Merge branch 'master' of http://192.168.14.36:3000/adc_pilot/modularization

map/map-LvSeQuanCheng.xodr

@@ -0,0 +1,4045 @@
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map/map_xiali.xodr

@@ -0,0 +1,5814 @@
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+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2000000000000000e+01" id="10087" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="40003" contactPoint="end" />
+            <successor elementType="road" elementId="10075" contactPoint="start" />
+        </link>
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+            <geometry s="0.0000000000000000e+00" x="-2.1230241009735764e+01" y="1.3184649405057891e+02" hdg="4.7147536359653301e+00" length="1.5962910860877095e+00">
+                <line />
+            </geometry>
+            <geometry s="1.5962910860877095e+00" x="-2.1226466334628466e+01" y="1.3025020742739656e+02" hdg="4.7147536359653301e+00" length="9.6629841443872415e+00">
+                <arc curvature="-1.6666666666666666e-01" />
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+            <geometry s="1.1259275230474952e+01" x="-2.7450415766520109e+01" y="1.2424020103604450e+02" hdg="3.1042562785674566e+00" length="1.0740724769525047e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1773676854245885e+00" b="3.9650727615939182e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="9.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.6178135572034384e+00" b="-9.0654735895290064e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="1.5000000000000000e+01" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <junction name="" id="800000">
+        <connection id="0" incomingRoad="10006" connectingRoad="10047" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10006" connectingRoad="10072" contactPoint="end">
+            <laneLink from="-1" to="-1" />
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+        <connection id="2" incomingRoad="10090" connectingRoad="10092" contactPoint="start">
+            <laneLink from="1" to="-1" />
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+        <connection id="3" incomingRoad="10090" connectingRoad="10072" contactPoint="start">
+            <laneLink from="1" to="-1" />
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+        <connection id="4" incomingRoad="10090" connectingRoad="10091" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10090" connectingRoad="10033" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800001">
+        <connection id="0" incomingRoad="10038" connectingRoad="10004" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10038" connectingRoad="10091" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800002">
+        <connection id="0" incomingRoad="10039" connectingRoad="10092" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10039" connectingRoad="10100" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800003">
+        <connection id="0" incomingRoad="10002" connectingRoad="10018" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10002" connectingRoad="40001" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800004">
+        <connection id="0" incomingRoad="10017" connectingRoad="10048" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10017" connectingRoad="10066" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10054" connectingRoad="10031" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10054" connectingRoad="10048" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10060" connectingRoad="10065" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10060" connectingRoad="10066" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800005">
+        <connection id="0" incomingRoad="10103" connectingRoad="10005" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10103" connectingRoad="10033" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800006">
+        <connection id="0" incomingRoad="10012" connectingRoad="10020" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10012" connectingRoad="10080" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10021" connectingRoad="10020" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10021" connectingRoad="10080" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800007">
+        <connection id="0" incomingRoad="10085" connectingRoad="10077" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10085" connectingRoad="10037" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800008">
+        <connection id="0" incomingRoad="10007" connectingRoad="10031" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10007" connectingRoad="10065" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800009">
+        <connection id="0" incomingRoad="10009" connectingRoad="10007" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10009" connectingRoad="10010" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800010">
+        <connection id="0" incomingRoad="10009" connectingRoad="10088" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10009" connectingRoad="10106" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10009" connectingRoad="10078" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10027" connectingRoad="10106" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10027" connectingRoad="10110" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10106" connectingRoad="10088" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10106" connectingRoad="10009" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10032" connectingRoad="10106" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10032" connectingRoad="10110" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10088" connectingRoad="10106" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="10" incomingRoad="10088" connectingRoad="10078" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="11" incomingRoad="10078" connectingRoad="10088" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="12" incomingRoad="10078" connectingRoad="10009" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="13" incomingRoad="40008" connectingRoad="10075" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="14" incomingRoad="40008" connectingRoad="10078" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800011">
+        <connection id="0" incomingRoad="10106" connectingRoad="10027" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10106" connectingRoad="10032" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10110" connectingRoad="10027" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10110" connectingRoad="10032" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800012">
+        <connection id="0" incomingRoad="10040" connectingRoad="10050" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10040" connectingRoad="10026" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800013">
+        <connection id="0" incomingRoad="10104" connectingRoad="10051" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10104" connectingRoad="10025" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10030" connectingRoad="10025" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10030" connectingRoad="10062" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800014">
+        <connection id="0" incomingRoad="10029" connectingRoad="10061" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10029" connectingRoad="10064" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800015">
+        <connection id="0" incomingRoad="10011" connectingRoad="10022" contactPoint="start">
+            <laneLink from="2" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10011" connectingRoad="10023" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800016">
+        <connection id="0" incomingRoad="10084" connectingRoad="10024" contactPoint="start">
+            <laneLink from="2" to="2" />
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10084" connectingRoad="10086" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10096" connectingRoad="10024" contactPoint="end">
+            <laneLink from="2" to="2" />
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10096" connectingRoad="10089" contactPoint="end">
+            <laneLink from="-2" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800017">
+        <connection id="0" incomingRoad="10073" connectingRoad="10074" contactPoint="end">
+            <laneLink from="2" to="2" />
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10073" connectingRoad="10076" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800018">
+        <connection id="0" incomingRoad="10073" connectingRoad="10014" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10073" connectingRoad="10015" contactPoint="end">
+            <laneLink from="2" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800019">
+        <connection id="0" incomingRoad="10034" connectingRoad="10042" contactPoint="start">
+            <laneLink from="2" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10034" connectingRoad="10055" contactPoint="end">
+            <laneLink from="2" to="2" />
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+            <laneLink from="-2" to="-2" />
+        </connection>
+        <connection id="2" incomingRoad="10059" connectingRoad="10062" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10059" connectingRoad="10055" contactPoint="start">
+            <laneLink from="2" to="2" />
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+            <laneLink from="-2" to="-2" />
+        </connection>
+    </junction>
+    <junction name="" id="800020">
+        <connection id="0" incomingRoad="10034" connectingRoad="10113" contactPoint="start">
+            <laneLink from="2" to="2" />
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+            <laneLink from="-2" to="-2" />
+        </connection>
+        <connection id="1" incomingRoad="10034" connectingRoad="10114" contactPoint="start">
+            <laneLink from="-2" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800021">
+        <connection id="0" incomingRoad="10060" connectingRoad="10028" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10060" connectingRoad="10053" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800022">
+        <connection id="0" incomingRoad="10071" connectingRoad="10052" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10071" connectingRoad="10067" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10052" connectingRoad="10071" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10052" connectingRoad="10067" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800023">
+        <connection id="0" incomingRoad="10096" connectingRoad="10036" contactPoint="start">
+            <laneLink from="2" to="2" />
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+            <laneLink from="-2" to="-2" />
+        </connection>
+        <connection id="1" incomingRoad="10096" connectingRoad="10095" contactPoint="end">
+            <laneLink from="2" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800024">
+        <connection id="0" incomingRoad="10097" connectingRoad="10082" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10097" connectingRoad="10101" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10081" connectingRoad="10101" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10081" connectingRoad="40017" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="40012" connectingRoad="40016" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="40012" connectingRoad="10082" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800025">
+        <connection id="0" incomingRoad="40003" connectingRoad="10109" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="40003" connectingRoad="10087" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10075" connectingRoad="10079" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10075" connectingRoad="10087" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800026">
+        <connection id="0" incomingRoad="10107" connectingRoad="10108" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10107" connectingRoad="10111" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10108" connectingRoad="10107" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10108" connectingRoad="10111" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800027">
+        <connection id="0" incomingRoad="40013" connectingRoad="40012" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="40013" connectingRoad="40014" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+</OpenDRIVE>

src/common/common/license/adclicense.pri

@@ -0,0 +1,7 @@
+HEADERS += \
+    $$PWD/adclicenseserv.h \
+    $$PWD/adclicensewithwin.h
+
+SOURCES += \
+    $$PWD/adclicenseserv.cpp \
+    $$PWD/adclicensewithwin.cpp

src/common/common/license/adclicenseserv.cpp

@@ -0,0 +1,71 @@
+#include "adclicenseserv.h"
+
+#include <QProcess>
+#include "modulecomm.h"
+#include <thread>
+#include <iostream>
+
+namespace iv {
+struct ivlicensekey
+{
+    bool linshikey;
+    bool yongjiukey;
+};
+}
+
+
+iv::ivlicensekey gkey;
+void * gpa;
+bool gbHaveRecvKey = false;
+
+
+
+ADCLicenseServ::ADCLicenseServ()
+{
+
+}
+
+void ListenKey(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+
+    std::cout<<"key len is "<<nSize<<std::endl;
+    if(nSize >= sizeof (iv::ivlicensekey))
+    {
+        memcpy(&gkey,strdata,sizeof(iv::ivlicensekey));
+        std::cout<<" key 1:"<<gkey.linshikey<<"key 2:"<<gkey.yongjiukey<<std::endl;
+        gbHaveRecvKey = true;
+    }
+
+}
+
+
+int ADCLicenseServ::CheckLincese()
+{
+    gpa = iv::modulecomm::RegisterRecv("keyfeedback",ListenKey);
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    QProcess * pProc = new QProcess();
+    pProc->start("adc_key_win_exe.exe");
+    QTime xTime;
+    xTime.start();
+    while(gbHaveRecvKey == false)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        if(xTime.elapsed()>10000)
+        {
+            break;
+        }
+    }
+    if(gbHaveRecvKey)
+    {
+        if((gkey.yongjiukey == true)||(gkey.linshikey == true))
+        {
+            return  0;
+        }
+        else
+        {
+            return  -1;
+        }
+    }
+    return -2;
+
+}

src/common/common/license/adclicenseserv.h

@@ -0,0 +1,14 @@
+#ifndef ADCLICENSESERV_H
+#define ADCLICENSESERV_H
+
+
+class ADCLicenseServ
+{
+public:
+    ADCLicenseServ();
+
+public:
+    static int CheckLincese();
+};
+
+#endif // ADCLICENSESERV_H

src/common/common/license/adclicensewithwin.cpp

@@ -0,0 +1,22 @@
+
+#include <QMessageBox>
+#include "adclicenseserv.h"
+
+int ADCLicenseCheckWithWin()
+{
+    int nRtn = ADCLicenseServ::CheckLincese();
+    if(nRtn == -1)
+    {
+        QMessageBox::warning(NULL,"Warning","license 错误，请申请license",QMessageBox::YesAll);
+        return nRtn;
+    }
+    else
+    {
+        if(nRtn == -2)
+        {
+            QMessageBox::warning(NULL,"Warning","license服务启动失败",QMessageBox::YesAll);
+            return nRtn;
+        }
+    }
+    return nRtn;
+}

src/common/common/license/adclicensewithwin.h

@@ -0,0 +1,5 @@
+#ifndef ADCLICENSEWITHWIN_H
+#define ADCLICENSEWITHWIN_H
+
+int ADCLicenseCheckWithWin();
+#endif // ADCLICENSEWITHWIN_H

src/common/common/xodr/OpenDrive/Lane.cpp

@@ -420,6 +420,44 @@ bool LaneSection::FillLaneSectionSample(double s_check, LaneSectionSample& laneS
 	return true;
 }
 
+//Examp i= 1 return lane id = 1 lane
+Lane * LaneSection::GetLeftLaneAt(unsigned int index)
+{
+    int nlaneid = index;
+    Lane * pRtn = NULL;
+
+    unsigned int i;
+    for(i=0;i<mLaneVector.size();i++)
+    {
+        if(mLaneVector.at(i).GetId() == nlaneid)
+        {
+            pRtn = &mLaneVector.at(i);
+            break;
+        }
+    }
+    return pRtn;
+
+}
+
+//Examp i= 1 return lane id = -1 lane
+Lane * LaneSection::GetRightLaneAt(unsigned int index)
+{
+    int nlaneid = index;
+    nlaneid = nlaneid *(-1);
+    Lane * pRtn = NULL;
+
+    unsigned int i;
+    for(i=0;i<mLaneVector.size();i++)
+    {
+        if(mLaneVector.at(i).GetId() == nlaneid)
+        {
+            pRtn = &mLaneVector.at(i);
+            break;
+        }
+    }
+    return pRtn;
+}
+
 /**
 * Destructor. Delete all the members of the vectors: mLeft, mCenter, mRight
 */

src/common/common/xodr/OpenDrive/Lane.h

@@ -182,6 +182,9 @@ public:
 
     void SetSingleSide(string singleSide);
     string GetSingleSide();
+
+    Lane * GetLeftLaneAt(unsigned int index);
+    Lane * GetRightLaneAt(unsigned int index);
 };
 
 

src/common/common/xodr/OpenDrive/OpenDrive.cpp

@@ -162,7 +162,8 @@ OpenDrive::OpenDrive (const OpenDrive& openDrive)
 {
     mRoadVector = openDrive.mRoadVector;
     mJunctionVector = openDrive.mJunctionVector;
-    Header * pHeader = openDrive.mHeader;
+    Header * pHeader = new Header();
+    if(openDrive.mHeader != NULL)*pHeader = *(openDrive.mHeader);
     if(pHeader != NULL)
     {
         unsigned short int revMajor,revMinor;
@@ -184,7 +185,8 @@ const OpenDrive& OpenDrive::operator=(const OpenDrive& rhs)
 {
     mRoadVector = rhs.mRoadVector;
     mJunctionVector = rhs.mJunctionVector;
-    Header * pHeader = rhs.mHeader;
+    Header * pHeader = new Header();
+    if(rhs.mHeader != NULL)*pHeader = *(rhs.mHeader);
     if(pHeader != NULL)
     {
         unsigned short int revMajor,revMinor;
@@ -239,6 +241,51 @@ Header::Header(unsigned short int revMajor, unsigned short int revMinor, string
 
 }
 
+Header::Header()
+{
+    mRevMajor=1;
+    mRevMinor=1;
+    mName="adcmap";
+    mVersion=1.1;
+}
+
+Header::Header(const Header& pHeader)
+{
+    mRevMajor = pHeader.mRevMajor;
+    mRevMinor=pHeader.mRevMajor;
+    mName=pHeader.mName;
+    mVersion=pHeader.mVersion;
+    mDate=pHeader.mDate;
+    mNorth=pHeader.mNorth;
+    mSouth=pHeader.mSouth;
+    mEast=pHeader.mEast;
+    mWest=pHeader.mWest;
+
+    mLat0=pHeader.mLat0;
+    mLon0=pHeader.mLon0;
+    mHdg0=pHeader.mHdg0;
+    mgeoReference = pHeader.mgeoReference;
+    muserData = pHeader.muserData;
+}
+const Header& Header::operator=(const Header& rhs)
+{
+    mRevMajor = rhs.mRevMajor;
+    mRevMinor=rhs.mRevMajor;
+    mName=rhs.mName;
+    mVersion=rhs.mVersion;
+    mDate=rhs.mDate;
+    mNorth=rhs.mNorth;
+    mSouth=rhs.mSouth;
+    mEast=rhs.mEast;
+    mWest=rhs.mWest;
+
+    mLat0=rhs.mLat0;
+    mLon0=rhs.mLon0;
+    mHdg0=rhs.mHdg0;
+    mgeoReference = rhs.mgeoReference;
+    muserData = rhs.muserData;
+}
+
 Header::Header(unsigned short int revMajor, unsigned short int revMinor, string name, float version, string date,
                double north, double south, double east,double west,double lat0,double lon0,double hdg0)
 {

src/common/common/xodr/OpenDrive/OpenDrive.h

@@ -168,6 +168,10 @@ public:
     Header(unsigned short int revMajor, unsigned short int revMinor, string name, float version, string date,
         double north, double south, double east,double west,double lat0,double lon0, double hdg0);
 	
+
+    Header();
+    Header(const Header& pHeader);
+    const Header& operator=(const Header& rhs);
 	/**
 	 * Getter for all properties
 	 */

src/common/common/xodr/OpenDrive/OpenDriveXmlParser.cpp

@@ -547,6 +547,8 @@ bool OpenDriveXmlParser::ReadGeometry(GeometryBlock* geomBlock, TiXmlElement *no
     case 4:		//parampoly3,add by Yuchuli 2019.11.1
         checker=TIXML_SUCCESS;
         double ua,ub,uc,ud,va,vb,vc,vd;
+        bool bNormal = true;
+        std::string strpRange;
         checker+=subNode->QueryDoubleAttribute("aU",&ua);
         checker+=subNode->QueryDoubleAttribute("bU",&ub);
         checker+=subNode->QueryDoubleAttribute("cU",&uc);
@@ -561,7 +563,14 @@ bool OpenDriveXmlParser::ReadGeometry(GeometryBlock* geomBlock, TiXmlElement *no
             return false;
         }
 
-        geomBlock->AddGeometryParamPoly3(s,x,y,hdg,length,ua,ub,uc,ud,va,vb,vc,vd);
+        if(subNode->QueryStringAttribute("pRange",&strpRange) == TIXML_SUCCESS)
+        {
+            if(strpRange == "arcLength")
+            {
+                bNormal = false;
+            }
+        }
+        geomBlock->AddGeometryParamPoly3(s,x,y,hdg,length,ua,ub,uc,ud,va,vb,vc,vd,bNormal);
         break;
 	}
 

src/common/common/xodr/OpenDrive/OpenDriveXmlWriter.cpp

@@ -169,6 +169,21 @@ bool OpenDriveXmlWriter::WriteRoad(TiXmlElement *node, Road *road)
 	//Proceed to Signals
 	WriteSignals(nodeRoad, road);
 
+
+    vector<string> * puserDataVector = road->GetUserData();
+    unsigned int luserDataCount = puserDataVector->size();
+    for(unsigned int i=0;i<luserDataCount;i++)
+    {
+        TiXmlElement * nodeuserData = new TiXmlElement("userData");
+        nodeuserData->Parse(puserDataVector->at(i).data(),0,TIXML_ENCODING_UTF8);
+        nodeRoad->LinkEndChild(nodeuserData);
+    }
+
+    if(road->GetRoadBorrowCount()>0)
+    {
+        WriteRoadBorrows(nodeRoad,road);
+    }
+
 	/*
 	//Proceed to Surface
 	subNode=node->FirstChildElement("surface");
@@ -420,7 +435,19 @@ bool OpenDriveXmlWriter::WriteGeometry(TiXmlElement *node, RoadGeometry* roadGeo
 			break;
 		}
 	case 3:
-		{		
+        {
+            double ua,ub,uc,ud;
+            GeometryPoly3 * lp3 = static_cast<GeometryPoly3 *>(roadGeometry);
+            ua = lp3->GetA();
+            ub = lp3->GetB();
+            uc = lp3->GetC();
+            ud = lp3->GetD();
+            TiXmlElement *nodePoly3 = new TiXmlElement("poly3");
+            nodeGeometry->LinkEndChild(nodePoly3);
+            nodePoly3->SetDoubleAttribute("a",ua);
+            nodePoly3->SetDoubleAttribute("b",ub);
+            nodePoly3->SetDoubleAttribute("c",uc);
+            nodePoly3->SetDoubleAttribute("d",ud);
 			//poly3
 			break;
 		}
@@ -428,6 +455,7 @@ bool OpenDriveXmlWriter::WriteGeometry(TiXmlElement *node, RoadGeometry* roadGeo
     case 4:
         {   //paramPoly3 add by Yu Chuli. 2019.11.1
             double ua,ub,uc,ud,va,vb,vc,vd;
+            bool bNormal;
             GeometryParamPoly3 *lpp3=static_cast<GeometryParamPoly3 *>(roadGeometry);
 
             ua = lpp3->GetuA();
@@ -438,6 +466,7 @@ bool OpenDriveXmlWriter::WriteGeometry(TiXmlElement *node, RoadGeometry* roadGeo
             vb = lpp3->GetvB();
             vc = lpp3->GetvC();
             vd = lpp3->GetvD();
+            bNormal = lpp3->GetNormal();
 
             TiXmlElement *nodeParamPoly3 = new TiXmlElement("paramPoly3");
             nodeGeometry->LinkEndChild(nodeParamPoly3);
@@ -473,6 +502,11 @@ bool OpenDriveXmlWriter::WriteGeometry(TiXmlElement *node, RoadGeometry* roadGeo
             std::stringstream svd;
             svd << setprecision(16) << setiosflags (ios_base::scientific) << vd;
             nodeParamPoly3->SetAttribute("dV",svd.str());
+
+            if(bNormal == false)
+            {
+                nodeParamPoly3->SetAttribute("pRange","arcLength");
+            }
             break;
 
         }
@@ -1318,6 +1352,33 @@ bool OpenDriveXmlWriter::WriteObjectParkingSpace(TiXmlElement *node, Object_park
 }
 //--------------
 
+bool OpenDriveXmlWriter::WriteRoadBorrow(TiXmlElement *node, RoadBorrow *pRoadBorrow)
+{
+    TiXmlElement* nodeRoadBorrow = new TiXmlElement("roadborrow");
+    node->LinkEndChild(nodeRoadBorrow);
+
+    nodeRoadBorrow->SetDoubleAttribute("sOffset",pRoadBorrow->GetS());
+    nodeRoadBorrow->SetDoubleAttribute("length",pRoadBorrow->GetLength());
+    nodeRoadBorrow->SetAttribute("mode",pRoadBorrow->GetMode());
+    return true;
+}
+//--------------
+bool OpenDriveXmlWriter::WriteRoadBorrows(TiXmlElement *node, Road *road)
+{
+    TiXmlElement* nodeRoadBorrows = new TiXmlElement("userData");
+    nodeRoadBorrows->SetAttribute("code","roadborrow");
+    node->LinkEndChild(nodeRoadBorrows);
+
+    unsigned int lRoadBorrowCount = road->GetRoadBorrowCount();
+    for(unsigned int i=0; i<lRoadBorrowCount; i++)
+    {
+        WriteRoadBorrow(nodeRoadBorrows, road->GetRoadBorrow(i));
+    }
+
+    return true;
+}
+//--------------
+
 bool OpenDriveXmlWriter::WriteSignals (TiXmlElement *node, Road* road)
 {
 	TiXmlElement* nodeSignals = new TiXmlElement("signals");

src/common/common/xodr/OpenDrive/OpenDriveXmlWriter.h

@@ -67,6 +67,8 @@ public:
     bool WriteLaneBorder(TiXmlElement *node, LaneBorder* laneWidth);
 	//--------------
 
+    bool WriteRoadBorrows(TiXmlElement *node, Road* road);
+    bool WriteRoadBorrow(TiXmlElement *node,RoadBorrow * pRoadBorrow);
 	bool WriteObjects (TiXmlElement *node, Road* road);
     bool WriteObject(TiXmlElement * node, Object * pObject);
     bool WriteObjectParkingSpace(TiXmlElement * node,Object_parkingSpace * pObject_parkingSpace);

src/common/common/xodr/OpenDrive/Road.cpp

@@ -62,6 +62,8 @@ Road::Road (const Road& road)
 	mObjectsVector=road.mObjectsVector;
 	mSignalsVector=road.mSignalsVector;
     mLaneOffsetVector=road.mLaneOffsetVector;
+    mRoadBorrowVector = road.mRoadBorrowVector;
+
 }
 
 /**
@@ -104,6 +106,7 @@ const Road& Road::operator=(const Road& otherRoad)
 		mObjectsVector=otherRoad.mObjectsVector;
 		mSignalsVector=otherRoad.mSignalsVector;
         mLaneOffsetVector=otherRoad.mLaneOffsetVector;
+        mRoadBorrowVector = otherRoad.mRoadBorrowVector;
 	}
 	return *this;
 }
@@ -938,6 +941,7 @@ void Road::DeleteSignal(unsigned int index)
 
 void Road::DeleteRoadBorrow(unsigned int index)
 {
+    if(mRoadBorrowVector.size() == 0)return;
     mRoadBorrowVector.erase(mRoadBorrowVector.begin()+index);
 }
 
@@ -1134,6 +1138,17 @@ int  Road::CheckLaneSectionInterval(double s_check)
 //-----------
 int Road::CheckRoadBorrowInterval(double s_check)
 {
+    int res=-1;
+    //Go through all the lane section records
+    for (unsigned int i=0;i<mRoadBorrowVector.size();i++)
+    {
+        //check if the s_check belongs to the current record
+        if (mRoadBorrowVector.at(i).CheckInterval(s_check))
+            res=i;	//assign it to the result id
+        else
+            break;	//if not, break;
+    }
+    return res;		//return the result: 0 to MaxInt as the index to the record containing s_check or -1 if nothing found
 
 }
 //-----------
@@ -1144,7 +1159,7 @@ int Road::CheckLaneOffsetInterval(double s_check)
     for (unsigned int i=0;i<mLaneOffsetVector.size();i++)
     {
         //check if the s_check belongs to the current record
-        if (mRoadBorrowVector.at(i).CheckInterval(s_check))
+        if (mLaneOffsetVector.at(i).CheckInterval(s_check))
             res=i;	//assign it to the result id
         else
             break;	//if not, break;

src/common/common/xodr/OpenDrive/RoadGeometry.cpp

@@ -168,7 +168,8 @@ double RoadGeometry::GetLength()
  */
 bool RoadGeometry::CheckInterval (double s_check)
 {
-	if ((s_check >= mS) && (s_check<=mS2))
+//    if ((s_check >= mS) && (s_check<=mS2))
+    if ((s_check >= mS) && (s_check<=(mS2+0.00001)))   //Solve End Problem.
 		return true;
 	else
 		return false;
@@ -718,7 +719,7 @@ void GeometryPoly3::GetCoords(double s_check, double &retX, double &retY, double
 {
     if(mbHaveSample &&(mvectorgeosample.size() > 1))
     {
-        double fpos = s_check/0.1;
+        double fpos = (s_check - mS)/0.1;
         unsigned int ipos = fpos;
         double temX,temY,temHDG;
         if(ipos<=0)
@@ -788,9 +789,9 @@ void GeometryPoly3::GetCoords(double s_check, double &retX, double &retY, double
 /**
  * Constructor that initializes the base properties of the record
  */
-GeometryParamPoly3::GeometryParamPoly3 (double s, double x, double y, double hdg, double length,double ua,double ub,double uc,double ud,double va, double vb, double vc,double vd  ):	RoadGeometry(s, x, y, hdg, length)
+GeometryParamPoly3::GeometryParamPoly3 (double s, double x, double y, double hdg, double length,double ua,double ub,double uc,double ud,double va, double vb, double vc,double vd,bool bNormal  ):	RoadGeometry(s, x, y, hdg, length)
 {
-    SetGeomType(4); muA=ua; muB=ub; muC=uc; muD=ud;mvA=va; mvB=vb; mvC=vc; mvD=vd;
+    SetGeomType(4); muA=ua; muB=ub; muC=uc; muD=ud;mvA=va; mvB=vb; mvC=vc; mvD=vd;mbNormal = bNormal;
 }
 
 /**
@@ -798,7 +799,7 @@ GeometryParamPoly3::GeometryParamPoly3 (double s, double x, double y, double hdg
  */
 RoadGeometry* GeometryParamPoly3::Clone() const
 {
-    GeometryParamPoly3* ret=new GeometryParamPoly3(mS,mX,mY, mHdg, mLength, muA, muB, muC, muD,mvA,mvB,mvC,mvD);
+    GeometryParamPoly3* ret=new GeometryParamPoly3(mS,mX,mY, mHdg, mLength, muA, muB, muC, muD,mvA,mvB,mvC,mvD,mbNormal);
     return ret;
 }
 
@@ -832,6 +833,7 @@ double GeometryParamPoly3::GetvA(){return mvA;}
 double GeometryParamPoly3::GetvB(){return mvB;}
 double GeometryParamPoly3::GetvC(){return mvC;}
 double GeometryParamPoly3::GetvD(){return mvD;}
+bool GeometryParamPoly3::GetNormal(){return mbNormal;}
 
 void GeometryParamPoly3::GetCoords(double s_check, double &retX, double &retY, double &retHDG)
 {
@@ -844,13 +846,13 @@ void GeometryParamPoly3::GetCoords(double s_check, double &retX, double &retY, d
     }
     if(mbNormal)
     {
-        pRange = s_check/mLength;
+        pRange = (s_check - mS)/mLength;
         if(pRange<0)pRange = 0.0;
         if(pRange>1.0)pRange = 1.0;
     }
     else
     {
-        pRange = s_check;
+        pRange = (s_check -mS);
     }
     double xtem,ytem;
     xtem = muA + muB * pRange +  muC * pRange*pRange +  muD * pRange*pRange*pRange;
@@ -865,19 +867,81 @@ void GeometryParamPoly3::GetCoords(double s_check, double &retX, double &retY, d
     {
         if(mbNormal)
         {
-            pRange = (s_check-0.1)/mLength;
+            pRange = (s_check -mS)/mLength;
             if(pRange<0)pRange = 0.0;
             if(pRange>1.0)pRange = 1.0;
         }
         else
         {
-            pRange = s_check - 0.1;
+            pRange = s_check-mS;
         }
-        xtem = muA + muB * pRange + muC * pRange*pRange + muD * pRange*pRange*pRange;
-        ytem = mvA + mvB * pRange + mvC * pRange*pRange + mvD * pRange*pRange*pRange;
-        double x = xtem*cos(mHdg) - ytem * sin(mHdg) + mX;
-        double y = xtem*sin(mHdg) + ytem * cos(mHdg) + mY;
-        retHDG = CalcHdg(x,y,retX,retY);
+
+        double a,b;
+        a = muB + 2 * muC*pRange + 3*muD*pRange*pRange;
+        b = mvB + 2 * mvC*pRange + 3*mvD*pRange*pRange;
+
+
+        if(a == 0)
+        {
+            if(b>0)
+            {
+                retHDG = M_PI/2.0;
+            }
+            else
+            {
+                retHDG = M_PI*3.0/2.0;
+            }
+        }
+        else
+        {
+            double ratio = b/a;
+            double hdg = atan(ratio);
+            if(ratio > 0)
+            {
+                if(b>0)
+                {
+
+                }
+                else
+                {
+                    hdg = hdg + M_PI;
+                }
+            }
+            else
+            {
+                if(b>0)
+                {
+                    hdg = hdg + M_PI;
+                }
+                else
+                {
+                    hdg = hdg + 2.0*M_PI;
+                }
+            }
+            retHDG = hdg;
+        }
+
+        retHDG = retHDG + mHdg;
+        while(retHDG<0)retHDG = retHDG + 2.0*M_PI;
+        while(retHDG>=2.0*M_PI)retHDG = retHDG - 2.0*M_PI;
+
+
+
+//        if(mbNormal)
+//        {
+//            pRange = (s_check -mS-0.001)/mLength;
+//            if(pRange<0)pRange = 0.0;
+//            if(pRange>1.0)pRange = 1.0;
+//        }
+//        else
+//        {
+//            pRange = s_check-mS - 0.001;
+//        }
+//        xtem = muA + muB * pRange + muC * pRange*pRange + muD * pRange*pRange*pRange;
+//        ytem = mvA + mvB * pRange + mvC * pRange*pRange + mvD * pRange*pRange*pRange;
+//        double x = xtem*cos(mHdg) - ytem * sin(mHdg) + mX;
+//        double y = xtem*sin(mHdg) + ytem * cos(mHdg) + mY;
+//        retHDG = CalcHdg(x,y,retX,retY);
     }
 }
 
@@ -961,9 +1025,9 @@ void GeometryBlock::AddGeometryPoly3(double s, double x, double y, double hdg, d
 {	
 	mGeometryBlockElement.push_back(new GeometryPoly3(s, x, y, hdg, length, a, b, c, d));	
 }
-void GeometryBlock::AddGeometryParamPoly3(double s, double x, double y, double hdg, double length, double ua, double ub, double uc, double ud, double va, double vb, double vc, double vd)
+void GeometryBlock::AddGeometryParamPoly3(double s, double x, double y, double hdg, double length, double ua, double ub, double uc, double ud, double va, double vb, double vc, double vd,bool bNormal)
 {
-    mGeometryBlockElement.push_back(new GeometryParamPoly3(s,x,y,hdg,length,ua,ub,uc,ud,va,vb,vc,vd));
+    mGeometryBlockElement.push_back(new GeometryParamPoly3(s,x,y,hdg,length,ua,ub,uc,ud,va,vb,vc,vd,bNormal));
 }
 
 //-------------------------------------------------

src/common/common/xodr/OpenDrive/RoadGeometry.h

@@ -356,7 +356,7 @@ public:
     /**
      * Constructor that initializes the base properties of the record
      */
-    GeometryParamPoly3 (double s, double x, double y, double hdg, double length, double ua,double ub,double uc,double ud,double va, double vb, double vc,double vd );
+    GeometryParamPoly3 (double s, double x, double y, double hdg, double length, double ua,double ub,double uc,double ud,double va, double vb, double vc,double vd,bool bNormal = true );
 
     /**
      * Clones and returns the new geometry record
@@ -379,6 +379,8 @@ public:
     double GetvC();
     double GetvD();
 
+    bool GetNormal();
+
     void GetCoords(double s_check, double &retX, double &retY, double &retHDG);
 };
 
@@ -423,7 +425,7 @@ public:
 	void AddGeometryArc(double s, double x, double y, double hdg, double length, double curvature);
 	void AddGeometrySpiral(double s, double x, double y, double hdg, double length, double curvatureStart,double curvatureEnd);
 	void AddGeometryPoly3(double s, double x, double y, double hdg, double length, double a,double b,double c,double d);
-    void AddGeometryParamPoly3(double s, double x, double y, double hdg, double length, double ua,double ub,double uc,double ud,double va,double vb,double vc,double vd);
+    void AddGeometryParamPoly3(double s, double x, double y, double hdg, double length, double ua,double ub,double uc,double ud,double va,double vb,double vc,double vd,bool bNormal = true);
 	
