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screen: Show lane types

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This commit is contained in:
Jannik Beyerstedt 2026-08-28 21:23:06 +02:00 • committed by Jannik Beyerstedt
commit 7bbdae9243
8 changed files with 172 additions and 40 deletions
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67
src/applogic/v2x/map.rs
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@ -191,27 +191,35 @@ impl Intersection {
fn collect_signal_groups(lanes: &[Lane]) -> Vec<SignalGroup> {
let mut connections = lanes
.iter()
.flat_map(|i| i.connections.clone())
.filter(|i| i.signal_group.is_some())
.flat_map(ConnectionExt::from_lane)
.filter(|i| i.conn.signal_group.is_some())
.collect::<Vec<_>>();
connections.sort_by_key(|i| i.signal_group.unwrap_or_default());
connections.sort_by_key(|i| i.conn.signal_group.unwrap_or_default());
let chunks = connections.chunk_by(|a, b| a.signal_group == b.signal_group);
let chunks = connections.chunk_by(|a, b| a.conn.signal_group == b.conn.signal_group);
chunks
.map(|chunk| {
let (sig_grp_id, maneuvers, mut target_lanes) = chunk.iter().fold(
(None, Maneuvers::default(), vec![]),
|(sig_grp_id, maneuvers, mut lanes), i| {
let new_maneuvers = i
.maneuvers
.map(|v| core::ops::Add::add(maneuvers, v))
.unwrap_or_default();
lanes.push(i.target_lane_id);
let (sig_grp_id, maneuvers, mut target_lanes, mut source_lane_usages) =
chunk.iter().fold(
(None, Maneuvers::default(), vec![], vec![]),
|(sig_grp_id, maneuvers, mut lanes, mut usages), i| {
let new_maneuvers = i
.conn
.maneuvers
.map(|v| core::ops::Add::add(maneuvers, v))
.unwrap_or_default();
lanes.push(i.conn.target_lane_id);
(i.signal_group, new_maneuvers, lanes)
},
);
let lane_usages = i.source_lane_usages.clone();
usages.extend_from_slice(&lane_usages);
usages.sort_unstable();
usages.dedup(); // TODO: only do this after all lanes were added?
(i.conn.signal_group, new_maneuvers, lanes, usages)
},
);
// unwrap is fine since we removed all connections without signal group beforehand
let id = sig_grp_id.unwrap();
@ -226,6 +234,7 @@ impl Intersection {
SignalGroup {
id,
maneuvers,
source_lane_usages,
target_lanes,
phase: None,
min_end_time: None,
@ -402,6 +411,28 @@ impl From<&etsi_its_dsrc::Connection> for Connection {
}
}
#[derive(Debug, Clone)]
#[allow(unused)]
struct ConnectionExt {
source_lane_id: u8,
source_lane_usages: Vec<UsageType>,
conn: Connection,
}
impl ConnectionExt {
fn from_lane(value: &Lane) -> Vec<Self> {
value
.connections
.iter()
.map(|conn| Self {
source_lane_id: value.id,
source_lane_usages: value.usages.clone(),
conn: *conn,
})
.collect()
}
}
/// Different view on a lane connection
///
/// Technically this data is redundant with the `Connection` data of a `Lane`,
@ -411,7 +442,8 @@ impl From<&etsi_its_dsrc::Connection> for Connection {
pub struct SignalGroup {
id: u8,
maneuvers: Option<Maneuvers>,
target_lanes: Vec<u8>, // mainly for debugging
source_lane_usages: Vec<UsageType>, // for easier signal group evaluation
target_lanes: Vec<u8>, // mainly for debugging
// SPAT data
/// current signal phase
@ -441,6 +473,9 @@ impl SignalGroup {
pub fn maneuvers(&self) -> Option<Maneuvers> {
self.maneuvers
}
pub fn source_lane_usages(&self) -> &[UsageType] {
&self.source_lane_usages
}
pub fn phase(&self) -> Option<etsi_its_dsrc::MovementPhaseState> {
self.phase
}