MapLogicParser.h

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// Copyright (c) 2024 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "Traffic/TrafficLightManager.h"
 
#include <util/ue-header-guard-begin.h>
#include "CoreMinimal.h"
#include "Dom/JsonObject.h"
#include <util/ue-header-guard-end.h>
 
#include "MapLogicParser.generated.h"
 
/// Represents timing configuration for a traffic light from map_logic.json
USTRUCT()
struct FTrafficLightTiming
{
  GENERATED_BODY()
 
  UPROPERTY()
  float RedDuration = 2.0f;
 
  UPROPERTY()
  float GreenDuration = 10.0f;
 
  UPROPERTY()
  float AmberDuration = 3.0f;
 
  UPROPERTY()
  float AmberBlinkInterval = 0.25f;
};
 
/// Represents a traffic light module with its lane assignments
USTRUCT()
struct FTrafficLightModule
{
  GENERATED_BODY()
 
  UPROPERTY()
  TArray<int32> LaneIds;
};
 
/// One head of a baked Traffic Light Tool rig, and the OpenDRIVE signal it shows.
///
/// A mast arm can carry a protected-turn arrow beside the through head, and the two are red
/// and green at the same instant. ATrafficLightBase holds exactly one UTrafficLightComponent
/// and one ETrafficLightState (TrafficLightBase.h), and get_state / get_opendrive_id /
/// get_stop_waypoints / the ALSM's IsAtTrafficLight are all per *actor*, so one actor cannot
/// express two states. The rig is therefore split into one ADigitalTwinsTrafficLight per
/// distinct SignalID, and this is the explicit binding that says which components go where --
/// ComponentPrefix is the name ATrafficLightActor::Build gives the head's components
/// ("Pole_02_Head_03"), which Bake preserves.
USTRUCT()
struct FTrafficLightHead
{
  GENERATED_BODY()
 
  UPROPERTY()
  FString ComponentPrefix;
 
  UPROPERTY()
  FString SignalID;
 
  UPROPERTY()
  TArray<int32> LaneIds;
};
 
/// Represents a traffic light configuration entry from map_logic.json
USTRUCT()
struct FTrafficLightLogicData
{
  GENERATED_BODY()
 
  UPROPERTY()
  FString ActorName;
 
  UPROPERTY()
  FString SignalID;
 
  UPROPERTY()
  int32 JunctionID = -1;
 
  UPROPERTY()
  FString TrafficLightGroupID;
 
  UPROPERTY()
  FTrafficLightTiming Timing;
 
  UPROPERTY()
  TArray<FTrafficLightModule> Modules;
 
  /// One entry per head of the baked rig. Empty (or all naming the same signal) = the whole
  /// rig is one traffic light, exactly as before.
  UPROPERTY()
  TArray<FTrafficLightHead> Heads;
};
 
/// Utility class to parse map_logic.json files and apply traffic light timing configuration
class CARLA_API UMapLogicParser
{
public:
 
  /// Parse map_logic.json file and apply traffic light timing configuration
  /// to the TrafficLightManager. Returns true if file was found and parsed successfully.
  ///
  /// @param XODRFilePath Path to the .xodr file (will look for map_logic.json in same directory)
  /// @param TrafficLightManager The traffic light manager to apply configuration to
  /// @return true if map_logic.json was found and applied successfully, false otherwise
  static bool ParseAndApplyMapLogic(const FString& XODRFilePath, ATrafficLightManager* TrafficLightManager);
 
  /// Apply lane IDs from map_logic.json to traffic light components
  /// @param XODRFilePath Path to the .xodr file (will look for map_logic.json in same directory)
  /// @param TrafficLightManager The traffic light manager to apply configuration to
  static void ApplyLaneIdsFromMapLogic(const FString& XODRFilePath, ATrafficLightManager* TrafficLightManager);
 
private:
 
  /// Load and parse the map_logic.json file from the same directory as the XODR file
  /// @param XODRFilePath Path to the .xodr file
  /// @return Array of parsed traffic light logic data, empty if file not found or parse failed
  static TArray<FTrafficLightLogicData> LoadMapLogicFromJSON(const FString& XODRFilePath);
 
  /// Apply traffic light timing configuration to the TrafficLightManager
  /// @param LogicData Array of traffic light configurations to apply
  /// @param TrafficLightManager The traffic light manager to configure
  static void ApplyTrafficLightLogic(const TArray<FTrafficLightLogicData>& LogicData, ATrafficLightManager* TrafficLightManager);
 
  /// Parse individual traffic light data from JSON object
  /// @param TrafficLightJson JSON object representing a single traffic light configuration
  /// @return Parsed traffic light logic data
  static FTrafficLightLogicData ParseTrafficLightFromJSON(TSharedPtr<FJsonObject> TrafficLightJson);
 
  /// Parse timing data from JSON object
  /// @param TimingJson JSON object containing timing information
  /// @return Parsed timing configuration
  static FTrafficLightTiming ParseTimingFromJSON(TSharedPtr<FJsonObject> TimingJson);
 
  /// Get the directory path from a full file path
  /// @param FilePath Full path to a file
  /// @return Directory path without the filename
  static FString GetDirectoryPath(const FString& FilePath);
};