 	//-------------------------------------------------
 

src/common/common/xodr/xodrfunc.cpp

@@ -1,1164 +0,0 @@
-#include "xodrfunc.h"
-
-#include "limits"
-#include <iostream>
-
-#include <Eigen/Dense>
-#include <Eigen/Cholesky>
-#include <Eigen/LU>
-#include <Eigen/QR>
-#include <Eigen/SVD>
-
-#include <QDebug>
-#include <QPointF>
-
-xodrfunc::xodrfunc()
-{
-
-}
-
-
-inline double xodrfunc::calcpointdis(QPointF p1,QPointF p2)
-{
-    return sqrt(pow(p1.x()-p2.x(),2)+pow(p1.y()-p2.y(),2));
-}
-
-bool xodrfunc::pointinarc(GeometryArc * parc,QPointF poingarc,QPointF point1)
-{
-    double hdg = CalcHdg(poingarc,point1);
-    if(parc->GetCurvature() >0)hdg = hdg + M_PI/2.0;
-    else hdg = hdg - M_PI/2.0;
-    if(hdg >= 2.0*M_PI)hdg = hdg - 2.0*M_PI;
-    if(hdg < 0)hdg = hdg + 2.0*M_PI;
-
-    double hdgrange = parc->GetLength()/(1.0/parc->GetCurvature());
-
-    double hdgdiff = hdg - parc->GetHdg();
-
-    if(hdgrange >= 0 )
-    {
-        if(hdgdiff < 0)hdgdiff = hdgdiff + M_PI*2.0;
-    }
-    else
-    {
-        if(hdgdiff > 0)hdgdiff = hdgdiff - M_PI*2.0;
-    }
-
-    if(fabs(hdgdiff ) < fabs(hdgrange))return true;
-    return false;
-
-}
-
-/**
-  * @brief CalcHdg
-  * 计算点0到点1的航向
-  * @param p0        Point 0
-  * @param p1        Point 1
-**/
-double xodrfunc::CalcHdg(QPointF p0, QPointF p1)
-{
-    double x0,y0,x1,y1;
-    x0 = p0.x();
-    y0 = p0.y();
-    x1 = p1.x();
-    y1 = p1.y();
-    if(x0 == x1)
-    {
-        if(y0 < y1)
-        {
-            return M_PI/2.0;
-        }
-        else
-            return M_PI*3.0/2.0;
-    }
-
-    double ratio = (y1-y0)/(x1-x0);
-
-    double hdg = atan(ratio);
-
-    if(ratio > 0)
-    {
-        if(y1 > y0)
-        {
-
-        }
-        else
-        {
-            hdg = hdg + M_PI;
-        }
-    }
-    else
-    {
-        if(y1 > y0)
-        {
-            hdg = hdg + M_PI;
-        }
-        else
-        {
-            hdg = hdg + 2.0*M_PI;
-        }
-    }
-
-    return hdg;
-}
-
-/**
- * @brief GetParamPoly3Dis 获得点到贝塞尔曲线的距离。
- * @param parc
- * @param xnow
- * @param ynow
- * @param nearx
- * @param neary
- * @param nearhead
- * @return
- */
-double xodrfunc::GetParamPoly3Dis(GeometryParamPoly3 * parc,double xnow,double ynow,double & nearx,
-                        double & neary,double & nearhead,double & frels)
-{
-
-    double s = 0.1;
-    double fdismin = 100000.0;
-    frels = 0;
-
-    double xold,yold;
-    xold = parc->GetX();
-    yold = parc->GetY();
-
-    double fdis = calcpointdis(QPointF(parc->GetX(),parc->GetY()),QPointF(xnow,ynow));
-    if(fdis<fdismin)
-    {
-        fdismin = fdis;
-        nearhead = parc->GetHdg();
-        nearx = parc->GetX();
-        neary = parc->GetY();
-    }
-
-    while(s < parc->GetLength())
-    {
-
-        double x, y,xtem,ytem;
-        xtem = parc->GetuA() + parc->GetuB() * s + parc->GetuC() * s*s + parc->GetuD() * s*s*s;
-        ytem = parc->GetvA() + parc->GetvB() * s + parc->GetvC() * s*s + parc->GetvD() * s*s*s;
-        x = xtem*cos(parc->GetHdg()) - ytem * sin(parc->GetHdg()) + parc->GetX();
-        y = xtem*sin(parc->GetHdg()) + ytem * cos(parc->GetHdg()) + parc->GetY();
-
-        double hdg = CalcHdg(QPointF(xold,yold),QPointF(x,y));
-        double fdis = calcpointdis(QPointF(x,y),QPointF(xnow,ynow));
-        if(fdis<fdismin)
-        {
-            fdismin = fdis;
-            nearhead = hdg;
-            nearx = x;
-            neary = y;
-            frels = s;
-        }
-
-        xold = x;
-        yold = y;
-        s = s+ 0.1;
-    }
-
-    return fdismin;
-
-}
-
-
-/**
-  * @brief GetArcDis
-  * 计算点到圆弧的最短距离，首先用点和圆弧中心点的直线与圆的交点，计算点到交点的距离，如果交点在圆弧上，则最短距离是交点之一，否则计算点到圆弧两个端点的距离。
-  * @param parc        pointer to a arc geomery
-  * @param x           current x
-  * @param y           current y
-  * @param nearx       near x
-  * @param neary       near y
-  * @param nearhead    nearhead
-**/
-
-double xodrfunc::GetArcDis(GeometryArc * parc,double x,double y,double & nearx,
-                        double & neary,double & nearhead,double & frels)
-{
-    frels = 0.0;
-
-    if((parc->GetS()>370)&&(parc->GetS()<370.1))
-    {
-        int a = 1;
-    }
-
-    if(parc->GetCurvature() == 0.0)return 1000.0;
-
-    double R = fabs(1.0/parc->GetCurvature());
-
-
-
-    //calculate arc center
-    double x_center,y_center;
-    if(parc->GetCurvature() > 0)
-    {
-        x_center = parc->GetX() + R * cos(parc->GetHdg() + M_PI/2.0);
-        y_center = parc->GetY() + R * sin(parc->GetHdg()+ M_PI/2.0);
-    }
-    else
-    {
-        x_center = parc->GetX() + R * cos(parc->GetHdg() - M_PI/2.0);
-        y_center = parc->GetY() + R * sin(parc->GetHdg() - M_PI/2.0);
-    }
-
-    double hdgltoa = CalcHdg(QPointF(x,y),QPointF(x_center,y_center));
-
-
-    QPointF arcpoint;
-    arcpoint.setX(x_center);arcpoint.setY(y_center);
-
-    QPointF pointnow;
-    pointnow.setX(x);pointnow.setY(y);
-    QPointF point1,point2;
-    point1.setX(x_center + (R * cos(hdgltoa)));
-    point1.setY(y_center + (R * sin(hdgltoa)));
-    point2.setX(x_center + (R * cos(hdgltoa + M_PI)));
-    point2.setY(y_center + (R * sin(hdgltoa + M_PI)));
-
-    //calculat dis
-    bool bp1inarc,bp2inarc;
-    bp1inarc =pointinarc(parc,arcpoint,point1);
-    bp2inarc =pointinarc(parc,arcpoint,point2);
-    double fdis[4];
-    fdis[0] = calcpointdis(pointnow,point1);
-    fdis[1] = calcpointdis(pointnow,point2);
-    fdis[2] = calcpointdis(pointnow,QPointF(parc->GetX(),parc->GetY()));
-    QPointF pointend;
-    double hdgrange = parc->GetLength()*parc->GetCurvature();
-    double hdgend = parc->GetHdg() + hdgrange;
-    while(hdgend <0.0)hdgend = hdgend + 2.0 *M_PI;
-    while(hdgend >= 2.0*M_PI) hdgend = hdgend -2.0*M_PI;
-
-    if(parc->GetCurvature() >0)
-    {
-        pointend.setX(arcpoint.x() + R*cos(hdgend -M_PI/2.0 ));
-        pointend.setY(arcpoint.y() + R*sin(hdgend -M_PI/2.0) );
-    }
-    else
-    {
-        pointend.setX(arcpoint.x() + R*cos(hdgend +M_PI/2.0 ));
-        pointend.setY(arcpoint.y() + R*sin(hdgend +M_PI/2.0) );
-    }
-
-    fdis[3] = calcpointdis(pointnow,pointend);
-    int indexmin = -1;
-    double fdismin = 1000000.0;
-    if(bp1inarc)
-    {
-        indexmin = 0;fdismin = fdis[0];
-    }
-    if(bp2inarc)
-    {
-        if(indexmin == -1)
-        {
-            indexmin = 1;fdismin = fdis[1];
-        }
-        else
-        {
-            if(fdis[1]<fdismin)
-            {
-                indexmin = 1;fdismin = fdis[1];
-            }
-        }
-    }
-    if(indexmin == -1)
-    {
-        indexmin = 2;fdismin = fdis[2];
-    }
-    else
-    {
-        if(fdis[2]<fdismin)
-        {
-            indexmin = 2;fdismin = fdis[2];
-        }
-    }
-    if(fdis[3]<fdismin)
-    {
-        indexmin = 3;fdismin = fdis[3];
-    }
-
-    double hdgdiff;
-    switch (indexmin) {
-    case 0:
-        nearx = point1.x();
-        neary = point1.y();
-        if(parc->GetCurvature()<0)
-        {
-            nearhead = CalcHdg(arcpoint,point1) - M_PI/2.0;
-
-        }
-        else
-        {
-            nearhead = CalcHdg(arcpoint,point1) + M_PI/2.0;
-        }
-        while(nearhead>2.0*M_PI)nearhead = nearhead -2.0*M_PI;
-        while(nearhead<0)nearhead = nearhead + 2.0*M_PI;
-        hdgdiff = (nearhead-parc->GetHdg())*(parc->GetCurvature()/fabs(parc->GetCurvature()));
-        if(hdgdiff>=2.0*M_PI)hdgdiff = hdgdiff - 2.0*M_PI;
-        if(hdgdiff<0)hdgdiff = hdgdiff + 2.0*M_PI;
-        frels = hdgdiff * R;
-        break;
-    case 1:
-        nearx = point2.x();
-        neary = point2.y();
-        if(parc->GetCurvature()<0)
-        {
-            nearhead = CalcHdg(arcpoint,point2) - M_PI/2.0;
-        }
-        else
-        {
-            nearhead = CalcHdg(arcpoint,point2) + M_PI/2.0;
-        }
-        while(nearhead>2.0*M_PI)nearhead = nearhead -2.0*M_PI;
-        while(nearhead<0)nearhead = nearhead + 2.0*M_PI;
-        hdgdiff = (nearhead-parc->GetHdg())*(parc->GetCurvature()/fabs(parc->GetCurvature()));
-        if(hdgdiff>=2.0*M_PI)hdgdiff = hdgdiff - 2.0*M_PI;
-        if(hdgdiff<0)hdgdiff = hdgdiff + 2.0*M_PI;
-        frels = hdgdiff * R;
-        break;
-    case 2:
-        nearx = parc->GetX();
-        neary = parc->GetY();
-        nearhead = parc->GetHdg();
-        frels = 0;
-        break;
-    case 3:
-        nearx = pointend.x();
-        neary = pointend.y();
-        nearhead = hdgend;
-        frels = parc->GetLength();
-        break;
-    default:
-        std::cout<<"error in arcdis "<<std::endl;
-        break;
-    }
-
-
-    while(nearhead>2.0*M_PI)nearhead = nearhead -2.0*M_PI;
-    while(nearhead<0)nearhead = nearhead + 2.0*M_PI;
-    return fdismin;
-}
-
-
-double xodrfunc::GetPoly3Dis(GeometryPoly3 * ppoly,double xnow,double ynow,double & nearx,
-                        double & neary,double & nearhead,double & frels)
-{
-    double x,y,hdg;
-//    double s = 0.0;
-    double fdismin = 100000.0;
- //   double s0 = ppoly->GetS();
-
-    x = ppoly->GetX();
-    y = ppoly->GetY();
-    double A,B,C,D;
-    A = ppoly->GetA();
-    B = ppoly->GetB();
-    C = ppoly->GetC();
-    D = ppoly->GetD();
-    const double steplim = 0.3;
-    double du = steplim;
-    double u = 0;
-    double v = 0;
-    double oldx,oldy;
-    oldx = x;
-    oldy = y;
-    double xstart,ystart;
-    xstart = x;
-    ystart = y;
-
-    frels = 0;
-
-    double hdgstart = ppoly->GetHdg();
-    double flen = 0;
-    u = u+du;
-    while(flen < ppoly->GetLength())
-    {
-        double fdis = 0;
-        v = A + B*u + C*u*u + D*u*u*u;
-        x = xstart + u*cos(hdgstart) - v*sin(hdgstart);
-        y = ystart + u*sin(hdgstart) + v*cos(hdgstart);
-        fdis = sqrt(pow(x- oldx,2)+pow(y-oldy,2));
-
-        if(fdis>(steplim*2.0))du = du/2.0;
-        flen = flen + fdis;
-        u = u + du;
-        hdg = xodrfunc::CalcHdg(QPointF(oldx,oldy),QPointF(x,y));
-
-        double fdisnow = calcpointdis(QPointF(x,y),QPointF(xnow,ynow));
-        if(fdisnow<fdismin)
-        {
-            fdismin = fdisnow;
-            nearhead = hdg;
-            nearx = x;
-            neary = y;
-            frels = flen;
-        }
-
-        oldx = x;
-        oldy = y;
-    }
-
-    return fdismin;
-}
-
-double xodrfunc::GetSpiralDis(GeometrySpiral * pspiral,double xnow,double ynow,double & nearx,
-                        double & neary,double & nearhead,double & frels)
-{
-
-    double x,y,hdg;
-    double s = 0.0;
-    double fdismin = 100000.0;
-    double s0 = pspiral->GetS();
-
-    frels = 0;
-    while(s<pspiral->GetLength())
-    {
-        pspiral->GetCoords(s0+s,x,y,hdg);
-
-
-        double fdis = calcpointdis(QPointF(x,y),QPointF(xnow,ynow));
-        if(fdis<fdismin)
-        {
-            fdismin = fdis;
-            nearhead = hdg;
-            nearx = x;
-            neary = y;
-            frels = s;
-        }
-        s = s+0.1;
-    }
-
-    return fdismin;
-}
-
-/**
- * @brief GetLineDis 获得点到直线Geometry的距离。
- * @param pline
- * @param x
- * @param y
- * @param nearx
- * @param neary
- * @param nearhead
- * @return
- */
-double xodrfunc::GetLineDis(GeometryLine * pline,const double x,const double y,double & nearx,
-                         double & neary,double & nearhead,double & frels)
-{
-    double fRtn = 1000.0;
-
-    double a1,a2,a3,a4,b1,b2;
-    double ratio = pline->GetHdg();
-    while(ratio >= 2.0* M_PI)ratio = ratio-2.0*M_PI;
-    while(ratio<0)ratio = ratio+2.0*M_PI;
-
-    double dis1,dis2,dis3;
-    double x1,x2,x3,y1,y2,y3;
-    x1 = pline->GetX();y1=pline->GetY();
-    if((ratio == 0)||(ratio == M_PI))
-    {
-        a1 = 0;a4=0;
-        a2 = 1;b1= pline->GetY();
-        a3 = 1;b2= x;
-    }
-    else
-    {
-        if((ratio == 0.5*M_PI)||(ratio == 1.5*M_PI))
-        {
-            a2=0;a3=0;
-            a1=1,b1=pline->GetX();
-            a4 = 1;b2 = y;
-        }
-        else
-        {
-            a1 = tan(ratio) *(-1.0);
-            a2 = 1;
-            a3 = tan(ratio+M_PI/2.0)*(-1.0);
-            a4 = 1;
-            b1 = a1*pline->GetX() + a2 * pline->GetY();
-            b2 = a3*x+a4*y;
-        }
-    }
-
-    y2 = y1 + pline->GetLength() * sin(ratio);
-    x2 = x1 + pline->GetLength() * cos(ratio);
-
-    Eigen::Matrix2d A;
-    A<<a1,a2,
-            a3,a4;
-    Eigen::Vector2d B(b1,b2);
-
-    Eigen::Vector2d opoint  = A.lu().solve(B);
-
-    x3 = opoint(0);
-    y3 = opoint(1);
-
-    dis1 = sqrt(pow(x1-x,2)+pow(y1-y,2));
-    dis2 = sqrt(pow(x2-x,2)+pow(y2-y,2));
-    dis3 = sqrt(pow(x3-x,2)+pow(y3-y,2));
-
-
-    if((dis1>pline->GetLength())||(dis2>pline->GetLength()))  //Outoff line
-    {
- //       std::cout<<" out line"<<std::endl;
-        if(dis1<dis2)
-        {
-            fRtn = dis1;
-            nearx = x1;neary=y1;nearhead = pline->GetHdg();
-        }
-        else
-        {
-            fRtn = dis2;
-            nearx = x2;neary=y2;nearhead = pline->GetHdg();
-        }
-    }
-    else
-    {
-        fRtn = dis3;
-        nearx = x3;neary=y3;nearhead = pline->GetHdg();
-    }
-
-    frels = sqrt(pow(nearx - pline->GetX(),2)+pow(neary - pline->GetY(),2));
-
-//    qDebug("frels is %f",frels);
-
-    return fRtn;
-
-
-
-}
-
-
-namespace iv {
-struct nearoption
-{
-    Road * pRoad;
-    GeometryBlock * pgeob;
-    double fdis;
-    double nearx;
-    double neary;
-    double nearhead;
-    double fs;
-    int nlane;
-    double fgeodis;
-};
-}
-
-int xodrfunc::GetNearPoint(const double x, const double y, OpenDrive *pxodr, Road **pObjRoad, GeometryBlock **pgeo,
-                           double &fdis, double &nearx, double &neary, double &nearhead,
-                           const double nearthresh,double * pfs,int * pnlane,bool bnotuselane)
-{
-    double dismin = std::numeric_limits<double>::infinity();
-    fdis = dismin;
-    unsigned int i;
-    *pObjRoad = 0;
-    std::vector<iv::nearoption> xvectornearopt;
-    for(i=0;i<pxodr->GetRoadCount();i++)
-    {
-        unsigned int j;
-        Road * proad = pxodr->GetRoad(i);
-        double nx,ny,nh,frels;
-
-        for(j=0;j<proad->GetGeometryBlockCount();j++)
-        {
-            GeometryBlock * pgb = proad->GetGeometryBlock(j);
-            double dis;
-            RoadGeometry * pg;
-            int nlane = 1000;
-            pg = pgb->GetGeometryAt(0);
-
-            if((sqrt(pow(x-pg->GetX(),2)+pow(y- pg->GetY(),2))-pg->GetLength())>nearthresh)
-            {
-                continue;
-            }
-
-            switch (pg->GetGeomType()) {
-            case 0:   //line
-                dis = GetLineDis((GeometryLine *) pg,x,y,nx,ny,nh,frels);
-                break;
-            case 1:
-                dis = GetSpiralDis((GeometrySpiral *)pg,x,y,nx,ny,nh,frels);
-                break;
-            case 2:  //arc
-                dis = GetArcDis((GeometryArc *)pg,x,y,nx,ny,nh,frels);
-                break;
-
-            case 3:
-                dis = GetPoly3Dis((GeometryPoly3 *)pg,x,y,nx,ny,nh,frels);
-                break;
-            case 4:
-                dis = GetParamPoly3Dis((GeometryParamPoly3 *)pg,x,y,nx,ny,nh,frels);
-                break;
-            default:
-                dis = 100000.0;
-                break;
-            }
-
-            double fgeodis;
-
-            fgeodis = dis;
-            if((dis < 100)&&(bnotuselane == false))
-            {
-                double faccuratedis;
-                faccuratedis = GetAcurateDis(x,y,proad,frels+pg->GetS(),nx,ny,nh,&nlane);
-                if(faccuratedis < dis)dis = faccuratedis;
-
-            }
-
-            if(dis == 0)
-            {
-                iv::nearoption xopt;
-                xopt.fdis = dis;
-                xopt.fgeodis = fgeodis;
-                xopt.fs = frels +pg->GetS();
-                xopt.nearhead = nh;
-                xopt.nearx = nx;
-                xopt.neary = ny;
-                xopt.nlane = nlane;
-                xopt.pgeob = pgb;
-                xopt.pRoad = proad;
-                xvectornearopt.push_back(xopt);
-            }
-
-            if(dis < dismin)
-            {
-                dismin = dis;
-                nearx = nx;
-                neary = ny;
-                nearhead = nh;
-                fdis = dis;
-                *pObjRoad = proad;
-                *pgeo = pgb;
-                if(pfs != 0)*pfs = frels +pg->GetS();
-                if(pnlane != 0)*pnlane = nlane;
-            }
-        }
-    }
-
-    if(xvectornearopt.size() > 1)
-    {
-        double fgeodismin = 1000;
-        int nindex = 0;
-        for(i=0;i<xvectornearopt.size();i++)
-        {
-            if(xvectornearopt.at(i).fgeodis < fgeodismin)
-            {
-                fgeodismin = xvectornearopt.at(i).fgeodis;
-                nindex = i;
-            }
-        }
-        dismin = xvectornearopt.at(nindex).fdis;
-        nearx = xvectornearopt.at(nindex).nearx;
-        neary = xvectornearopt.at(nindex).neary;
-        nearhead = xvectornearopt.at(nindex).nearhead;
-        fdis = dismin;
-        *pObjRoad = xvectornearopt.at(nindex).pRoad;
-        *pgeo = xvectornearopt.at(nindex).pgeob;
-        if(pfs != 0)*pfs = xvectornearopt.at(nindex).fs;
-        if(pnlane != 0)*pnlane = xvectornearopt.at(nindex).nlane;
-
-    }
-
-
-    if(fdis > nearthresh)return -1;
-    return 0;
-}
-
-
-std::vector<iv::LanePoint> xodrfunc::GetAllLanePoint(Road *pRoad,  const double s,const double x, const double y,const double fhdg)
-{
-    int i;
-    int nLSCount = pRoad->GetLaneSectionCount();
-    double s_section = 0;
-
-
-    std::vector<iv::LanePoint> xvectorlanepoint;
-    for(i=0;i<nLSCount;i++)
-    {
-//        if((pRoad->GetRoadId() == "30012")&&(s>35))
-//        {
-//            int a= 1;
-//        }
-        LaneSection * pLS = pRoad->GetLaneSection(i);
-        if(i<(nLSCount -1))
-        {
-            if(pRoad->GetLaneSection(i+1)->GetS()<s)
-            {
-                continue;
-            }
-        }
-        s_section = pLS->GetS();
-        int nlanecount = pLS->GetLaneCount();
-        int j;
-        for(j=0;j<nlanecount;j++)
-        {
-            Lane * pLane = pLS->GetLane(j);
-
-            int nlanemarktype = -1; //default no lanetype
-            int nlanetype = 2; //driving
-            int nlanecolor = 0;
-            int k;
-            double s_lane = s-s_section;
-            for(k=0;k<pLane->GetLaneRoadMarkCount();k++)
-            {
-                 LaneRoadMark * plrm = pLane->GetLaneRoadMark(k);
-                 if(k<(pLane->GetLaneRoadMarkCount()-1))
-                 {
-                     if(pLane->GetLaneRoadMark(k+1)->GetS()<s_lane)
-                     {
-                         continue;
-                     }
-                 }
-                 else
-                 {
-                     if(s_lane<plrm->GetS())
-                     {
-                         continue;
-                     }
-                 }
-                 if(plrm->GetType() == "solid")
-                 {
-                     nlanemarktype = 0;
-                 }
-                 if(plrm->GetType() == "broken")
-                 {
-                     nlanemarktype = 1;
-                 }
-                 if(plrm->GetType() == "solid solid")
-                 {
-                     nlanemarktype = 2;
-                 }
-                 if(plrm->GetType() == "solid broken")
-                 {
-                     nlanemarktype = 3;
-                 }
-                 if(plrm->GetType() == "broken solid")
-                 {
-                     nlanemarktype = 4;
-                 }
-                 if(plrm->GetType() == "broken broken")
-                 {
-                     nlanemarktype = 5;
-                 }
-
-                 if(plrm->GetColor() == "standard")nlanecolor = 0;
-                 if(plrm->GetColor() == "blue")nlanecolor = 1;
-                 if(plrm->GetColor() == "green")nlanecolor = 2;
-                 if(plrm->GetColor() == "red")nlanecolor = 3;
-                 if(plrm->GetColor() == "white")nlanecolor = 4;
-                 if(plrm->GetColor() == "yellow")nlanecolor = 5;
-                 if(plrm->GetColor() == "orange")nlanecolor = 6;
-                 break;
-            }
-
-            if(pLane->GetType() == "shoulder")
-            {
-                nlanetype = 0;
-            }
-            if(pLane->GetType() == "border")
-            {
-                nlanetype = 1;
-            }
-            if(pLane->GetType() == "driving")
-            {
-                nlanetype = 2;
-            }
-            if(pLane->GetType() == "none")
-            {
-                nlanetype = 4;
-            }
-            if(pLane->GetType() == "biking")
-            {
-                nlanetype = 8;
-            }
-            if(pLane->GetType() == "sidewalk")
-            {
-                nlanetype = 9;
-            }
-
-
-            if(pLane->GetId() != 0)
-            {
-
-//                        if((pRoad->GetRoadId() == "10012")&&(pLane->GetId()==1))
-//                        {
-//                            int a= 1;
-//                        }
-
-//                int k;
-//                double s_lane = 0;
-                for(k=0;k<pLane->GetLaneWidthCount();k++)
-                {
-                    if(k<(pLane->GetLaneWidthCount()-1))
-                    {
-                        if((pLane->GetLaneWidth(k+1)->GetS()+s_section)<s)
-                        {
-                            continue;
-                        }
-                    }
-                    s_lane = pLane->GetLaneWidth(k)->GetS();
-                    break;
-                }
-                LaneWidth * pLW  = pLane->GetLaneWidth(k);
-                if(pLW == 0)
-                {
-                    std::cout<<"not find LaneWidth"<<std::endl;
-                    break;
-                }
-
-
-
-                iv::LanePoint lp;
-                lp.mnlanetype = nlanetype;
-                lp.mnlanemarktype = nlanemarktype;
-                lp.mnlanecolor = nlanecolor;
-                lp.mnlane = pLane->GetId();
-                lp.mnLaneSection = i;
-                double fds = s - s_lane - s_section;
-                lp.mflanewidth = pLW->GetA() + pLW->GetB() * fds
-                        +pLW->GetC() * pow(fds,2) + pLW->GetD() * pow(fds,3);
-                lp.mflanetocenter = 0;
-                lp.mnlanetype = nlanetype;
-                lp.mfhdg = fhdg;
-                lp.mS = s;
-                lp.mfGeoX = x;
-                lp.mfGeoY = y;
-                xvectorlanepoint.push_back(lp);
-
-            }
-            else
-            {
-                iv::LanePoint lp;
-                lp.mnlanetype = nlanetype;
-                lp.mnlanemarktype = nlanemarktype;
-                lp.mnlanecolor = nlanecolor;
-                lp.mnlane = 0;
-                lp.mnLaneSection = i;
-                lp.mflanewidth = 0;
-                lp.mflanetocenter = 0;
-                lp.mfhdg = fhdg;
-                lp.mS = s;
-                lp.mfGeoX = x;
-                lp.mfGeoY = y;
-                xvectorlanepoint.push_back(lp);
-            }
-        }
-
-        for(j=0;j<xvectorlanepoint.size();j++)
-        {
-            int k;
-            for(k=0;k<xvectorlanepoint.size();k++)
-            {
-                if(abs(xvectorlanepoint[k].mnlane)>abs((xvectorlanepoint[j].mnlane)))
-                {
-                    continue;
-                }
-                if(xvectorlanepoint[k].mnlane * xvectorlanepoint[j].mnlane <= 0)
-                {
-                    continue;
-                }
-                xvectorlanepoint[j].mflanetocenter = xvectorlanepoint[j].mflanetocenter + xvectorlanepoint[k].mflanewidth;
-            }
-        }
-
-        for(j=0;j<xvectorlanepoint.size();j++)
-        {
-            if(xvectorlanepoint[j].mnlane < 0)
-            {
-                xvectorlanepoint[j].mfX = x + xvectorlanepoint[j].mflanetocenter * cos(fhdg-M_PI/2.0);
-                xvectorlanepoint[j].mfY = y + xvectorlanepoint[j].mflanetocenter * sin(fhdg-M_PI/2.0);
-            }
-            else
-            {
-                xvectorlanepoint[j].mfX = x + xvectorlanepoint[j].mflanetocenter * cos(fhdg+M_PI/2.0);
-                xvectorlanepoint[j].mfY = y + xvectorlanepoint[j].mflanetocenter * sin(fhdg+M_PI/2.0);
-            }
-        }
-
-        break;
-
-    }
-
-    std::vector<iv::LanePoint> xvectorlanepointrtn;
-    bool bIsSort = true;
-    for(i=0;i<(xvectorlanepoint.size()-1);i++)
-    {
-        if(xvectorlanepoint[i].mnlane < xvectorlanepoint[i+1].mnlane)
-        {
-            bIsSort = false;
-            break;
-        }
-    }
-    if(bIsSort == false)
-    {
-        while(xvectorlanepoint.size() > 0)
-        {
-            int nlanemin;
-            nlanemin = 0;
-            int nlanenum = xvectorlanepoint[0].mnlane;
-            for(i=1;i<xvectorlanepoint.size();i++)
-            {
-                if(xvectorlanepoint[i].mnlane >= nlanenum)
-                {
-                    nlanenum = xvectorlanepoint[i].mnlane;
-                    nlanemin = i;
-                }
-            }
-            xvectorlanepointrtn.push_back(xvectorlanepoint[nlanemin]);
-            xvectorlanepoint.erase(xvectorlanepoint.begin() + nlanemin);
-        }
-    }
-    else
-    {
-        xvectorlanepointrtn = xvectorlanepoint;
-    }
-    return xvectorlanepointrtn;
-
-}
-
-double xodrfunc::GetAcurateDis(const double x, const double y, Road *pRoad,  const double s, const double nearx, const double neary, const double nearhead,int * pnlane)
-{
-    double fdismin = 1000;
-    if(pRoad->GetLaneSectionCount() < 1)return 1000;
-
-    std::vector<iv::LanePoint> xvectorlanepoint = GetAllLanePoint(pRoad,s,nearx,neary,nearhead);
-
-    double fdistoref = sqrt(pow(x-nearx,2)+pow(y-neary,2));
-
-    int i;
-    std::vector<double> xvectordis;
-    int nsize = xvectorlanepoint.size();
-    for(i=0;i<nsize;i++)
-    {
-        double fdis = sqrt(pow(x-xvectorlanepoint[i].mfX,2)+pow(y-xvectorlanepoint[i].mfY,2));
-        xvectordis.push_back(fdis);
-        if(fdismin>fdis)fdismin = fdis;
-
-    }
-    int nlane = -1000;
-    for(i=0;i<nsize;i++)
-    {
-        if((xvectordis[i]<=xvectorlanepoint[i].mflanewidth)&&(fdistoref <= xvectorlanepoint[i].mflanetocenter))
-        {
-            nlane = xvectorlanepoint[i].mnlane;
-            fdismin = 0; //On Lane, is very near.
-            break;
-        }
-    }
-
-    if(pnlane != 0)*pnlane = nlane;
-
-    return fdismin;
-
-
-}
-
-
-
-int xodrfunc::GetLineXY(GeometryLine *pline, double soff, double &x, double &y, double &hdg)
-{
-    if(soff<0)return -1;
-
-    hdg = pline->GetHdg();
-    x = pline->GetX() + soff*cos(hdg);
-    y = pline->GetY() + soff*sin(hdg);
-    return 0;
-}
-
-Road * xodrfunc::GetRoadByID(OpenDrive * pxodr,std::string strroadid)
-{
-    Road * pRoad = 0;
-    int nroadcount = pxodr->GetRoadCount();
-    int i;
-    for(i=0;i<nroadcount;i++)
-    {
-        if(pxodr->GetRoad(i)->GetRoadId() == strroadid)
-        {
-            pRoad = pxodr->GetRoad(i);
-            break;
-        }
-    }
-    return pRoad;
-}
-
-int xodrfunc::GetSpiralXY(GeometrySpiral *pspira, double soff, double &x, double &y, double &hdg)
-{
-    pspira->GetCoords(pspira->GetS() + soff,x,y,hdg);
-    return 0;
-}
-
-int xodrfunc::GetArcXY(GeometryArc *parc, double soff, double &x, double &y, double &hdg)
-{
-    if(parc->GetCurvature() == 0)return -1;
-    double R = fabs(1.0/parc->GetCurvature());
-
-    //calculate arc center
-    double x_center = parc->GetX() + (1.0/parc->GetCurvature()) * cos(parc->GetHdg() + M_PI/2.0);
-    double y_center = parc->GetY() + (1.0/parc->GetCurvature()) * sin(parc->GetHdg()+ M_PI/2.0);
-
-    double arcdiff = soff/R;
-
-    if(parc->GetCurvature() > 0)
-    {
-        x = x_center + R * cos(parc->GetHdg() + arcdiff - M_PI/2.0);
-        y = y_center + R * sin(parc->GetHdg() + arcdiff - M_PI/2.0);
-        hdg = parc->GetHdg() + arcdiff;
-    }
-    else
-    {
-        x = x_center + R * cos(parc->GetHdg() -arcdiff + M_PI/2.0);
-        y = y_center + R * sin(parc->GetHdg() -arcdiff + M_PI/2.0);
-        hdg = parc->GetHdg() - arcdiff;
-    }
-
-
-
-    return 0;
-}
-
-int xodrfunc::GetParamPoly3XY(GeometryParamPoly3 *pparam3d, double soff, double &x, double &y, double &hdg)
-{
-    double xtem,ytem;
-    double ua,ub,uc,ud,va,vb,vc,vd;
-    ua = pparam3d->GetuA();ub= pparam3d->GetuB();uc= pparam3d->GetuC();ud = pparam3d->GetuD();
-    va = pparam3d->GetvA();vb= pparam3d->GetvB();vc= pparam3d->GetvC();vd = pparam3d->GetvD();
-//        xtem = parc->GetuA() + parc->GetuB() * s * len + parc->GetuC() * s*s *pow(len,2) + parc->GetuD() * s*s*s *pow(len,3);
-//        ytem = parc->GetvA() + parc->GetvB() * s* len + parc->GetvC() * s*s *pow(len,2) + parc->GetvD() * s*s*s *pow(len,3);
-    xtem = ua + ub * soff  + uc * soff * soff  + ud * soff *soff*soff ;
-    ytem = va + vb * soff + vc * soff*soff  + vd * soff*soff*soff ;
-    x = xtem*cos(pparam3d->GetHdg()) - ytem * sin(pparam3d->GetHdg()) + pparam3d->GetX();
-    y = xtem*sin(pparam3d->GetHdg()) + ytem * cos(pparam3d->GetHdg()) + pparam3d->GetY();
-    if(soff<0.3)hdg = pparam3d->GetHdg();
-    else
-    {
-        double soff1 = soff - 0.1;
-        double x1,y1;
-        xtem = ua + ub * soff1  + uc * soff1 * soff1  + ud * soff1 *soff1*soff1 ;
-        ytem = va + vb * soff1 + vc * soff1*soff1  + vd * soff1*soff1*soff1 ;
-        x1 = xtem*cos(pparam3d->GetHdg()) - ytem * sin(pparam3d->GetHdg()) + pparam3d->GetX();
-        y1 = xtem*sin(pparam3d->GetHdg()) + ytem * cos(pparam3d->GetHdg()) + pparam3d->GetY();
-        hdg = CalcHdg(QPointF(x1,y1),QPointF(x,y));
-    }
-    return 0;
-}
-
-int xodrfunc::GetRoadXYByS(Road *pRoad, const double s, double &x, double &y, double &hdg)
-{
-    if(s<0)return -1;
-    if(s>(pRoad->GetRoadLength()+0.1))return -2;
-    if(pRoad == 0)return -3;
-    if(pRoad->GetGeometryBlockCount()<1)return -4;
-    int i;
-    int nroadgeosize = pRoad->GetGeometryBlockCount();
-    RoadGeometry * pgeosel = pRoad->GetGeometryBlock(nroadgeosize -1)->GetGeometryAt(0);
-    for(i=0;i<(nroadgeosize-1);i++)
-    {
-        if(s<pRoad->GetGeometryBlock(i+1)->GetGeometryAt(0)->GetS())
-        {
-
-            pgeosel = pRoad->GetGeometryBlock(0)->GetGeometryAt(0);
-            break;
-        }
-    }
-
-
-    switch (pgeosel->GetGeomType()) {
-    case 0:
-        return GetLineXY((GeometryLine *)pgeosel,(s-pgeosel->GetS()),x,y,hdg);
-        break;
-    case 1:
-        return GetSpiralXY((GeometrySpiral *)pgeosel,(s-pgeosel->GetS()),x,y,hdg);
-        break;
-    case 2:
-        return GetArcXY((GeometryArc *)pgeosel,(s-pgeosel->GetS()),x,y,hdg);
-
-        break;
-    case 3:
-        break;
-    case 4:
-        return GetParamPoly3XY((GeometryParamPoly3 *)pgeosel,(s-pgeosel->GetS()),x,y,hdg);
-        break;
-    default:
-        break;
-    }
-    return -5;
-}
-
-int xodrfunc::GetRoadIndex(OpenDrive * pxodr, Road *pRoad)
-{
-    int nroadcount = pxodr->GetRoadCount();
-    int i;
-    for(i=0;i<nroadcount;i++)
-    {
-        if(pxodr->GetRoad(i) == pRoad)
-        {
-            return i;
-        }
-    }
-    return -1;
-}
-
-int xodrfunc::GetDrivingLane(Road *pRoad, const int nLS, const int nsuggestlane)
-{
-    int nrtn = nsuggestlane;
-    int nLSCount = pRoad->GetLaneSectionCount();
-    if(nLS<0)
-    {
-        qDebug("xodrfunc::GetDrivingLane nLS=%d is Error.",nLS);
-        return nrtn;
-
-    }
-
-    if(nLS>=(nLSCount))
-    {
-        qDebug("xodrfunc::GetDrivingLane nLS=%d is Error. LaneSection Count is %d.",nLS,nLSCount);
-        return nrtn;;
-    }
-
-    LaneSection * pLS = pRoad->GetLaneSection(nLS);
-    int nLaneCount = pLS->GetLaneCount();
-    int i;
-    for(i=0;i<nLaneCount;i++)
-    {
-        if(pLS->GetLane(i)->GetId() == nsuggestlane)
-        {
-            if(pLS->GetLane(i)->GetType() == "driving")
-            {
-                return nsuggestlane;
-                break;
-            }
-        }
-    }
-
-    nrtn = 1000;
-    int ndiff;
-    for(i=0;i<nLaneCount;i++)
-    {
-        Lane * pLane = pLS->GetLane(i);
-        if((pLane->GetId()*nsuggestlane>0)&&(pLane->GetType() == "driving"))
-        {
-            ndiff = pLane->GetId() - nrtn;
-            int xdiff = pLane->GetId() - nsuggestlane;
-            if(abs(xdiff)<abs(ndiff))
-            {
-                nrtn = pLane->GetId();
-            }
-        }
-    }
-    return nrtn;
-}
-
-Lane * xodrfunc::GetLaneByID(LaneSection *pLS, int nlane)
-{
-    int nlanecount = pLS->GetLaneCount();
-    int i;
-    for(i=0;i<nlanecount;i++)
-    {
-        if(pLS->GetLane(i)->GetId() == nlane)
-        {
-            return pLS->GetLane(i);
-        }
-    }
-    return 0;
-}

src/common/common/xodr/xodrfunc.h

@@ -1,71 +0,0 @@
-#ifndef XODRFUNC_H
-#define XODRFUNC_H
-
-#include <OpenDrive/OpenDrive.h>
-
-#include <QPointF>
-
-
-namespace iv {
-struct LanePoint
-{
-    int mnlane;
-    int mnLaneSection;
-    double mS;
-    double mflanewidth;
-    double mflanetocenter;
-    double mfX;
-    double mfY;
-    double mfhdg;
-    int mnlanetype;  //0 driving 1 border 2 none 3 bike
-    int mnlanemarktype; // -1 no 0 solid 1 broken 2 solidsolid
-    int mnlanecolor;
-    double mfGeoX;
-    double mfGeoY;
-
-};
-
-}
-
-class xodrfunc
-{
-public:
-    xodrfunc();
-
-public:
-    static inline double calcpointdis(QPointF p1,QPointF p2);
-    static bool pointinarc(GeometryArc * parc,QPointF poingarc,QPointF point1);
-    static double CalcHdg(QPointF p0, QPointF p1);
-    static double GetParamPoly3Dis(GeometryParamPoly3 * parc,double xnow,double ynow,double & nearx,
-                            double & neary,double & nearhead,double & frels);
-    static double GetArcDis(GeometryArc * parc,double x,double y,double & nearx,
-                            double & neary,double & nearhead,double & frels);
-    static double GetPoly3Dis(GeometryPoly3 * ppoly,double xnow,double ynow,double & nearx,
-                            double & neary,double & nearhead,double & frels);
-    static double GetSpiralDis(GeometrySpiral * pspiral,double xnow,double ynow,double & nearx,
-                            double & neary,double & nearhead,double & frels);
-    static double GetLineDis(GeometryLine * pline,const double x,const double y,double & nearx,
-                             double & neary,double & nearhead,double & frels);
-    static int GetNearPoint(const double x,const double y,OpenDrive * pxodr,Road ** pObjRoad,GeometryBlock ** pgeo, double & fdis,double & nearx,
-                     double & neary,double & nearhead,const double nearthresh,double * pfs=0,int * pnlane= 0,bool bnotuselane = false);
-
-    static double GetAcurateDis(const double x,const double y,Road * pRoad,const  double  s,const double nearx,
-                                const double neary,const double nearhead,int * pnlane= 0);
-
-    static int GetDrivingLane(Road * pRoad,const int nLS,const int nsuggestlane);
-    static Lane * GetLaneByID(LaneSection * pLS,int nlane);
-    static std::vector<iv::LanePoint> GetAllLanePoint(Road * pRoad,const double s,const double x, const double y,const double fhdg);
-
-public:
-    static Road * GetRoadByID(OpenDrive * pxodr,std::string strroadid);
-    static int GetRoadXYByS(Road * pRoad,const double s,double &x, double & y, double & hdg);
-
-    static int GetLineXY(GeometryLine * pline,double soff,double &x, double & y, double & hdg);
-    static int GetSpiralXY(GeometrySpiral * pspira,double soff,double &x, double & y, double & hdg);
-    static int GetArcXY(GeometryArc * parc,double soff,double &x, double & y, double & hdg);
-    static int GetParamPoly3XY(GeometryParamPoly3 * pparam3d,double soff,double &x, double & y, double & hdg);
-
-    static int GetRoadIndex(OpenDrive * pxodr, Road * pRoad);
-};
-
-#endif // XODRFUNC_H

src/driver/driver_map_xodrload/xodrdijkstra.cpp → src/common/common/xodr/xodrfunc/xodrdijkstra.cpp

@@ -171,10 +171,10 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                 {
                     fseclen = px->GetRoadLength() - px->GetLaneSection(j)->GetS();
                 }
-//                if((px->GetRoadId() == "10019")||(px->GetRoadId() == "10020"))
-//                {
-//                    int axy = 1;
-//                }
+                if((px->GetRoadId() == "10098")||(px->GetRoadId() == "10113")||(px->GetRoadId() == "10074"))
+                {
+                    int axy = 1;
+                }
                 roadedge xroad(atoi(px->GetRoadId().data()),atoi(px->GetRoadJunction().data()),fseclen,2,j,px);
 
 //                roadedge xroad(atoi(px->GetRoadId().data()),atoi(px->GetRoadJunction().data()),px->GetRoadLength(),2,j,px);
@@ -204,6 +204,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
         mroadedge[i].mbvertex = true;
         mroadedge[i].mvertexstart = 2*i;
         mroadedge[i].mvertexend = 2*i + 1;
+//        std::cout<<"road id "<<mroadedge[i].mroadid<<" lenght "<<mroadedge[i].mfedgelen<<std::endl;
     }
 
 
@@ -1066,7 +1067,8 @@ inline double xodrdijkstra::getedgedis(int vs, int vd)
     {
         if((vs == mvectorvertexedge[vs].mvectorroadedge[i]->mvertexstart)&&(vd == mvectorvertexedge[vs].mvectorroadedge[i]->mvertexend))
         {
-            dis = mroadedge[i].mlen;
+            dis = mvectorvertexedge[vs].mvectorroadedge[i]->mlen;
+  //          dis = mroadedge[i].mlen;
             return dis;
         }
     }
@@ -1113,9 +1115,11 @@ double xodrdijkstra::getpathlength(std::vector<int> xvectorpath)
     return flen;
 }
 
-std::vector<int> xodrdijkstra::getpath(int srcroadid, int nsrclr, int dstroadid, int ndstlr,const double s_src ,const double s_obj )
+std::vector<int> xodrdijkstra::getpath(int srcroadid, int nsrclr, int dstroadid, int ndstlr,bool & bSuccess,
+                                       const double s_src ,const double s_obj )
 {
 
+    bSuccess = false;
     std::vector<int> rtnpath;
     int nvertexnum = mvertexnum;
     int i;
@@ -1248,7 +1252,14 @@ std::vector<int> xodrdijkstra::getpath(int srcroadid, int nsrclr, int dstroadid,
             rtnpath.push_back(nedge);
             nend = nstart;
         }
+        bSuccess = true;
     }
+    else
+    {
+        bSuccess = false;
+    }
+
+    qDebug("innner path distance is %f ",getpathlength(rtnpath));
 
     std::vector<int> rtnpath2;
 
@@ -1259,8 +1270,8 @@ std::vector<int> xodrdijkstra::getpath(int srcroadid, int nsrclr, int dstroadid,
     {
         givlog->debug("%d %d %d %d",i,mroadedge[rtnpath[rtnpath.size()-1-i]].mroadid,mroadedge[rtnpath[rtnpath.size()-1-i]].mnleftright,
                 mroadedge[rtnpath[rtnpath.size()-1-i]].mnsectionid);
-//        qDebug("%d %d %d %d",i,mroadedge[rtnpath[rtnpath.size()-1-i]].mroadid,mroadedge[rtnpath[rtnpath.size()-1-i]].mnleftright,
-//                mroadedge[rtnpath[rtnpath.size()-1-i]].mnsectionid);
+//        qDebug("%d %d %d %f",i,mroadedge[rtnpath[rtnpath.size()-1-i]].mroadid,mroadedge[rtnpath[rtnpath.size()-1-i]].mnleftright,
+//                mroadedge[rtnpath[rtnpath.size()-1-i]].mlen);
         rtnpath2.push_back(rtnpath[rtnpath.size()-1-i]);
     }
 

src/driver/driver_map_xodrload/xodrdijkstra.h → src/common/common/xodr/xodrfunc/xodrdijkstra.h

@@ -115,7 +115,7 @@ class xodrdijkstra
 public:
     xodrdijkstra(OpenDrive  * pxodr);
 
-    std::vector<int> getpath(int srcroadid,int nsrclr,int dstroadid,int ndstlr,const double s_src = 0,const double s_obj = 0);  //nsrclr 1 left 2 right ndstlr 1 left 2 right
+    std::vector<int> getpath(int srcroadid,int nsrclr,int dstroadid,int ndstlr,bool & bSuccess,const double s_src = 0,const double s_obj = 0);  //nsrclr 1 left 2 right ndstlr 1 left 2 right
 
     std::vector<pathsection> getgpspoint(int srcroadid,int nsrclr,int dstroadid,int ndstlr,std::vector<int> xvectorpath,int nSel);
 

src/tool/map_lanetoxodr/xodrfunc.cpp → src/common/common/xodr/xodrfunc/xodrfunc.cpp

@@ -120,6 +120,8 @@ double xodrfunc::GetParamPoly3Dis(GeometryParamPoly3 * parc,double xnow,double y
     double fdismin = 100000.0;
     frels = 0;
 
+    bParamNormal = parc->GetNormal();
+
     double xold,yold;
     xold = parc->GetX();
     yold = parc->GetY();
@@ -652,9 +654,12 @@ int xodrfunc::GetNearPointAtRoad(const double x, const double y, Road *pRoad, Ge
 
