Generates OBJ file either from multilane or dragway implementation. (#3)

maliput · Apr 6, 2020 · 2c209ad · 2c209ad
1 parent 8450210
commit 2c209ad
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Showing 4 changed files with 74 additions and 27 deletions.
diff --git a/src/maliput_integration/CMakeLists.txt b/src/maliput_integration/CMakeLists.txt
@@ -18,17 +18,19 @@ target_link_libraries(dragway_to_urdf
     maliput_dragway::maliput_dragway
 )
 
-add_executable(yaml_to_obj
-  yaml_to_obj.cc)
+add_executable(maliput_to_obj
+  maliput_to_obj.cc)
 
-ament_target_dependencies(yaml_to_obj
+ament_target_dependencies(maliput_to_obj
   "maliput"
+  "maliput_dragway"
   "maliput_multilane"
 )
 
-target_link_libraries(yaml_to_obj
+target_link_libraries(maliput_to_obj
     gflags
     maliput::utilities
+    maliput_dragway::maliput_dragway
     maliput_multilane::maliput_multilane
     yaml-cpp
 )
@@ -37,7 +39,7 @@ target_link_libraries(yaml_to_obj
 # Install
 ##############################################################################
 
-install(TARGETS dragway_to_urdf yaml_to_obj
+install(TARGETS dragway_to_urdf maliput_to_obj
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib
     RUNTIME DESTINATION bin

diff --git a/src/maliput_integration/yaml_to_obj.cc → src/maliput_integration/maliput_to_obj.cc b/src/maliput_integration/yaml_to_obj.cc → src/maliput_integration/maliput_to_obj.cc
@@ -1,7 +1,18 @@
-/// @file yaml_to_obj.cc
+/// @file maliput_to_obj.cc
 ///
-/// Take a yaml file as input, build the resulting multilane road geometry, and
-/// render the road surface to a WaveFront OBJ output file.
+/// Builds a dragway road geometry from flags or a multilane road geometry from a file,
+/// and render the road surface to a WaveFront OBJ output file.
+///
+/// Notes:
+/// 1 - It allows to create an OBJ file from different road geometry implementations. If a valid
+///     filepath of an YAML file is passed, a multilane RoadGeometry will be created. Otherwise,
+///     the following arguments will help to carry out a dragway implementation:
+///      -num_lanes, -length, -lane_width, -shoulder_width, maximum_height.
+/// 2 - The applications possesses flags to modify the OBJ file builder:
+///      -obj_dir, -obj_file, -max_grid_unit, -min_grid_resolution, -draw_elevation_bounds, -simplify_mesh_threshold
+/// 3 - The level of the logger could be setted by: -log_level.
+
+#include <limits>
 #include <string>
 
 #include <gflags/gflags.h>
@@ -11,14 +22,33 @@
 
 #include "maliput/utilities/generate_obj.h"
 
+#include "maliput_dragway/road_geometry.h"
 #include "maliput_multilane/builder.h"
 #include "maliput_multilane/loader.h"
 
 #include "yaml-cpp/yaml.h"
 
+// Gflags for road geometry loaded from file/
 DEFINE_string(yaml_file, "", "yaml input file defining a multilane road geometry");
+
+// Gflags for implementing a dragway road geometry manually.
+DEFINE_int32(num_lanes, 2, "The number of lanes.");
+DEFINE_double(length, 10, "The length of the dragway in meters.");
+// By default, each lane is 3.7m (12 feet) wide, which is the standard used by
+// the U.S. interstate highway system.
+DEFINE_double(lane_width, 3.7, "The width of each lane in meters.");
+// By default, the shoulder width is 3 m (10 feet) wide, which is the standard
+// used by the U.S. interstate highway system.
+DEFINE_double(shoulder_width, 3.0,
+              "The width of the shoulders in meters. Both shoulders have the same "
+              "width.");
+DEFINE_double(maximum_height, 5.2, "The maximum modelled height above the road surface (meters).");
+
+// Gflags for output files.
 DEFINE_string(obj_dir, ".", "Directory to contain rendered road surface");
 DEFINE_string(obj_file, "", "Basename for output Wavefront OBJ and MTL files");
+
+// Gflags for OBJ generation configuration.
 DEFINE_double(max_grid_unit, maliput::utility::ObjFeatures().max_grid_unit,
               "Maximum size of a grid unit in the rendered mesh covering the "
               "road surface");
@@ -31,7 +61,7 @@ DEFINE_double(simplify_mesh_threshold, maliput::utility::ObjFeatures().simplify_
               "Optional tolerance for mesh simplification, in meters. Make it "
               "equal to the road linear tolerance to get a mesh size reduction "
               "while keeping geometrical fidelity.");
-DEFINE_string(spdlog_level, "unchanged",
+DEFINE_string(log_level, "unchanged",
               "sets the spdlog output threshold; possible values are "
               "'unchanged', "
               "'trace', "
@@ -48,6 +78,7 @@ namespace {
 
