Provides an integration application to export a RoadGeometry as a DOT…

… file.

Try it by calling:

$ maliput_to_dot --maliput_backend malidrive --xodr_file_path ./src/maliput_malidrive/resources/TShapeRoad.xodr

And then see the output value:

$ cat maliput_graph.dot
graph {
1 -- 5 [ label = "9_0" ];
5 -- 1 [ label = "8_0" ];
5 -- 2 [ label = "7_0" ];
1 -- 2 [ label = "5_0" ];
4 -- 5 [ label = "2_0" ];
2 -- 5 [ label = "6_0" ];
1 -- 2 [ label = "4_0" ];
2 -- 3 [ label = "1_0" ];
0 -- 1 [ label = "0_0" ];
}

Signed-off-by: Agustin Alba Chicar <[email protected]>

src/applications/CMakeLists.txt

@@ -1,6 +1,18 @@
 ##############################################################################
 # Sources
 ##############################################################################
+add_executable(maliput_to_dot
+  maliput_to_dot.cc
+)
+
+target_link_libraries(maliput_to_dot
+    gflags
+    maliput::common
+    maliput::routing
+    maliput::utility
+    maliput_integration::integration
+)
+
 add_executable(maliput_to_obj
   maliput_to_obj.cc
 )
@@ -97,6 +109,7 @@ install(
     maliput_dynamic_environment
     maliput_measure_load_time
     maliput_query
+    maliput_to_dot
     maliput_to_obj
     maliput_to_string
     maliput_to_string_with_plugin

src/applications/maliput_to_dot.cc

@@ -0,0 +1,123 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2024, Woven by Toyota. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice, this
+//   list of conditions and the following disclaimer.
+//
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+//
+// * Neither the name of the copyright holder nor the names of its
+//   contributors may be used to endorse or promote products derived from
+//   this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+/// @file maliput_to_dot.cc
+///
+/// Builds a dragway, multilane or malidrive road geometry
+/// and creates a routing::graph::Graph from it to then serialize to a file a DOT representation.
+///
+/// @note
+/// 1. It allows to create an OBJ file from different road geometry implementations.
+///     The `maliput_backend` flag will determine the backend to be used.
+///    - "dragway": The following flags are supported to use in order to create dragway road geometry:
+///       -num_lanes, -length, -lane_width, -shoulder_width, -maximum_height.
+///    - "multilane": yaml file path must be provided:
+///       -yaml_file.
+///    - "malidrive": xodr file path must be provided and the tolerance is optional:
+///         -xodr_file_path -linear_tolerance.
+/// 2. The applications possesses flags to modify the DOT file builder:
+///      -dot_dir_path, -dot_file_name
+/// 3. The level of the logger could be setted by: -log_level.
+
+#include <fstream>
+#include <limits>
+#include <string>
+
+#include <gflags/gflags.h>
+#include <maliput/common/filesystem.h>
+#include <maliput/common/logger.h>
+#include <maliput/common/maliput_abort.h>
+#include <maliput/routing/graph/graph.h>
+#include <maliput/utility/generate_dot.h>
+
+#include "integration/tools.h"
+#include "maliput_gflags.h"
+
+COMMON_PROPERTIES_FLAGS();
+MULTILANE_PROPERTIES_FLAGS();
+DRAGWAY_PROPERTIES_FLAGS();
+MALIDRIVE_PROPERTIES_FLAGS();
+MALIPUT_OSM_PROPERTIES_FLAGS();
+MALIPUT_APPLICATION_DEFINE_LOG_LEVEL_FLAG();
+
+DEFINE_string(maliput_backend, "dragway", "Whether to use <dragway>, <multilane> or <malidrive>. Default is dragway.");
+
+// Gflags for output files.
+DEFINE_string(dot_dir_path, ".", "Directory to contain DOT file.");
+DEFINE_string(dot_file_name, "maliput_graph.dot", "Name of the maliput::routing::graph::Graph DOT file.");
+
+namespace maliput {
+namespace integration {
+namespace {
+
+// Generates an OBJ file from a YAML file path or from
+// configurable values given as CLI arguments.
+int Main(int argc, char* argv[]) {
+  gflags::ParseCommandLineFlags(&argc, &argv, true);
+  common::set_log_level(FLAGS_log_level);
+
+  log()->info("Loading road network using ", FLAGS_maliput_backend, " backend implementation...");
+  const MaliputImplementation maliput_implementation{StringToMaliputImplementation(FLAGS_maliput_backend)};
+  auto rn = LoadRoadNetwork(
+      maliput_implementation,
+      {FLAGS_num_lanes, FLAGS_length, FLAGS_lane_width, FLAGS_shoulder_width, FLAGS_maximum_height}, {FLAGS_yaml_file},
+      {FLAGS_xodr_file_path, GetLinearToleranceFlag(), GetMaxLinearToleranceFlag(), GetAngularToleranceFlag(),
+       FLAGS_build_policy, FLAGS_num_threads, FLAGS_simplification_policy, FLAGS_standard_strictness_policy,
+       FLAGS_omit_nondrivable_lanes, FLAGS_rule_registry_file, FLAGS_road_rule_book_file, FLAGS_traffic_light_book_file,
+       FLAGS_phase_ring_book_file, FLAGS_intersection_book_file},
+      {FLAGS_osm_file, FLAGS_linear_tolerance, FLAGS_max_linear_tolerance,
+       maliput::math::Vector2::FromStr(FLAGS_origin), FLAGS_rule_registry_file, FLAGS_road_rule_book_file,
+       FLAGS_traffic_light_book_file, FLAGS_phase_ring_book_file, FLAGS_intersection_book_file});
+  log()->info("RoadNetwork loaded successfully.");
+
+  // Creates the destination directory if it does not already exist.
+  common::Path directory;
+  directory.set_path(FLAGS_dot_dir_path);
+  if (!directory.exists()) {
+    common::Filesystem::create_directory_recursive(directory);
+  }
+  MALIPUT_THROW_UNLESS(directory.exists());
+
+  const std::string dot_file_path = FLAGS_dot_dir_path + "/" + FLAGS_dot_file_name;
+  std::ofstream os(dot_file_path, std::ios::binary);
+
+  log()->info("Generating DOT file at ", dot_file_path, " ...");
+  utility::GenerateDotStream(routing::graph::BuildGraph(rn->road_geometry()), &os);
+  log()->info("Generated DOT file.");
+
+  os.close();
+
+  return 0;
+}
+
+}  // namespace
+}  // namespace integration
+}  // namespace maliput
+
+int main(int argc, char* argv[]) { return maliput::integration::Main(argc, argv); }