 }
 
-int xodrfunc::GetNearPoint(const double x, const double y, OpenDrive *pxodr, Road **pObjRoad, GeometryBlock **pgeo,
-                           double &fdis, double &nearx, double &neary, double &nearhead,
-                           const double nearthresh,double * pfs,int * pnlane,bool bnotuselane)
+
+int xodrfunc::GetNearPointWithHide(const double x, const double y, OpenDrive *pxodr, Road **pObjRoad,
+                                   GeometryBlock **pgeo, double &fdis, double &nearx, double &neary,
+                                   double &nearhead, const double nearthresh,
+                                   std::vector<int> &xvectorhideroad, double *pfs,
+                                   int *pnlane, bool bnotuselane)
 {
     double dismin = std::numeric_limits<double>::infinity();
     fdis = dismin;
@@ -667,6 +672,22 @@ int xodrfunc::GetNearPoint(const double x, const double y, OpenDrive *pxodr, Roa
         Road * proad = pxodr->GetRoad(i);
         double nx,ny,nh,frels;
 
+        if(xvectorhideroad.size() > 0)
+        {
+            int nroadid = atoi(proad->GetRoadId().data());
+            unsigned int k;
+            bool bIsHiden = false;
+            for(k = 0;k<xvectorhideroad.size();k++)
+            {
+                if(xvectorhideroad[k] == nroadid)
+                {
+                    bIsHiden = true;
+                    break;
+                }
+            }
+            if(bIsHiden)continue;
+        }
+
         for(j=0;j<proad->GetGeometryBlockCount();j++)
         {
             GeometryBlock * pgb = proad->GetGeometryBlock(j);
@@ -773,6 +794,20 @@ int xodrfunc::GetNearPoint(const double x, const double y, OpenDrive *pxodr, Roa
 }
 
 
+
+int xodrfunc::GetNearPoint(const double x, const double y, OpenDrive *pxodr, Road **pObjRoad, GeometryBlock **pgeo,
+                           double &fdis, double &nearx, double &neary, double &nearhead,
+                           const double nearthresh,double * pfs,int * pnlane,bool bnotuselane)
+{
+
+    std::vector<int> xvectorroadhide;
+    xvectorroadhide.clear();
+    return GetNearPointWithHide(x,y,pxodr,pObjRoad,pgeo,fdis,nearx,neary,nearhead,
+                                nearthresh,xvectorroadhide,pfs,pnlane,bnotuselane);
+
+}
+
+
 std::vector<iv::LanePoint> xodrfunc::GetAllLanePoint(Road *pRoad,  const double s,const double x, const double y,const double fhdg)
 {
     int i;
@@ -1117,6 +1152,22 @@ Road * xodrfunc::GetRoadByID(OpenDrive * pxodr,std::string strroadid)
     return pRoad;
 }
 
+Junction * xodrfunc::GetJunctionByID(OpenDrive * pxodr,std::string strjunctionid)
+{
+    Junction * pJunction = 0;
+    int njunctioncount = pxodr->GetJunctionCount();
+    int i;
+    for(i=0;i<njunctioncount;i++)
+    {
+        if(pxodr->GetJunction(i)->GetId() == strjunctionid)
+        {
+            pJunction = pxodr->GetJunction(i);
+            break;
+        }
+    }
+    return pJunction;
+}
+
 int xodrfunc::GetSpiralXY(GeometrySpiral *pspira, double soff, double &x, double &y, double &hdg)
 {
     pspira->GetCoords(pspira->GetS() + soff,x,y,hdg);
@@ -1259,3 +1310,67 @@ int xodrfunc::GetRoadIndex(OpenDrive * pxodr, Road *pRoad)
     }
     return -1;
 }
+
+int xodrfunc::GetDrivingLane(Road *pRoad, const int nLS, const int nsuggestlane)
+{
+    int nrtn = nsuggestlane;
+    int nLSCount = pRoad->GetLaneSectionCount();
+    if(nLS<0)
+    {
+        qDebug("xodrfunc::GetDrivingLane nLS=%d is Error.",nLS);
+        return nrtn;
+
+    }
+
+    if(nLS>=(nLSCount))
+    {
+        qDebug("xodrfunc::GetDrivingLane nLS=%d is Error. LaneSection Count is %d.",nLS,nLSCount);
+        return nrtn;;
+    }
+
+    LaneSection * pLS = pRoad->GetLaneSection(nLS);
+    int nLaneCount = pLS->GetLaneCount();
+    int i;
+    for(i=0;i<nLaneCount;i++)
+    {
+        if(pLS->GetLane(i)->GetId() == nsuggestlane)
+        {
+            if(pLS->GetLane(i)->GetType() == "driving")
+            {
+                return nsuggestlane;
+                break;
+            }
+        }
+    }
+
+    nrtn = 1000;
+    int ndiff;
+    for(i=0;i<nLaneCount;i++)
+    {
+        Lane * pLane = pLS->GetLane(i);
+        if((pLane->GetId()*nsuggestlane>0)&&(pLane->GetType() == "driving"))
+        {
+            ndiff = pLane->GetId() - nrtn;
+            int xdiff = pLane->GetId() - nsuggestlane;
+            if(abs(xdiff)<abs(ndiff))
+            {
+                nrtn = pLane->GetId();
+            }
+        }
+    }
+    return nrtn;
+}
+
+Lane * xodrfunc::GetLaneByID(LaneSection *pLS, int nlane)
+{
+    int nlanecount = pLS->GetLaneCount();
+    int i;
+    for(i=0;i<nlanecount;i++)
+    {
+        if(pLS->GetLane(i)->GetId() == nlane)
+        {
+            return pLS->GetLane(i);
+        }
+    }
+    return 0;
+}

src/tool/map_lanetoxodr/xodrfunc.h → src/common/common/xodr/xodrfunc/xodrfunc.h

@@ -49,6 +49,10 @@ public:
     static int GetNearPoint(const double x,const double y,OpenDrive * pxodr,Road ** pObjRoad,GeometryBlock ** pgeo, double & fdis,double & nearx,
                      double & neary,double & nearhead,const double nearthresh,double * pfs=0,int * pnlane= 0,bool bnotuselane = false);
 
+    static int GetNearPointWithHide(const double x,const double y,OpenDrive * pxodr,Road ** pObjRoad,GeometryBlock ** pgeo, double & fdis,double & nearx,
+                     double & neary,double & nearhead,const double nearthresh,std::vector<int> & xvectorhideroad,
+                                    double * pfs=0,int * pnlane= 0,bool bnotuselane = false);
+
     static int GetNearPointAtRoad(const double x,const double y,Road *pRoad,GeometryBlock ** pgeo, double & fdis,double & nearx,
                      double & neary,double & nearhead,const double nearthresh,double * pfs=0,int * pnlane= 0,bool bnotuselane = false);
 
@@ -57,8 +61,10 @@ public:
 
     static std::vector<iv::LanePoint> GetAllLanePoint(Road * pRoad,const double s,const double x, const double y,const double fhdg);
 
+
 public:
     static Road * GetRoadByID(OpenDrive * pxodr,std::string strroadid);
+    static Junction * GetJunctionByID(OpenDrive * pxodr,std::string strjunctionid);
     static int GetRoadXYByS(Road * pRoad,const double s,double &x, double & y, double & hdg);
 
     static int GetLineXY(GeometryLine * pline,double soff,double &x, double & y, double & hdg);
@@ -69,6 +75,9 @@ public:
     static int GetRoadIndex(OpenDrive * pxodr, Road * pRoad);
 
     static int GetRoadHeightByS(Road * pRoad,const double s,double & fheight);
+
+    static int GetDrivingLane(Road * pRoad,const int nLS,const int nsuggestlane);
+    static Lane * GetLaneByID(LaneSection * pLS,int nlane);
 };
 
 #endif // XODRFUNC_H

src/common/common/xodr/xodrfunc/xodrfunc.pri

@@ -0,0 +1,7 @@
+HEADERS += \
+    $$PWD/xodrdijkstra.h \
+    $$PWD/xodrfunc.h
+
+SOURCES += \
+    $$PWD/xodrdijkstra.cpp \
+    $$PWD/xodrfunc.cpp

src/controller/controller_hapo/main.cpp

@@ -82,7 +82,7 @@ void executeDecition(const iv::brain::decition decition)
     gcontroller->control_handBrake(decition.handbrake());
     gcontroller->control_mode(decition.mode());
     //   gcontroller->control_mode(1);
-    //  gcontroller->control_near_light(1);
+    gcontroller->control_near_light(decition.dippedlight());
 
 
     gcontroller->control_air_enable(decition.air_enable());
@@ -90,11 +90,13 @@ void executeDecition(const iv::brain::decition decition)
     gcontroller->control_air_temp(decition.air_temp());
     gcontroller->control_air_mode(decition.air_mode());
     gcontroller->control_wind_level(decition.wind_level());
-    gcontroller->control_roof_light(0);
+    gcontroller->control_roof_light(decition.roof_light());
     gcontroller->control_home_light(decition.home_light());
     gcontroller->control_air_worktime(decition.air_worktime());
     gcontroller->control_air_offtime(decition.air_offtime());
     gcontroller->control_turnsignals(decition.leftlamp(),decition.rightlamp());
+    gcontroller->control_door(decition.door());
+
     /*if(decition.has_door())
     {
         if(decition.door())
@@ -106,7 +108,7 @@ void executeDecition(const iv::brain::decition decition)
     }*/
 
 
-
+qDebug("door is %d",decition.door());
 
 
 

src/decition/common/common/car_status.h

@@ -42,6 +42,8 @@ namespace iv {
          float torque_st=0;
         bool mbRunPause = false;
         bool mbBrainCtring = false;
+        bool mbdoor=false,has_mbdoor=false;//false: door close    true:door open
+        bool mbjinguang=false,has_mbjinguang=false;//false: off    true:on
         bool status[6] = { true, false, false, false, true, false };	//bool arrive = false;	//  x4:是否到达站点（0:未到 1:到达）
                                                                 //bool people = false;	//	x3:车上是否有人（0:无人 1:有人）
                                                                 //bool stop = false;	    //	x2:是否停车（0:否   1:是）

src/decition/decition_brain_sf/decition/adc_adapter/hapo_adapter.cpp

@@ -76,7 +76,7 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
 
         //斜坡刹车加大 lsn 0217
         if (abs(now_gps_ins.ins_pitch_angle)>2.5 &&(controlBrake>0||dSpeed==0)){
-            controlBrake=max(2.0f,controlBrake);
+            controlBrake=max(0.5f,controlBrake);
         }
         //斜坡刹车加大 end
 
@@ -143,8 +143,8 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
 
         if(((now_gps_ins.ins_pitch_angle<-2.5 && ServiceCarStatus.daocheMode)||
             (now_gps_ins.ins_pitch_angle>2.5 && !ServiceCarStatus.daocheMode))
-                && abs(realSpeed)<1.0){
-            controlSpeed=max((float)20.0,controlSpeed);
+                && (dSpeed-realSpeed)>3.0){
+            controlSpeed=max((float)30.0,controlSpeed);
             controlSpeed=min((float)40.0,controlSpeed);
         }
         // 斜坡加大油门  end
@@ -161,10 +161,20 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
     if(controlSpeed>0){
         controlSpeed=max(controlSpeed,3.2f);
     }
+    static bool emergency_brake=false;
     //0227 10m nei xianzhi shache
-    if(obsDistance<10 &&obsDistance>0){
+    if(obsDistance<8 &&obsDistance>0){
+        emergency_brake=true;
+    }
+    if(emergency_brake==true){
         controlSpeed=0;
-        controlBrake=max(controlBrake,0.6f);//0.8   zj-0.6
+        if(realSpeed<6)
+            controlBrake=max(controlBrake,0.5f);//0.8   zj-0.6
+        else
+            controlBrake=max(controlBrake,0.6f);
+        if(obsDistance>12 || (obsDistance==-1)){
+            emergency_brake=false;
+        }
     }
 
     if(DecideGps00::minDecelerate<0){
@@ -172,9 +182,6 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
         controlSpeed=0;
     }
 
-    if(DecideGps00::minDecelerate==-0.4){
-        controlBrake =0.4;
-    }
 
     controlBrake=limitBrake(realSpeed,controlBrake,dSpeed,obsDistance,ttc);
     controlSpeed = limitSpeed(realSpeed, controlBrake, dSpeed, controlSpeed);
@@ -248,15 +255,43 @@ iv::decition::Decition iv::decition::HapoAdapter::getAdapterDeciton(GPS_INS now_
 
     (*decition)->wheel_angle=max((float)-870.0,(*decition)->wheel_angle);
     (*decition)->wheel_angle=min((float)870.0,(*decition)->wheel_angle);
-     lastDangWei= (*decition)->dangWei;
-
-     (*decition)->topLight=0; //1116
-     (*decition)->nearLight=0;
-     (*decition)->farLight=0;
-
-
-
-     (*decition)->door=3;
+    lastDangWei= (*decition)->dangWei;
+
+    (*decition)->topLight=0; //1116
+    (*decition)->nearLight=0;
+    (*decition)->farLight=0;
+    (*decition)->home_light=0;
+    (*decition)->roof_light=0;
+
+     static int64_t DoorTimeStart=-1;
+     static int32_t door=0;
+     if(ServiceCarStatus.has_mbdoor){
+         if(ServiceCarStatus.mbdoor){
+             door=2;
+             //(*decition)->door=2;
+             DoorTimeStart=QDateTime::currentSecsSinceEpoch();
+             ServiceCarStatus.has_mbdoor=0;
+         }else{
+             door=3;
+            // (*decition)->door=3;
+             DoorTimeStart=QDateTime::currentSecsSinceEpoch();
+             ServiceCarStatus.has_mbdoor=0;
+         }
+     }
+
+     if((QDateTime::currentSecsSinceEpoch()-DoorTimeStart)>10)
+             (*decition)->door=0;
+     else
+              (*decition)->door=door;
+
+
+     if(ServiceCarStatus.has_mbjinguang){
+         if(ServiceCarStatus.mbjinguang){
+             (*decition)->nearLight=1;
+         }else{
+             (*decition)->nearLight=0;
+         }
+     }
 
 //std::cout<<"==========================================="<<std::endl;
 //     std::cout<<"dSpeed:"<<dSpeed<<"   realSpeed:"<<realSpeed<<"   acc:"<<accAim<<"  torque_st:"<<ServiceCarStatus.torque_st

src/decition/decition_brain_sf/decition/adc_tools/compute_00.cpp

@@ -198,6 +198,7 @@ int iv::decition::Compute00::getMapDelta(std::vector<GPSData> MapTrace){
     doubledata.clear();
     for (int i = 0; i < MapTrace.size(); i++) {   //                                       1225/14:25
                  std::vector<double> temp;
+                 temp.clear();
                  temp.push_back(0);temp.push_back(0);temp.push_back(0);temp.push_back(0);temp.push_back(0);//先push四个空量，然后就可以给量赋值了
                  doubledata.push_back(temp);
                  doubledata[i][0] = MapTrace.at(i)->gps_x;
@@ -341,15 +342,15 @@ int iv::decition::Compute00::getPlanSpeed(std::vector<GPSData> MapTrace)
                     }
                 }
 
-                for(int i=0;i<MapTrace.size();i++){
-                    //将数据写入文件开始
-                    ofstream outfile;
-                    outfile.open("ctr0108003.txt", ostream::app);
-                    outfile<<"Delta"<< ","  <<doubledata[i][3]<< ","<<"roadMode"<< ","  <<MapTrace[i]->roadMode<< ","
-                           <<"plan_speed"<< ","  << doubledata[i][4]<< ","<<endl;
-                    outfile.close();
-                    //将数据写入文件结束
-                }
+//                for(int i=0;i<MapTrace.size();i++){
+//                    //将数据写入文件开始
+//                    ofstream outfile;
+//                    outfile.open("ctr0108003.txt", ostream::app);
+//                    outfile<<"Delta"<< ","  <<doubledata[i][3]<< ","<<"roadMode"<< ","  <<MapTrace[i]->roadMode<< ","
+//                           <<"plan_speed"<< ","  << doubledata[i][4]<< ","<<endl;
+//                    outfile.close();
+//                    //将数据写入文件结束
+//                }
 
 }
 

src/decition/decition_brain_sf/decition/brain.cpp

@@ -1165,8 +1165,10 @@ void iv::decition::BrainDecition::UpdateMap(const char *mapdata, const int mapda
 
         mmpcapi.SetMAP(xvectorMAP);
 
-        if(ServiceCarStatus.speed_control==true){
-        Compute00().getDesiredSpeed(navigation_data);}
+//        if(ServiceCarStatus.speed_control==true){
+//        Compute00().getDesiredSpeed(navigation_data);
+//            Compute00().getPlanSpeed(navigation_data);
+//        }
         mMutexMap.unlock();
         //        mpasd->SaveState("map",mapdata,mapdatasize);
     }
@@ -1203,7 +1205,8 @@ void iv::decition::BrainDecition::ShareDecition(iv::decition::Decition decition)
     xdecition.set_air_worktime(decition->air_worktime);
     xdecition.set_air_offtime(decition->air_offtime);
     xdecition.set_air_on(decition->air_on);
-
+    xdecition.set_door(decition->door);
+    xdecition.set_dippedlight(decition->nearLight);
 
     std::cout<<"===================shareDecition========================"<<std::endl;
          std::cout<<"  torque_st:"<<ServiceCarStatus.torque_st
@@ -1292,6 +1295,23 @@ void iv::decition::BrainDecition::UpdateHMI(const char *pdata, const int ndatasi
 
     //    mpasd->SaveState("runstate",(char *)&bRun,sizeof(bool));
 
+
+
+    ServiceCarStatus.has_mbdoor = xhmimsg.has_mbchemen();
+    if(ServiceCarStatus.has_mbdoor){
+        ServiceCarStatus.mbdoor = xhmimsg.mbchemen();
+
+    }
+
+    ServiceCarStatus.has_mbjinguang = xhmimsg.has_mbjinguang();
+    if(ServiceCarStatus.has_mbjinguang){
+        ServiceCarStatus.mbjinguang = xhmimsg.mbjinguang();
+    }
+
+    givlog->debug("decition_brain_bool","mbdoor: %d,mbjinguang: %d",
+                    ServiceCarStatus.mbdoor,ServiceCarStatus.mbjinguang);
+
+
 }
 
 void iv::decition::BrainDecition::UpdatePlatform(const char *pdata, const int ndatasize)

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -106,6 +106,7 @@ int obsLostTimeAvoid = 0;
 
 
 double avoidX =0;
+int    turnLampFlag=0;  //  if <0:left , if >0:right
 float roadWidth = 3.5;
 int roadSum =10;
 int roadNow = 0;
@@ -189,6 +190,8 @@ std::vector<double> lastDistanceVector(roadSum, -1);
 std::vector<iv::Point2D> traceOriLeft,traceOriRight;
 
 bool qiedianCount = false;
+
+static int obstacle_avoid_flag=0;
 //日常展示
 
 iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_gps_ins,
@@ -273,7 +276,11 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         readyParkMode=false;
         finishPointNum=-1;
         roadNowStart=true;
-        isFirstRun = false;       
+        isFirstRun = false;
+        obstacle_avoid_flag=0;
+
+        givlog->debug("decition_brain_bool","DoorTimeStart: %d,current: %d",
+                        0,0);
     }
 
 
@@ -930,10 +937,10 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
     if (!isFirstRun)
     {
-        //   PathPoint = Compute00().getNearestPointIndex(now_gps_ins, gpsMapLine, DecideGps00::lastGpsIndex, DecideGps00::minDis, DecideGps00::maxAngle);
-        //    if(PathPoint<0){
-        PathPoint = Compute00().getFirstNearestPointIndex(now_gps_ins, gpsMapLine, DecideGps00::lastGpsIndex, DecideGps00::minDis, DecideGps00::maxAngle);
-        //    }
+            PathPoint = Compute00().getNearestPointIndex(now_gps_ins, gpsMapLine, DecideGps00::lastGpsIndex, DecideGps00::minDis, DecideGps00::maxAngle);
+            if(PathPoint<0){
+                PathPoint = Compute00().getFirstNearestPointIndex(now_gps_ins, gpsMapLine, DecideGps00::lastGpsIndex, DecideGps00::minDis, DecideGps00::maxAngle);
+            }
 
     }
 
@@ -982,8 +989,10 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
                     }else{
                                 dSpeed=min(dSpeed, 3.0);
                                 final_brake_lock=true;
-                                if(gpsMapLine[PathPoint]->mode2==23){
-                                            minDecelerate=-0.7;
+                                if(PathPoint+50<gpsMapLine.size()){
+                                    if(gpsMapLine[PathPoint+50]->mode2==23){
+                                                minDecelerate=-0.5;
+                                    }
                                 }
                     }
             }
@@ -1016,14 +1025,16 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
     if(!ServiceCarStatus.inRoadAvoid){
         roadOri = gpsMapLine[PathPoint]->roadOri;
-        roadSum = gpsMapLine[PathPoint]->roadSum;
+        roadSum = gpsMapLine[PathPoint]->roadSum;      
+        givlog->debug("decition_brain","roadOri: %d",
+                        roadOri);
     }else{
         roadOri=gpsMapLine[PathPoint]->roadOri*3+1;
         roadSum = gpsMapLine[PathPoint]->roadSum*3;
     }
 
-    roadOri =0;
-    roadSum =2;
+//    roadOri =0;
+//    roadSum =2;
 
     if(roadNowStart){
         roadNow=roadOri;
@@ -1036,9 +1047,15 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     }else{
          gpsMapLine[PathPoint]->runMode=0;
     }
-
-    avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
-
+    if(obstacle_avoid_flag==1){
+        avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+    }else{
+        avoidX=0;
+        roadNow = roadOri;
+        if(vehState==backOri){
+            vehState=normalRun;
+        }
+    }
     if ( gpsMapLine[PathPoint]->runMode == 0 &&(vehState == avoidObs||vehState ==stopObs||vehState == preAvoid
                                                 ||vehState == avoiding||vehState == backOri||vehState ==preBack||vehState ==waitAvoid ) )
     {
@@ -1048,7 +1065,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
     gpsTraceOri= getGpsTrace(now_gps_ins, gpsMapLine, lastGpsIndex,circleMode);
 
-    if((vehState == avoiding || vehState == backOri)&&(gpsTraceAvoidXY.size()>0))
+    if((vehState == avoiding || vehState == backOri)&&(gpsTraceAvoidXY.size()>0)&&(obstacle_avoid_flag==1))
     {
         gpsTraceOri=getGpsTraceAvoid(now_gps_ins, gpsTraceAvoidXY, lastGpsIndex,circleMode);
     }
@@ -1139,6 +1156,21 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         }
     }
 
+    if(vehState==normalRun)
+    {
+        if(gpsTraceNow.size()>200){
+            if(gpsTraceNow[200].x<-3){
+                gps_decition->leftlamp = true;
+                gps_decition->rightlamp = false;
+            }else if(gpsTraceNow[200].x>3){
+                gps_decition->leftlamp = false;
+                gps_decition->rightlamp = true;
+            }else{
+                gps_decition->leftlamp = false;
+                gps_decition->rightlamp = false;
+            }
+        }
+    }
 
     //  dSpeed = getSpeed(gpsTraceNow);
     dSpeed =80;
@@ -1364,10 +1396,10 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     if((gpsMapLine[PathPoint]->speed)>0.001)
     {
         dSpeed = min((gpsMapLine[PathPoint]->speed*3.6),dSpeed);
-        if((gpsMapLine[PathPoint]->speed)>4.5)
-        {
-            dSpeed =gpsMapLine[PathPoint]->speed*3.6;
-        }
+//        if((gpsMapLine[PathPoint]->speed)>4.5)
+//        {
+//            dSpeed =gpsMapLine[PathPoint]->speed*3.6;
+//        }
     }
 
 
@@ -1468,13 +1500,14 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         else if (useOldAvoid && avoidDistance>35) {    //zj 2021.06.21   gpsTraceNow[60].x)<0.02
             // vehState = avoidObs; 0929
             vehState = normalRun;
+            turnLampFlag=0;
         }
-        else if (gpsTraceNow[0].x>0)
+        else if (turnLampFlag>0)
         {
             gps_decition->leftlamp = false;
             gps_decition->rightlamp = true;
         }
-        else if(gpsTraceNow[0].x<0)
+        else if(turnLampFlag<0)
         {
             gps_decition->leftlamp = true;
             gps_decition->rightlamp = false;
@@ -1494,19 +1527,21 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         //若车辆到达变道后的路径，改变车辆状态，关闭frenet规划
         if (useFrenet && abs(gpsTraceAim[0].x)<1.0) {
             vehState = normalRun;
+            turnLampFlag=0;
             //            useFrenet = false;
             //            useOldAvoid = true;
         }
         else if (useOldAvoid && backDistance>35 ) {//abs(gpsTraceNow[60].x)<0.05
             // vehState = avoidObs; 0929
             vehState = normalRun;
+            obstacle_avoid_flag=0;
         }
-        else if (gpsTraceNow[0].x>0)
+        else if (turnLampFlag>0)
         {
             gps_decition->leftlamp = false;
             gps_decition->rightlamp = true;
         }
-        else if (gpsTraceNow[0].x<0)
+        else if (turnLampFlag<0)
         {
             gps_decition->leftlamp = true;
             gps_decition->rightlamp = false;
@@ -1516,7 +1551,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     std::cout<<"\n原始RoadOri:%d\n"<<roadOri<<endl;
     //   计算回归原始路线
 
-    if (roadNow!=roadOri)
+    if ((roadNow!=roadOri))
     {
         if(useFrenet){
             if ((GetDistance(now_gps_ins, startAvoidGpsInsVector[roadOri])>max(avoidMinDistanceVector[roadOri],30.0)))
@@ -1532,12 +1567,20 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
              avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
         }
     }
-    if (roadNow != roadOri && roadPre!=-1)
+    if ((roadNow != roadOri && roadPre!=-1))
     {
 
         roadNow = roadPre;
    //     avoidX = (roadOri - roadNow)*roadWidth;
         avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+
+        if(avoidX<0)
+            turnLampFlag<0;
+        else if(avoidX>0)
+            turnLampFlag>0;
+        else
+            turnLampFlag=0;
+
         if(useOldAvoid){
             //gpsTraceNow = getGpsTraceOffset(gpsTraceOri, avoidX);
             gpsTraceAvoidXY.clear();
@@ -1689,6 +1732,14 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
                     roadNow = roadPre;
                   //  avoidX = (roadOri - roadNow)*roadWidth;
                      avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+
+                     if(avoidX<0)
+                         turnLampFlag<0;
+                     else if(avoidX>0)
+                         turnLampFlag>0;
+                     else
+                         turnLampFlag=0;
+
                     gpsTraceNow.clear();
                     //gpsTraceNow = getGpsTraceOffset(gpsTraceOri, avoidX);
                     gpsTraceAvoidXY.clear();
@@ -1708,6 +1759,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
 
 
                 vehState = avoiding;
+                obstacle_avoid_flag=1;
 
                 hasCheckedAvoidLidar = false;
 
@@ -1951,7 +2003,10 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         dSpeed = ServiceCarStatus.group_comm_speed;
     }
     if(dSpeed==0){
-        minDecelerate=min(-1.0f,minDecelerate);
+        if(realspeed<6)
+            minDecelerate=min(-0.5f,minDecelerate);
+        else
+            minDecelerate=min(-0.6f,minDecelerate); //1.0f    zj-0.6
     }
 
     gps_decition->wheel_angle = 0.0 - controlAng;
@@ -2470,8 +2525,6 @@ double iv::decition::DecideGps00::getSpeed(std::vector<Point2D> gpsTrace) {
 }
 
 
-
-
 //void iv::decition::DecideGps00::getEsrObs(std::vector<iv::ObstacleBasic> obsRadars) {
 //
 //	if (!obsRadars.empty())
@@ -3775,20 +3828,20 @@ void iv::decition::DecideGps00::transferGpsMode2( const std::vector<GPSData> gps
         }
     }
 
-    givlog->debug("decition_brain","PATHFORE: %d,Forecast: %d,cross: %d",
-                PathPoint+forecast_point_num,forecast_point_num,cross);
-
+    //givlog->debug("decition_brain","PATHFORE: %d,Forecast: %d,cross: %d",
+                //PathPoint+forecast_point_num,forecast_point_num,cross);
     if(  gpsMapLine[PathPoint]->mode2==3000){
         if(obsDistance>4){       //7   zj-5
             obsDistance=200;
         }else{
             lock_flag=false;
+            obsSpeed=-realspeed/3.6;
         }
         if((realspeed>3)&&(lock_flag==false)){
             minDecelerate=-0.5;
         }else{
-        dSpeed=min(dSpeed,3.0);
-        lock_flag=true;
+            dSpeed=min(dSpeed,3.0);
+            lock_flag=true;
         }
     }
     else if(gpsMapLine[PathPoint]->mode2==3001){
@@ -3796,7 +3849,7 @@ void iv::decition::DecideGps00::transferGpsMode2( const std::vector<GPSData> gps
     }else if(gpsMapLine[PathPoint]->mode2==3002){
              obstacle_disable=0;
     }else if(gpsMapLine[PathPoint]->mode2==4000){
-        ServiceCarStatus.msysparam.vehWidth=5.6;
+        //ServiceCarStatus.msysparam.vehWidth=5.6;
     }else if(cross==true){
             speed_slowdown_flag=1;
             lock_flag=false;

src/decition/decition_brain_sf/decition/decition_type.h

@@ -18,7 +18,7 @@ struct DecitionBasic {
     int  mode;
     int handBrake;
     bool speak;
-    bool door;
+    int door;
     bool bright;
     int dangWei;
 
@@ -46,8 +46,8 @@ struct DecitionBasic {
     float   air_temp ;                  //空调温度
     float   air_mode ;                  //空调模式
     float   wind_level ;                  //空调风力
-    float   roof_light ;                  //顶灯
-    float   home_light ;                  //日光灯
+    int   roof_light ;                  //顶灯
+    int   home_light ;                  //日光灯
     float   air_worktime ;                  //空调工作时间
     float   air_offtime ;                  //空调关闭时间
 

src/detection/detection_mobileye/main.cpp

@@ -158,6 +158,12 @@ void ProcCANMsg(iv::can::canraw xmsg)
         //std::cout << ServiceCarStatus.obstacleStatus.num_obstacles<< std::endl;
         gnum_obstacles = num_obstacles;
 
+        gobs_count = 0;
+        gmobileye.clear_xobj();
+        gmobileye.clear_xmsgtime();
+        gmobileye.clear_numobstacles();
+        glane_sig = 0;
+
         //timestamp
         msgtime = xdata[1];
 
@@ -355,7 +361,7 @@ void ProcCANMsg(iv::can::canraw xmsg)
 
             iv::mobileye::obs * pxobs = gmobileye.add_xobj();
             pxobs->CopyFrom(gobs);
-            gobs_count++;
+            gobs_count=(xmsg.id()-0x73b)/3+1;
             gMobEyeIvlog->verbose("mobileyeobs", "nums:%d cur_count:%d, obs_id:%d, pos_x:%f, pos_y:%f \n",\
                                   gnum_obstacles, gobs_count, gobs.id(), gobs.pos_x(), gobs.pos_y());
         }

src/driver/driver_map_xodrload/driver_map_xodrload.pro

@@ -20,14 +20,12 @@ QMAKE_CXXFLAGS +=  -g
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
 SOURCES += main.cpp     \
-    ../../common/common/xodr/xodrfunc.cpp \
     ../../include/msgtype/v2x.pb.cc \
     fresnl.cpp \
     const.cpp \
     polevl.c \
     globalplan.cpp \
     dubins.c \
-    xodrdijkstra.cpp \
     ../../include/msgtype/gps.pb.cc \
     ../../include/msgtype/gpsimu.pb.cc \
     ../../include/msgtype/imu.pb.cc \
@@ -35,13 +33,11 @@ SOURCES += main.cpp     \
 
 HEADERS += \
     ../../../include/ivexit.h \
-    ../../common/common/xodr/xodrfunc.h \
     ../../include/msgtype/v2x.pb.h \
     mconf.h \
     globalplan.h \
     gps_type.h \
     dubins.h \
-    xodrdijkstra.h \
     ../../include/msgtype/gps.pb.h \
     ../../include/msgtype/gpsimu.pb.h \
     ../../include/msgtype/imu.pb.h \
@@ -64,7 +60,6 @@ HEADERS += \
     error( "Couldn't find the iveigen.pri file!" )
 }
 
-INCLUDEPATH += $$PWD/../../common/common/xodr
 
 !include(../../common/common/xodr/OpenDrive/OpenDrive.pri ) {
     error( "Couldn't find the OpenDrive.pri file!" )
@@ -74,5 +69,12 @@ INCLUDEPATH += $$PWD/../../common/common/xodr
     error( "Couldn't find the TinyXML.pri file!" )
 }
 
+!include(../../common/common/xodr/xodrfunc/xodrfunc.pri ) {
+    error( "Couldn't find the xodrfunc.pri file!" )
+}
+
+INCLUDEPATH += $$PWD/../../common/common/xodr
+INCLUDEPATH += $$PWD/../../common/common/xodr/xodrfunc
+
 
 

src/driver/driver_map_xodrload/globalplan.cpp

@@ -1259,6 +1259,7 @@ static std::vector<PlanPoint> getparampoly3dpoint(GeometryParamPoly3 * parc,cons
 std::vector<PlanPoint> GetPoint(pathsection xpath,const double fspace = 0.1)
 {
     Road * pRoad = xpath.mpRoad;
+    //s_start  s_end for select now section data.
     double s_start,s_end;
     LaneSection * pLS = pRoad->GetLaneSection(xpath.msectionid);
     s_start = pLS->GetS();
@@ -1268,6 +1269,12 @@ std::vector<PlanPoint> GetPoint(pathsection xpath,const double fspace = 0.1)
         s_end = pRoad->GetLaneSection(xpath.msectionid+1)->GetS();
     }
 
+//    if(xpath.mroadid == 10190)
+//    {
+//        int a = 1;
+//        a++;
+//    }
+
     std::vector<PlanPoint> xvectorPPS;
     double s = 0;
 
@@ -1760,6 +1767,40 @@ std::vector<int> GetLWIndex(std::vector<iv::lanewidthabcd> xvectorLWA,int nlane)
     return xvectorindex;
 }
 
+void CalcBorringRoad(pathsection xps,std::vector<PlanPoint> & xvectorPP)
+{
+    if(xps.mpRoad->GetRoadBorrowCount() == 0)
+    {
+        return;
+    }
+
+    Road * pRoad = xps.mpRoad;
+    unsigned int nborrowsize = pRoad->GetRoadBorrowCount();
+    unsigned int i;
+    unsigned int nPPCount = xvectorPP.size();
+    for(i=0;i<nborrowsize;i++)
+    {
+        RoadBorrow * pborrow = pRoad->GetRoadBorrow(i);
+        if(pborrow == NULL)
+        {
+            std::cout<<"warning:can't get borrow"<<std::endl;
+            continue;
+        }
+        if((pborrow->GetMode() == "All")||((pborrow->GetMode()=="R2L")&&(xps.mainsel<0))||((pborrow->GetMode()=="L2R")&&(xps.mainsel>0)))
+        {
+            unsigned int j;
+            double soffset = pborrow->GetS();
+            double borrowlen = pborrow->GetLength();
+            for(j=0;j<xvectorPP.size();j++)
+            {
+                if((xvectorPP[j].mS>=soffset)&&(xvectorPP[j].mS<=(soffset + borrowlen)))
+                {
+                    xvectorPP[j].mbBoringRoad = true;
+                }
+            }
+        }
+    }
+}
 
 void CalcInLaneAvoid(pathsection xps,std::vector<PlanPoint> & xvectorPP,const double fvehiclewidth,
                      const int nchang1,const int nchang2,const int nchangpoint)
@@ -2271,6 +2312,11 @@ std::vector<PlanPoint> GetLanePoint(pathsection xps,std::vector<PlanPoint> xvPP,
 
     CalcInLaneAvoid(xps,xvectorPP,fvehiclewidth,nchange1,nchange2,nchangepoint);
 
+    if(xps.mpRoad->GetRoadBorrowCount()>0)
+    {
+        CalcBorringRoad(xps,xvectorPP);
+    }
+
 
     if(xps.mnStartLaneSel > 0)
     {
@@ -2843,8 +2889,13 @@ int MakePlan(xodrdijkstra * pxd,OpenDrive * pxodr,const double x_now,const doubl
 
     if(bNeedDikstra)
     {
-    std::vector<int> xpath = pxd->getpath(atoi(pRoad->GetRoadId().data()),lr_start,atoi(pRoad_obj->GetRoadId().data()),lr_end,fs1,fs2);
+        bool bSuc = false;
+    std::vector<int> xpath = pxd->getpath(atoi(pRoad->GetRoadId().data()),lr_start,atoi(pRoad_obj->GetRoadId().data()),lr_end,bSuc,fs1,fs2);
     if(xpath.size()<1)return -1;
+    if(bSuc == false)
+    {
+        return -1;
+    }
     double flen = pxd->getpathlength(xpath);
     std::vector<pathsection> xpathsection = pxd->getgpspoint(atoi(pRoad->GetRoadId().data()),lr_start,atoi(pRoad_obj->GetRoadId().data()),lr_end,xpath,nlanesel);
 

src/driver/driver_map_xodrload/globalplan.h

@@ -39,6 +39,7 @@ public:
     double mfSecx;
     double mfSecy;
     int nlrchange; //1 left 2 right
+    bool mbBoringRoad = false;
 };
 
 class LaneChangePoint

src/driver/driver_map_xodrload/main.cpp

@@ -537,6 +537,12 @@ void SetPlan(xodrobj xo)
 
         data->mbInLaneAvoid = xPlan[i].bInlaneAvoid;
 
+        if(xPlan[i].mbBoringRoad)
+        {
+            data->roadOri = 0;
+            data->roadSum = 2;
+        }
+
         data->mode2 = xPlan[i].nSignal;
         if(data->mode2 == 3000)
         {

src/include/proto/decition.proto

@@ -16,7 +16,7 @@ message decition
     optional bool  doubleSpark = 10;          //双闪
     optional bool  headLight = 11;            //前灯
     optional bool  highBeam = 12;             //远光灯
-    optional bool  dippedLight = 13;          //近光灯
+    optional int32  dippedLight = 13;          //近光灯
     optional bool  tailLight = 14;            //尾灯
     optional bool  domeLight = 15;            //顶灯
     optional bool  fogLamp = 16;              //雾灯
@@ -26,7 +26,7 @@ message decition
     optional int32   mode = 20;                 //模式：自动or手动
     optional int32  handBrake = 21;            //手刹
     optional bool  speak = 22;                //喇叭
-    optional bool  door = 23;                 //车门
+    optional int32  door = 23;                 //车门
     optional int32   gear = 24;                 //挡位
     optional int32   wiper = 25;                //雨刷
     optional int32   grade = 26;                 //GE3使用的一个指标
@@ -35,8 +35,8 @@ message decition
     optional float   air_temp = 29;                  //空调温度 
     optional float   air_mode = 30;                  //空调模式 
     optional float   wind_level = 31;                  //空调风力 
-    optional float   roof_light = 32;                  //顶灯 
-    optional float   home_light = 33;                  //日光灯 
+    optional int32   roof_light = 32;                  //顶灯 
+    optional int32   home_light = 33;                  //日光灯 
     optional float   air_worktime = 34;                  //空调工作时间
     optional float   air_offtime = 35;                  //空调关闭时间 
     optional bool   air_on = 36;                  //空调使能 

src/tool/map_lanetoxodr/autoconnect.cpp

@@ -304,6 +304,8 @@ static std::vector<iv::roadpoint> getstartpoint(Road * p1)
 
 int GetEndPoint(Road *proad, double &x, double &y, double &hdg)
 {
+    proad->GetGeometryCoords(proad->GetRoadLength(),x,y,hdg);
+    return 0;
     GeometryBlock * pblock = proad->GetLastGeometryBlock();
 