 // Available maliput implementations to load.
 enum class MaliputImplementation {
+  kDragway,    //< dragway implementation.
   kMultilane,  //< multilane implementation.
   kUnknown     //< Used when none of the implementations could be identified.
 };
@@ -56,25 +87,26 @@ enum class MaliputImplementation {
 // "maliput_multilane_builder". If it is found,
 // MaliputImplementation::kMultilane is returned. Otherwise,
 // MaliputImplementation::kUnknown is returned.
-MaliputImplementation GetMaliputImplementation(const std::string& filename) {
+MaliputImplementation GetMaliputImplementationFromFile(const std::string& filename) {
   const YAML::Node yaml_file = YAML::LoadFile(filename);
   MALIPUT_DEMAND(yaml_file.IsMap());
-  if (yaml_file["maliput_multilane_builder"]) {
-    return MaliputImplementation::kMultilane;
-  }
-  return MaliputImplementation::kUnknown;
+  return yaml_file["maliput_multilane_builder"] ? MaliputImplementation::kMultilane : MaliputImplementation::kUnknown;
+}
+
+// Decides which type of road geometry implementation the application should select.
+// If `filename` is empty it returns MaliputImplementation:kDragway.
+// If `filename` is not empty it will load the file and check which implementation it refers to.
+MaliputImplementation GetMaliputImplementation(const std::string& filename) {
+  return filename.empty() ? MaliputImplementation::kDragway : GetMaliputImplementationFromFile(filename);
 }
 
-// Generates an OBJ file from a YAML file path given as CLI argument.
+// Generates an OBJ file from a YAML file path or from
+// configurable values given as CLI arguments.
 int main(int argc, char* argv[]) {
   maliput::log()->debug("main()");
   gflags::ParseCommandLineFlags(&argc, &argv, true);
-  maliput::common::set_log_level(FLAGS_spdlog_level);
+  maliput::common::set_log_level(FLAGS_log_level);
 
-  if (FLAGS_yaml_file.empty()) {
-    maliput::log()->critical("No input file specified.");
-    return 1;
-  }
   if (FLAGS_obj_file.empty()) {
     maliput::log()->critical("No output file specified.");
     return 1;
@@ -83,6 +115,14 @@ int main(int argc, char* argv[]) {
   maliput::log()->info("Loading road geometry...");
   std::unique_ptr<const maliput::api::RoadGeometry> rg{};
   switch (GetMaliputImplementation(FLAGS_yaml_file)) {
+    case MaliputImplementation::kDragway: {
+      rg = std::make_unique<dragway::RoadGeometry>(
+          api::RoadGeometryId{"Dragway with " + std::to_string(FLAGS_num_lanes) + " lanes."}, FLAGS_num_lanes,
+          FLAGS_length, FLAGS_lane_width, FLAGS_shoulder_width, FLAGS_maximum_height,
+          std::numeric_limits<double>::epsilon(), std::numeric_limits<double>::epsilon());
+      maliput::log()->info("Loaded a dragway road geometry.");
+      break;
+    }
     case MaliputImplementation::kMultilane: {
       rg = maliput::multilane::LoadFile(maliput::multilane::BuilderFactory(), FLAGS_yaml_file);
       maliput::log()->info("Loaded a multilane road geometry.");

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -1,7 +1,7 @@
 find_package(ament_cmake_pytest REQUIRED)
 
-ament_add_pytest_test(yaml_to_obj_test yaml_to_obj_test.py WORKING_DIRECTORY ${CMAKE_INSTALL_PREFIX}/bin TIMEOUT 360)
+ament_add_pytest_test(maliput_to_obj_test maliput_to_obj_test.py WORKING_DIRECTORY ${CMAKE_INSTALL_PREFIX}/bin TIMEOUT 360)
 
-if (TARGET yaml_to_obj_test)
-  add_dependencies(yaml_to_obj_test yaml_to_obj)
+if (TARGET maliput_to_obj_test)
+  add_dependencies(maliput_to_obj_test maliput_to_obj)
 endif()
diff --git a/test/yaml_to_obj_test.py → test/maliput_to_obj_test.py b/test/yaml_to_obj_test.py → test/maliput_to_obj_test.py
@@ -15,9 +15,9 @@
 class TestYamlObjing(unittest.TestCase):
 
     def setUp(self):
-        self._yaml_to_obj = os.path.join(os.getcwd(), "yaml_to_obj")
-        self.assertTrue(os.path.exists(self._yaml_to_obj),
-                        self._yaml_to_obj + " not found")
+        self._maliput_to_obj = os.path.join(os.getcwd(), "maliput_to_obj")
+        self.assertTrue(os.path.exists(self._maliput_to_obj),
+                        self._maliput_to_obj + " not found")
 
     def test_yaml_files(self):
         this_dir = os.path.dirname(_THIS_DIR)
@@ -33,7 +33,12 @@ def test_yaml_files(self):
 
         for yf in test_yaml_files:
             subprocess.check_call([
-                self._yaml_to_obj,
+                self._maliput_to_obj,
                 "-yaml_file", yf,
                 "-obj_file", "/dev/null",
             ])
+    def test_dragway_creation(self):
+        subprocess.check_call([
+            self._maliput_to_obj,
+            "-obj_file", "/dev/null",
+        ])