // LANELET2_MAP_VALIDATOR__VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_ // NOLINT
// clang-format on
8 changes: 5 additions & 3 deletions ...egulatory_elements_for_traffic_lights.hpp → ...egulatory_elements_for_traffic_lights.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_
#define VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_
#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_ // NOLINT
#define LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_ // NOLINT

#include <lanelet2_validation/Validation.h>
#include <lanelet2_validation/ValidatorFactory.h>
Expand All @@ -39,4 +39,6 @@ class MissingRegulatoryElementsForTrafficLightsValidator : public lanelet::valid
} // namespace validation
} // namespace lanelet

#endif // VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_
// clang-format off
#endif // LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_ // NOLINT
// clang-format on
8 changes: 5 additions & 3 deletions ...ry_element_details_for_traffic_lights.hpp → ...ry_element_details_for_traffic_lights.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_
#define VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_
#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_ // NOLINT
#define LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_ // NOLINT

#include <lanelet2_validation/Validation.h>
#include <lanelet2_validation/ValidatorFactory.h>
Expand Down Expand Up @@ -43,4 +43,6 @@ class RegulatoryElementsDetailsForTrafficLightsValidator : public lanelet::valid
} // namespace validation
} // namespace lanelet

#endif // VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_
// clang-format off
#endif // LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_ // NOLINT
// clang-format on
29 changes: 20 additions & 9 deletions map/autoware_lanelet2_map_validator/src/main.cpp
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Expand Up @@ -12,13 +12,14 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "common/cli.hpp"
#include "common/utils.hpp"
#include "common/validation.hpp"
#include "lanelet2_validation/Validation.h"
#include "lanelet2_map_validator/cli.hpp"
#include "lanelet2_map_validator/utils.hpp"
#include "lanelet2_map_validator/validation.hpp"

#include <nlohmann/json.hpp>

#include <lanelet2_validation/Validation.h>

#include <filesystem>
#include <fstream>
#include <iomanip>
Expand All @@ -35,12 +36,19 @@ using json = nlohmann::json;
#define NORMAL_RED "\033[31m"
#define FONT_RESET "\033[0m"

lanelet::validation::ValidationConfig replace_validator(
const lanelet::validation::ValidationConfig & input, const std::string & validator_name)
{
auto temp = input;
temp.checksFilter = validator_name;
return temp;
}

void process_requirements(
json json_config, const lanelet::autoware::validation::MetaConfig & validator_config)
{
uint64_t warning_count = 0;
uint64_t error_count = 0;
lanelet::autoware::validation::MetaConfig temp_validator_config = validator_config;

for (auto & requirement : json_config["requirements"]) {
std::string id = requirement["id"];
Expand All @@ -50,11 +58,12 @@ void process_requirements(
std::map<std::string, bool> temp_validation_results;

for (auto & validator : requirement["validators"]) {
std::string validator_name = validator["name"];
temp_validator_config.command_line_config.validationConfig.checksFilter = validator_name;
const std::string validator_name = validator["name"];

std::vector<lanelet::validation::DetectedIssues> temp_issues =
lanelet::autoware::validation::validateMap(temp_validator_config);
lanelet::autoware::validation::validateMap(
validator_config.projector_type, validator_config.command_line_config.mapFile,
replace_validator(validator_config.command_line_config.validationConfig, validator_name));

if (temp_issues.empty()) {
// Validator passed
Expand Down Expand Up @@ -176,7 +185,9 @@ int main(int argc, char * argv[])
input_file >> json_config;
process_requirements(json_config, meta_config);
} else {
auto issues = lanelet::autoware::validation::validateMap(meta_config);
auto issues = lanelet::autoware::validation::validateMap(
meta_config.projector_type, meta_config.command_line_config.mapFile,
meta_config.command_line_config.validationConfig);
lanelet::validation::printAllIssues(issues);
}

Expand Down
4 changes: 2 additions & 2 deletions ...let2_map_validator/src/validators/crosswalk/missing_regulatory_elements_for_crosswalk.cpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "common/utils.hpp"
#include "validators/crosswalk/missing_regulatory_elements_for_crosswalks.hpp"
#include "lanelet2_map_validator/utils.hpp"
#include "lanelet2_map_validator/validators/crosswalk/missing_regulatory_elements_for_crosswalks.hpp"

#include <range/v3/view/filter.hpp>

Expand Down
4 changes: 2 additions & 2 deletions ...let2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp
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Expand Up @@ -12,9 +12,9 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "validators/crosswalk/regulatory_element_details_for_crosswalks.hpp"
#include "lanelet2_map_validator/validators/crosswalk/regulatory_element_details_for_crosswalks.hpp"

#include "common/utils.hpp"
#include "lanelet2_map_validator/utils.hpp"

#include <autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp>
#include <range/v3/view/filter.hpp>
Expand Down
4 changes: 2 additions & 2 deletions ...et2_map_validator/src/validators/stop_line/missing_regulatory_elements_for_stop_lines.cpp
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Expand Up @@ -12,9 +12,9 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "validators/stop_line/missing_regulatory_elements_for_stop_lines.hpp"
#include "lanelet2_map_validator/validators/stop_line/missing_regulatory_elements_for_stop_lines.hpp"

#include "common/utils.hpp"
#include "lanelet2_map_validator/utils.hpp"

#include <range/v3/view/filter.hpp>
#include <range/v3/view/transform.hpp>
Expand Down
4 changes: 2 additions & 2 deletions ...validator/src/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.cpp
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Expand Up @@ -12,9 +12,9 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "validators/traffic_light/missing_regulatory_elements_for_traffic_lights.hpp"
#include "lanelet2_map_validator/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.hpp"

#include "common/utils.hpp"
#include "lanelet2_map_validator/utils.hpp"

#include <range/v3/view/filter.hpp>
#include <range/v3/view/transform.hpp>
Expand Down
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