     RoadGeometry * pgeo = pblock->GetLastGeometry();
@@ -346,8 +348,18 @@ int GetEndPoint(Road *proad, double &x, double &y, double &hdg)
         double xtem1,ytem1,x1,y1;
         GeometryParamPoly3 * ppoly3 = (GeometryParamPoly3* )pgeo;
         double s = ppoly3->GetLength();
-        xtem = ppoly3->GetuA() + ppoly3->GetuB() * s  + ppoly3->GetuC() * s*s  + ppoly3->GetuD() * s*s*s ;
-        ytem = ppoly3->GetvA() + ppoly3->GetvB() * s + ppoly3->GetvC() * s*s  + ppoly3->GetvD() * s*s*s ;
+        if(ppoly3->GetNormal())
+        {
+            xtem = ppoly3->GetuA() + ppoly3->GetuB()  + ppoly3->GetuC()   + ppoly3->GetuD()  ;
+            ytem = ppoly3->GetvA() + ppoly3->GetvB() + ppoly3->GetvC()   + ppoly3->GetvD() ;
+        }
+        else
+        {
+            xtem = ppoly3->GetuA() + ppoly3->GetuB() * s  + ppoly3->GetuC() * s*s  + ppoly3->GetuD() * s*s*s ;
+            ytem = ppoly3->GetvA() + ppoly3->GetvB() * s + ppoly3->GetvC() * s*s  + ppoly3->GetvD() * s*s*s ;
+        }
+//        xtem = ppoly3->GetuA() + ppoly3->GetuB() * s  + ppoly3->GetuC() * s*s  + ppoly3->GetuD() * s*s*s ;
+//        ytem = ppoly3->GetvA() + ppoly3->GetvB() * s + ppoly3->GetvC() * s*s  + ppoly3->GetvD() * s*s*s ;
         x = xtem*cos(ppoly3->GetHdg()) - ytem * sin(ppoly3->GetHdg()) + ppoly3->GetX();
         y = xtem*sin(ppoly3->GetHdg()) + ytem * cos(ppoly3->GetHdg()) + ppoly3->GetY();
         s = ppoly3->GetLength()*0.999;
@@ -355,12 +367,23 @@ int GetEndPoint(Road *proad, double &x, double &y, double &hdg)
         double fr = 1.0;
         if(s>0)
         {
+            double frel = 0.99;
+            if(ppoly3->GetNormal() == false)
+            {
+                xtem1 = ppoly3->GetuA() + ppoly3->GetuB() * s  + ppoly3->GetuC() * s*s  + ppoly3->GetuD() * s*s*s ;
+                ytem1 = ppoly3->GetvA() + ppoly3->GetvB() * s + ppoly3->GetvC() * s*s  + ppoly3->GetvD() * s*s*s ;
+            }
+            else
+            {
+                xtem1 = ppoly3->GetuA() + ppoly3->GetuB() * frel + ppoly3->GetuC() *frel*frel   + ppoly3->GetuD()*frel*frel*frel  ;
+                ytem1 = ppoly3->GetvA() + ppoly3->GetvB()*frel + ppoly3->GetvC()*frel*frel   + ppoly3->GetvD()*frel*frel*frel ;
+            }
             fr = 1.0;
-            xtem1 = ppoly3->GetuA() + ppoly3->GetuB() * fr  + ppoly3->GetuC() * fr*fr  + ppoly3->GetuD() * fr*fr*fr ;
-            ytem1 = ppoly3->GetvA() + ppoly3->GetvB() * fr + ppoly3->GetvC() * fr*fr  + ppoly3->GetvD() * fr*fr*fr ;
-            x1 = xtem*cos(ppoly3->GetHdg()) - ytem * sin(ppoly3->GetHdg()) + ppoly3->GetX();
-            y1 = xtem*sin(ppoly3->GetHdg()) + ytem * cos(ppoly3->GetHdg()) + ppoly3->GetY();
-            hdg = geofit::CalcHdg(xtem1,ytem1,x1,y1);
+//            xtem1 = ppoly3->GetuA() + ppoly3->GetuB() * fr  + ppoly3->GetuC() * fr*fr  + ppoly3->GetuD() * fr*fr*fr ;
+//            ytem1 = ppoly3->GetvA() + ppoly3->GetvB() * fr + ppoly3->GetvC() * fr*fr  + ppoly3->GetvD() * fr*fr*fr ;
+            x1 = xtem1*cos(ppoly3->GetHdg()) - ytem1 * sin(ppoly3->GetHdg()) + ppoly3->GetX();
+            y1 = xtem1*sin(ppoly3->GetHdg()) + ytem1 * cos(ppoly3->GetHdg()) + ppoly3->GetY();
+            hdg = geofit::CalcHdg(x1,y1,x,y);
         }
         else
         {

src/tool/map_lanetoxodr/autoroadcontact.cpp

@@ -0,0 +1,1340 @@
+#include "autoroadcontact.h"
+
+#include "mainwindow.h"
+
+#include <math.h>
+#include <iostream>
+
+extern MainWindow * gw;
+
+#include "xodrfunc.h"
+#include "xodrdijkstra.h"
+
+AutoRoadContact::AutoRoadContact()
+{
+
+}
+
+/**
+ * @brief AutoRoadContact::CalcContact
+ * @param pRoad1
+ * @param pRoad2
+ * @param contacttype 0:start to start  1:start to end 2:end to start 3:end to end
+ * @param turnstraight  0: turn  1:straight 2:u-turn
+ * @param xARCLane   right lane contact
+ * @param xARCOpLane left lane contact
+ * @param fDisTolerance    distance must below this value
+ * @return
+ */
+int AutoRoadContact::CalcContact(Road *pRoad1, Road *pRoad2,int & contacttype,int & turnstraight,
+                                 std::vector<iv::ARC> & xARCLane,std::vector<iv::ARC> & xARCOpLane, const double fDisTolerance)
+{
+
+    double road1_start_x,road1_start_y,road1_end_x,road1_end_y,road1_start_hdg,road1_end_hdg;
+    double road2_start_x,road2_start_y,road2_end_x,road2_end_y,road2_start_hdg,road2_end_hdg;
+    int ngeo = pRoad1->GetGeometryCoords(0,road1_start_x,road1_start_y,road1_start_hdg);
+    ngeo+=pRoad1->GetGeometryCoords(pRoad1->GetRoadLength(),road1_end_x,road1_end_y,road1_end_hdg);
+    ngeo+=pRoad2->GetGeometryCoords(0,road2_start_x,road2_start_y,road2_start_hdg);
+    ngeo+=pRoad2->GetGeometryCoords(pRoad2->GetRoadLength(),road2_end_x,road2_end_y,road2_end_hdg);
+    if(ngeo<0)
+    {
+        return -1;
+    }
+
+    double dis_1s_2s = sqrt(pow(road1_start_x-road2_start_x,2)
+                            +pow(road1_start_y-road2_start_y,2));
+    double dis_1s_2e = sqrt(pow(road1_start_x-road2_end_x,2)
+                            +pow(road1_start_y-road2_end_y,2));
+    double dis_1e_2s = sqrt(pow(road1_end_x-road2_start_x,2)
+                            +pow(road1_end_y-road2_start_y,2));
+    double dis_1e_2e = sqrt(pow(road1_end_x-road2_end_x,2)
+                            +pow(road1_end_y-road2_end_y,2));
+    double fdis[4];
+    fdis[0] = dis_1s_2s;
+    fdis[1] = dis_1s_2e;
+    fdis[2] = dis_1e_2s;
+    fdis[3] = dis_1e_2e;
+
+    double fdismin = 100000;
+    int index = -1;
+    unsigned int i;
+    for(i=0;i<4;i++)
+    {
+        if(fdismin>fdis[i])
+        {
+            fdismin = fdis[i];
+            index = i;
+        }
+    }
+
+    if(fdismin > fDisTolerance)
+    {
+        std::cout<<"dis is grater than Distance Tolerance. Tolerance is "<<fDisTolerance<<std::endl;
+        return -3;
+    }
+
+    if(fdismin < 0.1)
+    {
+        std::cout<<"dis is less than 0.1"<<std::endl;
+        return -4;
+    }
+
+    contacttype = index;
+
+    if(contacttype == -1)
+    {
+        return -2;
+    }
+
+    LaneSection * pLS1 = 0;
+    LaneSection * pLS2 = 0;
+    double from_x,from_y,from_hdg,to_x,to_y,to_hdg;
+    switch (contacttype) {
+    case 0:
+        from_x = road1_start_x;
+        from_y = road1_start_y;
+        to_x = road2_start_x;
+        to_y = road2_start_y;
+        from_hdg = road1_start_hdg + M_PI;
+        to_hdg = road2_start_hdg;
+        pLS1 = pRoad1->GetLaneSection(0);
+        pLS2 = pRoad2->GetLaneSection(0);
+        break;
+    case 1:
+        from_x = road1_start_x;
+        from_y = road1_start_y;
+        to_x = road2_end_x;
+        to_y = road2_end_y;
+        from_hdg = road1_start_hdg + M_PI;
+        to_hdg = road2_end_hdg+ M_PI;
+        pLS1 = pRoad1->GetLaneSection(0);
+        pLS2 = pRoad2->GetLastLaneSection();
+        break;
+    case 2:
+        from_x = road1_end_x;
+        from_y = road1_end_y;
+        to_x = road2_start_x;
+        to_y = road2_start_y;
+        from_hdg = road1_end_hdg ;
+        to_hdg = road2_start_hdg;
+        pLS1 = pRoad1->GetLastLaneSection();
+        pLS2 = pRoad2->GetLaneSection(0);
+        break;
+    case 3:
+        from_x = road1_end_x;
+        from_y = road1_end_y;
+        to_x = road2_end_x;
+        to_y = road2_end_y;
+        from_hdg = road1_end_hdg ;
+        to_hdg = road2_end_hdg + M_PI;
+        pLS1 = pRoad1->GetLastLaneSection();
+        pLS2 = pRoad2->GetLastLaneSection();
+        break;
+    default:
+        break;
+    }
+
+    if(from_hdg >= 2.0*M_PI)from_hdg = from_hdg - 2.0*M_PI;
+    if(to_hdg >= 2.0*M_PI)to_hdg = to_hdg - 2.0*M_PI;
+
+    double hdgdiff = to_hdg - from_hdg;
+    while(hdgdiff>=2.0*M_PI)hdgdiff = hdgdiff - 2.0*M_PI;
+    while(hdgdiff<0)hdgdiff = hdgdiff + 2.0*M_PI;
+    bool bTurnRight = true;
+    if((hdgdiff<0.5)||(hdgdiff>(2.0*M_PI-0.5)))
+    {
+        turnstraight = 1;
+    }
+    else
+    {
+        if((hdgdiff>(M_PI-0.3))&&(hdgdiff<(M_PI+0.3)))
+        {
+            turnstraight = 2;
+        }
+        else
+        {
+            if(hdgdiff>M_PI)
+            {
+                std::cout<<"turn right"<<std::endl;
+                bTurnRight = true;
+            }
+            else
+            {
+                std::cout<<"turn left"<<std::endl;
+                bTurnRight = false;
+            }
+            turnstraight = 0;
+        }
+    }
+
+
+    vector<Lane *> xroad1lane1,xroad1lane2;
+    vector<Lane *> xroad2lane1,xroad2lane2;
+    for(i=0;i<pLS1->GetLeftLaneCount();i++)
+    {
+        Lane * pLane = pLS1->GetLeftLaneAt(i+1);
+        if(pLane == NULL)
+        {
+            std::cout<<"GetLeftLaneError i:"<<i<<std::endl;
+            break;
+        }
+        xroad1lane1.push_back(pLane);
+    }
+    for(i=0;i<pLS1->GetRightLaneCount();i++)
+    {
+        Lane * pLane = pLS1->GetRightLaneAt(i+1);
+        if(pLane == NULL)
+        {
+            std::cout<<"GetRightLaneAt i:"<<i<<std::endl;
+            break;
+        }
+        xroad1lane2.push_back(pLane);
+    }
+    for(i=0;i<pLS2->GetLeftLaneCount();i++)
+    {
+        Lane * pLane = pLS2->GetLeftLaneAt(i+1);
+        if(pLane == NULL)
+        {
+            std::cout<<"GetLeftLaneError i:"<<i<<std::endl;
+            break;
+        }
+        xroad2lane1.push_back(pLane);
+    }
+    for(i=0;i<pLS2->GetRightLaneCount();i++)
+    {
+        Lane * pLane = pLS2->GetRightLaneAt(i+1);
+        if(pLane == NULL)
+        {
+            std::cout<<"GetRightLaneAt i:"<<i<<std::endl;
+            break;
+        }
+        xroad2lane2.push_back(pLane);
+    }
+
+    vector<Lane *> xroad1leftlane,xroad1rightlane;
+    vector<Lane *> xroad2leftlane,xroad2rightlane;
+
+    if((contacttype == 0)||(contacttype == 1))
+    {
+        xroad1leftlane = xroad1lane2;
+        xroad1rightlane = xroad1lane1;
+    }
+    else
+    {
+        xroad1leftlane = xroad1lane1;
+        xroad1rightlane = xroad1lane2;
+    }
+
+    if((contacttype == 1)||(contacttype == 3))
+    {
+        xroad2leftlane = xroad2lane2;
+        xroad2rightlane = xroad2lane1;
+    }
+    else
+    {
+        xroad2leftlane = xroad2lane1;
+        xroad2rightlane = xroad2lane2;
+    }
+
+    if(turnstraight == 1)  //
+    {
+        for(i=0;i<xroad1rightlane.size();i++)
+        {
+            Lane * pLane1 = xroad1rightlane.at(i);
+            if(i>=xroad2rightlane.size())
+            {
+                break;
+            }
+            Lane * pLane2 = xroad2rightlane.at(i);
+            if((pLane1 == NULL)||(pLane2 == NULL))
+            {
+                break;
+            }
+            if(pLane1->GetType() != pLane2->GetType())
+            {
+                break;
+            }
+            iv::ARC xARC;
+            xARC.from = pLane1->GetId();
+            xARC.to = pLane2->GetId();
+            xARCLane.push_back(xARC);
+        }
+        for(i=0;i<xroad1leftlane.size();i++)
+        {
+            Lane * pLane1 = xroad1leftlane.at(i);
+            if(i>=xroad2leftlane.size())
+            {
+                break;
+            }
+            Lane * pLane2 = xroad2leftlane.at(i);
+            if((pLane1 == NULL)||(pLane2 == NULL))
+            {
+                break;
+            }
+            if(pLane1->GetType() != pLane2->GetType())
+            {
+                break;
+            }
+            iv::ARC xARC;
+            xARC.from = pLane1->GetId();
+            xARC.to = pLane2->GetId();
+            xARCOpLane.push_back(xARC);
+        }
+    }
+    else
+    {
+        if(turnstraight == 0)
+        {
+            int nindex1 = -1;
+            int nindex2 = -1;
+            for(i=0;i<xroad1rightlane.size();i++)
+            {
+                if(xroad1rightlane.at(i)->GetType() == "driving")
+                {
+                    nindex1 = i;
+                    if(bTurnRight == false)
+                    {
+                        break;
+                    }
+                }
+            }
+            for(i=0;i<xroad2rightlane.size();i++)
+            {
+                if(xroad2rightlane.at(i)->GetType() == "driving")
+                {
+                    nindex2 = i;
+                    if(bTurnRight == false)
+                    {
+                        break;
+                    }
+                }
+            }
+            if((nindex1<0)||(nindex2<0))
+            {
+                std::cout<<"can't find driving lane"<<std::endl;
+                return -3;
+            }
+            if(bTurnRight)
+            {
+                for(i=nindex1;i<xroad1rightlane.size();i++)
+                {
+                    Lane * pLane1 = xroad1rightlane.at(i);
+                    if(nindex2 >= xroad2rightlane.size())
+                    {
+                        break;
+                    }
+                    Lane * pLane2 = xroad2rightlane.at(nindex2);nindex2++;
+                    if((pLane1 == NULL)||(pLane2 == NULL))
+                    {
+                        break;
+                    }
+                    if(pLane1->GetType() != pLane2->GetType())
+                    {
+                        break;
+                    }
+                    iv::ARC xARC;
+                    xARC.from = pLane1->GetId();
+                    xARC.to = pLane2->GetId();
+                    xARCLane.push_back(xARC);
+                }
+
+            }
+            else
+            {
+                Lane * pLane1 = xroad1rightlane.at(nindex1);
+                Lane * pLane2 = xroad2rightlane.at(nindex2);
+                if((pLane1 == NULL)||(pLane2 == NULL))
+                {
+                    std::cout<<"Lane NULL"<<std::endl;
+                }
+                if(pLane1->GetType() != pLane2->GetType())
+                {
+                    std::cout<<"Type Not Rigth"<<std::endl;
+                }
+                iv::ARC xARC;
+                xARC.from = pLane1->GetId();
+                xARC.to = pLane2->GetId();
+                xARCLane.push_back(xARC);
+            }
+        }
+        else
+        {
+            int nindex1 = -1;
+            int nindex2 = -1;
+            for(i=0;i<xroad1rightlane.size();i++)
+            {
+                if(xroad1rightlane.at(i)->GetType() == "driving")
+                {
+                    nindex1 = i;
+                    break;
+                }
+            }
+            for(i=0;i<xroad2rightlane.size();i++)
+            {
+                if(xroad2rightlane.at(i)->GetType() == "driving")
+                {
+                    nindex2 = i;
+                    break;
+                }
+            }
+            if((nindex1<0)||(nindex2<0))
+            {
+                std::cout<<"can't find driving lane"<<std::endl;
+                return -3;
+            }
+            Lane * pLane1 = xroad1rightlane.at(nindex1);
+            Lane * pLane2 = xroad2rightlane.at(nindex2);
+            if((pLane1 == NULL)||(pLane2 == NULL))
+            {
+                std::cout<<"Lane NULL"<<std::endl;
+            }
+            if(pLane1->GetType() != pLane2->GetType())
+            {
+                std::cout<<"Type Not Rigth"<<std::endl;
+            }
+            iv::ARC xARC;
+            xARC.from = pLane1->GetId();
+            xARC.to = pLane2->GetId();
+            xARCLane.push_back(xARC);
+        }
+    }
+
+    std::cout<<"Lane Contact"<<std::endl;
+    for(i=0;i<xARCLane.size();i++)
+    {
+        std::cout<<" From "<<xARCLane.at(i).from<<" To"<<xARCLane.at(i).to<<std::endl;
+    }
+    std::cout<<"OpLane Contact"<<std::endl;
+    for(i=0;i<xARCOpLane.size();i++)
+    {
+        std::cout<<" From "<<xARCOpLane.at(i).from<<" To"<<xARCOpLane.at(i).to<<std::endl;
+    }
+
+    return 0;
+
+}
+
+std::vector<Road *> AutoRoadContact::GetRelaRoad(OpenDrive *pxodr, Road *pRoad)
+{
+    std::vector<Road *> xvectorRoadRela;
+    unsigned int i;
+    if(pRoad->GetPredecessor() != 0)
+    {
+        if(pRoad->GetPredecessor()->GetElementType() == "road")
+        {
+            std::string roadid = pRoad->GetPredecessor()->GetElementId();
+            Road * pRoadTem = xodrfunc::GetRoadByID(pxodr,roadid);
+            if(pRoadTem != 0)
+            {
+                xvectorRoadRela.push_back(pRoadTem);
+            }
+        }
+        if(pRoad->GetPredecessor()->GetElementType() == "junction")
+        {
+            std::string junctionid = pRoad->GetPredecessor()->GetElementId();
+            Junction * pJunction = xodrfunc::GetJunctionByID(pxodr,junctionid);
+            if(pJunction != 0)
+            {
+                unsigned int njucntionconcount = pJunction->GetJunctionConnectionCount();
+                for(i=0;i<njucntionconcount;i++)
+                {
+                    JunctionConnection * pJC = pJunction->GetJunctionConnection(i);
+                    if(pJC == NULL)continue;
+                    if(pJC->GetIncomingRoad() == pRoad->GetRoadId())
+                    {
+                        std::string roadid = pJC->GetConnectingRoad();
+                        Road * pRoadTem = xodrfunc::GetRoadByID(pxodr,roadid);
+                        if(pRoadTem != 0)
+                        {
+                            xvectorRoadRela.push_back(pRoadTem);
+                        }
+                    }
+                    else
+                    {
+                        if(pJC->GetConnectingRoad() == pRoad->GetRoadId())
+                        {
+                            std::string roadid = pJC->GetIncomingRoad();
+                            Road * pRoadTem = xodrfunc::GetRoadByID(pxodr,roadid);
+                            if(pRoadTem != 0)
+                            {
+                                xvectorRoadRela.push_back(pRoadTem);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+    if(pRoad->GetSuccessor() != 0)
+    {
+        if(pRoad->GetSuccessor()->GetElementType() == "road")
+        {
+            std::string roadid = pRoad->GetSuccessor()->GetElementId();
+            Road * pRoadTem = xodrfunc::GetRoadByID(pxodr,roadid);
+            if(pRoadTem != 0)
+            {
+                xvectorRoadRela.push_back(pRoadTem);
+            }
+        }
+        if(pRoad->GetSuccessor()->GetElementType() == "junction")
+        {
+            std::string junctionid = pRoad->GetSuccessor()->GetElementId();
+            Junction * pJunction = xodrfunc::GetJunctionByID(pxodr,junctionid);
+            if(pJunction != 0)
+            {
+                unsigned int njucntionconcount = pJunction->GetJunctionConnectionCount();
+                for(i=0;i<njucntionconcount;i++)
+                {
+                    JunctionConnection * pJC = pJunction->GetJunctionConnection(i);
+                    if(pJC == NULL)continue;
+                    if(pJC->GetIncomingRoad() == pRoad->GetRoadId())
+                    {
+                        std::string roadid = pJC->GetConnectingRoad();
+                        Road * pRoadTem = xodrfunc::GetRoadByID(pxodr,roadid);
+                        if(pRoadTem != 0)
+                        {
+                            xvectorRoadRela.push_back(pRoadTem);
+                        }
+                    }
+                    else
+                    {
+                        if(pJC->GetConnectingRoad() == pRoad->GetRoadId())
+                        {
+                            std::string roadid = pJC->GetIncomingRoad();
+                            Road * pRoadTem = xodrfunc::GetRoadByID(pxodr,roadid);
+                            if(pRoadTem != 0)
+                            {
+                                xvectorRoadRela.push_back(pRoadTem);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    return xvectorRoadRela;
+
+
+}
+
+bool AutoRoadContact::RoadToRoad(OpenDrive * pxodr,Road * pRoad1,bool bRoad1Start,Road * pRoad2,bool bRoad2Start,std::vector<Road *> & xvectorthroughroad)
+{
+    RoadLink * pLink;
+    if(bRoad1Start == false)
+    {
+        pLink = pRoad1->GetSuccessor();
+    }
+    else
+    {
+        pLink = pRoad1->GetPredecessor();
+    }
+
+    if(pLink->GetElementType() == "road")
+    {
+        std::string strroadid = pLink->GetElementId();
+        Road * pcenterroad = xodrfunc::GetRoadByID(pxodr,strroadid);
+
+    }
+    return false;
+}
+bool AutoRoadContact::IsExist(OpenDrive *pxodr, iv::RoadContactUnit xRCU)
+{
+    Road * pRoad1 = xRCU.mpRoad1;
+    Road * pRoad2 = xRCU.mpRoad2;
+    std::vector<Road *> xvectorRoad1Rela;
+    std::vector<Road *> xvectorRoad2Rela;
+    xvectorRoad1Rela = AutoRoadContact::GetRelaRoad(pxodr,pRoad1);
+    xvectorRoad2Rela = AutoRoadContact::GetRelaRoad(pxodr,pRoad2);
+
+    if((xRCU.mcontactype ==0)||(xRCU.mcontactype == 1))
+    {
+        if(pRoad1->GetPredecessor() == NULL)
+        {
+            return false;
+        }
+        RoadLink * pLink = pRoad1->GetPredecessor();
+        if(pLink->GetElementType() == "road")
+        {
+            Road * pRoadCenter = xodrfunc::GetRoadByID(pxodr,pLink->GetElementId());
+            if(pRoadCenter != 0)
+            {
+                if(pRoadCenter == pRoad2)
+                {
+                    return true;
+                }
+                else
+                {
+                    if(pLink->GetContactPoint() == "end")
+                    {
+                        RoadLink * pLinkCenter = pRoadCenter->GetPredecessor();
+                        if(pLinkCenter == NULL)
+                        {
+                            return false;
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    //Not turn
+    if(xRCU.mturnstraight != 0)
+    {
+        unsigned int i;
+        for(i=0;i<xvectorRoad2Rela.size();i++)
+        {
+            if(xvectorRoad2Rela[i] == pRoad1)
+            {
+                return true;
+            }
+        }
+        for(i=0;i<xvectorRoad1Rela.size();i++)
+        {
+            if(xvectorRoad1Rela[i] == pRoad2)
+            {
+                return true;
+            }
+        }
+    }
+    return false;
+}
+
+int AutoRoadContact::MakeAllContact(OpenDrive *pxodr, const double fDisTolerance)
+{
+    unsigned int nRoadCount = pxodr->GetRoadCount();
+    int i;
+    std::vector<iv::RoadContactUnit> xvectorRCU;
+    for(i=0;i<nRoadCount;i++)
+    {
+        Road * pnowRoad = pxodr->GetRoad(i);
+        unsigned int j;
+        for(j=0;j<nRoadCount;j++)
+        {
+            if(j != i)
+            {
+                Road * potherRoad = pxodr->GetRoad(j);
+                int contactype;
+                int turnstraight;
+                std::vector<iv::ARC> xARCLane,xARCOpLane;
+                int nARCRtn = CalcContact(pnowRoad,potherRoad,contactype,turnstraight,xARCLane,xARCOpLane);
+                if(nARCRtn == 0)
+                {
+                    std::cout<<" Road:"<<pnowRoad->GetRoadId()<<" Road:"<<potherRoad->GetRoadId()
+                            <<" contact type: "<<turnstraight<<std::endl;
+
+                    if(xARCLane.size()>0 || (xARCOpLane.size()>0))
+                    {
+                        iv::RoadContactUnit rcu;
+                        rcu.mARCLane = xARCLane;
+                        rcu.mARCOpLane = xARCOpLane;
+                        rcu.mcontactype = contactype;
+                        rcu.mturnstraight = turnstraight;
+                        rcu.mpRoad1 = pnowRoad;
+                        rcu.mpRoad2 = potherRoad;
+                        xvectorRCU.push_back(rcu);
+                    }
+                }
+            }
+        }
+    }
+
+    xodrdijkstra * pxodrdj = new xodrdijkstra(pxodr);
+
+    //Delete Repeate strait
+    for(i=0;i<xvectorRCU.size();i++)
+    {
+        unsigned int j;
+        for(j=(i+1);j<xvectorRCU.size();j++)
+        {
+            if((xvectorRCU[i].mpRoad1 == xvectorRCU[j].mpRoad2)&&(xvectorRCU[i].mpRoad2 == xvectorRCU[j].mpRoad1))
+            {
+                if((xvectorRCU[i].mturnstraight == 1)&&(xvectorRCU[j].mturnstraight == 1))
+                {
+                    std::cout<<"because repeate straight.erase Road:"<<xvectorRCU[j].mpRoad1->GetRoadId()
+                            <<" Road:"<<xvectorRCU[j].mpRoad2->GetRoadId()
+                            <<" contact type: "<<xvectorRCU[j].mturnstraight<<std::endl;
+                    xvectorRCU.erase(xvectorRCU.begin()+j);
+                    j = j-1;
+                }
+            }
+        }
+    }
+
+    int RCUSize = xvectorRCU.size();
+    for(i=0;i<xvectorRCU.size();i++)
+    {
+        int nlr1 = 0;
+        int nlr2 = 0;
+        if((xvectorRCU[i].mcontactype == 0)||(xvectorRCU[i].mcontactype == 1))
+        {
+            nlr1 = 1;
+        }
+        else
+        {
+            nlr1 = 2;
+        }
+
+        if((xvectorRCU[i].mcontactype == 1)||(xvectorRCU[i].mcontactype == 3))
+        {
+            nlr2 = 1;
+        }
+        else
+        {
+            nlr2 = 2;
+        }
+
+        bool bPath;
+        Road * pRoad1 = xvectorRCU[i].mpRoad1;
+        Road * pRoad2 = xvectorRCU[i].mpRoad2;
+        std::vector<int> xvectorpath = pxodrdj->getpath(atoi(pRoad1->GetRoadId().data()),nlr1,
+                         atoi(pRoad2->GetRoadId().data()),nlr2,
+                         bPath);
+        if(bPath)
+        {
+            if((xvectorpath.size()==2)||(xvectorpath.size() == 3))
+            {
+               std::vector<pathsection> xvp = pxodrdj->getgpspoint(atoi(pRoad1->GetRoadId().data()),nlr1,
+                                                                   atoi(pRoad2->GetRoadId().data()),nlr2,
+                                                                   xvectorpath,1);
+                unsigned int j;
+                std::cout<<"path have ";
+                for(j=0;j<xvp.size();j++)
+                {
+                    std::cout<<j<<": "<<xvp[j].mroadid<<" ";
+                }
+                std::cout<<std::endl;
+                xvectorRCU.erase(xvectorRCU.begin()+i);
+                i = i-1;
+
+                    if(xvp.size() == 3)
+                    {
+                        int nroadid = xvp[1].mroadid;
+                        std::cout<<" found junction road . id: "<<nroadid<<std::endl;
+                        int k = 0;
+                        bool bdel = false;
+                        for(k=0;k<xvectorRCU.size();k++)
+                        {
+                            if((atoi(xvectorRCU[k].mpRoad1->GetRoadId().data()) == nroadid)||(atoi(xvectorRCU[k].mpRoad2->GetRoadId().data()) == nroadid))
+                            {
+                               xvectorRCU.erase(xvectorRCU.begin() + k);
+                               k = k-1;
+                               bdel = true;
+                            }
+                        }
+                        if(bdel)
+                        {
+                            i = -1;
+                        }
+
+                    }
+
+            }
+        }
+
+    }
+
+    std::cout<<" RCU Size is "<<xvectorRCU.size()<<std::endl;
+
+//    for(i=0;i<xvectorRCU.size();i++)
+    std::vector<std::vector<iv::roadcontact>> xvectorrcs;
+    for(i=0;i<xvectorRCU.size();i++)
+    {
+        std::vector<iv::roadcontact> xvectorrc;
+        xvectorrc.clear();
+        iv::roadcontact rc;
+        if((xvectorRCU[i].mcontactype == 0) ||(xvectorRCU[i].mcontactype == 1))
+        {
+            rc.mncon1 = 0;
+        }
+        else
+        {
+            rc.mncon1 = 1;
+        }
+        if((xvectorRCU[i].mcontactype == 0) ||(xvectorRCU[i].mcontactype == 2))
+        {
+            rc.mncon2 = 0;
+        }
+        else
+        {
+            rc.mncon2 = 1;
+        }
+        rc.mnroad1id = atoi(xvectorRCU[i].mpRoad1->GetRoadId().data());
+        rc.mnroad2id = atoi(xvectorRCU[i].mpRoad2->GetRoadId().data());
+        unsigned int j;
+        for(j=0;j<xvectorRCU[i].mARCLane.size();j++)
+        {
+             iv::lanecontact lt;
+             lt.ml1 = xvectorRCU[i].mARCLane[j].from;
+             lt.ml2 = xvectorRCU[i].mARCLane[j].to;
+             rc.mvectorlc.push_back(lt);
+        }
+        for(j=0;j<xvectorRCU[i].mARCOpLane.size();j++)
+        {
+             iv::lanecontact lt;
+             lt.ml1 = xvectorRCU[i].mARCOpLane[j].from;
+             lt.ml2 = xvectorRCU[i].mARCOpLane[j].to;
+             rc.mvectorlcop.push_back(lt);
+        }
+        xvectorrc.push_back(rc);
+        xvectorrcs.push_back(xvectorrc);
+//        CreateContactRoad(xvectorrc,pxodr,xvectorRCU[i].mturnstraight);
+    }
+
+    for(i=0;i<xvectorrcs.size();i++)
+    {
+        CreateContactRoad(xvectorrcs[i],pxodr,xvectorRCU[i].mturnstraight);
+    }
+
+    return 0;
+}
+
+void AutoRoadContact::CreateContactRoad(std::vector<iv::roadcontact> & xvectorrc,OpenDrive * pxodr,int nConType)
+{
+    if(xvectorrc.size()<1)return;
+
+    Road * p1, *p2;
+    int nroad1index;
+    int nroad2index;
+
+    int i;
+    bool bhavep1 = false;
+    bool bhavep2 = false;
+    for(i=0;i<pxodr->GetRoadCount();i++)
+    {
+        if(xvectorrc[0].mnroad1id == atoi(pxodr->GetRoad(i)->GetRoadId().data()))
+        {
+            bhavep1 = true;
+            p1 = pxodr->GetRoad(i);
+            nroad1index = i;
+            break;
+        }
+    }
+
+    if(bhavep1 == false)
+    {
+        std::cout<<"Road not found"<<std::endl;
+        return;
+    }
+
+    double off1,off2;
+
+
+
+    for(i=0;i<pxodr->GetRoadCount();i++)
+    {
+        if(xvectorrc[0].mnroad2id == atoi(pxodr->GetRoad(i)->GetRoadId().data()))
+        {
+            bhavep2 = true;
+            p2 = pxodr->GetRoad(i);
+            nroad2index = i;
+            break;
+        }
+    }
+
+    if(bhavep2 == false)
+    {
+        std::cout<<"Road not found"<<std::endl;
+        return;
+    }
+
+    if(xvectorrc[0].mvectorlc.size()<1)
+    {
+        std::cout<<"No Lane Contact."<<std::endl;;
+        return;
+    }
+
+    double startx,starty,starthdg;
+    double endx,endy,endhdg;
+
+    double startheight,endheight;
+
+    bool bFromstart,bTostart;
+    if(xvectorrc[0].mncon1 == 0)
+    {
+        bFromstart = true;
+        starthdg = p1->GetGeometryBlock(0)->GetGeometryAt(0)->GetHdg();
+        off1 = MainWindow::getoff(p1,xvectorrc[0].mvectorlc[0].ml1,true);
+        startx = p1->GetGeometryBlock(0)->GetGeometryAt(0)->GetX();
+        starty = p1->GetGeometryBlock(0)->GetGeometryAt(0)->GetY();
+
+        if(p1->GetLaneOffsetCount()>0)
+        {
+            off1 = off1 - p1->GetLaneOffset(0)->Geta();
+        }
+        startx = startx + off1 * cos(starthdg -M_PI/2.0);
+        starty = starty + off1 * sin(starthdg -M_PI/2.0);
+
+        startheight = 0;
+        if(p1->GetElevationCount()>0)
+        {
+            startheight = p1->GetElevation(0)->GetA();
+        }
+
+ //       if(mvectorrc[0].mvectorlc[0].ml1<0)
+            starthdg = starthdg +M_PI;if(starthdg >=2.0*M_PI)starthdg = starthdg -2.0*M_PI;
+    }
+    else
+    {
+        bFromstart = false;
+        if(GetEndPoint(p1,startx,starty,starthdg) != 0)
+        {
+            std::cout<<"Get End Point Error."<<std::endl;
+            return;
+        }
+        off1 = MainWindow::getoff(p1,xvectorrc[0].mvectorlc[0].ml1,false);
+        if(p1->GetLaneOffsetCount()>0)
+        {
+            LaneOffset * pLO = p1->GetLaneOffset(p1->GetLaneOffsetCount()-1);
+            double froadlen = p1->GetRoadLength();
+            double sdis = froadlen - pLO->GetS();
+            double foffset = pLO->Geta() + pLO->Getb()*(sdis) + pLO->Getc() * sdis * sdis
+                    +pLO->Getd() * sdis * sdis * sdis;
+            off1 = off1 - foffset;
+        }
+        startx = startx + off1 * cos(starthdg -M_PI/2.0);
+        starty = starty + off1 * sin(starthdg -M_PI/2.0);
+
+
+
+        startheight = 0;
+        if(p1->GetElevationCount()>0)
+        {
+            startheight = p1->GetElevation(0)->GetA()
+                    +p1->GetElevation(0)->GetB() * pow(p1->GetRoadLength(),1)
+                    +p1->GetElevation(0)->GetC() * pow(p1->GetRoadLength(),2)
+                    +p1->GetElevation(0)->GetD() * pow(p1->GetRoadLength(),3);
+        }
+    }
+
+    if(xvectorrc[0].mncon2 == 0)
+    {
+        bTostart = true;
+        off2 = MainWindow::getoff(p2,xvectorrc[0].mvectorlc[0].ml2,true);
+        endx = p2->GetGeometryBlock(0)->GetGeometryAt(0)->GetX();
+        endy = p2->GetGeometryBlock(0)->GetGeometryAt(0)->GetY();
+        endhdg = p2->GetGeometryBlock(0)->GetGeometryAt(0)->GetHdg();
+
+        if(p2->GetLaneOffsetCount()>0)
+        {
+            off2 = off2 - p2->GetLaneOffset(0)->Geta();
+        }
+        endx = endx + off2 * cos(endhdg -M_PI/2.0);
+        endy = endy + off2 * sin(endhdg -M_PI/2.0);
+
+        endheight = 0;
+        if(p2->GetElevationCount()>0)
+        {
+            endheight = p2->GetElevation(0)->GetA();
+        }
+    }
+    else
+    {
+        bTostart = false;
+        off2 = MainWindow::getoff(p2,xvectorrc[0].mvectorlc[0].ml2,false);
+        if(GetEndPoint(p2,endx,endy,endhdg) != 0)
+        {
+            std::cout<<"get end error."<<std::endl;
+            return;
+        }
+        if(p2->GetLaneOffsetCount()>0)
+        {
+            LaneOffset * pLO = p2->GetLaneOffset(p2->GetLaneOffsetCount()-1);
+            double froadlen = p2->GetRoadLength();
+            double sdis = froadlen - pLO->GetS();
+            double foffset = pLO->Geta() + pLO->Getb()*(sdis) + pLO->Getc() * sdis * sdis
+                    +pLO->Getd() * sdis * sdis * sdis;
+            off2 = off2 - foffset;
+        }
+        endx = endx + off2 * cos(endhdg -M_PI/2.0);
+        endy = endy + off2 * sin(endhdg -M_PI/2.0);
+        endhdg = endhdg +M_PI;if(endhdg >=2.0*M_PI)endhdg = endhdg -2.0*M_PI;
+
+        endheight = 0;
+        if(p2->GetElevationCount()>0)
+        {
+            endheight = p2->GetElevation(0)->GetA()
+                    +p2->GetElevation(0)->GetB() * pow(p2->GetRoadLength(),1)
+                    +p2->GetElevation(0)->GetC() * pow(p2->GetRoadLength(),2)
+                    +p2->GetElevation(0)->GetD() * pow(p2->GetRoadLength(),3);
+        }
+    }
+
+
+    //Create Geo
+    double R = 6.0;
+    std::vector<geobase> xvectorgeo;
+    std::vector<geobase> xvectorgeo1,xvectorgeo2;
+    switch(nConType)
+    {
+    case 0:
+        xvectorgeo = geofit::CreateTurnGeo(startx,starty,starthdg,endx,endy,endhdg,R);
+        break;
+    case 1:
+        xvectorgeo = geofit::CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
+        break;
+    case 2:
+        xvectorgeo = geofit::CreateUTurnGeo(startx,starty,starthdg,endx,endy,endhdg,R);
+        break;
+    default:
+        break;
+    }
+
+    if(nConType == 2)
+    {
+        for(i=0;i<xvectorgeo.size()/2;i++)
+        {
+            xvectorgeo1.push_back(xvectorgeo.at(i));
+        }
+        for(i=xvectorgeo.size()/2;i<xvectorgeo.size();i++)
+        {
+            xvectorgeo2.push_back(xvectorgeo.at(i));
+        }
+    }
+
+    if(xvectorgeo.size() == 0)
+    {
+        std::cout<<"Waring Create Road Fail."<<std::endl;
+        return;
+    }
+
+    double xroadlen = 0;
+
+    if(nConType != 2)
+    {
+        for(i=0;i<xvectorgeo.size();i++)xroadlen = xroadlen + xvectorgeo[i].mfLen;
+
+        pxodr->AddRoad("",xroadlen, QString::number(gw->CreateRoadID()).toStdString(),"-1");
+        Road * p = pxodr->GetRoad(pxodr->GetRoadCount() - 1);
+
+        p->AddElevation(0,startheight,(endheight-startheight)/xroadlen,0,0);
+
+        p1 = pxodr->GetRoad(nroad1index);
+        p2 = pxodr->GetRoad(nroad2index);
+
+        double s = 0;
+        int j;
+        j= 0;
+        for(j=0;j<xvectorgeo.size();j++)
+        {
+            p->AddGeometryBlock();
+            GeometryBlock * pgb = p->GetGeometryBlock(j);
+
+            geobase * pline;
+            geobase * pbez;
+            geobase * parc;
+            switch(xvectorgeo[j].mnType)
+            {
+            case 0:
+                pline = &xvectorgeo[j];
+                pgb->AddGeometryLine(s,pline->mfX,pline->mfY,pline->mfHdg,pline->mfLen);
+                break;
+            case 1:
+                parc = &xvectorgeo[j];
+                pgb->AddGeometryArc(s,parc->mfX,parc->mfY,parc->mfHdgStart,parc->mfLen,1.0/parc->mR);
+                break;
+            case 2:
+                pbez = &xvectorgeo[j];
+                std::cout<<"u0:"<<pbez->mfu[0]<<std::endl;
+                pgb->AddGeometryParamPoly3(s,pbez->mfX,pbez->mfY,
+                                           pbez->mfHdg,pbez->mfLen,pbez->mfu[0],
+                        pbez->mfu[1],pbez->mfu[2],pbez->mfu[3],pbez->mfv[0],
+                        pbez->mfv[1],pbez->mfv[2],pbez->mfv[3]);
+                break;
+            }
+            s = s + xvectorgeo[j].mfLen;
+        }
+
+        p->AddLaneSection(0);
+        LaneSection * pLS = p->GetLaneSection(0);
+        pLS->SetS(0);
+        pLS->AddLane(0,0,"none",false);
+
+        double * pswidth,*pewidth;
+        std::vector<std::string> strvectorlanetype;
+        int nlanecount = xvectorrc[0].mvectorlc.size();
+        pswidth = new double[nlanecount];
+        pewidth = new double[nlanecount];
+        std::shared_ptr<double> ppswidth,ppewidth;
+        ppswidth.reset(pswidth);
+        ppewidth.reset(pewidth);
+
+        for(i=0;i<nlanecount;i++)
+        {
+            pswidth[i] =  gw->getlanewidth(p1,xvectorrc[0].mvectorlc.at(i).ml1,bFromstart);
+            strvectorlanetype.push_back(gw->getlanetype(p1,xvectorrc[0].mvectorlc.at(i).ml1,bFromstart));
+
+        }
+        for(i=0;i<nlanecount;i++)
+        {
+            pewidth[i] =  gw->getlanewidth(p2,xvectorrc[0].mvectorlc.at(i).ml2,bTostart);
+        }
+
+        double * pa,*pb;
+        pa = new double[nlanecount];
+        pb = new double[nlanecount];
+        std::shared_ptr<double> ppa,ppb;
+        ppa.reset(pa);
+        ppb.reset(pb);
+
+        for(i=0;i<nlanecount;i++)
+        {
+            pa[i] = pswidth[i];
+            pb[i] = (pewidth[i] - pa[i])/xroadlen;
+        }
+
+        for(i=0;i<nlanecount;i++)
+        {
+            pLS->AddLane(-1,(i+1)*(-1),strvectorlanetype[i],false,false);
+            Lane * pLL = pLS->GetLane(pLS->GetLaneCount() - 1);
+
+            pLL->AddWidthRecord(0,pa[i],pb[i],
+                                0,0);
+            pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+
+        }
+
+        int noplanecount = xvectorrc[0].mvectorlcop.size();
+        if(noplanecount > 0)
+        {
+            pswidth = new double[noplanecount];
+            pewidth = new double[noplanecount];
+            ppswidth.reset(pswidth);
+            ppewidth.reset(pewidth);
+
+            strvectorlanetype.clear();
+            for(i=0;i<noplanecount;i++)
+            {
+                pswidth[i] =  gw->getlanewidth(p1,xvectorrc[0].mvectorlcop.at(i).ml1,bFromstart);
+                strvectorlanetype.push_back(gw->getlanetype(p1,xvectorrc[0].mvectorlcop.at(i).ml1,bFromstart));
+            }
+            for(i=0;i<noplanecount;i++)
+            {
+                pewidth[i] =  gw->getlanewidth(p2,xvectorrc[0].mvectorlcop.at(i).ml2,bTostart);
+            }
+
+            pa = new double[noplanecount];
+            pb = new double[noplanecount];
+            ppa.reset(pa);
+            ppb.reset(pb);
+
+            for(i=0;i<noplanecount;i++)
+            {
+                pa[i] = pswidth[i];
+                pb[i] = (pewidth[i] - pa[i])/xroadlen;
+            }
+
+            for(i=0;i<noplanecount;i++)
+            {
+                pLS->AddLane(1,(i+1),strvectorlanetype[i],false,false);
+                Lane * pLL = pLS->GetLane(pLS->GetLaneCount() - 1);
+
+                pLL->AddWidthRecord(0,pa[i],pb[i],
+                                    0,0);
+                pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+
+            }
+        }
+
+    }
+    else
+    {
+        double xroadlen1 = 0;
+        double xroadlen2 = 0;
+        for(i=0;i<xvectorgeo1.size();i++)xroadlen1 = xroadlen1 + xvectorgeo1[i].mfLen;
+        for(i=0;i<xvectorgeo2.size();i++)xroadlen2 = xroadlen2 + xvectorgeo2[i].mfLen;
+
+        int index1 = pxodr->AddRoad("",xroadlen1, QString::number(gw->CreateRoadID()).toStdString(),"-1");
+        int index2 = pxodr->AddRoad("",xroadlen2, QString::number(gw->CreateRoadID()).toStdString(),"-1");
+        Road * proad2 = pxodr->GetRoad(index2);
+        Road * proad1 = pxodr->GetRoad(index1);
+
+        proad1->AddElevation(0,startheight,(endheight-startheight)/(xroadlen1+xroadlen2),0,0);
+        proad2->AddElevation(0,startheight+xroadlen1*(endheight-startheight)/(xroadlen1+xroadlen2),
+                             (endheight-startheight)/(xroadlen1+xroadlen2),
+                             0,0);
+
+        p1 = pxodr->GetRoad(nroad1index);
+        p2 = pxodr->GetRoad(nroad2index);
+
+//        OpenDrive * px = &mxodr;
+        double s = 0;
+        int j;
+        j= 0;
+        for(j=0;j<xvectorgeo1.size();j++)
+        {
+            proad1->AddGeometryBlock();
+            GeometryBlock * pgb = proad1->GetGeometryBlock(j);
+
+            geobase * pline;
+            geobase * pbez;
+            geobase * parc;
+            switch(xvectorgeo1[j].mnType)
+            {
+            case 0:
+                pline = &xvectorgeo1[j];
+                pgb->AddGeometryLine(s,pline->mfX,pline->mfY,pline->mfHdg,pline->mfLen);
+                break;
+            case 1:
+                parc = &xvectorgeo1[j];
+                pgb->AddGeometryArc(s,parc->mfX,parc->mfY,parc->mfHdgStart,parc->mfLen,1.0/parc->mR);
+                break;
+            case 2:
+                pbez = &xvectorgeo1[j];
+                std::cout<<"u0:"<<pbez->mfu[0]<<std::endl;
+                pgb->AddGeometryParamPoly3(s,pbez->mfX,pbez->mfY,
+                                           pbez->mfHdg,pbez->mfLen,pbez->mfu[0],
+                        pbez->mfu[1],pbez->mfu[2],pbez->mfu[3],pbez->mfv[0],
+                        pbez->mfv[1],pbez->mfv[2],pbez->mfv[3]);
+                break;
+            }
+            s = s + xvectorgeo1[j].mfLen;
+        }
+
+        s=0.0;
+        for(j=0;j<xvectorgeo2.size();j++)
+        {
+            proad2->AddGeometryBlock();
+            GeometryBlock * pgb = proad2->GetGeometryBlock(j);
+
+            geobase * pline;
+            geobase * pbez;
+            geobase * parc;
+            switch(xvectorgeo2[j].mnType)
+            {
+            case 0:
+                pline = &xvectorgeo2[j];
+                pgb->AddGeometryLine(s,pline->mfX,pline->mfY,pline->mfHdg,pline->mfLen);
+                break;
+            case 1:
+                parc = &xvectorgeo2[j];
+                pgb->AddGeometryArc(s,parc->mfX,parc->mfY,parc->mfHdgStart,parc->mfLen,1.0/parc->mR);
+                break;
+            case 2:
+                pbez = &xvectorgeo2[j];
+                std::cout<<"u0:"<<pbez->mfu[0]<<std::endl;
+                pgb->AddGeometryParamPoly3(s,pbez->mfX,pbez->mfY,
+                                           pbez->mfHdg,pbez->mfLen,pbez->mfu[0],
+                        pbez->mfu[1],pbez->mfu[2],pbez->mfu[3],pbez->mfv[0],
+                        pbez->mfv[1],pbez->mfv[2],pbez->mfv[3]);
+                break;
+            }
+            s = s + xvectorgeo2[j].mfLen;
+        }
+
+        proad1->AddLaneSection(0);
+        LaneSection * pLS1 = proad1->GetLaneSection(0);
+        pLS1->SetS(0);
+        pLS1->AddLane(0,0,"none",false);
+
+        proad2->AddLaneSection(0);
+        LaneSection * pLS2 = proad2->GetLaneSection(0);
+        pLS2->SetS(0);
+        pLS2->AddLane(0,0,"none",false);
+
+        double * pswidth,*pewidth;
+        int nlanecount = xvectorrc[0].mvectorlc.size();
+        std::vector<std::string> strvectorlanetype;
+        pswidth = new double[nlanecount];
+        pewidth = new double[nlanecount];
+        std::shared_ptr<double> ppswidth,ppewidth;
+        ppswidth.reset(pswidth);
+        ppewidth.reset(pewidth);
+
+        for(i=0;i<nlanecount;i++)
+        {
+            pswidth[i] =  gw->getlanewidth(p1,xvectorrc[0].mvectorlc.at(i).ml1,bFromstart);
+            strvectorlanetype.push_back(gw->getlanetype(p1,xvectorrc[0].mvectorlc.at(i).ml1,bFromstart));
+
+        }
+        for(i=0;i<nlanecount;i++)
+        {
+            pewidth[i] =  gw->getlanewidth(p2,xvectorrc[0].mvectorlc.at(i).ml2,bTostart);
+        }
+
+        double * pa,*pb;
+        pa = new double[nlanecount];
+        pb = new double[nlanecount];
+        std::shared_ptr<double> ppa,ppb;
+        ppa.reset(pa);
+        ppb.reset(pb);
+
+        for(i=0;i<nlanecount;i++)
+        {
+            pa[i] = pswidth[i];
+            pb[i] = (pewidth[i] - pa[i])/(xroadlen1+xroadlen2);
+        }
+
+        for(i=0;i<nlanecount;i++)
+        {
+            pLS1->AddLane(-1,(i+1)*(-1),strvectorlanetype[i],false,false);
+            Lane * pLL = pLS1->GetLane(pLS1->GetLaneCount() - 1);
+
+            pLL->AddWidthRecord(0,pa[i],pb[i],
+                                0,0);
+            pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+
+            pLS2->AddLane(-1,(i+1)*(-1),strvectorlanetype[i],false,false);
+            pLL = pLS2->GetLane(pLS2->GetLaneCount() - 1);
+
+            pLL->AddWidthRecord(0,pa[i]+pb[i]*xroadlen1 ,pb[i],
+                                0,0);
+            pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+
+        }
+        int noplanecount = xvectorrc[0].mvectorlcop.size();
+        if(noplanecount > 0)
+        {
+            pswidth = new double[noplanecount];
+            pewidth = new double[noplanecount];
+            ppswidth.reset(pswidth);
+            ppewidth.reset(pewidth);
+
+            strvectorlanetype.clear();
+            for(i=0;i<noplanecount;i++)
+            {
+                pswidth[i] =  gw->getlanewidth(p1,xvectorrc[0].mvectorlcop.at(i).ml1,bFromstart);
+                strvectorlanetype.push_back(gw->getlanetype(p1,xvectorrc[0].mvectorlcop.at(i).ml1,bFromstart));
+            }
+            for(i=0;i<noplanecount;i++)
+            {
+                pewidth[i] =  gw->getlanewidth(p2,xvectorrc[0].mvectorlcop.at(i).ml2,bTostart);
+            }
+
+            pa = new double[noplanecount];
+            pb = new double[noplanecount];
+            ppa.reset(pa);
+            ppb.reset(pb);
+
+            for(i=0;i<noplanecount;i++)
+            {
+                pa[i] = pswidth[i];
+                pb[i] = (pewidth[i] - pa[i])/xroadlen;
+            }
+
+            for(i=0;i<noplanecount;i++)
+            {
+                pLS1->AddLane(1,(i+1),strvectorlanetype[i],false,false);
+                Lane * pLL = pLS1->GetLane(pLS1->GetLaneCount() - 1);
+
+                pLL->AddWidthRecord(0,pa[i],pb[i],
+                                    0,0);
+                pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+
+                pLS2->AddLane(1,(i+1),strvectorlanetype[i],false,false);
+                pLL = pLS2->GetLane(pLS2->GetLaneCount() - 1);
+
+                pLL->AddWidthRecord(0,pa[i]+pb[i]*xroadlen1 ,pb[i],
+                                    0,0);
+                pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+
+            }
+        }
+
+
+    }
+
+
+}
+
+

