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Add mutex to lane parameters #477

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merged 3 commits into from
Nov 17, 2023
Merged

Add mutex to lane parameters #477

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4f6ed12
Add mutex to lane parameters
luca-della-vedova Oct 9, 2023
f75262e
Mutex property for vertices
luca-della-vedova Oct 9, 2023
48c0f98
Merge branch 'main' into luca/add_mutex_param
mxgrey Nov 13, 2023
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11 changes: 8 additions & 3 deletions rmf_building_map_tools/building_map/level.py
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Original file line number Diff line number Diff line change
Expand Up @@ -211,6 +211,10 @@ def add_edge_from_coords(self, edge_type, p1, p2, props):
ParamValue.DOUBLE,
props.get('speed_limit', 0.0)
])
edge.params['mutex'] = ParamValue([
ParamValue.STRING,
props.get('mutex', "")
])
self.lanes.append(edge)
else:
raise ValueError('unknown edge type!')
Expand Down Expand Up @@ -486,6 +490,10 @@ def generate_nav_graph(self, graph_idx, always_unidirectional=True):
l.params['speed_limit'].value > 0.0:
p['speed_limit'] = l.params['speed_limit'].value

if 'mutex' in l.params and \
l.params['mutex'].value:
p['mutex'] = l.params['mutex'].value

if 'demo_mock_floor_name' in l.params and \
l.params['demo_mock_floor_name'].value:
p['demo_mock_floor_name'] = \
Expand All @@ -503,9 +511,6 @@ def generate_nav_graph(self, graph_idx, always_unidirectional=True):
if 'dock_name' in v1.params: # lane segment begins at dock
beginning_dock = v1.params['dock_name'].value

if 'speed_limit' in l.params:
p['speed_limit'] = l.params['speed_limit'].value

if always_unidirectional and l.is_bidirectional():
# now flip things around and make the second link
forward_params = copy.deepcopy(p)
Expand Down
1 change: 1 addition & 0 deletions rmf_traffic_editor/gui/edge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,7 @@ void Edge::create_required_parameters()
std::string());
create_param_if_needed("demo_mock_lift_name", Param::STRING, std::string());
create_param_if_needed("speed_limit", Param::DOUBLE, 0.0);
create_param_if_needed("mutex", Param::STRING, std::string());
}
else if (type == DOOR)
{
Expand Down
1 change: 1 addition & 0 deletions rmf_traffic_editor/gui/vertex.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@ const vector<pair<string, Param::Type>> Vertex::allowed_params
{ "is_holding_point", Param::Type::BOOL },
{ "is_passthrough_point", Param::Type::BOOL },
{ "human_goal_set_name", Param::Type::STRING },
{ "mutex", Param::Type::STRING },
};


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