UPdate

Signed-off-by: hoangtungdinh <[email protected]>
asam-ev · Aug 27, 2024 · f8079ac · f8079ac
1 parent 4bc854b
commit f8079ac
Showing 1 changed file with 14 additions and 8 deletions.
diff --git a/qc_opendrive/checks/semantic/road_lane_level_true_one_side.py b/qc_opendrive/checks/semantic/road_lane_level_true_one_side.py
@@ -19,7 +19,7 @@ def _check_true_level_on_side(
     root: etree._ElementTree,
     side_lanes: List[etree._Element],
     road: etree._ElementTree,
-    lane_section: etree._ElementTree,
+    lane_section_with_length: models.LaneSectionWithLength,
     result: Result,
     rule_uid: str,
 ) -> None:
@@ -61,15 +61,18 @@ def _check_true_level_on_side(
                     description=f"Lane id {index} @level=False where previous lane id @level=True.",
                 )
 
-                s_section = utils.get_s_from_lane_section(lane_section)
+                s_section = utils.get_s_from_lane_section(
+                    lane_section_with_length.lane_section
+                )
                 if s_section is None:
                     continue
 
+                s = s_section + lane_section_with_length.length / 2.0
                 t = utils.get_t_middle_point_from_lane_by_s(
-                    road, lane_section, lane, s_section
+                    road, lane_section_with_length.lane_section, lane, s
                 )
 
-                inertial_point = utils.get_point_xyz_from_road(road, s_section, t, 0.0)
+                inertial_point = utils.get_point_xyz_from_road(road, s, t, 0.0)
                 if inertial_point is not None:
                     result.add_inertial_location(
                         checker_bundle_name=constants.BUNDLE_NAME,
@@ -279,9 +282,12 @@ def _check_level_in_lane_section(
 ) -> None:
     roads = utils.get_roads(checker_data.input_file_xml_root)
     for road in roads:
-        lane_sections = utils.get_lane_sections(road)
+        lane_sections_with_length = (
+            utils.get_sorted_lane_sections_with_length_from_road(road)
+        )
 
-        for lane_section in lane_sections:
+        for lane_section_with_length in lane_sections_with_length:
+            lane_section = lane_section_with_length.lane_section
             left_lanes_list = utils.get_left_lanes_from_lane_section(lane_section)
             right_lanes_list = utils.get_right_lanes_from_lane_section(lane_section)
 
@@ -295,7 +301,7 @@ def _check_level_in_lane_section(
                 checker_data.input_file_xml_root,
                 sorted_left_lane,
                 road,
-                lane_section,
+                lane_section_with_length,
                 checker_data.result,
                 rule_uid,
             )
@@ -310,7 +316,7 @@ def _check_level_in_lane_section(
                 checker_data.input_file_xml_root,
                 sorted_right_lane,
                 road,
-                lane_section,
+                lane_section_with_length,
                 checker_data.result,
                 rule_uid,
             )