src/tool/map_lanetoxodr/autoroadcontact.h

@@ -0,0 +1,53 @@
+#ifndef AUTOROADCONTACT_H
+#define AUTOROADCONTACT_H
+
+#include "OpenDrive/OpenDrive.h"
+
+#include "rawtype.h"
+#include "geofit.h"
+
+
+namespace  iv {
+struct ARC
+{
+    int from;
+    int to;
+};
+
+struct RoadContactUnit
+{
+    Road * mpRoad1;
+    Road * mpRoad2;
+    int mcontactype;
+    int mturnstraight;
+    std::vector<iv::ARC> mARCLane;
+    std::vector<iv::ARC> mARCOpLane;
+};
+}
+
+class AutoRoadContact
+{
+public:
+    AutoRoadContact();
+
+    static int CalcContact(Road * pRoad1,Road * pRoad2,int & contacttype,int & turnstraight,
+                           std::vector<iv::ARC> & xARCLane,std::vector<iv::ARC> & xARCOpLane,const double fDisTolerance = 300.0);
+
+    static int MakeAllContact(OpenDrive * pxodr,const double fDisTolerance = 30.0);
+
+    static bool IsExist(OpenDrive * pxodr,iv::RoadContactUnit xRCU);
+
+//    static int CreateContactRoad(Road * pRoad1,Road * pRoad2,int  contacttype,int turnstraight,
+//                                 std::vector<iv::ARC> & xARCLane,std::vector<iv::ARC> & xARCOpLane);
+
+
+private:
+    static std::vector<Road * > GetRelaRoad(OpenDrive * pxodr,Road * pRoad);
+
+    static bool RoadToRoad(OpenDrive * pxodr,Road * pRoad1,bool bRoad1Start,Road * pRoad2,bool bRoad2Start,std::vector<Road *> & xvectorthroughroad);
+
+    static void CreateContactRoad(std::vector<iv::roadcontact> & xvectorrc,OpenDrive * pxodr,int nConType);
+
+};
+
+#endif // AUTOROADCONTACT_H

src/tool/map_lanetoxodr/dialogdrawroad.cpp

@@ -0,0 +1,108 @@
+#include "dialogdrawroad.h"
+#include "ui_dialogdrawroad.h"
+
+#include "mainwindow.h"
+
+extern MainWindow * gw;
+
+DialogDrawRoad::DialogDrawRoad(QWidget *parent) :
+    QDialog(parent),
+    ui(new Ui::DialogDrawRoad)
+{
+    ui->setupUi(this);
+
+    ui->comboBox_Type->addItem("两点创建Line");
+    ui->comboBox_Type->addItem("航向和长度创建Line");
+    ui->comboBox_Type->addItem("两点和半径创建Arc");
+    ui->comboBox_Type->addItem("点和半径创建Arc");
+
+    ui->comboBox_Type->setCurrentIndex(0);
+
+    connect(gw,SIGNAL(CurrentPosition(double,double)),this,SLOT(onCurrentPos(double,double)));
+
+    setWindowTitle("Draw Road");
+}
+
+DialogDrawRoad::~DialogDrawRoad()
+{
+    delete ui;
+}
+
+void DialogDrawRoad::on_comboBox_Type_currentIndexChanged(int index)
+{
+    switch (index) {
+    case 0:
+        {
+            ui->label_Point1->setText("Point1(X Y)");
+            ui->label_Point2->setText("Point2(X Y)");
+            ui->checkBox_point2->setVisible(true);
+            ui->label_Point2->setVisible(true);
+            ui->lineEdit_point2x->setVisible(true);
+            ui->lineEdit_point2y->setVisible(true);
+            ui->label_Radius->setVisible(false);
+            ui->lineEdit_Radius->setVisible(false);
+            ui->lineEdit_hdgrange->setVisible(false);
+        }
+        break;
+    case 1:
+        {
+            ui->label_Point1->setText("Point(X Y)");
+            ui->label_Point2->setText("hdg&Len(hdg len)");
+            ui->checkBox_point2->setVisible(false);
+            ui->label_Point2->setVisible(true);
+            ui->lineEdit_point2x->setVisible(true);
+            ui->lineEdit_point2y->setVisible(true);
+            ui->label_Radius->setVisible(false);
+            ui->lineEdit_Radius->setVisible(false);
+            ui->lineEdit_hdgrange->setVisible(false);
+        }
+        break;
+    case 2:
+        {
+            ui->label_Point1->setText("Point1(X Y)");
+            ui->label_Point2->setText("Point2(X Y)");
+            ui->label_Radius->setText("Radius");
+            ui->checkBox_point2->setVisible(true);
+            ui->label_Point2->setVisible(true);
+            ui->lineEdit_point2x->setVisible(true);
+            ui->lineEdit_point2y->setVisible(true);
+            ui->label_Radius->setVisible(true);
+            ui->lineEdit_Radius->setVisible(true);
+            ui->lineEdit_hdgrange->setVisible(false);
+        }
+        break;
+    case 3:
+        {
+            ui->label_Point1->setText("Point(X Y");
+            ui->label_Radius->setText("Radius&Range");
+            ui->checkBox_point2->setVisible(false);
+            ui->label_Point2->setVisible(false);
+            ui->lineEdit_point2x->setVisible(false);
+            ui->lineEdit_point2y->setVisible(false);
+            ui->label_Radius->setVisible(true);
+            ui->lineEdit_Radius->setVisible(true);
+            ui->lineEdit_hdgrange->setVisible(true);
+        }
+        break;
+    default:
+        break;
+    }
+}
+
+void DialogDrawRoad::onCurrentPos(double x, double y)
+{
+    if(ui->checkBox_point1->isChecked())
+    {
+        ui->lineEdit_point1x->setText(QString::number(x));
+        ui->lineEdit_point1y->setText(QString::number(y));
+        ui->checkBox_point1->setChecked(false);
+    }
+    if(ui->checkBox_point2->isChecked())
+    {
+        ui->lineEdit_point2x->setText(QString::number(x));
+        ui->lineEdit_point2y->setText(QString::number(y));
+        ui->checkBox_point2->setChecked(false);
+    }
+    ui->lineEdit_newpointx->setText(QString::number(x));
+    ui->lineEdit_newpointy->setText(QString::number(y));
+}

src/tool/map_lanetoxodr/dialogdrawroad.h

@@ -0,0 +1,30 @@
+#ifndef DIALOGDRAWROAD_H
+#define DIALOGDRAWROAD_H
+
+#include <QDialog>
+
+
+namespace Ui {
+class DialogDrawRoad;
+}
+
+class DialogDrawRoad : public QDialog
+{
+    Q_OBJECT
+
+public:
+    explicit DialogDrawRoad(QWidget *parent = nullptr);
+    ~DialogDrawRoad();
+
+
+
+private slots:
+    void on_comboBox_Type_currentIndexChanged(int index);
+
+    void onCurrentPos(double x,double y);
+
+private:
+    Ui::DialogDrawRoad *ui;
+};
+
+#endif // DIALOGDRAWROAD_H

src/tool/map_lanetoxodr/dialogdrawroad.ui

@@ -0,0 +1,266 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DialogDrawRoad</class>
+ <widget class="QDialog" name="DialogDrawRoad">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>891</width>
+    <height>648</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QPushButton" name="pushButton_Draw">
+   <property name="geometry">
+    <rect>
+     <x>710</x>
+     <y>566</y>
+     <width>141</width>
+     <height>51</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Draw</string>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="comboBox_Type">
+   <property name="geometry">
+    <rect>
+     <x>290</x>
+     <y>257</y>
+     <width>291</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>200</x>
+     <y>257</y>
+     <width>81</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Type</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_Create">
+   <property name="geometry">
+    <rect>
+     <x>690</x>
+     <y>247</y>
+     <width>141</width>
+     <height>51</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Create</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_Point1">
+   <property name="geometry">
+    <rect>
+     <x>62</x>
+     <y>40</y>
+     <width>211</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Point1</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_point1x">
+   <property name="geometry">
+    <rect>
+     <x>289</x>
+     <y>36</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_point1y">
+   <property name="geometry">
+    <rect>
+     <x>469</x>
+     <y>35</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_point2y">
+   <property name="geometry">
+    <rect>
+     <x>469</x>
+     <y>109</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_Point2">
+   <property name="geometry">
+    <rect>
+     <x>65</x>
+     <y>114</y>
+     <width>211</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Point2</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_point2x">
+   <property name="geometry">
+    <rect>
+     <x>289</x>
+     <y>110</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QCheckBox" name="checkBox_point1">
+   <property name="geometry">
+    <rect>
+     <x>679</x>
+     <y>38</y>
+     <width>92</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Select</string>
+   </property>
+  </widget>
+  <widget class="QCheckBox" name="checkBox_point2">
+   <property name="geometry">
+    <rect>
+     <x>679</x>
+     <y>110</y>
+     <width>92</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Select</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_newpointy">
+   <property name="geometry">
+    <rect>
+     <x>380</x>
+     <y>475</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_4">
+   <property name="geometry">
+    <rect>
+     <x>72</x>
+     <y>480</y>
+     <width>111</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>New Point</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_newpointx">
+   <property name="geometry">
+    <rect>
+     <x>200</x>
+     <y>476</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QCheckBox" name="checkBox_newpointusehdg">
+   <property name="geometry">
+    <rect>
+     <x>740</x>
+     <y>476</y>
+     <width>151</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Use Hdg</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_newpointhdg">
+   <property name="geometry">
+    <rect>
+     <x>560</x>
+     <y>476</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_Radius">
+   <property name="geometry">
+    <rect>
+     <x>66</x>
+     <y>185</y>
+     <width>211</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Radius</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_Radius">
+   <property name="geometry">
+    <rect>
+     <x>290</x>
+     <y>181</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_hdgrange">
+   <property name="geometry">
+    <rect>
+     <x>470</x>
+     <y>180</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+ </widget>
+ <tabstops>
+  <tabstop>lineEdit_point1x</tabstop>
+  <tabstop>lineEdit_point1y</tabstop>
+  <tabstop>checkBox_point1</tabstop>
+  <tabstop>lineEdit_point2x</tabstop>
+  <tabstop>lineEdit_point2y</tabstop>
+  <tabstop>checkBox_point2</tabstop>
+  <tabstop>lineEdit_Radius</tabstop>
+  <tabstop>lineEdit_hdgrange</tabstop>
+  <tabstop>comboBox_Type</tabstop>
+  <tabstop>pushButton_Create</tabstop>
+  <tabstop>lineEdit_newpointx</tabstop>
+  <tabstop>lineEdit_newpointy</tabstop>
+  <tabstop>lineEdit_newpointhdg</tabstop>
+  <tabstop>checkBox_newpointusehdg</tabstop>
+  <tabstop>pushButton_Draw</tabstop>
+ </tabstops>
+ <resources/>
+ <connections/>
+</ui>

src/tool/map_lanetoxodr/dialogeditlane.cpp

@@ -30,6 +30,8 @@ DialogEditLane::DialogEditLane(Road * pRoad,QWidget *parent) :
     }
     if(nsection > 0)on_comboBox_LaneSection_currentIndexChanged(0);
 
+    setWindowTitle("Edit Lane");
+
 }
 
 DialogEditLane::~DialogEditLane()
@@ -39,6 +41,7 @@ DialogEditLane::~DialogEditLane()
 
 void DialogEditLane::on_comboBox_LaneSection_currentIndexChanged(int index)
 {
+    int indexold = ui->comboBox_Lane->currentIndex();
     if(mpRoad == 0)return;
     LaneSection * pLS = mpRoad->GetLaneSection(index);
     ui->comboBox_Lane->clear();
@@ -54,7 +57,17 @@ void DialogEditLane::on_comboBox_LaneSection_currentIndexChanged(int index)
         ui->comboBox_Lane->addItem(stritemname);
     }
 
-    if(nLaneCount > 0)on_comboBox_Lane_currentIndexChanged(0);
+    int indexnew = 0;
+    if((indexold>=0)&&(indexold<nLaneCount))
+    {
+        indexnew = indexold;
+    }
+
+    if(nLaneCount > 0)
+    {
+        ui->comboBox_Lane->setCurrentIndex(indexnew);
+//        on_comboBox_Lane_currentIndexChanged(indexnew);
+    }
 
 
 
@@ -158,6 +171,8 @@ void DialogEditLane::on_pushButton_DeleteLane_clicked()
         return;
     }
 
+
+
     if(mpCurLS == 0)return;
     int nlanecount = mpCurLS->GetLaneCount();
     int i;
@@ -172,6 +187,23 @@ void DialogEditLane::on_pushButton_DeleteLane_clicked()
     }
     mpCurLS->DeleteLane(i);
 
+    nlanecount = mpCurLS->GetLaneCount();
+    for(i=0;i<nlanecount;i++)
+    {
+        Lane * pLane = mpCurLS->GetLane(i);
+        if(((pLane->GetId() * index)>0)&&(abs(pLane->GetId())>abs(index)))
+        {
+            if(pLane->GetId()>0)
+            {
+                pLane->SetId(pLane->GetId()-1);
+            }
+            else
+            {
+                pLane->SetId(pLane->GetId()+1);
+            }
+        }
+    }
+
     on_comboBox_LaneSection_currentIndexChanged(ui->comboBox_LaneSection->currentIndex());
 }
 

src/tool/map_lanetoxodr/dialoghideroad.cpp

@@ -0,0 +1,225 @@
+#include "dialoghideroad.h"
+#include "ui_dialoghideroad.h"
+
+#include <QMessageBox>
+#include "mainwindow.h"
+
+#include "math.h"
+
+#define VIEW_WIDTH 900
+#define VIEW_HEIGHT 450
+
+DialogHideRoad::DialogHideRoad(OpenDrive * pxodr,std::string strdefroad,std::vector<int> * pvectorhideroadid,QWidget *parent) :
+    QDialog(parent),
+    ui(new Ui::DialogHideRoad)
+{
+    mpxodr = pxodr;
+    mpvectorhideroadid = pvectorhideroadid;
+    ui->setupUi(this);
+
+
+    myview = new MyView(this);
+    myview->setObjectName(QStringLiteral("graphicsView2"));
+    myview->setGeometry(QRect(30, 150, 960, 500));
+
+ //   connect(myview,SIGNAL(dbclickxy(double,double)),this,SLOT(onClickXY(double,double)));
+
+    image = new QImage(VIEW_WIDTH, VIEW_HEIGHT, QImage::Format_RGB32);//画布的初始化大小设为300*300，使用32位颜色
+    myview->setCacheMode(myview->CacheBackground);
+    painter = new QPainter(image);
+    painter->end();
+
+    scene = new QGraphicsScene(-VIEW_WIDTH/2, -VIEW_HEIGHT/2, VIEW_WIDTH, VIEW_HEIGHT);
+
+    myview->setScene(scene);
+    scene->setBackgroundBrush(Qt::darkGreen);
+
+
+    int i;
+    int nroadcount = mpxodr->GetRoadCount();
+    for(i=0;i<nroadcount;i++)
+    {
+        const char * strname = mpxodr->GetRoad(i)->GetRoadId().data();
+        ui->comboBox_Road->addItem(strname);
+
+    }
+
+
+
+    MainWindow::ComboToString(strdefroad,ui->comboBox_Road);
+
+    UpdateHidenCombo();
+
+    setWindowTitle("Hide Road");
+}
+
+DialogHideRoad::~DialogHideRoad()
+{
+    delete ui;
+}
+
+void DialogHideRoad::paintEvent(QPaintEvent * painter)
+{
+    scene->update();
+    return;
+}
+
+void DialogHideRoad::on_comboBox_Road_currentIndexChanged(int index)
+{
+    Road * pRoad = mpxodr->GetRoad(index);
+    if(pRoad == 0)
+    {
+ //       QMessageBox::warning(this,"WARN","MainWindow::onClickCBRoadChange road is NULL");
+        return;
+    }
+
+    mpCurRoad = pRoad;
+
+    int i;
+    int nsize = mvectorroadview.size();
+    for(i=0;i<nsize;i++)
+    {
+        scene->removeItem(mvectorroadview.at(i));
+        delete mvectorroadview.at(i);
+    }
+    mvectorroadview.clear();
+
+    nsize = mvectorviewitem.size();
+    for(i=0;i<nsize;i++)
+    {
+        scene->removeItem(mvectorviewitem.at(i));
+        delete mvectorviewitem.at(i);
+    }
+    mvectorviewitem.clear();
+
+    double froad_xmin,froad_ymin,froad_xmax,froad_ymax;
+    ServiceXODRTool.GetRoadMaxMin(pRoad,froad_xmin,froad_ymin,froad_xmax,froad_ymax);
+//    roadviewitem * prvw = new roadviewitem(pRoad);
+
+    int nfac;
+    int nkeep = 30;
+    double fac_x,fac_y;
+    fac_x = 100000;
+    fac_y = 100000;
+    if(froad_xmax > froad_xmin)
+    {
+        fac_x = (VIEW_WIDTH-nkeep*2)/(froad_xmax - froad_xmin);
+    }
+
+    if(froad_ymax > froad_ymin)
+    {
+        fac_y = (VIEW_HEIGHT - nkeep*2)/(froad_ymax - froad_ymin);
+    }
+
+    nfac = fac_x;
+    if(fac_y < nfac)nfac = fac_y;
+
+
+    mfViewMoveX = VIEW_WIDTH/2.0 ;
+    mfViewMoveY = VIEW_HEIGHT/2.0;
+
+    mfViewMoveX = 0 - froad_xmin - (froad_xmax - froad_xmin)/2.0;
+    mfViewMoveY = 0 + froad_ymin  + (froad_ymax-froad_ymin)/2.0;
+
+//    prvw->setPos(mfViewMoveX,mfViewMoveY);
+ //       prvw->setPos((froad_xmax - froad_xmin)/2.0, (froad_ymax-froad_ymin)/2.0);
+//    mvectorroadview.push_back(prvw);
+ //   prvw->setratio(1.0);
+//    scene->addItem(prvw);
+
+
+
+    RoadDigit xrd(mpCurRoad,5.0);
+
+    std::vector<QGraphicsPathItem *> xvectorlanepath = xodrscenfunc::GetRoadLaneItem(&xrd);
+    int j;
+    int ncount = xvectorlanepath.size();
+    for(j=0;j<ncount;j++)
+    {
+        QGraphicsPathItem * pitem = xvectorlanepath[j];
+        pitem->setPos(mfViewMoveX,mfViewMoveY);
+        scene->addItem(pitem);
+        mvectorviewitem.push_back(pitem);
+    }
+
+    std::vector<QGraphicsPathItem *> xvectormarkpath = xodrscenfunc::GetRoadMarkItem(&xrd);
+    ncount = xvectormarkpath.size();
+    for(j=0;j<ncount;j++)
+    {
+        QGraphicsPathItem * pitem = xvectormarkpath[j];
+        pitem->setPos(mfViewMoveX,mfViewMoveY);
+        scene->addItem(pitem);
+        mvectorviewitem.push_back(pitem);
+    }
+
+    update();
+}
+
+
+void DialogHideRoad::on_pushButton_HideRoad_clicked()
+{
+    if(ui->comboBox_Road->currentIndex()<0)
+    {
+        QMessageBox::warning(this,"Warning","No Road.",QMessageBox::YesAll);
+        return;
+    }
+    int nroadid = ui->comboBox_Road->currentText().toInt();
+    unsigned int i;
+    bool bExist = false;
+    for(i=0;i<mpvectorhideroadid->size();i++)
+    {
+        if(mpvectorhideroadid->at(i) == nroadid)
+        {
+            bExist = true;
+            break;
+        }
+    }
+
+    if(bExist)
+    {
+        QMessageBox::warning(this,"Warning","This Road is Hiden.",QMessageBox::YesAll);
+        return;
+    }
+    mpvectorhideroadid->push_back(nroadid);
+    UpdateHidenCombo();
+}
+
+void DialogHideRoad::on_pushButton_UnHIdeRoad_clicked()
+{
+    if(ui->comboBox_RoadHiden->currentIndex()<0)
+    {
+        QMessageBox::warning(this,"Warning","No Hiden road.",QMessageBox::YesAll);
+        return;
+    }
+    mpvectorhideroadid->erase(mpvectorhideroadid->begin()+ui->comboBox_RoadHiden->currentIndex());
+    UpdateHidenCombo();
+}
+
+void DialogHideRoad::on_pushButton_UnHideAllRoad_clicked()
+{
+    if(mpvectorhideroadid->size()>0)
+    {
+        mpvectorhideroadid->clear();
+        UpdateHidenCombo();
+    }
+}
+
+void DialogHideRoad::UpdateHidenCombo()
+{
+    int index = ui->comboBox_RoadHiden->currentIndex();
+    ui->comboBox_RoadHiden->clear();
+    if(mpvectorhideroadid->size() == 0)return;
+    unsigned int i;
+    for(i=0;i<mpvectorhideroadid->size();i++)
+    {
+        ui->comboBox_RoadHiden->addItem(QString::number(mpvectorhideroadid->at(i)));
+    }
+    if((index>=0)&&(index<mpvectorhideroadid->size()))
+    {
+        ui->comboBox_RoadHiden->setCurrentIndex(index);
+    }
+    else
+    {
+        ui->comboBox_RoadHiden->setCurrentIndex(0);
+    }
+}

src/tool/map_lanetoxodr/dialoghideroad.h

@@ -0,0 +1,66 @@
+#ifndef DIALOGHIDEROAD_H
+#define DIALOGHIDEROAD_H
+
+#include <QDialog>
+#include <QMessageBox>
+
+#include "myview.h"
+#include "OpenDrive/OpenDrive.h"
+
+#include "ivxodrtool.h"
+
+#include "roadviewitem.h"
+#include "xodrscenfunc.h"
+
+#include "roaddigit.h"
+
+namespace Ui {
+class DialogHideRoad;
+}
+
+class DialogHideRoad : public QDialog
+{
+    Q_OBJECT
+
+public:
+    explicit DialogHideRoad(OpenDrive * pxodr,std::string strdefroad,std::vector<int> * pvectorhideroadid,QWidget *parent = nullptr);
+    ~DialogHideRoad();
+
+private slots:
+   virtual void paintEvent(QPaintEvent *);
+
+    void on_comboBox_Road_currentIndexChanged(int index);
+
+    void on_pushButton_HideRoad_clicked();
+
+    void on_pushButton_UnHIdeRoad_clicked();
+
+    void on_pushButton_UnHideAllRoad_clicked();
+
+private:
+    void UpdateHidenCombo();
+
+private:
+    Ui::DialogHideRoad *ui;
+
+    OpenDrive * mpxodr;
+
+    QImage *image;
+    QPainter *painter;
+    MyView *myview;
+    QTimer *timer;
+    QGraphicsScene *scene;
+
+    Road * mpCurRoad = 0;
+
+    std::vector<roadviewitem *> mvectorroadview;
+
+    std::vector<QGraphicsPathItem *> mvectorviewitem;
+
+    double mfViewMoveX = 0;
+    double mfViewMoveY = 0;
+
+    std::vector<int> * mpvectorhideroadid;
+};
+
+#endif // DIALOGHIDEROAD_H

src/tool/map_lanetoxodr/dialoghideroad.ui

@@ -0,0 +1,104 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DialogHideRoad</class>
+ <widget class="QDialog" name="DialogHideRoad">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1031</width>
+    <height>662</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QComboBox" name="comboBox_Road">
+   <property name="geometry">
+    <rect>
+     <x>130</x>
+     <y>21</y>
+     <width>241</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>30</y>
+     <width>121</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Road</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_HideRoad">
+   <property name="geometry">
+    <rect>
+     <x>420</x>
+     <y>20</y>
+     <width>121</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Hide</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_UnHideAllRoad">
+   <property name="geometry">
+    <rect>
+     <x>826</x>
+     <y>80</y>
+     <width>131</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>UnHide All</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_UnHIdeRoad">
+   <property name="geometry">
+    <rect>
+     <x>649</x>
+     <y>82</y>
+     <width>131</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>UnHide</string>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="comboBox_RoadHiden">
+   <property name="geometry">
+    <rect>
+     <x>420</x>
+     <y>82</y>
+     <width>181</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_10">
+   <property name="geometry">
+    <rect>
+     <x>291</x>
+     <y>90</y>
+     <width>81</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Hiden Road</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/tool/map_lanetoxodr/dialogparkingspaceedit.cpp

@@ -0,0 +1,14 @@
+#include "dialogparkingspaceedit.h"
+#include "ui_dialogparkingspaceedit.h"
+
+DialogParkingSpaceEdit::DialogParkingSpaceEdit(QWidget *parent) :
+    QDialog(parent),
+    ui(new Ui::DialogParkingSpaceEdit)
+{
+    ui->setupUi(this);
+}
+
+DialogParkingSpaceEdit::~DialogParkingSpaceEdit()
+{
+    delete ui;
+}

src/tool/map_lanetoxodr/dialogparkingspaceedit.h

@@ -0,0 +1,22 @@
+#ifndef DIALOGPARKINGSPACEEDIT_H
+#define DIALOGPARKINGSPACEEDIT_H
+
+#include <QDialog>
+
+namespace Ui {
+class DialogParkingSpaceEdit;
+}
+
+class DialogParkingSpaceEdit : public QDialog
+{
+    Q_OBJECT
+
+public:
+    explicit DialogParkingSpaceEdit(QWidget *parent = nullptr);
+    ~DialogParkingSpaceEdit();
+
+private:
+    Ui::DialogParkingSpaceEdit *ui;
+};
+
+#endif // DIALOGPARKINGSPACEEDIT_H

src/tool/map_lanetoxodr/dialogparkingspaceedit.ui

@@ -0,0 +1,127 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DialogParkingSpaceEdit</class>
+ <widget class="QDialog" name="DialogParkingSpaceEdit">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>946</width>
+    <height>645</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QComboBox" name="comboBox_Road">
+   <property name="geometry">
+    <rect>
+     <x>170</x>
+     <y>30</y>
+     <width>231</width>
+     <height>31</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_3">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>150</y>
+     <width>101</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Parking Space</string>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="comboBox_Borrow">
+   <property name="geometry">
+    <rect>
+     <x>170</x>
+     <y>140</y>
+     <width>171</width>
+     <height>31</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>172</x>
+     <y>80</y>
+     <width>70</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Length</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_RoadLen">
+   <property name="geometry">
+    <rect>
+     <x>270</x>
+     <y>80</y>
+     <width>113</width>
+     <height>25</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>40</y>
+     <width>67</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Road</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_add">
+   <property name="geometry">
+    <rect>
+     <x>380</x>
+     <y>140</y>
+     <width>91</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Add</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_delete">
+   <property name="geometry">
+    <rect>
+     <x>500</x>
+     <y>140</y>
+     <width>81</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Delete</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_change">
+   <property name="geometry">
+    <rect>
+     <x>610</x>
+     <y>140</y>
+     <width>81</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Change</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/tool/map_lanetoxodr/dialogroadborrow.cpp

@@ -35,3 +35,121 @@ DialogRoadBorrow::~DialogRoadBorrow()
 {
     delete ui;
 }
+
+void DialogRoadBorrow::on_comboBox_Road_currentIndexChanged(int index)
+{
+    Road * pRoad = mpxodr->GetRoad(index);
+    if(pRoad == 0)
+    {
+        return;
+    }
+
+    ui->lineEdit_RoadLen->setText(QString::number(pRoad->GetRoadLength(),'f',3));
+
+    ui->lineEdit_s->setText("");
+    ui->lineEdit_t->setText("");
+
+    unsigned int nBorrowCount = pRoad->GetRoadBorrowCount();
+    ui->comboBox_Borrow->clear();
+    unsigned int i;
+    for(i=0;i<nBorrowCount;i++)
+    {
+        ui->comboBox_Borrow->addItem(QString::number(pRoad->GetRoadBorrow(i)->GetS(),'g'));
+    }
+}
+
+
+void DialogRoadBorrow::on_comboBox_Borrow_currentIndexChanged(int index)
+{
+    Road * pRoad = mpxodr->GetRoad(ui->comboBox_Road->currentIndex());
+    if(pRoad == 0)
+    {
+        return;
+    }
+
+    if(pRoad->GetRoadBorrowCount() == 0)
+    {
+        ui->lineEdit_s->setText("");
+        ui->lineEdit_t->setText("");
+        return;
+    }
+
+    if(index<0)return;
+    if(index>=pRoad->GetRoadBorrowCount())return;
+    RoadBorrow * pRoadBorrow = pRoad->GetRoadBorrow(index);
+    if(pRoadBorrow == NULL)
+    {
+        return;
+    }
+    ui->lineEdit_s->setText(QString::number(pRoadBorrow->GetS()));
+    ui->lineEdit_t->setText(QString::number(pRoadBorrow->GetLength()));
+    std::string strmode = pRoadBorrow->GetMode();
+    ui->comboBox_borrowmode->setCurrentIndex(0);
+    if(strmode == "R2L")
+    {
+        ui->comboBox_borrowmode->setCurrentIndex(1);
+    }
+    if(strmode == "L2R")
+    {
+        ui->comboBox_borrowmode->setCurrentIndex(2);
+    }
+
+}
+
+void DialogRoadBorrow::on_pushButton_Add_clicked()
+{
+    Road * pRoad = mpxodr->GetRoad(ui->comboBox_Road->currentIndex());
+    if(pRoad == 0)
+    {
+        return;
+    }
+
+    if(ui->lineEdit_s->text().toStdString() == "")
+    {
+        QMessageBox::warning(this,"Warning","s is empty.",QMessageBox::YesAll);
+        return;
+    }
+
+    if(ui->lineEdit_t->text().toStdString() == "")
+    {
+        QMessageBox::warning(this,"Warning","length is empty.",QMessageBox::YesAll);
+        return;
+    }
+
+    double s = ui->lineEdit_s->text().toDouble();
+    double length = ui->lineEdit_t->text().toDouble();
+    string strmode = ui->comboBox_borrowmode->currentText().toStdString();
+
+    pRoad->AddRoadBorrow(s,length,strmode);
+
+    on_comboBox_Road_currentIndexChanged(ui->comboBox_Road->currentIndex());
+
+}
+
+void DialogRoadBorrow::on_pushButton_Delete_clicked()
+{
+    Road * pRoad = mpxodr->GetRoad(ui->comboBox_Road->currentIndex());
+    if(pRoad == 0)
+    {
+        return;
+    }
+
+    pRoad->DeleteRoadBorrow(ui->comboBox_Borrow->currentIndex());
+    on_comboBox_Road_currentIndexChanged(ui->comboBox_Road->currentIndex());
+}
+
+void DialogRoadBorrow::on_pushButton_Change_clicked()
+{
+    Road * pRoad = mpxodr->GetRoad(ui->comboBox_Road->currentIndex());
+    if(pRoad == 0)
+    {
+        return;
+    }
+
+    RoadBorrow * pRoadBorrow = pRoad->GetRoadBorrow(ui->comboBox_Borrow->currentIndex());
+    pRoadBorrow->SetS(ui->lineEdit_s->text().toDouble());
+    pRoadBorrow->SetLength(ui->lineEdit_t->text().toDouble());
+    pRoadBorrow->SetMode(ui->comboBox_borrowmode->currentText().toStdString());
+
+    QMessageBox::information(this,"Info","Change RoadBorrow Successfully.",QMessageBox::YesAll);
+}

src/tool/map_lanetoxodr/dialogroadborrow.h

@@ -20,6 +20,17 @@ public:
     explicit DialogRoadBorrow(OpenDrive * pxodr,std::string strdefroad,QWidget *parent = nullptr);
     ~DialogRoadBorrow();
 
