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import json
import math
from pathlib import Path
from env.intersection_config import (
DEFAULT_DISTRICT_TYPE,
DISTRICT_TYPE_TO_INDEX,
DistrictConfig,
IntersectionConfig,
PhaseConfig,
)
def load_json(path: str | Path) -> dict:
return json.loads(Path(path).read_text())
def clamp(value: float, min_value: float, max_value: float) -> float:
return max(min_value, min(max_value, value))
def normalize_scalar(value: float, scale: float) -> float:
if scale <= 0:
return float(value)
return float(value) / float(scale)
def lane_ids_for_road(road: dict) -> tuple[str, ...]:
return tuple(f"{road['id']}_{lane_index}" for lane_index, _ in enumerate(road["lanes"]))
def build_topology(
roadnet_path: str | Path,
district_map_path: str | Path | None = None,
metadata_path: str | Path | None = None,
) -> tuple[dict[str, IntersectionConfig], dict[str, DistrictConfig]]:
roadnet = load_json(roadnet_path)
district_map = load_json(district_map_path) if district_map_path else {}
metadata = load_json(metadata_path) if metadata_path else {}
intersection_to_district = district_map.get("intersection_to_district", {})
district_neighbors = district_map.get("district_neighbors", {})
district_types = metadata.get("district_types", {})
roads = {road["id"]: road for road in roadnet["roads"]}
road_lookup_by_end: dict[str, list[dict]] = {}
road_lookup_by_start: dict[str, list[dict]] = {}
for road in roadnet["roads"]:
road_lookup_by_end.setdefault(road["endIntersection"], []).append(road)
road_lookup_by_start.setdefault(road["startIntersection"], []).append(road)
intersections: dict[str, IntersectionConfig] = {}
district_to_intersections: dict[str, list[str]] = {}
for intersection in roadnet["intersections"]:
if intersection.get("virtual", False):
continue
intersection_id = intersection["id"]
district_id = intersection_to_district.get(intersection_id, "unknown")
incoming_roads = _sort_roads_around_intersection(
intersection=intersection,
roads=road_lookup_by_end.get(intersection_id, []),
incoming=True,
)
outgoing_roads = _sort_roads_around_intersection(
intersection=intersection,
roads=road_lookup_by_start.get(intersection_id, []),
incoming=False,
)
incoming_lanes = tuple(
lane_id
for road in incoming_roads
for lane_id in lane_ids_for_road(road)
)
outgoing_lanes = tuple(
lane_id
for road in outgoing_roads
for lane_id in lane_ids_for_road(road)
)
green_phases: list[PhaseConfig] = []
lightphases = intersection.get("trafficLight", {}).get("lightphases", [])
road_links = intersection.get("roadLinks", [])
for engine_phase_index, phase in enumerate(lightphases):
available_road_links = tuple(phase.get("availableRoadLinks", []))
if not available_road_links:
continue
served_incoming: set[str] = set()
served_outgoing: set[str] = set()
for road_link_index in available_road_links:
road_link = road_links[road_link_index]
start_road = road_link["startRoad"]
end_road = road_link["endRoad"]
for lane_link in road_link.get("laneLinks", []):
served_incoming.add(
f"{start_road}_{int(lane_link['startLaneIndex'])}"
)
served_outgoing.add(
f"{end_road}_{int(lane_link['endLaneIndex'])}"
)
green_phases.append(
PhaseConfig(
engine_phase_index=engine_phase_index,
available_road_links=available_road_links,
incoming_lanes_served=tuple(sorted(served_incoming)),
outgoing_lanes_served=tuple(sorted(served_outgoing)),
)
)
if len(green_phases) < 2:
continue
district_type = _normalize_district_type(
district_types.get(district_id, DEFAULT_DISTRICT_TYPE)
)
initial_phase_index = (
green_phases[0].engine_phase_index
if green_phases
else 0
)
intersections[intersection_id] = IntersectionConfig(
intersection_id=intersection_id,
district_id=district_id,
district_type=district_type,
district_type_index=DISTRICT_TYPE_TO_INDEX[district_type],
incoming_lanes=incoming_lanes,
outgoing_lanes=outgoing_lanes,
is_boundary=_is_boundary_intersection(
intersection_id=intersection_id,
district_id=district_id,
incoming_roads=incoming_roads,
outgoing_roads=outgoing_roads,
intersection_to_district=intersection_to_district,
),
green_phases=tuple(green_phases),
all_phase_indices=tuple(range(len(lightphases))),
initial_engine_phase_index=initial_phase_index,
)
district_to_intersections.setdefault(district_id, []).append(intersection_id)
districts: dict[str, DistrictConfig] = {}
for district_id, intersection_ids in district_to_intersections.items():
district_type = _normalize_district_type(
district_types.get(district_id, DEFAULT_DISTRICT_TYPE)
)
districts[district_id] = DistrictConfig(
district_id=district_id,
district_type=district_type,
district_type_index=DISTRICT_TYPE_TO_INDEX[district_type],
intersection_ids=tuple(sorted(intersection_ids)),
neighbor_districts=tuple(sorted(district_neighbors.get(district_id, []))),
)
return intersections, districts
def _sort_roads_around_intersection(
intersection: dict,
roads: list[dict],
incoming: bool,
) -> list[dict]:
center_x = float(intersection["point"]["x"])
center_y = float(intersection["point"]["y"])
def angle_for_road(road: dict) -> tuple[float, str]:
points = road.get("points", [])
if not points:
return (0.0, road["id"])
reference_point = points[0] if incoming else points[-1]
dx = float(reference_point["x"]) - center_x
dy = float(reference_point["y"]) - center_y
angle = math.atan2(dy, dx)
return (angle, road["id"])
return sorted(roads, key=angle_for_road)
def _normalize_district_type(value: str) -> str:
normalized = str(value).strip().lower()
if normalized not in DISTRICT_TYPE_TO_INDEX:
return DEFAULT_DISTRICT_TYPE
return normalized
def _is_boundary_intersection(
intersection_id: str,
district_id: str,
incoming_roads: list[dict],
outgoing_roads: list[dict],
intersection_to_district: dict[str, str],
) -> bool:
connected_intersections = {
road["startIntersection"] for road in incoming_roads
} | {
road["endIntersection"] for road in outgoing_roads
}
connected_intersections.discard(intersection_id)
for neighbor_intersection_id in connected_intersections:
neighbor_district_id = intersection_to_district.get(neighbor_intersection_id)
if neighbor_district_id is not None and neighbor_district_id != district_id:
return True
return False
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