+private slots:
+    void on_comboBox_Road_currentIndexChanged(int index);
+
+    void on_comboBox_Borrow_currentIndexChanged(int index);
+
+    void on_pushButton_Add_clicked();
+
+    void on_pushButton_Delete_clicked();
+
+    void on_pushButton_Change_clicked();
+
 private:
     Ui::DialogRoadBorrow *ui;
 
@@ -27,3 +38,8 @@ private:
 };
 
 #endif // DIALOGROADBORROW_H
+
+
+
+
+

src/tool/map_lanetoxodr/dialogroadborrow.ui

@@ -16,7 +16,7 @@
   <widget class="QPushButton" name="pushButton_Delete">
    <property name="geometry">
     <rect>
-     <x>715</x>
+     <x>680</x>
      <y>165</y>
      <width>89</width>
      <height>25</height>
@@ -177,7 +177,31 @@
     </rect>
    </property>
   </widget>
+  <widget class="QPushButton" name="pushButton_Change">
+   <property name="geometry">
+    <rect>
+     <x>817</x>
+     <y>165</y>
+     <width>71</width>
+     <height>25</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Change</string>
+   </property>
+  </widget>
  </widget>
+ <tabstops>
+  <tabstop>comboBox_Road</tabstop>
+  <tabstop>lineEdit_RoadLen</tabstop>
+  <tabstop>comboBox_Borrow</tabstop>
+  <tabstop>pushButton_Add</tabstop>
+  <tabstop>pushButton_Delete</tabstop>
+  <tabstop>pushButton_Change</tabstop>
+  <tabstop>lineEdit_s</tabstop>
+  <tabstop>lineEdit_t</tabstop>
+  <tabstop>comboBox_borrowmode</tabstop>
+ </tabstops>
  <resources/>
  <connections/>
 </ui>

src/tool/map_lanetoxodr/dialogroadobject.cpp

@@ -0,0 +1,87 @@
+#include "dialogroadobject.h"
+#include "ui_dialogroadobject.h"
+
+DialogRoadObject::DialogRoadObject(QWidget *parent) :
+    QDialog(parent),
+    ui(new Ui::DialogRoadObject)
+{
+    ui->setupUi(this);
+
+    CreateView();
+    setWindowTitle("Edit Road Object");
+}
+
+DialogRoadObject::~DialogRoadObject()
+{
+    delete ui;
+}
+
+
+QLineEdit * DialogRoadObject::CreateLE(int pos_x, int pos_y, int nLabelWidth, int nLEWidth, int nHeight, std::string strname)
+{
+    QLineEdit * pLE;
+    QLabel * pLabel;
+
+    pLabel = new QLabel(this);
+    pLabel->setGeometry(pos_x,pos_y,nLabelWidth,nHeight);
+    pLabel->setText(strname.data());
+    pLabel->setAlignment(Qt::AlignRight|Qt::AlignVCenter);
+
+    pLE = new QLineEdit(this);
+    pLE->setGeometry(pos_x+nLabelWidth+10,pos_y,nLEWidth,nHeight);
+
+    return pLE;
+}
+
+QComboBox * DialogRoadObject::CreateCB(int pos_x, int pos_y, int nLabelWidth, int nLEWidth, int nHeight, std::string strname)
+{
+    QComboBox * pCB;
+    QLabel * pLabel;
+
+    pLabel = new QLabel(this);
+    pLabel->setGeometry(pos_x,pos_y,nLabelWidth,nHeight);
+    pLabel->setText(strname.data());
+    pLabel->setAlignment(Qt::AlignRight|Qt::AlignVCenter);
+
+    pCB = new QComboBox(this);
+    pCB->setGeometry(pos_x+nLabelWidth+10,pos_y,nLEWidth,nHeight);
+
+    return pCB;
+}
+
+void DialogRoadObject::CreateView()
+{
+    int startpos_x = 30;
+    int startpos_y = 150;
+    int nSpace = 300;
+    int nLabelWidth = 100;
+    int nLEWidth = 150;
+    int nHeight = 30;
+    int nVSpace = 50;
+
+    int nVIndex = 0;
+    mpLEt = CreateLE(startpos_x+0*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"t");
+    mpLEzOffset = CreateLE(startpos_x+1*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"zOffset");
+    mpCBtype = CreateCB(startpos_x+2*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"type");
+    nVIndex++;
+    mpLEvalidLength = CreateLE(startpos_x+0*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"validLength");
+    mpCBorientation = CreateCB(startpos_x+1*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"orientation");
+    mpLEsubtype = CreateLE(startpos_x+2*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"subtype");
+    nVIndex++;
+    mpCBdynamic = CreateCB(startpos_x+0*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"dynamic");
+    mpLEhdg = CreateLE(startpos_x+1*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"hdg");
+    mpLEname = CreateLE(startpos_x+2*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"name");
+    nVIndex++;
+    mpLEpitch = CreateLE(startpos_x+0*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"pitch");
+    mpLEid = CreateLE(startpos_x+1*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"id");
+    mpLEroll = CreateLE(startpos_x+2*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"roll");
+    nVIndex++;
+    mpLEheight = CreateLE(startpos_x+0*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"height");
+    mpLEs = CreateLE(startpos_x+1*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"s");
+    mpLElength = CreateLE(startpos_x+2*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"length");
+    nVIndex++;
+    mpLEwidth = CreateLE(startpos_x+0*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"width");
+    mpLEradius = CreateLE(startpos_x+1*nSpace,startpos_y+nVIndex*nVSpace,nLabelWidth,nLEWidth,nHeight,"radius");
+
+
+}

src/tool/map_lanetoxodr/dialogroadobject.h

@@ -0,0 +1,51 @@
+#ifndef DIALOGROADOBJECT_H
+#define DIALOGROADOBJECT_H
+
+#include <QDialog>
+#include <QLineEdit>
+#include <QLabel>
+#include <QComboBox>
+
+namespace Ui {
+class DialogRoadObject;
+}
+
+class DialogRoadObject : public QDialog
+{
+    Q_OBJECT
+
+public:
+    explicit DialogRoadObject(QWidget *parent = nullptr);
+    ~DialogRoadObject();
+
+private:
+    Ui::DialogRoadObject *ui;
+
+private:
+    void CreateView();
+
+private:
+    QLineEdit * mpLEt;
+    QLineEdit * mpLEzOffset;
+    QComboBox * mpCBtype;
+    QLineEdit * mpLEvalidLength;
+    QComboBox * mpCBorientation;
+    QLineEdit * mpLEsubtype;
+    QComboBox * mpCBdynamic;
+    QLineEdit * mpLEhdg;
+    QLineEdit * mpLEname;
+    QLineEdit * mpLEpitch;
+    QLineEdit * mpLEid;
+    QLineEdit * mpLEroll;
+    QLineEdit * mpLEheight;
+    QLineEdit * mpLEs;
+    QLineEdit * mpLElength;
+    QLineEdit * mpLEwidth;
+    QLineEdit * mpLEradius;
+
+private:
+    QLineEdit * CreateLE(int pos_x,int pos_y,int nLabelWidth,int nLEWidth,int nHeight,std::string strname);
+    QComboBox * CreateCB(int pos_x,int pos_y,int nLabelWidth,int nLEWidth,int nHeight,std::string strname);
+};
+
+#endif // DIALOGROADOBJECT_H

src/tool/map_lanetoxodr/dialogroadobject.ui

@@ -0,0 +1,127 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DialogRoadObject</class>
+ <widget class="QDialog" name="DialogRoadObject">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>940</width>
+    <height>660</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QComboBox" name="comboBox_Road">
+   <property name="geometry">
+    <rect>
+     <x>180</x>
+     <y>30</y>
+     <width>231</width>
+     <height>31</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="comboBox_Object">
+   <property name="geometry">
+    <rect>
+     <x>180</x>
+     <y>80</y>
+     <width>171</width>
+     <height>31</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>472</x>
+     <y>40</y>
+     <width>70</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Length</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_change">
+   <property name="geometry">
+    <rect>
+     <x>620</x>
+     <y>80</y>
+     <width>81</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Change</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_add">
+   <property name="geometry">
+    <rect>
+     <x>390</x>
+     <y>80</y>
+     <width>91</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Add</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_RoadLen">
+   <property name="geometry">
+    <rect>
+     <x>570</x>
+     <y>40</y>
+     <width>113</width>
+     <height>25</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>40</y>
+     <width>67</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Road</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_delete">
+   <property name="geometry">
+    <rect>
+     <x>510</x>
+     <y>80</y>
+     <width>81</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Delete</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_3">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>90</y>
+     <width>101</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Object</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/tool/map_lanetoxodr/dialogroadoptimize.cpp

@@ -0,0 +1,351 @@
+#include "dialogroadoptimize.h"
+#include "ui_dialogroadoptimize.h"
+
+#include <math.h>
+#include <memory>
+
+#include "geofit.h"
+
+DialogRoadOptimize::DialogRoadOptimize(Road * pRoad,OpenDrive * pxodr,QWidget *parent) :
+    QDialog(parent),
+    ui(new Ui::DialogRoadOptimize)
+{
+    ui->setupUi(this);
+
+    ui->lineEdit_disthresh->setText("0.1");
+    ui->lineEdit_hdgthresh->setText("0.01");
+    ui->lineEdit_arcbezel->setText("3.0");
+    ui->lineEdit_linebezel->setText("10.0");
+    ui->lineEdit_roadoffthresh->setText("0.5");
+
+    mpRoad = pRoad;
+    mpxodr = pxodr;
+
+    std::vector<double> fvectordis,fvectorhdg;
+    int nrtn = CheckRoadQuality(pRoad,fvectordis,fvectorhdg);
+
+    const int noutbufsize = 100000;
+    std::shared_ptr<char> pstrout_ptr = std::shared_ptr<char>(new char[noutbufsize]);
+    char strline[1000];
+    snprintf(pstrout_ptr.get(),noutbufsize,"Check point:%d\n",nrtn);
+    if(nrtn > 0)
+    {
+        int i;
+        for(i=0;i<nrtn;i++)
+        {
+            RoadGeometry * pg = pRoad->GetGeometryBlock(i)->GetGeometryAt(0);
+            snprintf(strline,1000,"%d  distance:%f   hdgdiff:%f geo type:%d s:%f length %f\n",
+                     i,fvectordis[i],fvectorhdg[i],pg->GetGeomType(),pg->GetS(),pg->GetLength());
+            strncat(pstrout_ptr.get(),strline,noutbufsize);
+        }
+    }
+
+    ui->plainTextEdit->setPlainText(pstrout_ptr.get());
+
+    setWindowTitle("Road Optimize");
+}
+
+DialogRoadOptimize::~DialogRoadOptimize()
+{
+    delete ui;
+}
+
+int DialogRoadOptimize::CheckRoadQuality(Road *pRoad, std::vector<double> & fvectordis,
+                                         std::vector<double> & fvectorhdg)
+{
+    if(pRoad->GetGeometryBlockCount() <=1)
+    {
+        return 0;
+    }
+
+    int nrtn = 0;
+
+    unsigned int i;
+    for(i=0;i<(pRoad->GetGeometryBlockCount()-1);i++)
+    {
+        GeometryBlock * pgeob1 =  pRoad->GetGeometryBlock(i);
+        GeometryBlock * pgeob2 =  pRoad->GetGeometryBlock(i+1);
+        double x1,y1,hdg1;
+        double x2,y2,hdg2;
+        pgeob1->GetGeometryAt(0)->GetCoords(pgeob1->GetGeometryAt(0)->GetS() + pgeob1->GetGeometryAt(0)->GetLength(),
+                                            x1,y1,hdg1);
+        pgeob2->GetGeometryAt(0)->GetCoords(pgeob2->GetGeometryAt(0)->GetS() ,
+                                            x2,y2,hdg2);
+
+        double fdis = sqrt(pow(x2-x1,2)+pow(y2-y1,2));
+        double fhdgdiff = hdg2 - hdg1;
+        while (fhdgdiff>M_PI)fhdgdiff = fhdgdiff -2.0*M_PI;
+        while(fhdgdiff<=(-M_PI))fhdgdiff = fhdgdiff + 2.0*M_PI;
+        fvectordis.push_back(fdis);
+        fvectorhdg.push_back(fhdgdiff);
+        nrtn++;
+
+    }
+    return nrtn;
+}
+
+void DialogRoadOptimize::on_pushButton_Optimize_clicked()
+{
+
+    double fdisthresh = ui->lineEdit_disthresh->text().toDouble();
+    double fhdgthresh = ui->lineEdit_hdgthresh->text().toDouble();
+    double flinebezel = ui->lineEdit_linebezel->text().toDouble();
+    double farcbezel = ui->lineEdit_arcbezel->text().toDouble();
+    double froadoffthresh = ui->lineEdit_roadoffthresh->text().toDouble();
+
+    if(fdisthresh<0.00001)
+    {
+        fdisthresh = 0.00001;
+        std::cout<<"fdisthresh change to "<<fdisthresh<<std::endl;
+    }
+    if(fhdgthresh<0.001)
+    {
+        fhdgthresh = 0.001;
+        std::cout<<"fhdgthesh change to "<<fhdgthresh<<std::endl;
+    }
+    if(flinebezel<1.0)
+    {
+        flinebezel = 1.0;
+        std::cout<<"flinebezel change to "<<flinebezel<<std::endl;
+    }
+    if(farcbezel<1.0)
+    {
+        farcbezel = 1.0;
+        std::cout<<"farcbezel change to "<<farcbezel<<std::endl;
+    }
+    if(froadoffthresh<0.05)
+    {
+        froadoffthresh = 0.05;
+        std::cout<<"froadoffthresh change to "<<froadoffthresh<<std::endl;
+    }
+
+    std::vector<double> fvectordis,fvectorhdg;
+    Road * pRoad = mpRoad;
+    int nrtn = CheckRoadQuality(pRoad,fvectordis,fvectorhdg);
+    if(nrtn == 0)
+    {
+        QMessageBox::information(this,"Info","Not Need Optimize",QMessageBox::YesAll);
+        return;
+    }
+
+    int nmsgbufsize = 100000;
+    std::shared_ptr<char> strmsg_ptr = std::shared_ptr<char>(new char[nmsgbufsize]);
+    snprintf(strmsg_ptr.get(),nmsgbufsize,"Change pos: \n");
+
+    int nchange = 0;
+    Road * pnewroad = mpRoad;
+    int i;
+    int nowgeobpos = 0;
+    GeometryBlock * pgeobnow = pnewroad->GetGeometryBlock(0);
+    std::vector<GeometryBlock > * pvectorgeo = pnewroad->GetGeometryBlockVector();
+    for(i=0;i<nrtn;i++)
+    {
+        if((fvectordis[i]>fdisthresh)||(fabs(fvectorhdg[i])>fhdgthresh))
+        {
+            pgeobnow = pnewroad->GetGeometryBlock(nowgeobpos);
+            RoadGeometry * pgeo = pgeobnow->GetGeometryAt(0);
+            int ngeotype = pgeo->GetGeomType();
+            std::cout<<"geo type : "<<ngeotype<<std::endl;
+            if((pgeo->GetGeomType() ==0) ||(pgeo->GetGeomType() == 2))
+            {
+                double fthresh = flinebezel;
+                if(ngeotype == 2)fthresh = farcbezel;
+                if(pgeo->GetLength()>(fthresh+1.0))
+                {
+                    double xkeeplen = pgeo->GetLength() - fthresh;
+                    double x_start,y_start,hdg_start,x_end,y_end,hdg_end;
+                    pgeo->GetCoords(pgeo->GetS()+xkeeplen,x_start,y_start,hdg_start);
+                    pnewroad->GetGeometryBlock(nowgeobpos+1)->GetGeometryAt(0)->GetCoords(pgeo->GetS() + pgeo->GetLength(),
+                                                                                 x_end,y_end,hdg_end);
+                    std::vector<geobase> xvectorgeo = geofit::CreateBezierGeo(x_start,y_start,
+                                                                              hdg_start,x_end,y_end,hdg_end);
+
+
+                    GeometryBlock xgb;
+                    qDebug("be len: %f ",xvectorgeo[0].mfLen);
+                    xgb.AddGeometryParamPoly3(pgeo->GetS() + xkeeplen,x_start,y_start,hdg_start,xvectorgeo[0].mfLen,
+                                              xvectorgeo[0].mfu[0],xvectorgeo[0].mfu[1],
+                            xvectorgeo[0].mfu[2],xvectorgeo[0].mfu[3],
+                            xvectorgeo[0].mfv[0],xvectorgeo[0].mfv[1],
+                            xvectorgeo[0].mfv[2],xvectorgeo[0].mfv[3],false);
+                    double fdisgeo = GetGeo1toGeo2MaxDis(&xgb,&(pvectorgeo->at(nowgeobpos)));
+
+                    if(fdisgeo<= froadoffthresh)
+                    {
+                        pgeo->SetLength(xkeeplen);
+                        pvectorgeo->insert(pvectorgeo->begin() + nowgeobpos+1,xgb);
+                        nowgeobpos = nowgeobpos+2;
+                        char strout[1000];
+                        snprintf(strout,1000,"geo %d to geo %d. Insert a bezel.geo off:%f.\n",i,i+1,fdisgeo);
+                        strncat(strmsg_ptr.get(),strout,nmsgbufsize);
+                        nchange++;
+                    }
+                    else
+                    {
+                        char strout[1000];
+                        snprintf(strout,1000,"geo %d to geo %d. Optimize off %f exceed thresh.\n",i,i+1,fdisgeo);
+                        strncat(strmsg_ptr.get(),strout,nmsgbufsize);
+                        nchange++;
+                        nowgeobpos++;
+                    }
+                }
+                else
+                {
+                    double x_start,y_start,hdg_start,x_end,y_end,hdg_end;
+                    pgeo->GetCoords(pgeo->GetS(),x_start,y_start,hdg_start);
+                    pnewroad->GetGeometryBlock(nowgeobpos+1)->GetGeometryAt(0)->GetCoords(pgeo->GetS() + pgeo->GetLength(),
+                                                                                 x_end,y_end,hdg_end);
+                    std::vector<geobase> xvectorgeo = geofit::CreateBezierGeo(x_start,y_start,
+                                                                              hdg_start,x_end,y_end,hdg_end);
+
+                    qDebug("be len: %f ",xvectorgeo[0].mfLen);
+                    GeometryBlock xgb;
+                    xgb.AddGeometryParamPoly3(pgeo->GetS(),x_start,y_start,hdg_start,xvectorgeo[0].mfLen,
+                                              xvectorgeo[0].mfu[0],xvectorgeo[0].mfu[1],
+                            xvectorgeo[0].mfu[2],xvectorgeo[0].mfu[3],
+                            xvectorgeo[0].mfv[0],xvectorgeo[0].mfv[1],
+                            xvectorgeo[0].mfv[2],xvectorgeo[0].mfv[3],false);
+
+                    double fdisgeo = GetGeo1toGeo2MaxDis(&xgb,&(pvectorgeo->at(nowgeobpos)));
+                    if(fdisgeo <= froadoffthresh)
+                    {
+                        pvectorgeo->erase(pvectorgeo->begin()+nowgeobpos);
+                        pvectorgeo->insert(pvectorgeo->begin()+nowgeobpos,xgb);
+                        nowgeobpos = nowgeobpos+1;
+                        char strout[1000];
+                        snprintf(strout,1000,"geo %d to geo %d. geo %d replace by a bezel. geo off:%f.\n",i,i+1,i,fdisgeo);
+                        strncat(strmsg_ptr.get(),strout,nmsgbufsize);
+                        nchange++;
+                    }
+                    else
+                    {
+                        char strout[1000];
+                        snprintf(strout,1000,"geo %d to geo %d. Optimize off %f exceed thresh.\n",i,i+1,fdisgeo);
+                        strncat(strmsg_ptr.get(),strout,nmsgbufsize);
+                        nchange++;
+                        nowgeobpos++;
+                    }
+     //               break;
+
+
+
+                }
+
+                unsigned int j;
+                for(j=1;j<pvectorgeo->size();j++)
+                {
+                    pvectorgeo->at(j).GetGeometryAt(0)->SetS(pvectorgeo->at(j-1).GetGeometryAt(0)->GetS()
+                                                             +pvectorgeo->at(j-1).GetGeometryAt(0)->GetLength());
+                }
+
+            }
+            else
+            {
+                nowgeobpos++;
+            }
+
+        }
+        else
+        {
+            char strout[1000];
+            snprintf(strout,1000,"geo %d to geo %d. Not Need Optimize.\n",i,i+1);
+            strncat(strmsg_ptr.get(),strout,nmsgbufsize);
+            nowgeobpos++;
+        }
+    }
+
+    if(nchange > 0)
+    {
+        RoadGeometry * pgeolast = pvectorgeo->at(pvectorgeo->size()-1).GetGeometryAt(0);
+        pnewroad->SetRoadLength(pgeolast->GetS() + pgeolast->GetLength());
+    }
+
+    char strout[1000];
+    snprintf(strout,1000,"Optimize %d position.",nchange);
+    strncat(strmsg_ptr.get(),strout,nmsgbufsize);
+
+
+    QMessageBox::information(this,"Optimize Result",strout,QMessageBox::YesAll);
+
+    ui->plainTextEdit_Optimizeres->setPlainText(strmsg_ptr.get());
+
+
+
+}
+
+double DialogRoadOptimize::GetGeo1toGeo2MaxDis(GeometryBlock *pgeob1, GeometryBlock *pgeob2)
+{
+    RoadGeometry * prg1,*prg2;
+    prg1 = pgeob1->GetGeometryAt(0);
+    prg2 = pgeob2->GetGeometryAt(0);
+    double fstep = 0.1;
+    int nCount = (int)(prg1->GetLength()/fstep);
+    if(nCount == 0)
+    {
+        return sqrt(pow(prg1->GetX() - prg2->GetX(),2)+pow(prg1->GetY() - prg2->GetY(),2));
+    }
+    int i;
+
+    double rg1_s = prg1->GetS();
+    double rg2_s = prg2->GetS();
+//    double rg1_len = prg1->GetLength();
+    double rg2_len = prg2->GetLength();
+    double fdismax = 0;
+    double fsmax = 0;
+    for(i=0;i<nCount;i++)
+    {
+        double s = fstep * i;
+        double x1,y1,hdg1;
+        double fstep2 = 0.5;
+        prg1->GetCoords(rg1_s+s,x1,y1,hdg1);
+        int nCount2 =(int)( rg2_len/fstep2);
+        double snear = 0;
+        double sdis = 1000.0;
+        if(nCount2 == 0)
+        {
+            snear = 0;
+        }
+        else
+        {
+            int j;
+            for(j=0;j<nCount2;j++)
+            {
+                double x2,y2,hdg2;
+                double s2 = j*fstep2;
+                prg2->GetCoords(rg2_s +s2,x2,y2,hdg2);
+                double fdis = sqrt(pow(x2-x1,2)+pow(y2-y1,2));
+                if(fdis <sdis)
+                {
+                    snear = s2;
+                    sdis = fdis;
+                }
+            }
+        }
+        double snear_low = snear - fstep2;
+        double snear_high = snear  + fstep2;
+        if(snear_low<0)snear_low = 0;
+        if(snear_high > rg2_len)snear_high = rg2_len;
+        double s3 = snear_low;
+        while(s3<=snear_high)
+        {
+            double x3,y3,hdg3;
+            prg2->GetCoords(rg2_s+s3,x3,y3,hdg3);
+            double fdis = sqrt(pow(x3-x1,2)+pow(y3-y1,2));
+            if(fdis < sdis)
+            {
+                snear = s3;
+                sdis = fdis;
+            }
+            s3 = s3 +0.01;
+        }
+
+        if(sdis > fdismax)
+        {
+            fdismax = sdis;
+            fsmax = snear;
+        }
+    }
+
+//    std::cout<<"dismax : "<<fdismax<<std::endl;
+    return fdismax;
+}

src/tool/map_lanetoxodr/dialogroadoptimize.h

@@ -0,0 +1,40 @@
+#ifndef DIALOGROADOPTIMIZE_H
+#define DIALOGROADOPTIMIZE_H
+
+#include <QDialog>
+
+#include "OpenDrive/OpenDrive.h"
+#include <QMessageBox>
+
+#include <vector>
+
+namespace Ui {
+class DialogRoadOptimize;
+}
+
+class DialogRoadOptimize : public QDialog
+{
+    Q_OBJECT
+
+public:
+    explicit DialogRoadOptimize(Road * pRoad,OpenDrive * pxodr,QWidget *parent = nullptr);
+    ~DialogRoadOptimize();
+
+
+public:
+    static int CheckRoadQuality(Road * pRoad, std::vector<double> & fvectordis,
+                                std::vector<double> & fvectorhdg);
+
+    static double GetGeo1toGeo2MaxDis(GeometryBlock * pgeob1,GeometryBlock * pgeob2);
+
+private slots:
+    void on_pushButton_Optimize_clicked();
+
+private:
+    Ui::DialogRoadOptimize *ui;
+
+    Road * mpRoad;
+    OpenDrive * mpxodr;
+};
+
+#endif // DIALOGROADOPTIMIZE_H

src/tool/map_lanetoxodr/dialogroadoptimize.ui

@@ -0,0 +1,180 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DialogRoadOptimize</class>
+ <widget class="QDialog" name="DialogRoadOptimize">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>785</width>
+    <height>696</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>20</y>
+     <width>171</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Road Quality:</string>
+   </property>
+  </widget>
+  <widget class="QPlainTextEdit" name="plainTextEdit">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>70</y>
+     <width>711</width>
+     <height>251</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_Optimize">
+   <property name="geometry">
+    <rect>
+     <x>600</x>
+     <y>478</y>
+     <width>151</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Optimize</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_disthresh">
+   <property name="geometry">
+    <rect>
+     <x>220</x>
+     <y>340</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>342</y>
+     <width>161</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>距离阈值</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_3">
+   <property name="geometry">
+    <rect>
+     <x>430</x>
+     <y>342</y>
+     <width>161</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>航向阈值（弧度)</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_hdgthresh">
+   <property name="geometry">
+    <rect>
+     <x>610</x>
+     <y>340</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_4">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>412</y>
+     <width>161</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>直线贝塞尔最大值</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_linebezel">
+   <property name="geometry">
+    <rect>
+     <x>220</x>
+     <y>410</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_5">
+   <property name="geometry">
+    <rect>
+     <x>430</x>
+     <y>412</y>
+     <width>161</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>圆弧贝塞尔最大值</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_arcbezel">
+   <property name="geometry">
+    <rect>
+     <x>610</x>
+     <y>410</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit_roadoffthresh">
+   <property name="geometry">
+    <rect>
+     <x>220</x>
+     <y>478</y>
+     <width>141</width>
+     <height>41</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_6">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>480</y>
+     <width>161</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>道路偏离允许值</string>
+   </property>
+  </widget>
+  <widget class="QPlainTextEdit" name="plainTextEdit_Optimizeres">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>540</y>
+     <width>711</width>
+     <height>131</height>
+    </rect>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/tool/map_lanetoxodr/geofit.cpp

@@ -862,16 +862,16 @@ int geofit::CreateBezier(double xstart, double ystart, double hdg_start, double
     if(hdgdiff>M_PI)hdgdiff = hdgdiff - 2.0*M_PI;
     double fdis = sqrt(pow(xend-xstart,2)+pow(yend-ystart,2));
 //    if(fabs(hdgdiff)/fdis > 0.1)
-    if(fdis<3.0)
-    {
-        std::cout<<"bezier is not ok. use line."<<std::endl;
-        ntype = 0;
-        fxy[0] = xstart;
-        fxy[1] = ystart;
-        *fhdg = flinehdg;
-        *flen = fdis;
-        return 0;
-    }
+//    if(fdis<3.0)
+//    {
+//        std::cout<<"bezier is not ok. use line."<<std::endl;
+//        ntype = 0;
+//        fxy[0] = xstart;
+//        fxy[1] = ystart;
+//        *fhdg = flinehdg;
+//        *flen = fdis;
+//        return 0;
+//    }
 
     std::cout<<"bezer is ok. use bezier"<<std::endl;
 
@@ -891,9 +891,20 @@ int geofit::CreateBezier(double xstart, double ystart, double hdg_start, double
     if(vratio > 1)vratio = 1;
     if(vratio < 0)vratio = 0;
 
-    yc1 = 0; xc1 = x2 * uratio;
+    hdgdiff = hdg_end - hdg_start;
+    if(hdgdiff<(M_PI*(-1)))hdgdiff = hdgdiff + 2.0*M_PI;
+    if(hdgdiff>M_PI)hdgdiff = hdgdiff - 2.0*M_PI;
+    double frr = fabs(hdgdiff) * 0.1 +0.1;
+//    if(frr == 0)frr = 0.1;
+
+    uratio = frr;
+    vratio = frr;
 
     double c2base = sqrt(pow(x2,2) + pow(y2,2));
+//    yc1 = 0; xc1 = x2 * uratio;
+    yc1 = 0; xc1 = c2base * uratio;
+
+
     double xoff = c2base * vratio * cos(hdg2) *(-1);
     double yoff = c2base * vratio * sin(hdg2)* (-1);
 
@@ -948,3 +959,327 @@ geofit & geofit::Inst()
 }
 
 
+std::vector<geobase> geofit::CreateBezierGeo(double startx, double starty, double starthdg, double endx, double endy, double endhdg)
+{
+    geobase xgeobezier;
+
+    int nbtype;
+    double fabc[3],fxy[2],fblen,fbhdg;
+   geofit::Inst().CreateBezier(startx,starty,starthdg,
+                 endx,endy,endhdg,
+                 0.35,0.35,xgeobezier.mfu,xgeobezier.mfv,xgeobezier.mfLen,
+                 nbtype,fabc,&fbhdg,fxy,&fblen);
+    if(nbtype == 2)
+    {
+    xgeobezier.mfHdg = starthdg;
+    xgeobezier.mfX = startx;
+    xgeobezier.mfY = starty;
+    xgeobezier.mnType = 2;
+    }
+    else
+    {
+        xgeobezier.mnType = 0; //Line
+        xgeobezier.mfHdgStart = fbhdg;
+        xgeobezier.mfHdg = fbhdg;
+        xgeobezier.mfX = fxy[0];
+        xgeobezier.mfY = fxy[1];
+        xgeobezier.mfLen = fblen;
+    }
+
+    std::vector<geobase> xvectorgeo;
+    xvectorgeo.push_back(xgeobezier);
+    return xvectorgeo;
+}
+
+std::vector<geobase> geofit::CreateLineGeo(double startx, double starty, double starthdg, double endx, double endy, double endhdg)
+{
+
+//    std::vector<geobase> xvectorgeo;
+//    geobase xgeobezier;
+//    int nbtype;
+//    double fabc[3],fxy[2],fblen,fbhdg;
+//    geofit x;
+//    x.CreateBezier(startx,starty,starthdg,
+//                 endx,endy,endhdg,
+//                 0.35,0.35,xgeobezier.mfu,xgeobezier.mfv,xgeobezier.mfLen,
+//                 nbtype,fabc,&fbhdg,fxy,&fblen);
+//    if(nbtype == 2)
+//    {
+//    xgeobezier.mfHdg = starthdg;
+//    xgeobezier.mfX = startx;
+//    xgeobezier.mfY = starty;
+//    xgeobezier.mnType = 2;
+//    }
+//    else
+//    {
+//        xgeobezier.mnType = 0; //Line
+//        xgeobezier.mfHdgStart = fbhdg;
+//        xgeobezier.mfHdg = fbhdg;
+//        xgeobezier.mfX = fxy[0];
+//        xgeobezier.mfY = fxy[1];
+//        xgeobezier.mfLen = fblen;
+//    }
+//    xvectorgeo.push_back(xgeobezier);
+//    return xvectorgeo;
+    geobase linegeo;
+    linegeo.mnType = 0;
+    linegeo.mfX = startx;
+    linegeo.mfY = starty;
+    linegeo.mfHdg = geofit::CalcHdg(startx,starty,endx,endy);
+    linegeo.mfLen = sqrt(pow(endx - startx,2)+pow(endy - starty,2));
+    std::vector<geobase> xvectorgeo;
+    xvectorgeo.push_back(linegeo);
+    return xvectorgeo;
+}
+
+std::vector<geobase> geofit::CreateTurnGeo(double startx, double starty, double starthdg, double endx, double endy, double endhdg,double R)
+{
+    std::vector<geobase>  xvectorgeo;
+    xvectorgeo.clear();
+    if(starthdg == endhdg)
+    {
+        std::cout<<"hdg same use line contact"<<std::endl;
+        return CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
+    }
+    double  a1,c1,a2,c2;
+    double inter_x,inter_y;
+    if((starthdg == M_PI/2.0)||(starthdg == 3.0*M_PI/2.0))
+    {
+        a2 = tan(endhdg) *(-1);
+        c2 = 0-a2*endx - endy;
+        a1 = 1;
+        c1 = startx *(-1);
+        inter_x = startx;
+        inter_y = 0 - a2*inter_x-c2;
+    }
+    else
+    {
+        if((endhdg == M_PI/2.0)||(endhdg == 3.0*M_PI/2.0))
+        {
+            a1 = tan(starthdg) *(-1);
+            c1 = 0-a1*startx - starty;
+            a2 = 1;
+            c2 = endx *(-1);
+            inter_x = endx;
+            inter_y = 0 - a1*inter_x-c1;
+        }
+        else
+        {
+            a1 = tan(starthdg) *(-1);
+            a2 = tan(endhdg) *(-1);
+            c1 = 0-a1*startx - starty;
+            c2 = 0-a2*endx - endy;
+            inter_x = (c1-c2)/(a2-a1);
+            inter_y = 0 - a1*inter_x - c1;
+        }
+    }
+
+    double dis1,dis2;
+    dis1 =sqrt(pow(inter_x - startx,2)+pow(inter_y - starty,2));
+    dis2 =sqrt(pow(inter_x - endx,2)+pow(inter_y - endy,2));
+
+    if((dis1<1.0)||(dis2<1.0))
+    {
+        std::cout<<"use line connect."<<std::endl;
+        char strinfo[256];
+        snprintf(strinfo,256,"Use Line Connect");
+  //      QMessageBox::information(this,"Info",strinfo,QMessageBox::YesAll);
+        return CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
+
+    }
+
+    if((R>=dis1 )||(R>=dis2))
+    {
+        R = dis1 - 0.3;
+        if(R>=dis2)
+        {
+            R = dis2 - 0.3;
+        }
+        char strinfo[256];
+        snprintf(strinfo,256,"Change Radius to %f",R);
+ //       QMessageBox::information(this,"Info",strinfo,QMessageBox::YesAll);
+    }
+
+    double hdgdiff = endhdg - starthdg;
+    if(hdgdiff >= M_PI)hdgdiff = hdgdiff - 2.0*M_PI;
+    if(hdgdiff <= (-M_PI))hdgdiff = hdgdiff + 2.0*M_PI;
+
+
+    double slen = R*tan(fabs(hdgdiff/2.0));
+    if(slen <(R+0.3))
+    {
+        R = slen - 0.3;
+        std::cout<<"Change Radius to "<<R<<std::endl;
+
+        slen = R*tan(fabs(hdgdiff/2.0));
+    }
+
+    if((dis1<slen)||(dis2<slen))
+    {
+        std::cout<<"radius is big. use line."<<std::endl;
+        char strinfo[256];
+        snprintf(strinfo,256,"Use Line Connect");
+ //       QMessageBox::information(this,"Info",strinfo,QMessageBox::YesAll);
+        return CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
+    }
+
+    double p1_x,p1_y,p2_x,p2_y;
+    p1_x = inter_x+ slen * cos(starthdg +M_PI);
+    p1_y = inter_y+ slen * sin(starthdg +M_PI);
+    p2_x = inter_x+slen*cos(endhdg);
+    p2_y = inter_y+slen*sin(endhdg);
+
+    geobase linegeo;
+    linegeo.mnType = 0;
+    linegeo.mfX = startx;
+    linegeo.mfY = starty;
+    linegeo.mfHdg = starthdg;
+    linegeo.mfLen = sqrt(pow(p1_x - startx,2)+pow(p1_y - starty,2));
+    xvectorgeo.push_back(linegeo);
+
+    geobase arcgeo;
+    arcgeo.mnType = 1;
+    arcgeo.mfX = p1_x;
+    arcgeo.mfY = p1_y;
+    arcgeo.mfHdg =  starthdg;
+    arcgeo.mfHdgStart = starthdg;
+    arcgeo.mfLen = R*fabs(hdgdiff);
+    arcgeo.mR =  R*(fabs(hdgdiff)/hdgdiff);
+    arcgeo.mfEndX = p2_x;
+    arcgeo.mfEndY = p2_y;
+    xvectorgeo.push_back(arcgeo);
+
+    linegeo.mnType = 0;
+    linegeo.mfX = p2_x;
+    linegeo.mfY = p2_y;
+    linegeo.mfHdg = endhdg;
+    linegeo.mfLen = sqrt(pow(p2_x - endx,2)+pow(p2_y - endy,2));
+    xvectorgeo.push_back(linegeo);
+
+    return xvectorgeo;
+
+
+
+}
+
+std::vector<geobase> geofit::CreateUTurnGeo(double startx, double starty, double starthdg, double endx, double endy, double endhdg, double fextend)
+{
+    std::vector<geobase>  xvectorgeo;
+
+
+    double p1_x,p1_y, p2_x,p2_y,p1_hdg,p2_hdg;
+
+    p1_x = fextend*cos(starthdg) + startx;
+    p1_y = fextend*sin(starthdg) + starty;
+
+    p2_x = fextend*cos(endhdg + M_PI) + endx;
+    p2_y = fextend*sin(endhdg + M_PI) + endy;
+
+    p1_hdg = starthdg;
+    p2_hdg = endhdg;
+
+    if(starthdg == endhdg)
+    {
+        std::cout<<" hdg is same, can't create u turn."<<std::endl;
+        return xvectorgeo;
+    }
+
+    double hdgse = geofit::CalcHdg(p1_x,p1_y,p2_x,p2_y);
+    double hdgdiff = hdgse - p1_hdg;
+    if(hdgdiff < 0)hdgdiff = hdgdiff  + 2.0*M_PI;
+
+    bool bPA = true; //Positive
+    if(hdgdiff >=M_PI)bPA = false;
+
+    double xdiff;
+    if(bPA)xdiff = hdgdiff - M_PI/2.0;
+    else xdiff = hdgdiff - 3.0*M_PI/2.0;
+
+    double xdis = sqrt(pow(p1_x-p2_x,2)+pow(p1_y-p2_y,2));
+    double R = xdis/(2.0*cos(xdiff));
+
+    double x_center,y_center;
+
+    double xhdgtocenter;
+
+    if(bPA)
+    {
+        xhdgtocenter = p1_hdg + M_PI/2.0;
+        if(xhdgtocenter  >= 2.0*M_PI)xhdgtocenter = xhdgtocenter - M_PI*2.0;
+    }
+    else
+    {
+        xhdgtocenter = p1_hdg - M_PI/2.0;
+        if(xhdgtocenter < 0)xhdgtocenter = xhdgtocenter + 2.0*M_PI;
+    }
+
+    x_center = p1_x + R*cos(xhdgtocenter);
+    y_center = p1_y + R*sin(xhdgtocenter);
+
+    double xhdgcentertoarc;
+    if(bPA)
+    {
+        xhdgcentertoarc = hdgse - M_PI/2.0;
+        if(xhdgcentertoarc <0)xhdgcentertoarc = xhdgcentertoarc + 2.0*M_PI;
+    }
+    else
+    {
+        xhdgcentertoarc = hdgse + M_PI/2.0;
+        if(xhdgcentertoarc >= M_PI*2.0)xhdgcentertoarc = xhdgcentertoarc - M_PI*2.0;
+    }
+
+    double p3_x,p3_y,p3_hdg;
+    p3_hdg = hdgse;
+    p3_x = x_center + R* cos(xhdgcentertoarc);
+    p3_y = y_center + R* sin(xhdgcentertoarc);
+
+//    pgb->AddGeometryArc(s,parc->mfX,parc->mfY,parc->mfHdgStart,parc->mfLen,1.0/parc->mR);
+    geobase c2,c3;
+    c2.mfX = p1_x;
+    c2.mfY = p1_y;
+    c2.mfHdgStart = p1_hdg;
+    c3.mfX = p3_x;
+    c3.mfY = p3_y;
+    c3.mfHdgStart = hdgse;
+    c2.mnType = 1;
+    c3.mnType = 1;
+    if(bPA)
+    {
+        c2.mfLen = hdgdiff * R;
+        c2.mR = R;
+        c3.mfLen = c2.mfLen;
+        c3.mR = R;
+    }
+    else
+    {
+        c2.mfLen = (2.0*M_PI - hdgdiff) * R;
+
+        c2.mR = R*(-1);
+
+        c3.mfLen = c2.mfLen;
+        c3.mR = R*(-1);
+    }
+    geobase l1,l2;
+    if(fextend != 0)
+    {
+        l1.mfX = startx;
+        l1.mfY = starty;
+        l1.mfHdg = starthdg;
+        l1.mfLen = fextend;
+        l1.mnType = 0;
+        l2.mfX = p2_x;
+        l2.mfY = p2_y;
+        l2.mfHdg = p2_hdg;
+        l2.mfLen = fextend;
+        l2.mnType = 0;
+        xvectorgeo.push_back(l1);
+    }
+    xvectorgeo.push_back(c2);
+    xvectorgeo.push_back(c3);
+    if(fextend != 0)xvectorgeo.push_back(l2);
+
+    return xvectorgeo;
+}
+
+
+

src/tool/map_lanetoxodr/geofit.h

@@ -74,6 +74,11 @@ public:
 
     static geofit & Inst();
 
+    static std::vector<geobase> CreateLineGeo(double startx,double starty,double starthdg,double endx,double endy,double endhdg);
+    static std::vector<geobase> CreateTurnGeo(double startx,double starty,double starthdg,double endx,double endy,double endhdg,double R);
+    static std::vector<geobase> CreateUTurnGeo(double startx,double starty,double starthdg,double endx,double endy,double endhdg,double fextend);
+    static std::vector<geobase> CreateBezierGeo(double startx,double starty,double starthdg,double endx,double endy,double endhdg);
+
 };
 
 #endif // GEOFIT_H

src/tool/map_lanetoxodr/main.cpp

@@ -13,6 +13,7 @@
 
 #include <QApplication>
 
+#include "adclicensewithwin.h"
 
 #ifdef ANDROID
 #include <QAndroidJniEnvironment>
@@ -51,10 +52,14 @@ bool requestPermission() {
 #endif
 
 
+#include "ivlog.h"
+iv::Ivlog *givlog;
 
 int main(int argc, char *argv[])
 {
 
+    //Call License
+    //Wait
 #ifndef ANDROID
 
     RegisterIVBackTrace();
@@ -73,6 +78,13 @@ int main(int argc, char *argv[])
 #ifdef XODRViewer
     XVMainWindow w;
 #else
+#ifdef OPENDRIVE_EDITONLY
+    if(ADCLicenseCheckWithWin() != 0)
+    {
+        return 0;
+    }
+#endif
+    givlog = new iv::Ivlog("map_lanetoxodr");
     MainWindow w;
 #endif
     w.show();

src/tool/map_lanetoxodr/mainwindow.cpp

@@ -81,6 +81,8 @@ MainWindow::MainWindow(QWidget *parent) :
     mpfb = new FileBackup();
     mpfb->start();
 
+    mpdlgdraw =  new DialogDrawRoad(this);
+
     setWindowTitle("Create Map From Lane Info");
 
 }
@@ -111,9 +113,6 @@ void MainWindow::AdjustWPos(QSize sizemain)
 
 void MainWindow::ExecPainter()
 {
-
-
-
     QTime x;
     x.start();
     //    qDebug("painter.");
@@ -176,6 +175,11 @@ void MainWindow::ExecPainter()
             painter->setPen(Qt::red);
         }
 
+        if(IsHidenRoad(atoi(pRoad->GetRoadId().data())))
+        {
+            continue;
+        }
+
         if(mxodr.GetRoad(i)->GetGeometryBlockCount()>0)
         {
             GeometryBlock * pgeob = pRoad->GetGeometryBlock(0);
@@ -352,6 +356,7 @@ void MainWindow::ExecPainter()
                 ppp3 = (GeometryParamPoly3 * )pg;
                 int ncount = ppp3->GetLength()* mnfac;
                 double sstep;
+                bool bNormal = ppp3->GetNormal();
                 double arclength = ppp3->GetLength();
                 if(ncount > 0)sstep = ppp3->GetLength()/ncount;
 
@@ -360,7 +365,8 @@ void MainWindow::ExecPainter()
                 while(s < ppp3->GetLength())
                 {
                     double xtem,ytem;
-                    double pRange = s/arclength;
+                    double pRange =s;
+                    if(bNormal && (arclength>0))pRange = s/arclength;
                     xtem = ppp3->GetuA() +  ppp3->GetuB() * pRange +  ppp3->GetuC() * pRange*pRange +  ppp3->GetuD() * pRange*pRange*pRange;
                     ytem = ppp3->GetvA() + ppp3->GetvB() * pRange + ppp3->GetvC() * pRange*pRange + ppp3->GetvD() * pRange*pRange*pRange;
                     x = xtem*cos(ppp3->GetHdg()) - ytem * sin(ppp3->GetHdg()) + ppp3->GetX();
@@ -471,7 +477,7 @@ void MainWindow::onTimer()
 void MainWindow::CreateTab1View(QTabWidget * p)
 {
     QGroupBox * pGroup = new QGroupBox();
-    pGroup->setGeometry(0,0,mnFontHeight * 21,mnFontHeight * 110);
+    pGroup->setGeometry(0,0,mnFontHeight * 21,mnFontHeight * 160);
 
     QLabel * pLabel;
     QLineEdit * pLE;
@@ -1009,6 +1015,12 @@ void MainWindow::CreateTab1View(QTabWidget * p)
     pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
     connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickRoadContact()));
 
+    nXPos = nXPos + nSpace;
+    pPB = new QPushButton(pGroup);
+    pPB->setText("Auto Road Contact");
+    pPB->setGeometry(nXPos,nYPos,nLEWidth*3/2,nLEHeight);
+    connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickAutoRoadContact()));
+
     nXPos = 10;
     nYPos = nYPos + mnFontHeight * 4;
 
@@ -1067,6 +1079,7 @@ void MainWindow::CreateTab1View(QTabWidget * p)
     pPB->setText("Clear");
     pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
     nXPos = nXPos + nSpace;
+    connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickClearLaneContact()));
 
     pPB = new QPushButton(pGroup);
     pPB->setText("Create Road");
@@ -1096,6 +1109,12 @@ void MainWindow::CreateTab1View(QTabWidget * p)
     pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
     mpLERoadType = pLE;
 
+    mpCBStraightType = new QCheckBox(pGroup);
+    mpCBStraightType->setText("Line Only");
+    mpCBStraightType->setChecked(false);
+    mpCBStraightType->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
+    mpCBStraightType->setVisible(false);
+
     mpCBRoadType->setCurrentIndex(0);
     mpLBRoadType->setVisible(true);
     mpLERoadType->setVisible(true);
@@ -1260,6 +1279,8 @@ void MainWindow::onClickXY(double x, double y)
     mpLE_SelX->setText(QString::number(selx,'f',3));
     mpLE_SelY->setText(QString::number(sely,'f',3));
 
+    emit CurrentPosition(selx,sely);
+
     double x0,y0;
     GaussProjCal(glon0,glat0,&x0,&y0);
     GaussProjInvCal(x0+selx,y0+sely,&lon,&lat);
@@ -1273,7 +1294,7 @@ void MainWindow::onClickXY(double x, double y)
     double fdis,nearx,neary,hdg;
     double fs;
     int nlane;
-    if(xodrfunc::GetNearPoint(rel_x,rel_y,&mxodr,&pRoad,&pgeob,fdis,nearx,neary,hdg,50,&fs,&nlane) == 0)
+    if(xodrfunc::GetNearPointWithHide(rel_x,rel_y,&mxodr,&pRoad,&pgeob,fdis,nearx,neary,hdg,50,mvectorhideroadid,&fs,&nlane) == 0)
     {
         qDebug("s:%f dis is %f nlane is %d",fs,fdis,nlane);
         char strout[1000];
@@ -1312,6 +1333,13 @@ void MainWindow::onClickXY(double x, double y)
     mpLE_SelLon->setText(QString::number(lon,'f',7));
     mpLE_SelLat->setText(QString::number(lat,'f',7));
     update();
+
+    if(mpCBViewMode->currentIndex() == 1)
+    {
+        UpdateScene_SelectRoadRefGeo();
+    }
+
+
 }
 
 void MainWindow::ComboToString(std::string strroadid,QComboBox * pCB)
@@ -1655,58 +1683,7 @@ void MainWindow::onClickLoadLane()
  */
 Road MainWindow::CreateRoad(VectorXd xvals, VectorXd yvals)
 {
-//    Road xRoad;
-//    double LINE_ERROR = 0.15;
-//    int nsize =  xvals.size();
-//    int nnotfit = nsize;
-//    int ncurpos = 0;
-//    int nrange = nsize;
-//    while(ncurpos  <  nsize)
-//    {
-// //       int N = nrange - ncurpos;
-//        VectorXd x_veh(nrange);
-//        VectorXd y_veh(nrange);
-
-//        int j;
-//        for(j=ncurpos;j<(ncurpos +nrange);j++)
-//        {
-//            x_veh[j-ncurpos] = xvals[j];
-//            y_veh[j - ncurpos] = yvals[j];
-//        }
-
-//        auto coeffs = polyfit(x_veh, y_veh, 1);
-
-//        double dismax = 0;
-//        for(j=ncurpos;j<(ncurpos +nrange);j++)
-//        {
-//            double A = coeffs[1];
-//            double B = -1;
-//            double C = coeffs[0];
-//            double dis = fabs(A*x_veh[j-ncurpos] + B*y_veh[j-ncurpos] +C )/sqrt(pow(A,2)+pow(B,2));
-//            if(dis>dismax)dismax = dis;
-//        }
-//        std::cout<<"dis is "<<dismax<<std::endl;
-//        if((dismax > LINE_ERROR)&&((nsize -(nrange+ncurpos))>50))
-//        {
-//            nrange = nrange/2;
-//        }
-//        else
-//        {
-//            std::cout<<"nrange is "<<nrange<<std::endl;
-
-//            xRoad.AddGeometryBlock();
-//            GeometryBlock * pgb = xRoad.GetGeometryBlock(xRoad.GetGeometryBlockCount()-1);
-// //           pgb->AddGeometryLine(1.0,x,y,len);
-
-//            ncurpos = ncurpos + nrange;
-//            nrange = nsize - ncurpos;
-
-
-//            std::cout<<"add a geo."<<std::endl;
-//        }
-//    }
 
-//    return xRoad;
 }
 
 void MainWindow::onClickMarkLane()
@@ -2669,12 +2646,6 @@ void MainWindow::onClickAddRoad()
     mbRefresh = true;
     update();
 
-
-
-//    OpenDriveXmlWriter x(&mxodr);
- //   x.WriteFile("/home/nvidia/text.xodr");
-
-
 }
 
 
@@ -2754,6 +2725,8 @@ void MainWindow::onClickLoad()
     QString str = QFileDialog::getOpenFileName(this,"Load XODR",".","*.xodr");
     if(str.isEmpty())return;
 
+    mvectorhideroadid.clear();
+
     QString strfilepath = str;
 
     QString strbak = str + ".bak";
@@ -2792,6 +2765,25 @@ void MainWindow::onClickLoad()
             i--;
             nroadnum--;
             qDebug("delete road %s because length is NaN",pRoad->GetRoadId().data());
+            continue;
+        }
+        unsigned int j;
+        double snow = 0;
+        double roadcalclen = 0;
+        for(j=0;j<pRoad->GetGeometryBlockCount();j++)
+        {
+            if(fabs(pRoad->GetGeometryBlock(j)->GetGeometryAt(0)->GetS() - snow)>0.1)
+            {
+                std::cout<<"change road "<<pRoad->GetRoadId().data()<<" S"<<std::endl;
+                pRoad->GetGeometryBlock(j)->GetGeometryAt(0)->SetS(snow);
+            }
+            snow = snow + pRoad->GetGeometryBlock(j)->GetBlockLength();
+            roadcalclen = snow;
+        }
+        if(fabs(roadcalclen - pRoad->GetRoadLength())>0.1)
+        {
+            std::cout<<"change road "<<pRoad->GetRoadId().data()<<" Length"<<std::endl;
+            pRoad->SetRoadLength(roadcalclen);
         }
     }
 
@@ -2816,6 +2808,11 @@ void MainWindow::onClickLoad()
 //        mxodr.GetHeader()->SetgeoReference(strgeoref);
 //        mxodr.GetHeader()->SetuserData(struserData);
     }
+    else
+    {
+        lat0 = 39.0;
+        lon0 = 119.0;
+    }
 
     double xMoveX = 0;
     double xMoveY = 0;
@@ -2838,6 +2835,11 @@ void MainWindow::onClickLoad()
 
     if(bAddToNow )bNeedAjustID = true;
 
+    if(bAddToNow == false)
+    {
+        mbSetOrigin = false;
+    }
+
     if(mbSetOrigin == false)
     {
         bNeedMove = false;
@@ -2987,6 +2989,161 @@ void MainWindow::onClickSave()
     mpfb->Activate(str);
 }
 
+void MainWindow::onClickAutoRoadContact()
+{
+    int ch1,ch2;
+    ch1  = mpCBRoad1->currentIndex();
+    ch2 = mpCBRoad2->currentIndex();
+    if((ch1 == -1)||(ch2 == -1))
+    {
+        return;
+    }
+//    if(ch1 == ch2)
+//    {
+//        QMessageBox::warning(this,"warn","road same");
+//        return;
+//    }
+    int ntype1,ntype2;
+    ntype1 = mpCBRC1->currentIndex();
+    ntype2 = mpCBRC2->currentIndex();
+    Road * p1 = mxodr.GetRoad(ch1);
+    Road * p2 = mxodr.GetRoad(ch2);
+
+    int contactype;
+    int turnstraight;
+    std::vector<iv::ARC> xARCLane,xARCOpLane;
+    int nARCRtn = AutoRoadContact::CalcContact(p1,p2,contactype,turnstraight,xARCLane,xARCOpLane);
+    if(nARCRtn < 0)
+    {
+        QMessageBox::warning(this,"Warning","Auto Road Contact fail",QMessageBox::YesAll);
+        return;
+    }
+
+    switch (contactype) {
+    case 0:
+        mpCBRC1->setCurrentIndex(0);
+        mpCBRC2->setCurrentIndex(0);
+        break;
+    case 1:
+        mpCBRC1->setCurrentIndex(0);
+        mpCBRC2->setCurrentIndex(1);
+        break;
+    case 2:
+        mpCBRC1->setCurrentIndex(1);
+        mpCBRC2->setCurrentIndex(0);
+        break;
+    case 3:
+        mpCBRC1->setCurrentIndex(1);
+        mpCBRC2->setCurrentIndex(1);
+        break;
+    default:
+        break;
+    }
+
+    ntype1 = mpCBRC1->currentIndex();
+    ntype2 = mpCBRC2->currentIndex();
+    iv::roadcontact rc;
+    rc.mnroad1id = atoi(p1->GetRoadId().data());
+    rc.mnroad2id = atoi(p2->GetRoadId().data());
+    rc.mncon1 = ntype1;
+    rc.mncon2 = ntype2;
+
+    char strname[256];
+    if(xARCLane.size()>0)
+    {
+        snprintf(strname,256,"%s_%s_%s_%s",p1->GetRoadId().data(),mpCBRC1->currentText().toLatin1().data(),
+             p2->GetRoadId().data(),mpCBRC2->currentText().toLatin1().data());
+    }
+    else
+    {
+        xARCLane = xARCOpLane;
+        xARCOpLane.clear();
+        rc.mnroad2id = atoi(p1->GetRoadId().data());
+        rc.mnroad1id = atoi(p2->GetRoadId().data());
+        rc.mncon2 = ntype1;
+        rc.mncon1 = ntype2;
+        snprintf(strname,256,"%s_%s_%s_%s",p2->GetRoadId().data(),mpCBRC2->currentText().toLatin1().data(),
+                 p1->GetRoadId().data(),mpCBRC1->currentText().toLatin1().data());
+
+    }
+    mpCBRoadCon->clear();
+    mpCBRoadCon->addItem(strname);
+    mpCBLane1->clear();
+    mpCBLane2->clear();
+
+
+    mpCBLane1Lane2->clear();
+    mpCBLane1Lane2op->clear();
+
+    if(p1->GetLaneSectionCount()>0)
+    {
+        LaneSection * pLS;
+        if(ntype1 == 0)
+            pLS = p1->GetLaneSection(0);
+        else
+            pLS = p1->GetLaneSection(p1->GetLaneSectionCount()-1);
+        int i;
+        for(i=0;i<pLS->GetLaneCount();i++)
+        {
+            Lane * pL = pLS->GetLane(i);
+//            if((pL->GetId() != 0)&&(strncmp(pL->GetType().data(),"driving",255)==0))
+            if(pL->GetId() != 0)
+                mpCBLane1->addItem(QString::number(pL->GetId()));
+        }
+
+    }
+
+    if(p2->GetLaneSectionCount()>0)
+    {
+        LaneSection * pLS;
+        if(ntype1 == 0)
+            pLS = p2->GetLaneSection(0);
+        else
+            pLS = p2->GetLaneSection(p2->GetLaneSectionCount()-1);
+        int i;
+        for(i=0;i<pLS->GetLaneCount();i++)
+        {
+            Lane * pL = pLS->GetLane(i);
+ //           if((pL->GetId() != 0)&&(strncmp(pL->GetType().data(),"driving",255)==0))
+            if(pL->GetId() != 0)
+                mpCBLane2->addItem(QString::number(pL->GetId()));
+        }
+
+    }
+
+    mvectorrc.clear();
+    mvectorrc.push_back(rc);
+
+    mpCBRoadType->setCurrentIndex(turnstraight);
+
+    unsigned int i;
+    for(i=0;i<xARCLane.size();i++)
+    {
+        iv::lanecontact xlc;
+        xlc.ml1 = xARCLane.at(i).from;
+        xlc.ml2 = xARCLane.at(i).to;
+        if(mvectorrc.size()  < 1)break;
+        mvectorrc[0].mvectorlc.push_back(xlc);
+
+        char strname[256];
+        snprintf(strname,255,"%dto%d",xlc.ml1,xlc.ml2);
+        mpCBLane1Lane2->addItem(strname);
+    }
+    for(i=0;i<xARCOpLane.size();i++)
+    {
+        iv::lanecontact xlc;
+        xlc.ml1 = xARCOpLane.at(i).from;
+        xlc.ml2 = xARCOpLane.at(i).to;
+        if(mvectorrc.size()  < 1)break;
+        mvectorrc[0].mvectorlcop.push_back(xlc);
+
+        char strname[256];
+        snprintf(strname,255,"%dto%d",xlc.ml1,xlc.ml2);
+        mpCBLane1Lane2op->addItem(strname);
+    }
+
+}
+
 void MainWindow::onClickRoadContact()
 {
     int ch1,ch2;
@@ -3048,7 +3205,7 @@ void MainWindow::onClickRoadContact()
         if(ntype1 == 0)
             pLS = p2->GetLaneSection(0);
         else
-            pLS = p2->GetLaneSection(p1->GetLaneSectionCount()-1);
+            pLS = p2->GetLaneSection(p2->GetLaneSectionCount()-1);
         int i;
         for(i=0;i<pLS->GetLaneCount();i++)
         {
@@ -3099,6 +3256,16 @@ void MainWindow::onClickOpLaneContact()
     mpCBLane1Lane2op->addItem(strname);
 }
 
+void MainWindow::onClickClearLaneContact()
+{
+    mpCBLane1Lane2op->clear();
+    mpCBLane1Lane2->clear();
+    if(mvectorrc.size()<1)return;
+    mvectorrc[0].mvectorlc.clear();
+    mvectorrc[0].mvectorlcop.clear();
+
+}
+
 void MainWindow::onClickCreateRoad()
 {
     if(mvectorrc.size()<1)return;
@@ -3284,7 +3451,18 @@ void MainWindow::onClickCreateRoad()
         xvectorgeo = CreateTurnGeo(startx,starty,starthdg,endx,endy,endhdg,R);
         break;
     case 1:
-        xvectorgeo = CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
+        {
+            double fdis = sqrt(pow(startx - endx,2) +pow(starty -endy,2));
+            if((fdis<3) || (starthdg == endhdg) ||(mpCBStraightType->isChecked()))
+            {
+                xvectorgeo = CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
+            }
+            else
+            {
+                xvectorgeo = geofit::CreateBezierGeo(startx,starty,starthdg,endx,endy,endhdg);
+            }
+//
+        }
         break;
     case 2:
         xvectorgeo = CreateUTurnGeo(startx,starty,starthdg,endx,endy,endhdg,R);
@@ -3352,7 +3530,7 @@ void MainWindow::onClickCreateRoad()
                 pgb->AddGeometryParamPoly3(s,pbez->mfX,pbez->mfY,
                                            pbez->mfHdg,pbez->mfLen,pbez->mfu[0],
                         pbez->mfu[1],pbez->mfu[2],pbez->mfu[3],pbez->mfv[0],
-                        pbez->mfv[1],pbez->mfv[2],pbez->mfv[3]);
+                        pbez->mfv[1],pbez->mfv[2],pbez->mfv[3],false);
                 break;
             }
             s = s + xvectorgeo[j].mfLen;
@@ -3403,7 +3581,7 @@ void MainWindow::onClickCreateRoad()
 
             pLL->AddWidthRecord(0,pa[i],pb[i],
                                 0,0);
-            pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+ //           pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
 
         }
 
@@ -3444,7 +3622,7 @@ void MainWindow::onClickCreateRoad()
 
                 pLL->AddWidthRecord(0,pa[i],pb[i],
                                     0,0);
-                pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+  //              pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
 
             }
         }
@@ -3504,6 +3682,7 @@ void MainWindow::onClickCreateRoad()
             s = s + xvectorgeo1[j].mfLen;
         }
 
+        s=0.0;
         for(j=0;j<xvectorgeo2.size();j++)
         {
             proad2->AddGeometryBlock();
@@ -3584,14 +3763,14 @@ void MainWindow::onClickCreateRoad()
 
             pLL->AddWidthRecord(0,pa[i],pb[i],
                                 0,0);
-            pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+//            pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
 
             pLS2->AddLane(-1,(i+1)*(-1),strvectorlanetype[i],false,false);
             pLL = pLS2->GetLane(pLS2->GetLaneCount() - 1);
 
             pLL->AddWidthRecord(0,pa[i]+pb[i]*xroadlen1 ,pb[i],
                                 0,0);
-            pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+//            pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
 
         }
         int noplanecount = mvectorrc[0].mvectorlcop.size();
@@ -3631,14 +3810,14 @@ void MainWindow::onClickCreateRoad()
 
                 pLL->AddWidthRecord(0,pa[i],pb[i],
                                     0,0);
-                pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+ //               pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
 
                 pLS2->AddLane(1,(i+1),strvectorlanetype[i],false,false);
                 pLL = pLS2->GetLane(pLS2->GetLaneCount() - 1);
 
                 pLL->AddWidthRecord(0,pa[i]+pb[i]*xroadlen1 ,pb[i],
                                     0,0);
-                pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
+//                pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
 
             }
         }
@@ -3649,6 +3828,12 @@ void MainWindow::onClickCreateRoad()
     mbRefresh = true;
     update();
 
+    if(mpCBViewMode->currentIndex() == 1)
+    {
+        UpdateScene();
+    }
+
+
     mpfb->SetOpenDrive(mxodr);
 
 }
@@ -3659,6 +3844,9 @@ int MainWindow::GetEndPoint(Road *proad, double &x, double &y, double &hdg)
 
     RoadGeometry * pgeo = pblock->GetLastGeometry();
 
+    proad->GetGeometryCoords(proad->GetRoadLength(),x,y,hdg);
+    return 0;
+
 
     //0-line, 1-arc, 2-spiral 3-poly3 4-parampoly3
     switch (pgeo->GetGeomType()) {
@@ -3701,21 +3889,35 @@ int MainWindow::GetEndPoint(Road *proad, double &x, double &y, double &hdg)
         double s = ppoly3->GetLength();
 //        xtem = ppoly3->GetuA() + ppoly3->GetuB() * s  + ppoly3->GetuC() * s*s  + ppoly3->GetuD() * s*s*s ;
 //        ytem = ppoly3->GetvA() + ppoly3->GetvB() * s + ppoly3->GetvC() * s*s  + ppoly3->GetvD() * s*s*s ;
-        xtem = ppoly3->GetuA() + ppoly3->GetuB()  + ppoly3->GetuC()   + ppoly3->GetuD()  ;
-        ytem = ppoly3->GetvA() + ppoly3->GetvB() + ppoly3->GetvC()   + ppoly3->GetvD() ;
+        if(ppoly3->GetNormal())
+        {
+            xtem = ppoly3->GetuA() + ppoly3->GetuB()  + ppoly3->GetuC()   + ppoly3->GetuD()  ;
+            ytem = ppoly3->GetvA() + ppoly3->GetvB() + ppoly3->GetvC()   + ppoly3->GetvD() ;
+        }
+        else
+        {
+            xtem = ppoly3->GetuA() + ppoly3->GetuB() * s  + ppoly3->GetuC() * s*s  + ppoly3->GetuD() * s*s*s ;
+            ytem = ppoly3->GetvA() + ppoly3->GetvB() * s + ppoly3->GetvC() * s*s  + ppoly3->GetvD() * s*s*s ;
+        }
         x = xtem*cos(ppoly3->GetHdg()) - ytem * sin(ppoly3->GetHdg()) + ppoly3->GetX();
         y = xtem*sin(ppoly3->GetHdg()) + ytem * cos(ppoly3->GetHdg()) + ppoly3->GetY();
         s = ppoly3->GetLength()*0.99;
         if(s>0)
         {
             double frel = 0.99;
- //           xtem1 = ppoly3->GetuA() + ppoly3->GetuB() * s  + ppoly3->GetuC() * s*s  + ppoly3->GetuD() * s*s*s ;
- //           ytem1 = ppoly3->GetvA() + ppoly3->GetvB() * s + ppoly3->GetvC() * s*s  + ppoly3->GetvD() * s*s*s ;
-            xtem1 = ppoly3->GetuA() + ppoly3->GetuB() * frel + ppoly3->GetuC() *frel*frel   + ppoly3->GetuD()*frel*frel*frel  ;
-            ytem1 = ppoly3->GetvA() + ppoly3->GetvB()*frel + ppoly3->GetvC()*frel*frel   + ppoly3->GetvD()*frel*frel*frel ;
-            x1 = xtem*cos(ppoly3->GetHdg()) - ytem * sin(ppoly3->GetHdg()) + ppoly3->GetX();
-            y1 = xtem*sin(ppoly3->GetHdg()) + ytem * cos(ppoly3->GetHdg()) + ppoly3->GetY();
-            hdg = geofit::CalcHdg(xtem1,ytem1,x1,y1);
+            if(ppoly3->GetNormal() == false)
+            {
+                xtem1 = ppoly3->GetuA() + ppoly3->GetuB() * s  + ppoly3->GetuC() * s*s  + ppoly3->GetuD() * s*s*s ;
+                ytem1 = ppoly3->GetvA() + ppoly3->GetvB() * s + ppoly3->GetvC() * s*s  + ppoly3->GetvD() * s*s*s ;
+            }
+            else
+            {
+                xtem1 = ppoly3->GetuA() + ppoly3->GetuB() * frel + ppoly3->GetuC() *frel*frel   + ppoly3->GetuD()*frel*frel*frel  ;
+                ytem1 = ppoly3->GetvA() + ppoly3->GetvB()*frel + ppoly3->GetvC()*frel*frel   + ppoly3->GetvD()*frel*frel*frel ;
+            }
+            x1 = xtem1*cos(ppoly3->GetHdg()) - ytem1 * sin(ppoly3->GetHdg()) + ppoly3->GetX();
+            y1 = xtem1*sin(ppoly3->GetHdg()) + ytem1 * cos(ppoly3->GetHdg()) + ppoly3->GetY();
+            hdg = geofit::CalcHdg(x1,y1,x,y);
         }
         else
         {
@@ -3738,13 +3940,15 @@ void MainWindow::onChangeRoadType(int index)
 {
     if(index == 1)
     {
-       mpLBRoadType->setVisible(false);
+       mpLBRoadType->setVisible(true);
        mpLERoadType->setVisible(false);
+       mpCBStraightType->setVisible(true);
     }
     else
     {
         mpLBRoadType->setVisible(true);
         mpLERoadType->setVisible(true);
+        mpCBStraightType->setVisible(false);
     }
 
     if(index == 0)
@@ -3753,6 +3957,11 @@ void MainWindow::onChangeRoadType(int index)
         mpLERoadType->setText("6.0");
     }
 
+    if(index == 1)
+    {
+        mpLBRoadType->setText("Type:");
+    }
+
     if(index == 2)
     {
         mpLBRoadType->setText("Extend:");
@@ -3850,25 +4059,51 @@ std::vector<geobase> MainWindow::CreateTurnGeo(double startx, double starty, dou
     if((dis1<1.0)||(dis2<1.0))
     {
         std::cout<<"use line connect."<<std::endl;
+        char strinfo[256];
+        snprintf(strinfo,256,"Use Line Connect");
+        QMessageBox::information(this,"Info",strinfo,QMessageBox::YesAll);
         return CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
 
     }
 
+    if((R>=dis1 )||(R>=dis2))
+    {
+        R = dis1 - 0.3;
+        if(R>=dis2)
+        {
+            R = dis2 - 0.3;
+        }
+        char strinfo[256];
+        snprintf(strinfo,256,"Change Radius to %f",R);
+        QMessageBox::information(this,"Info",strinfo,QMessageBox::YesAll);
+    }
+
     double hdgdiff = endhdg - starthdg;
     if(hdgdiff >= M_PI)hdgdiff = hdgdiff - 2.0*M_PI;
     if(hdgdiff <= (-M_PI))hdgdiff = hdgdiff + 2.0*M_PI;
 
 
     double slen = R*tan(fabs(hdgdiff/2.0));
+    if(slen <(R+0.3))
+    {
+        R = slen - 0.3;
+        std::cout<<"Change Radius to "<<R<<std::endl;
+
+        slen = R*tan(fabs(hdgdiff/2.0));
+    }
+
     if((dis1<slen)||(dis2<slen))
     {
         std::cout<<"radius is big. use line."<<std::endl;
+        char strinfo[256];
+        snprintf(strinfo,256,"Use Line Connect");
+        QMessageBox::information(this,"Info",strinfo,QMessageBox::YesAll);
         return CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
     }
 
     double p1_x,p1_y,p2_x,p2_y;
-    p1_x = inter_x- slen * cos(starthdg);
-    p1_y = inter_y- slen * sin(starthdg);
+    p1_x = inter_x+ slen * cos(starthdg +M_PI);
+    p1_y = inter_y+ slen * sin(starthdg +M_PI);
     p2_x = inter_x+slen*cos(endhdg);
     p2_y = inter_y+slen*sin(endhdg);
 
@@ -4595,6 +4830,12 @@ void MainWindow::onClickCBRoadChange(int index)
        }
        mpCBRoadShowNext->addItem(strout);
    }
+
+   if(mpCBRoad->currentText().length()>0)
+   {
+        int nCurRoadID = mpCBRoad->currentText().toInt();
+        emit CurrentRoadChange(nCurRoadID);
+   }
 }
 
 void MainWindow::updateJunction()
@@ -5118,6 +5359,10 @@ void MainWindow::on_actionAutoConnect_triggered()
 
 void MainWindow::on_actionSet_Speed_triggered()
 {
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warning","This Release is Only for Edit OpenDrive. Other Function Need Change conf.",QMessageBox::YesAll);
+    return;
+#endif
     std::string strroadid = mpCBRoad->currentText().toStdString();
     SpeedDialog sd(&mxodr,strroadid,this);
     int res = sd.exec();
@@ -5150,6 +5395,10 @@ void MainWindow::closeEvent(QCloseEvent *event)
 
 void MainWindow::on_actionSet_Traffic_Light_triggered()
 {
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warning","This Release is Only for Edit OpenDrive. Other Function Need Change conf.",QMessageBox::YesAll);
+    return;
+#endif
     std::string strroadid = mpCBRoad->currentText().toStdString();
     TrafficLightDialog td(&mxodr,strroadid,this);
     int res = td.exec();
@@ -5181,6 +5430,11 @@ void MainWindow::on_actionEdit_Road_triggered()
 
 void MainWindow::on_actionAdd_Road_From_RTK_triggered()
 {
+
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warning","This Release is Only for Edit OpenDrive. Other Function Need Change conf.",QMessageBox::YesAll);
+    return;
+#endif
     SaveBack();
     DialogAddRoadFromRTK arfrd(&mxodr,glon0,glat0,this);
     arfrd.exec();
@@ -5245,6 +5499,7 @@ void MainWindow::on_actionSplit_Road_triggered()
 void MainWindow::UpdateScene()
 {
 
+
     int i;
     int nsize = mvectorviewitem.size();
     for(i=0;i<nsize;i++)
@@ -5252,7 +5507,14 @@ void MainWindow::UpdateScene()
         mpscene->removeItem(mvectorviewitem.at(i));
         delete mvectorviewitem.at(i);
     }
+    nsize = mvectorgeoitem.size();
+    for(i=0;i<nsize;i++)
+    {
+        mpscene->removeItem(mvectorgeoitem.at(i));
+        delete mvectorgeoitem.at(i);
+    }
     mvectorviewitem.clear();
+    mvectorgeoitem.clear();
 
     nsize = mxodr.GetRoadCount();
 
@@ -5266,6 +5528,11 @@ void MainWindow::UpdateScene()
     }
     for(i=0;i<nsize;i++)
     {
+        if(IsHidenRoad(atoi(mxodr.GetRoad(i)->GetRoadId().data())))
+        {
+            continue;
+        }
+
         std::vector<QGraphicsPathItem *> xvectorlanepath = xodrscenfunc::GetRoadLaneItem(&(xvectorrd[i]));
         int j;
         int ncount = xvectorlanepath.size();
@@ -5276,10 +5543,15 @@ void MainWindow::UpdateScene()
             mpscene->addItem(pitem);
             mvectorviewitem.push_back(pitem);
         }
+
     }
 
     for(i=0;i<nsize;i++)
     {
+        if(IsHidenRoad(atoi(mxodr.GetRoad(i)->GetRoadId().data())))
+        {
+            continue;
+        }
         std::vector<QGraphicsPathItem *> xvectormarkpath = xodrscenfunc::GetRoadMarkItem(&(xvectorrd[i]));
         int j;
         int ncount = xvectormarkpath.size();
@@ -5291,7 +5563,88 @@ void MainWindow::UpdateScene()
             mvectorviewitem.push_back(pitem);
         }
     }
+
+    for(i=0;i<nsize;i++)
+    {
+        if(IsHidenRoad(atoi(mxodr.GetRoad(i)->GetRoadId().data())))
+        {
+            continue;
+        }
+        std::vector<QGraphicsTextItem *> xvectortext;
+        std::vector<QGraphicsPathItem *> xvectorparkmark;
+        std::vector<QGraphicsPathItem *> xvectorparkpath = xodrscenfunc::GetRoadParkingItem(&(xvectorrd[i]),xvectortext,
+                                                                                            xvectorparkmark);
+        int j;
+        int ncount = xvectorparkpath.size();
+        for(j=0;j<ncount;j++)
+        {
+            QGraphicsPathItem * pitem = xvectorparkpath[j];
+            pitem->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
+            mpscene->addItem(pitem);
+            mvectorviewitem.push_back(pitem);
+        }
+        ncount = xvectortext.size();
+        for(j=0;j<ncount;j++)
+        {
+            QGraphicsTextItem * pitem = xvectortext[j];
+ //           pitem->setPos(mfViewMoveX +VIEW_WIDTH/2.0 + (-24.0),-mfViewMoveY+VIEW_HEIGHT/2.0+(-102.0));
+             pitem->setPos(mfViewMoveX +VIEW_WIDTH/2.0 + pitem->pos().x(),-mfViewMoveY+VIEW_HEIGHT/2.0+pitem->pos().y());
+            mpscene->addItem(pitem);
+        }
+        ncount = xvectorparkmark.size();
+        for(j=0;j<ncount;j++)
+        {
+            QGraphicsPathItem * pitem = xvectorparkmark[j];
+            pitem->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
+            mpscene->addItem(pitem);
+            mvectorviewitem.push_back(pitem);
+        }
+    }
+    UpdateScene_SelectRoadRefGeo();
     mbRefresh = false;
+//    mpscene->addLine(0,0,1000,100);
+}
+
+void MainWindow::UpdateScene_SelectRoadRefGeo()
+{
+
+    int i;
+    int nsize;
+    nsize = mvectorgeoitem.size();
+    for(i=0;i<nsize;i++)
+    {
+        mpscene->removeItem(mvectorgeoitem.at(i));
+        delete mvectorgeoitem.at(i);
+    }
+    mvectorgeoitem.clear();
+
+    if(mbHideSelected)return;
+
+    int selid = mpCBRoad->currentText().toInt();
+    nsize = mxodr.GetRoadCount();
+    for(i=0;i<nsize;i++)
+    {
+        if(IsHidenRoad(atoi(mxodr.GetRoad(i)->GetRoadId().data())))
+        {
+            continue;
+        }
+
+
+        if(selid == atoi(mxodr.GetRoad(i)->GetRoadId().data()))
+        {
+            RoadDigit xrd(mxodr.GetRoad(i),5.0);
+            std::vector<QGraphicsPathItem *> xvectorlanepath = xodrscenfunc::GetRoadRefGeoItem(&(xrd));
+            int j;
+            int ncount = xvectorlanepath.size();
+            for(j=0;j<ncount;j++)
+            {
+                QGraphicsPathItem * pitem = xvectorlanepath[j];
+                pitem->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
+                mpscene->addItem(pitem);
+                mvectorgeoitem.push_back(pitem);
+            }
+        }
+    }
 }
 
 
@@ -5349,7 +5702,99 @@ void MainWindow::SaveBack()
 
 void MainWindow::on_actionEdit_Road_Borrow_triggered()
 {
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warning","This Release is Only for Edit OpenDrive. Other Function Need Change conf.",QMessageBox::YesAll);
+    return;
+#endif
     std::string strroadid = mpCBRoad->currentText().toStdString();
     DialogRoadBorrow rbd(&mxodr,strroadid,this);
     int res = rbd.exec();
+
+    mpfb->SetOpenDrive(mxodr);
+}
+
+void MainWindow::on_actionMake_All_Road_Contact_triggered()
+{
+    QMessageBox::StandardButton button;
+    button=QMessageBox::question(this,tr("路口道路创建"),QString(tr("是否让软件自动创建所有路口道路？")),QMessageBox::Yes|QMessageBox::No);
+    if(button==QMessageBox::No)
+    {
+        return;
+    }
+    else if(button==QMessageBox::Yes)
+    {
+
+    }
+
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warnig","This Function is not comlete.Please Wait.",QMessageBox::YesAll);
+    return;
+#endif
+
+
+    on_actionAutoConnect_triggered();
+
+    AutoRoadContact::MakeAllContact(&mxodr);
+
+    updateJunction();
+    updateCBRoad();
+    mbRefresh = true;
+    update();
+    if(mpCBViewMode->currentIndex() == 1)
+    {
+        UpdateScene();
+    }
+
+    mpfb->SetOpenDrive(mxodr);
+}
+
+void MainWindow::on_actionHide_Road_triggered()
+{
+    std::string strroadid = mpCBRoad->currentText().toStdString();
+    DialogHideRoad hrd(&mxodr,strroadid,&mvectorhideroadid, this);
+    int res = hrd.exec();
+    if(res == 0){}
+    mbRefresh = true;
+    update();
+    if(mpCBViewMode->currentIndex() == 1)
+    {
+        UpdateScene();
+    }
+}
+
+bool MainWindow::IsHidenRoad(int nroadid)
+{
+    bool bIsHiden = false;
+    unsigned int i;
+    for(i=0;i<mvectorhideroadid.size();i++)
+    {
+        if(nroadid == mvectorhideroadid[i])
+        {
+            bIsHiden = true;
+            break;
+        }
+    }
+    return bIsHiden;
+}
+
+void MainWindow::on_actionHide_Selected_triggered()
+{
+    if(mbHideSelected)
+    {
+        mbHideSelected = false;
+        ui->actionHide_Selected->setText("Hide Selected");
+    }
+    else
+    {
+        mbHideSelected = true;
+        ui->actionHide_Selected->setText("Show Selected");
+    }
+    UpdateScene_SelectRoadRefGeo();
+}
+
+void MainWindow::on_actionDraw_Road_triggered()
+{
+    DialogDrawRoad * pdlgdraw = mpdlgdraw;
+    pdlgdraw->setModal(false);
+    pdlgdraw->show();
 }

src/tool/map_lanetoxodr/mainwindow.h

@@ -47,6 +47,8 @@
 #include "dialogaddroadfromrtk.h"
 #include "dialogcalcs.h"
 #include "dialogroadborrow.h"
+#include "dialoghideroad.h"
+#include "dialogdrawroad.h"
 
 #include "filebackup.h"
 
@@ -74,6 +76,7 @@ using namespace Eigen;
 #include "roaddigit.h"
 
 #include "xodrscenfunc.h"
+#include "autoroadcontact.h"
 
 namespace Ui {
 class MainWindow;
@@ -102,6 +105,9 @@ private:
 public:
     static void ComboToString(std::string strroadid,QComboBox * pCB);
 
+signals:
+    void CurrentPosition(double x,double y);
+    void CurrentRoadChange(int nroadid);
 
 public:
      void resizeEvent(QResizeEvent *event);
@@ -138,11 +144,13 @@ private slots:
     void onClickClearRoadLane();
     void onClickAddRoad();
     void onClickRoadContact();
+    void onClickAutoRoadContact();
 
     void onClickLoad();
     void onClickSave();
     void onClickLaneContact();
     void onClickOpLaneContact();
+    void onClickClearLaneContact();
     void onClickCreateRoad();
     void onChangeRoadType(int index);
 
@@ -204,6 +212,14 @@ private slots:
 
     void on_actionEdit_Road_Borrow_triggered();
 
+    void on_actionMake_All_Road_Contact_triggered();
+
+    void on_actionHide_Road_triggered();
+
+    void on_actionHide_Selected_triggered();
+
+    void on_actionDraw_Road_triggered();
+
 private:
 
 
@@ -286,6 +302,8 @@ private:
 
     QLabel * mpLBRoadType;
 
+    QCheckBox * mpCBStraightType;
+
     double mx0,my0;
 
     OpenDrive mxodr;
@@ -299,6 +317,8 @@ private:
 
     QComboBox * mpCBViewMode;
 
+    DialogDrawRoad * mpdlgdraw;
+
  //   QLineEdit * mpLE_StartLat, * mpLE_StartLon, * mpLE_StartHeading;
 
 //    QLineEdit * mpLE_EndLat, * mpLE_EndLon;
@@ -359,6 +379,12 @@ private:
 public:
     int CreateRoadID(int ntype = 0); //Create Road ID for new road. default:road  1:not create by lane road.
 
+    static double getoff(Road * p,int nlane,bool bstart = true);
+    double getlanewidth(Road * p,int nlane,bool bstart = true);
+    std::string getlanetype(Road * p,int nlane,bool bstart = true);
+
+    bool IsHidenRoad(int nroadid);
+
 private:
     void UpdateMap(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
     void UpdateGPSIMU(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
@@ -391,9 +417,8 @@ private:
     std::vector<geobase> CreateTurnGeo(double startx,double starty,double starthdg,double endx,double endy,double endhdg,double R);
     std::vector<geobase> CreateUTurnGeo(double startx,double starty,double starthdg,double endx,double endy,double endhdg,double fextend);
 
-    double getoff(Road * p,int nlane,bool bstart = true);
-    double getlanewidth(Road * p,int nlane,bool bstart = true);
-    std::string getlanetype(Road * p,int nlane,bool bstart = true);
+
+
 
     void ChangeXODRRoadID(OpenDrive * pxodr,int index,int newid);
     void ChangeXODRJunctionID(OpenDrive * pxodr,int index,int newid);
@@ -409,8 +434,10 @@ private:
     int mnViewMode = 0; //Use Scene
 
     void UpdateScene();
+    void UpdateScene_SelectRoadRefGeo();
 
     std::vector<QGraphicsPathItem *> mvectorviewitem;
+    std::vector<QGraphicsPathItem *> mvectorgeoitem;
 
     std::vector<OpenDrive> mvectorxodrback;
 
@@ -420,6 +447,10 @@ private:
 
     int mnNotSave = 0;
 
+    std::vector<int> mvectorhideroadid;
+
+    bool mbHideSelected = false;
+
 
 };
 

src/tool/map_lanetoxodr/mainwindow.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>300</height>
+    <width>670</width>
+    <height>443</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -23,7 +23,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>400</width>
+     <width>670</width>
      <height>28</height>
     </rect>
    </property>
@@ -46,20 +46,34 @@
     <addaction name="separator"/>
     <addaction name="actionBack"/>
     <addaction name="separator"/>
+    <addaction name="actionMake_All_Road_Contact"/>
    </widget>
    <widget class="QMenu" name="menuTool">
     <property name="title">
      <string>Tool</string>
     </property>
     <addaction name="actionEdit_Road"/>
-    <addaction name="actionMerge_Road"/>
-    <addaction name="actionEdit_Road_Lane"/>
     <addaction name="actionAdd_Road_From_RTK"/>
     <addaction name="actionSummary_Road"/>
+    <addaction name="actionDraw_Road"/>
+   </widget>
+   <widget class="QMenu" name="menuView">
+    <property name="title">
+     <string>View</string>
+    </property>
+    <addaction name="actionHide_Road"/>
+    <addaction name="actionHide_Selected"/>
+   </widget>
+   <widget class="QMenu" name="menuHelp">
+    <property name="title">
+     <string>Help</string>
+    </property>
    </widget>
    <addaction name="menuFile"/>
    <addaction name="menuFunction"/>
    <addaction name="menuTool"/>
+   <addaction name="menuView"/>
+   <addaction name="menuHelp"/>
   </widget>
   <widget class="QToolBar" name="mainToolBar">
    <attribute name="toolBarArea">
@@ -109,16 +123,6 @@
     <string>编辑道路</string>
    </property>
   </action>
-  <action name="actionMerge_Road">
-   <property name="text">
-    <string>Merge Road</string>
-   </property>
-  </action>
-  <action name="actionEdit_Road_Lane">
-   <property name="text">
-    <string>Edit Road Lane</string>
-   </property>
-  </action>
   <action name="actionAdd_Road_From_RTK">
    <property name="text">
     <string>Add Road From RTK</string>
@@ -147,6 +151,31 @@
     <string>Edit Road Borrow</string>
    </property>
   </action>
+  <action name="actionMake_All_Road_Contact">
+   <property name="text">
+    <string>Make All Road Contact</string>
+   </property>
+  </action>
+  <action name="actionHide_Road">
+   <property name="text">
+    <string>Hide Road</string>
+   </property>
+  </action>
+  <action name="actionRoad_Optimize">
+   <property name="text">
+    <string>Road Optimize</string>
+   </property>
+  </action>
+  <action name="actionHide_Selected">
+   <property name="text">
+    <string>Hide Selected</string>
+   </property>
+  </action>
+  <action name="actionDraw_Road">
+   <property name="text">
+    <string>Draw Road</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/tool/map_lanetoxodr/map_lanetoxodr.pro

@@ -29,16 +29,22 @@ QMAKE_LFLAGS += -no-pie
 
 SOURCES += \
     autoconnect.cpp \
+    autoroadcontact.cpp \
     dialogaddroadfromrtk.cpp \
     dialogcalcs.cpp \
+    dialogdrawroad.cpp \
     dialogeditlane.cpp \
     dialogeditroadmark.cpp \
+    dialoghideroad.cpp \
     dialoglanefromrtk.cpp \
     dialoglaneoffset.cpp \
+    dialogparkingspaceedit.cpp \
     dialogroadborrow.cpp \
     dialogroadmerge.cpp \
     dialogroadmirror.cpp \
     dialogroadmove.cpp \
+    dialogroadobject.cpp \
+    dialogroadoptimize.cpp \
     dialogroadrotate.cpp \
     dialogroadsplit.cpp \
     filebackup.cpp \
@@ -68,22 +74,27 @@ SOURCES += \
     ../../include/msgtype/imu.pb.cc \
     geofit.cpp \
     circlefitting.cpp \
-    xodrfunc.cpp \
     xodrmake.cpp \
     xodrscenfunc.cpp
 
 HEADERS += \
     autoconnect.h \
+    autoroadcontact.h \
     dialogaddroadfromrtk.h \
     dialogcalcs.h \
+    dialogdrawroad.h \
     dialogeditlane.h \
     dialogeditroadmark.h \
+    dialoghideroad.h \
     dialoglanefromrtk.h \
     dialoglaneoffset.h \
+    dialogparkingspaceedit.h \
     dialogroadborrow.h \
     dialogroadmerge.h \
     dialogroadmirror.h \
     dialogroadmove.h \
+    dialogroadobject.h \
+    dialogroadoptimize.h \
     dialogroadrotate.h \
     dialogroadsplit.h \
     filebackup.h \
@@ -109,21 +120,25 @@ HEADERS += \
     ../../include/msgtype/imu.pb.h \
     geofit.h \
     circlefitting.h \
-    xodrfunc.h \
     xodrmake.h \
     xodrscenfunc.h
 
 FORMS += \
         dialogaddroadfromrtk.ui \
         dialogcalcs.ui \
+        dialogdrawroad.ui \
         dialogeditlane.ui \
         dialogeditroadmark.ui \
+        dialoghideroad.ui \
         dialoglanefromrtk.ui \
         dialoglaneoffset.ui \
+        dialogparkingspaceedit.ui \
         dialogroadborrow.ui \
         dialogroadmerge.ui \
         dialogroadmirror.ui \
         dialogroadmove.ui \
+        dialogroadobject.ui \
+        dialogroadoptimize.ui \
         dialogroadrotate.ui \
         dialogroadsplit.ui \
         mainwindow.ui \
@@ -138,10 +153,21 @@ FORMS += \
     error( "Couldn't find the OpenDrive.pri file!" )
 }
 
+!include(../../common/common/xodr/xodrfunc/xodrfunc.pri ) {
+    error( "Couldn't find the xodrfunc.pri file!" )
+}
+
+!include(../../common/common/license/adclicense.pri ) {
+    error( "Couldn't find the adclicense.pri file!" )
+}
+
 unix:LIBS += -lboost_thread -lboost_system -lboost_serialization -lprotobuf
 
 
-win32: INCLUDEPATH += $$PWD\..\..\..\thirdpartylib\boost\include\boost-1_66
+win32:INCLUDEPATH += $$PWD/../../../thirdpartylib/protobuf/src
+win32:LIBS += -L$$PWD/../../../thirdpartylib/protobuf/lib -lprotobuf
+win32:INCLUDEPATH += $$PWD/../../../thirdpartylib/boost/include/boost-1_66
+windows: LIBS += -L$$PWD/../../../thirdpartylib/boost/lib -lboost_system-mgw73-mt-x64-1_66 -lboost_thread-mgw73-mt-x64-1_66 -lboost_serialization-mgw73-mt-x64-1_66
 
 QMAKE_CXXFLAGS +=  -g
 
@@ -151,8 +177,12 @@ LIBS += -L$$PWD/../../../bin/ -lxmlparam -lmodulecomm -livlog -livfault -livback
 INCLUDEPATH += $$PWD/../../include/msgtype
 
 INCLUDEPATH += $$PWD/../../common/common/xodr
+INCLUDEPATH += $$PWD/../../common/common/license
+
+INCLUDEPATH += $$PWD/../../common/common/xodr/xodrfunc
 
 
+#DEFINES += OPENDRIVE_EDITONLY
 
 
 DISTFILES += \

src/tool/map_lanetoxodr/rawtype.h

@@ -1,6 +1,8 @@
 #ifndef RAWTYPE_H
 #define RAWTYPE_H
 
+#include <vector>
+
 namespace iv {
 struct lanepoint
 {

src/tool/map_lanetoxodr/roaddigit.cpp

@@ -15,11 +15,17 @@ std::vector<iv::RoadDigitUnit> * RoadDigit::GetRDU()
     return &mvectorRDU;
 }
 
+std::vector<iv::ParkingPoint> * RoadDigit::GetParkingPoint()
+{
+    return &mvectorParkingPoint;
+}
+
 void RoadDigit::UpdateSpace(double fspace)
 {
     if(mpRoad == 0)return;
     CalcLine(fspace);
     CalcLane();
+    CalcParkingPoint();
 }
 
 int RoadDigit::GetSectionIndex(Road *pRoad, double s)
@@ -308,7 +314,8 @@ void RoadDigit::CalcLine(double fspace)
             else sstep = 10000.0;
             double s = 0;
             double xtem,ytem;
-            double pr;
+ //           double pr;
+            bool bNormal = ppp3->GetNormal();
 
             xtem = ppp3->GetuA() +  ppp3->GetuB() * s +  ppp3->GetuC() * s*s +  ppp3->GetuD() * s*s*s;
             ytem = ppp3->GetvA() + ppp3->GetvB() * s + ppp3->GetvC() * s*s + ppp3->GetvD() * s*s*s;
@@ -324,24 +331,47 @@ void RoadDigit::CalcLine(double fspace)
 
             double flastx = pg->GetX();
             double flasty = pg->GetY();
+            double pp3_s = pg->GetS();
             while(s <= ppp3->GetLength())
             {
-                double pr= 1.0;
-                if(arclength > 0)pr = s/arclength;
-                xtem = ppp3->GetuA() +  ppp3->GetuB() * pr +  ppp3->GetuC() * pr*pr +  ppp3->GetuD() * pr*pr*pr;
-                ytem = ppp3->GetvA() + ppp3->GetvB() * pr + ppp3->GetvC() * pr*pr + ppp3->GetvD() * pr*pr*pr;
-                x = xtem*cos(ppp3->GetHdg()) - ytem * sin(ppp3->GetHdg()) + ppp3->GetX();
-                y = xtem*sin(ppp3->GetHdg()) + ytem * cos(ppp3->GetHdg()) + ppp3->GetY();
+//                double pr=s;
+//                if((arclength > 0)&&(bNormal))pr = s/arclength;
+//                xtem = ppp3->GetuA() +  ppp3->GetuB() * pr +  ppp3->GetuC() * pr*pr +  ppp3->GetuD() * pr*pr*pr;
+//                ytem = ppp3->GetvA() + ppp3->GetvB() * pr + ppp3->GetvC() * pr*pr + ppp3->GetvD() * pr*pr*pr;
+//                x = xtem*cos(ppp3->GetHdg()) - ytem * sin(ppp3->GetHdg()) + ppp3->GetX();
+//                y = xtem*sin(ppp3->GetHdg()) + ytem * cos(ppp3->GetHdg()) + ppp3->GetY();
 
                 rdu.mS = pg->GetS() + s;
-                rdu.mX = x;
-                rdu.mY = y;
-                rdu.mfHdg = xodrfunc::CalcHdg(QPointF(flastx,flasty),QPointF(x,y));
+                ppp3->GetCoords(rdu.mS,rdu.mX,rdu.mY,rdu.mfHdg);
+//                rdu.mS = pg->GetS() + s;
+//                rdu.mX = x;
+//                rdu.mY = y;
+//                rdu.mfHdg = xodrfunc::CalcHdg(QPointF(flastx,flasty),QPointF(x,y));
+//                rdu.mS = pp3_s+s;
                 mvectorRDU.push_back(rdu);
 
                 s = s+ sstep;
 
 
+            }
+            if(s != ppp3->GetLength())
+            {
+
+                rdu.mS = pg->GetS() + ppp3->GetLength();
+                ppp3->GetCoords(rdu.mS,rdu.mX,rdu.mY,rdu.mfHdg);
+                mvectorRDU.push_back(rdu);
+//                double pr=s;
+//                if((arclength > 0)&&(bNormal))pr = s/arclength;
+//                xtem = ppp3->GetuA() +  ppp3->GetuB() * pr +  ppp3->GetuC() * pr*pr +  ppp3->GetuD() * pr*pr*pr;
+//                ytem = ppp3->GetvA() + ppp3->GetvB() * pr + ppp3->GetvC() * pr*pr + ppp3->GetvD() * pr*pr*pr;
+//                x = xtem*cos(ppp3->GetHdg()) - ytem * sin(ppp3->GetHdg()) + ppp3->GetX();
+//                y = xtem*sin(ppp3->GetHdg()) + ytem * cos(ppp3->GetHdg()) + ppp3->GetY();
+
+//                rdu.mS = pg->GetS() + s;
+//                rdu.mX = x;
+//                rdu.mY = y;
+//                rdu.mfHdg = xodrfunc::CalcHdg(QPointF(flastx,flasty),QPointF(x,y));
+//                mvectorRDU.push_back(rdu);
             }
             }
             break;
@@ -368,4 +398,99 @@ void RoadDigit::CalcLane()
     }
 }
 
+void RoadDigit::CalcParkingPoint()
+{
+    unsigned int lObjectSize = mpRoad->GetObjectCount();
+    unsigned int i;
+    for(i=0;i<lObjectSize;i++)
+    {
+        Object * pObject = mpRoad->GetObject(i);
+        if(pObject->Gettype() == "parkingSpace")
+        {
+            double s = pObject->Gets();
+            double t = pObject->Gett();
+            double length,width,hdg;
+            if((pObject->Getwidth(length) == 1)&&(pObject->Getlength(width)==1)&&(pObject->Gethdg(hdg)== 1))
+            {
+                double roadx,roady,roadhdg;
+                mpRoad->GetGeometryCoords(s,roadx,roady,roadhdg);
+                double centerx,centery;
+                centerx = roadx + t*cos(roadhdg + M_PI/2.0);
+                centery = roady + t*sin(roadhdg + M_PI/2.0);
+                double hdgpark = hdg + roadhdg;
+                double x1,x2,x3,x4,y1,y2,y3,y4;
+                double xtem,ytem;
+                xtem = centerx + 0.5*width * cos(hdgpark);
+                ytem = centery + 0.5*width * sin(hdgpark);
+                x1 = xtem + 0.5*length * cos(hdgpark + M_PI/2.0);
+                y1 = ytem + 0.5*length * sin(hdgpark + M_PI/2.0);
+                x4 = xtem + 0.5*length * cos(hdgpark - M_PI/2.0);
+                y4 = ytem + 0.5*length * sin(hdgpark - M_PI/2.0);
+                xtem = centerx + 0.5*width * cos(hdgpark+M_PI);
+                ytem = centery + 0.5*width * sin(hdgpark+M_PI);
+                x2 = xtem + 0.5*length * cos(hdgpark + M_PI/2.0);
+                y2 = ytem + 0.5*length * sin(hdgpark + M_PI/2.0);
+                x3 = xtem + 0.5*length * cos(hdgpark - M_PI/2.0);
+                y3 = ytem + 0.5*length * sin(hdgpark - M_PI/2.0);
+                iv::ParkingXY xP;
+                iv::ParkingPoint xPP;
+                xP.mX = x1;xP.mY = y1;xPP.mParkingXY.push_back(xP);
+                xP.mX = x2;xP.mY = y2;xPP.mParkingXY.push_back(xP);
+                xP.mX = x3;xP.mY = y3;xPP.mParkingXY.push_back(xP);
+                xP.mX = x4;xP.mY = y4;xPP.mParkingXY.push_back(xP);
+                xPP.strtext = pObject->Getid();
+                xPP.mParkingCenterXY.mX = centerx;
+                xPP.mParkingCenterXY.mY = centery;
+                xPP.mfHdg = hdgpark;
+
+
+                double fMarkWidth = 0.15;
+
+                vector<iv::ParkingXY> border;
+                iv::ParkingXY temxy;
+
+                double tem_x1,tem_x2,tem_y1,tem_y2,tem_hdg;
+                unsigned int j;
+                for(j=0;j<4;j++)
+                {
+                    border.clear();
+                    if(j ==0)
+                    {
+                        tem_x1 = x2;tem_x2 = x1;tem_y1 = y2;tem_y2 = y1;tem_hdg = hdgpark;
+                    }
+                    if(j ==1)
+                    {
+                        tem_x1 = x1;tem_x2 = x4;tem_y1 = y1;tem_y2 = y4;tem_hdg = hdgpark - M_PI/2.0;
+                    }
+                    if(j ==2)
+                    {
+                        tem_x1 = x4;tem_x2 = x3;tem_y1 = y4;tem_y2 = y3;tem_hdg = hdgpark -M_PI;;
+                    }
+                    if(j ==3)
+                    {
+                        tem_x1 = x3;tem_x2 = x2;tem_y1 = y3;tem_y2 = y2;tem_hdg = hdgpark +M_PI/2.0;
+                    }
+                    temxy.mX = tem_x1 + ((0-fMarkWidth*0.5)*cos(tem_hdg) - (0+fMarkWidth*0.5)*sin(tem_hdg));
+                    temxy.mY = tem_y1 + ((0-fMarkWidth*0.5)*sin(tem_hdg) + (0+fMarkWidth*0.5)*cos(tem_hdg));
+                    border.push_back(temxy);
+                    temxy.mX = tem_x2 + ((0+fMarkWidth*0.5)*cos(tem_hdg) - (0+fMarkWidth*0.5)*sin(tem_hdg));
+                    temxy.mY = tem_y2 + ((0+fMarkWidth*0.5)*sin(tem_hdg) + (0+fMarkWidth*0.5)*cos(tem_hdg));
+                    border.push_back(temxy);
+                    temxy.mX = tem_x2 + ((0+fMarkWidth*0.5)*cos(tem_hdg) - (0-fMarkWidth*0.5)*sin(tem_hdg));
+                    temxy.mY = tem_y2 + ((0+fMarkWidth*0.5)*sin(tem_hdg) + (0-fMarkWidth*0.5)*cos(tem_hdg));
+                    border.push_back(temxy);
+                    temxy.mX = tem_x1 + ((0-fMarkWidth*0.5)*cos(tem_hdg) - (0-fMarkWidth*0.5)*sin(tem_hdg));
+                    temxy.mY = tem_y1 + ((0-fMarkWidth*0.5)*sin(tem_hdg) + (0-fMarkWidth*0.5)*cos(tem_hdg));
+                    border.push_back(temxy);
+                    xPP.mParkingMark.push_back(border);
+                }
+
+
+
+                mvectorParkingPoint.push_back(xPP);
+            }
+        }
+    }
+}
+
 

src/tool/map_lanetoxodr/roaddigit.h

@@ -33,6 +33,21 @@ struct RoadDigitUnit
     std::vector<iv::LanePoint> mvectorLanePoint;
 };
 
+struct ParkingXY
+{
+    double mX;
+    double mY;
+};
+
+struct ParkingPoint
+{
+    vector<ParkingXY> mParkingXY;
+    vector<vector<ParkingXY>> mParkingMark;
+    string strtext;
+    ParkingXY mParkingCenterXY;
+    double mfHdg;
+};
+
 }
 
 class RoadDigit
@@ -43,15 +58,19 @@ public:
 private:
     std::vector<iv::RoadDigitUnit> mvectorRDU;
     Road * mpRoad = 0;
+    std::vector<iv::ParkingPoint> mvectorParkingPoint;
 
 private:
     void CalcLine(double fspace);
     void CalcLane();
+    void CalcParkingPoint();
 
 public:
     std::vector<iv::RoadDigitUnit> * GetRDU();
     void UpdateSpace(double fspace);
 
+    std::vector<iv::ParkingPoint> * GetParkingPoint();
+
 private:
     int GetSectionIndex(Road * pRoad,double s);
 };

src/tool/map_lanetoxodr/roadeditdialog.cpp

@@ -41,6 +41,13 @@ RoadEditDialog::RoadEditDialog(OpenDrive * pxodr,std::string strdefroad,QWidget
     ui->comboBox_geotype->addItem("Poly");
     ui->comboBox_geotype->addItem("Param Poly");
 
+    ui->lineEdit_hdg->setDisabled(true);
+    ui->lineEdit_len->setDisabled(true);
+    ui->lineEdit_roadlen->setDisabled(true);
+    ui->lineEdit_s->setDisabled(true);
+    ui->lineEdit_x->setDisabled(true);
+    ui->lineEdit_y->setDisabled(true);
+
     int i;
     int nroadcount = mpxodr->GetRoadCount();
     for(i=0;i<nroadcount;i++)
@@ -50,6 +57,8 @@ RoadEditDialog::RoadEditDialog(OpenDrive * pxodr,std::string strdefroad,QWidget
 
     }
 
+
+
     MainWindow::ComboToString(strdefroad,ui->comboBox_Road);
 
     setWindowTitle("Edit Road");
@@ -476,6 +485,11 @@ void RoadEditDialog::on_pushButton_EditRoadMark_clicked()
 
 void RoadEditDialog::on_pushButton_LaneFromRTK_clicked()
 {
+
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warning","This Release is Only for Edit OpenDrive. Other Function Need Change conf.",QMessageBox::YesAll);
+    return;
+#endif
     if(mpCurRoad == 0)
     {
         QMessageBox::warning(this,"Warning","Not Select Road");
@@ -488,6 +502,10 @@ void RoadEditDialog::on_pushButton_LaneFromRTK_clicked()
 
 void RoadEditDialog::on_pushButton_RoadSplit_clicked()
 {
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warning","This Release is Only for Edit OpenDrive. Other Function Need Change conf.",QMessageBox::YesAll);
+    return;
+#endif
     if(mpCurRoad == 0)
     {
         QMessageBox::warning(this,"Warning","Not Select Road");
@@ -512,6 +530,10 @@ void RoadEditDialog::on_pushButton_RoadSplit_clicked()
 
 void RoadEditDialog::on_pushButton_RoadMerge_clicked()
 {
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warning","This Release is Only for Edit OpenDrive. Other Function Need Change conf.",QMessageBox::YesAll);
+    return;
+#endif
     DialogRoadMerge roadmerge(mpxodr,this);
     roadmerge.exec();
 
@@ -530,6 +552,10 @@ void RoadEditDialog::on_pushButton_RoadMerge_clicked()
 
 void RoadEditDialog::on_pushButton_MoveRoad_clicked()
 {
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warning","This Release is Only for Edit OpenDrive. Other Function Need Change conf.",QMessageBox::YesAll);
+    return;
+#endif
     if(mpCurRoad == 0)
     {
         QMessageBox::warning(this,"Warning","Not Select Road");
@@ -554,6 +580,10 @@ void RoadEditDialog::on_pushButton_MoveRoad_clicked()
 
 void RoadEditDialog::on_pushButton_RotateRoad_clicked()
 {
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warning","This Release is Only for Edit OpenDrive. Other Function Need Change conf.",QMessageBox::YesAll);
+    return;
+#endif
     if(mpCurRoad == 0)
     {
         QMessageBox::warning(this,"Warning","Not Select Road");
@@ -578,6 +608,10 @@ void RoadEditDialog::on_pushButton_RotateRoad_clicked()
 
 void RoadEditDialog::on_pushButton_MirrorRoad_clicked()
 {
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warning","This Release is Only for Edit OpenDrive. Other Function Need Change conf.",QMessageBox::YesAll);
+    return;
+#endif
     if(mpCurRoad == 0)
     {
         QMessageBox::warning(this,"Warning","Not Select Road");
@@ -612,3 +646,27 @@ void RoadEditDialog::on_pushButton_EditLaneOffset_clicked()
     dlglaneoffset.exec();
 }
 
+
+void RoadEditDialog::on_pushButton_EditRoadObjects_clicked()
+{
+#ifdef OPENDRIVE_EDITONLY
+    QMessageBox::warning(this,"Warning","This Release is Only for Edit OpenDrive. Other Function Need Change conf.",QMessageBox::YesAll);
+    return;
+#endif
+
+    DialogRoadObject roadobject(this);
+    roadobject.exec();
+
+}
+
+void RoadEditDialog::on_pushButton_RoadOptimize_clicked()
+{
+    if(mpCurRoad == 0)
+    {
+        QMessageBox::warning(this,"Warning","Not Select Road");
+        return;
+    }
+
+    DialogRoadOptimize dlgroadopt(mpCurRoad,mpxodr, this);
+    dlgroadopt.exec();
+}

src/tool/map_lanetoxodr/roadeditdialog.h

@@ -20,6 +20,8 @@
 #include "dialogroadrotate.h"
 #include "dialogroadmirror.h"
 #include "dialoglaneoffset.h"
+#include "dialogroadobject.h"
+#include "dialogroadoptimize.h"
 
 #include "roaddigit.h"
 #include "xodrscenfunc.h"
@@ -66,6 +68,10 @@ private slots:
 
     void on_pushButton_EditLaneOffset_clicked();
 
+    void on_pushButton_EditRoadObjects_clicked();
+
+    void on_pushButton_RoadOptimize_clicked();
+
 private:
     bool IsDrawMark(double s);
 

src/tool/map_lanetoxodr/roadeditdialog.ui

@@ -177,8 +177,8 @@
   <widget class="QLineEdit" name="lineEdit_roadlen">
    <property name="geometry">
     <rect>
-     <x>770</x>
-     <y>30</y>
+     <x>530</x>
+     <y>40</y>
      <width>113</width>
      <height>25</height>
     </rect>
@@ -187,8 +187,8 @@
   <widget class="QLabel" name="label_8">
    <property name="geometry">
     <rect>
-     <x>626</x>
-     <y>38</y>
+     <x>430</x>
+     <y>40</y>
      <width>121</width>
      <height>17</height>
     </rect>
@@ -337,6 +337,32 @@
     <string>Edit LaneOffset</string>
    </property>
   </widget>
+  <widget class="QPushButton" name="pushButton_EditRoadObjects">
+   <property name="geometry">
+    <rect>
+     <x>980</x>
+     <y>210</y>
+     <width>211</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Edit Road Objects</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_RoadOptimize">
+   <property name="geometry">
+    <rect>
+     <x>1010</x>
+     <y>280</y>
+     <width>181</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Road Optimize</string>
+   </property>
+  </widget>
  </widget>
  <resources/>
  <connections/>

src/tool/map_lanetoxodr/xodrscenfunc.cpp

@@ -5,6 +5,160 @@ xodrscenfunc::xodrscenfunc()
 
 }
 
+std::vector<QGraphicsPathItem *> xodrscenfunc::GetRoadParkingItem(RoadDigit *prd,std::vector<QGraphicsTextItem *> & xvectortext,
+                                                                  std::vector<QGraphicsPathItem *>  & xvectormarkgraph)
+{
+    std::vector<QGraphicsPathItem *> xvectorgrapath;
+    std::vector<iv::ParkingPoint> * pvectorpark = prd->GetParkingPoint();
+    unsigned int lsize = pvectorpark->size();
+    unsigned int i;
+    for(i=0;i<lsize;i++)
+    {
+        std::vector<iv::ParkingXY> xvectorxy = pvectorpark->at(i).mParkingXY;
+        QPainterPath xpath;
+        xpath.moveTo(xvectorxy[0].mX,xvectorxy[0].mY*(-1));
+        xpath.lineTo(xvectorxy[1].mX,xvectorxy[1].mY*(-1));
+        xpath.lineTo(xvectorxy[2].mX,xvectorxy[2].mY*(-1));
+        xpath.lineTo(xvectorxy[3].mX,xvectorxy[3].mY*(-1));
+        xpath.closeSubpath();
+        QGraphicsPathItem * pitem = new QGraphicsPathItem;
+        pitem->setPath(xpath);
+        pitem->setBrush(Qt::darkGray);
+        pitem->setPen(QPen(Qt::darkGray,0.001));
+        xvectorgrapath.push_back(pitem);
+
+        QGraphicsTextItem * pitemtext = new QGraphicsTextItem;
+
+        pitemtext->setPlainText(pvectorpark->at(i).strtext.data());
+        QRectF xrect =  pitemtext->boundingRect();
+        QFont font = pitemtext->font();
+        font.setPixelSize(100.0);
+//                font.setPixelSize(1);  // 像素大小
+        //        font.setItalic(false);  // 斜体
+        //        font.setUnderline(false);  // 下划线
+        pitemtext->setFont(font);
+  //      pitemtext->setFont(QFont("华文琥珀",10));
+        pitemtext->setDefaultTextColor(QColor(255,255,255));
+        pitemtext->setFlags(QGraphicsItem::ItemIsMovable|QGraphicsItem::ItemIsSelectable);
+        double fScale = 0.01;
+        pitemtext->setScale(fScale);
+        xrect =  pitemtext->boundingRect();
+        qDebug("rect height:  %f",xrect.height());
+        double fwidth = xrect.width() * fScale;
+        double fheight = xrect.height()*fScale;
+        double ftemx = fwidth * (-0.5);
+        double ftemy = fheight * 0.5;
+
+        double fparkhdg = pvectorpark->at(i).mfHdg;
+        double fposx = ftemx*cos(fparkhdg)-ftemy*sin(fparkhdg);
+        double fposy = ftemx*sin(fparkhdg)+ftemy*cos(fparkhdg);
+
+
+//        pitemtext->setDefaultTextColor(QColor(0, 160, 230));  // 文本色
+        pitemtext->setDefaultTextColor(Qt::white);
+        pitemtext->setRotation(pvectorpark->at(i).mfHdg *(-1.0)*180.0/M_PI);
+        pitemtext->setPos(pvectorpark->at(i).mParkingCenterXY.mX + fposx,(pvectorpark->at(i).mParkingCenterXY.mY+fposy)*(-1));
+        xvectortext.push_back(pitemtext);
+
+
+
+    }
+
+    for(i=0;i<lsize;i++)
+    {
+        std::vector<std::vector<iv::ParkingXY>> xvectormark = pvectorpark->at(i).mParkingMark;
+        unsigned int j;
+        for(j=0;j<xvectormark.size();j++)
+        {
+        QPainterPath xpath;
+        if(xvectormark.at(j).size()<4)
+        {
+            std::cout<<"Park Mark size < 4"<<std::endl;
+            continue;
+        }
+        xpath.moveTo(xvectormark.at(j).at(0).mX,xvectormark.at(j).at(0).mY*(-1));
+        xpath.lineTo(xvectormark.at(j).at(1).mX,xvectormark.at(j).at(1).mY*(-1));
+        xpath.lineTo(xvectormark.at(j).at(2).mX,xvectormark.at(j).at(2).mY*(-1));
+        xpath.lineTo(xvectormark.at(j).at(3).mX,xvectormark.at(j).at(3).mY*(-1));
+        xpath.closeSubpath();
+        QGraphicsPathItem * pitem = new QGraphicsPathItem;
+        pitem->setPath(xpath);
+        pitem->setBrush(Qt::yellow);
+        pitem->setPen(QPen(Qt::white,0.001));
+        xvectormarkgraph.push_back(pitem);
+        }
+    }
+    return xvectorgrapath;
+}
+
+std::vector<QGraphicsPathItem *> xodrscenfunc::GetRoadRefGeoItem(RoadDigit *prd)
+{
+    std::vector<QGraphicsPathItem *> xvectorgrapath;
+    std::vector<iv::RoadDigitUnit> * pvectorrdu =  prd->GetRDU();
+    int nsize = pvectorrdu->size();
+    int i;
+    double fgeowidth = 0.3;
+    double fmarklen = 3.0;
+    for(i=0;i<(nsize-1);i++)
+    {
+        QPainterPath xpath;
+        double fx1,fx2,fx3,fx4,fy1,fy2,fy3,fy4;
+
+        fx1 = pvectorrdu->at(i).mX + 0.5*fgeowidth * cos(pvectorrdu->at(i).mfHdg - M_PI/2.0);
+        fy1 = (pvectorrdu->at(i).mY + 0.5* fgeowidth * sin(pvectorrdu->at(i).mfHdg - M_PI/2.0))*(-1.0);
+        fx2 = pvectorrdu->at(i+1).mX+ 0.5*fgeowidth * cos(pvectorrdu->at(i+1).mfHdg - M_PI/2.0);
+        fy2 = (pvectorrdu->at(i+1).mY +0.5*fgeowidth * sin(pvectorrdu->at(i+1).mfHdg - M_PI/2.0))*(-1.0);
+        fx3 = pvectorrdu->at(i+1).mX + 0.5*fgeowidth * cos(pvectorrdu->at(i+1).mfHdg + M_PI/2.0);
+        fy3 = (pvectorrdu->at(i+1).mY+0.5*fgeowidth * sin(pvectorrdu->at(i+1).mfHdg + M_PI/2.0))*(-1.0);
+        fx4 = pvectorrdu->at(i).mX+ 0.5*fgeowidth * cos(pvectorrdu->at(i).mfHdg + M_PI/2.0);
+        fy4 = (pvectorrdu->at(i).mY+0.5*fgeowidth * sin(pvectorrdu->at(i).mfHdg + M_PI/2.0))*(-1.0);
+        xpath.moveTo(fx1,fy1);
+        xpath.lineTo(fx2,fy2);
+        xpath.lineTo(fx3,fy3);
+        xpath.lineTo(fx4,fy4);
+        xpath.closeSubpath();
+
+        QGraphicsPathItem * pitem = new QGraphicsPathItem;
+        pitem->setPath(xpath);
+        QColor brushcolor = Qt::red;
+
+        pitem->setBrush(brushcolor);
+        pitem->setPen(QPen(brushcolor,0.001));
+        xvectorgrapath.push_back(pitem);
+    }
+
+    if(nsize>0)
+    {
+        QPainterPath xpath;
+        double fx1,fx2,fx3,fx4,fy1,fy2,fy3,fy4;
+        fx1 = pvectorrdu->at(0).mX + 0.5*fmarklen * cos(pvectorrdu->at(0).mfHdg - M_PI/2.0);
+        fy1 = (pvectorrdu->at(0).mY + 0.5* fmarklen * sin(pvectorrdu->at(0).mfHdg - M_PI/2.0))*(-1.0);
+        fx2 = pvectorrdu->at(0).mX+ 0.5*fmarklen * cos(pvectorrdu->at(0).mfHdg + M_PI/2.0);
+        fy2 = (pvectorrdu->at(0).mY+0.5*fmarklen * sin(pvectorrdu->at(0).mfHdg + M_PI/2.0))*(-1.0);
+//        fx3 = pvectorrdu->at(0).mX+ 0.65*fmarklen * cos(pvectorrdu->at(0).mfHdg );
+//        fy3 = (pvectorrdu->at(0).mY+0.65*fmarklen * sin(pvectorrdu->at(0).mfHdg ))*(-1.0);
+        fx3 = fx2+ 0.1*fmarklen * cos(pvectorrdu->at(0).mfHdg);
+        fy3 = (fy2*(-1.0)+0.1*fmarklen * sin(pvectorrdu->at(0).mfHdg ))*(-1.0);
+        fx4 = fx1+ 0.1*fmarklen * cos(pvectorrdu->at(0).mfHdg );
+        fy4 = (fy1*(-1.0)+0.1*fmarklen * sin(pvectorrdu->at(0).mfHdg ))*(-1.0);
+        xpath.moveTo(fx1,fy1);
+        xpath.lineTo(fx2,fy2);
+        xpath.lineTo(fx3,fy3);
+        xpath.lineTo(fx4,fy4);
+        xpath.closeSubpath();
+
+        QGraphicsPathItem * pitem = new QGraphicsPathItem;
+        pitem->setPath(xpath);
+        QColor brushcolor = Qt::green;
+
+        pitem->setBrush(brushcolor);
+        pitem->setPen(QPen(brushcolor,0.001));
+        xvectorgrapath.push_back(pitem);
+    }
+
+    return xvectorgrapath;
+}
+
 std::vector<QGraphicsPathItem *> xodrscenfunc::GetRoadLaneItem(RoadDigit *prd)
 {
     std::vector<QGraphicsPathItem *> xvectorgrapath;

src/tool/map_lanetoxodr/xodrscenfunc.h

@@ -16,8 +16,11 @@ public:
     xodrscenfunc();
 
 public:
+    static std::vector<QGraphicsPathItem *> GetRoadRefGeoItem(RoadDigit * prd);
     static std::vector<QGraphicsPathItem *> GetRoadLaneItem(RoadDigit * prd);
     static std::vector<QGraphicsPathItem *> GetRoadMarkItem(RoadDigit * prd);
+    static std::vector<QGraphicsPathItem *> GetRoadParkingItem(RoadDigit * prd,std::vector<QGraphicsTextItem *> & xvectortext,
+                                                               std::vector<QGraphicsPathItem *>  & xvectormark);
 
 public:
     static bool IsDrawMark(double s);

src/tool/tool_xodrobj/tool_xodrobj.pro

@@ -73,7 +73,7 @@ FORMS += \
     error( "Couldn't find the TinyXML.pri file!" )
 }
 
-INCLUDEPATH += $$PWD/../map_lanetoxodr
+INCLUDEPATH += $$PWD/../../common/common/xodr
 
 
 DISTFILES += \

src/ui/ui_ads_hmi/ADCIntelligentVehicle.cpp

@@ -2017,6 +2017,9 @@ void ADCIntelligentVehicle::ShareHMIMsg(iv::hmi::HMIBasic xhmi)
     xhmimsg.set_mbpause(xhmi.mbPause);
     xhmimsg.set_mbbusmode(xhmi.mbbusmode);
     xhmimsg.set_mbbochemode(xhmi.mbBocheMode);
+    xhmimsg.set_mbchemen(xhmi.mbchemen);
+    xhmimsg.set_mbjinguang(xhmi.mbjinguang);
+    xhmimsg.set_mbyuanguang(xhmi.mbyuanguang);
     int nsize = xhmimsg.ByteSize();
     char * str = new char[nsize];
     std::shared_ptr<char> pstr;