Release 2024.3

.github/workflows/python-app.yml

@@ -11,11 +11,14 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-latest, macos-13, windows-latest] # we use macos-13 since FedericoCarboni/setup-ffmpeg@v3 has problems with macos-latest -> update to macos-latest as soon problem is fixed in ffmpeg action
-        python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
+        os: [ubuntu-latest, macos-13, macos-latest, windows-latest]
+        python-version: ["3.9", "3.10", "3.11", "3.12", "3.13"]
     steps :
       - uses : actions/checkout@v4
-      - uses : FedericoCarboni/setup-ffmpeg@v3
+      - name : Setup FFmpeg (with retries)
+        uses : ./actions/setup-ffmpeg
+        with :
+          github-token : ${{ secrets.GITHUB_TOKEN }}
       - name : Set up Python
         uses : actions/setup-python@v4
         with :
@@ -32,4 +35,4 @@ jobs:
       - name : Execute tests
         run : |
           poetry run coverage run tests/run_tests.py
-          poetry run coverage report -m || true
+          poetry run coverage report -m || true

.gitlab-ci.yml

@@ -4,7 +4,7 @@ stages:
   - deploy
 
 default:
-  image: python:3.12
+  image: python:3.13
   before_script:
     - pip install poetry
     - poetry config virtualenvs.in-project true
@@ -36,7 +36,7 @@ build_and_test_python:
   stage: test
   parallel :
     matrix :
-      - PYTHON_VERSIONS : [ "3.9", "3.10", "3.11" ]
+      - PYTHON_VERSIONS : [ "3.9", "3.10", "3.11", "3.12" ]
   script:
     - *run-test-with-coverage
   needs: []
@@ -48,13 +48,13 @@ build_and_test_python_arm:
   stage: test
   parallel :
     matrix :
-      - PYTHON_VERSIONS : [ "3.9", "3.10", "3.11", "3.12" ]
+      - PYTHON_VERSIONS : [ "3.9", "3.10", "3.11", "3.12", "3.13" ]
   script:
     - *run-test-with-coverage
   needs: []
 
-build_and_test_python_3_12:
-  image: python:3.12
+build_and_test_python_3_13:
+  image: python:3.13
   stage: test
   script:
     - *run-test-with-coverage
@@ -73,7 +73,7 @@ build_and_update_packages_arm:
   stage: test
   parallel :
     matrix :
-      - PYTHON_VERSIONS : [ "3.9", "3.10", "3.11", "3.12" ]
+      - PYTHON_VERSIONS : [ "3.9", "3.10", "3.11", "3.12", "3.13" ]
   script:
     - poetry update
     - poetry install
@@ -84,7 +84,7 @@ build_and_update_packages_debian:
   stage: test
   parallel :
     matrix :
-      - PYTHON_VERSIONS : [ "3.9", "3.10", "3.11", "3.12" ]
+      - PYTHON_VERSIONS : [ "3.9", "3.10", "3.11", "3.12", "3.13" ]
   script:
     - poetry update
     - poetry install
@@ -103,6 +103,7 @@ build_doc:
 
 validate_tutorials:
   stage: test
+  image : python:3.12  # needs to be updated when cvxpy supports python 3.13
   script:
     - poetry install --with tutorials
     - pytest --nbval-lax ./tutorials/

CHANGELOG.md

@@ -1,5 +1,17 @@
 # Changelog
 
+## [2024.3] - 2024-12-20
+### Added
+- New Australia and US traffic signs
+- New lanelet type: `restricted_area`
+- `LaneletNetwork.create_from_lanelet_network` now also includes intersections
+- Support for Python 3.13
+- TR2 cost function enum value
+
+### Fixed
+- `DynamicObstacle` cannot be hashed if some optional attributes are missing
+- `TrafficLightCycle` does not invalidate cached cycle init timesteps after modification
+
 ## [2024.2] - 2024-07-22
 
 ### Added

README.md

@@ -30,9 +30,9 @@ Learn more about the scenario specification [here](https://gitlab.lrz.de/tum-cps
 The commonroad-io package provides methods to read, write, and visualize CommonRoad scenarios and planning problems. Furthermore, it can be used as a framework for implementing motion planning algorithms to solve CommonRoad Benchmarks and is the basis for other tools of the CommonRoad Framework.
 With commonroad-io, those solutions can be written to xml-files for uploading them on [commonroad.in.tum.de](https://commonroad.in.tum.de/).
 
-commonroad-io 2024.2 is compatible with CommonRoad scenarios in version 2020a and supports reading 2018b scenarios.
+This commonroad-io version is compatible with CommonRoad scenarios in version 2020a and supports reading 2018b scenarios.
 
-The software is written in Python and tested on Linux for the Python 3.9, 3.10, 3.11 and 3.12.
+The software is written in Python and tested on Linux for the Python 3.9, 3.10, 3.11, 3.12, and 3.13.
 
 
 ## Documentation
@@ -80,23 +80,7 @@ Alternatively, clone from our gitlab repository::
 and add the folder commonroad-io to your Python environment.
 
 ## Changelog
-Compared to version 2024.1, the following features have been added or changed:
-
-### Added
-- Github actions for ubuntu, windows, and macOS
-- Gitlab runner for arm64 ubuntu
-- Support for reading xml and protobuf byte streams
-- Support for numpy `>=2.0`
-- Adjustable zorder for dynamic obstacle & lanelet visualization
-
-### Fixed
-- AreaBorder can have multiple adjacent lanelets
-- Performance regression for occupancy_set lookups in TrajectoryPrediction
-- Matplotlib `>=3.9.0` support
-
-### Removed
-- Support for Python 3.8
-
+A detailed overview about the changes in each version is provided in the [Changelog](https://github.com/CommonRoad/commonroad-io/blob/master/CHANGELOG.md).
 
 ## Authors
 Contribution (in alphabetic order by last name): Yannick Ballnath, Behtarin Ferdousi, Luis Gressenbuch, Moritz Klischat, 

actions/setup-ffmpeg/action.yaml

@@ -0,0 +1,32 @@
+name: 'Setup FFmpeg with retries'
+description: 'Installs FFmpeg with retry logic'
+inputs:
+  github-token:
+    description: 'GitHub Token (required by "FedericoCarboni/setup-ffmpeg@v3")'
+    required: true
+
+runs:
+  using: 'composite'
+  steps:
+    - name: Setup FFmpeg
+      id: attempt1
+      continue-on-error: true
+      uses: FedericoCarboni/setup-ffmpeg@v3
+      with:
+        github-token: ${{ inputs.github-token }}
+
+    - name: Setup FFmpeg (retry 2)
+      if: ${{ steps.attempt1.outcome == 'failure' }}
+      id: attempt2
+      continue-on-error: true
+      uses: FedericoCarboni/setup-ffmpeg@v3
+      with:
+        github-token: ${{ inputs.github-token }}
+
+    - name: Setup FFmpeg (retry 3)
+      if: ${{ steps.attempt2.outcome == 'failure' }}
+      id: attempt3
+      continue-on-error: true
+      uses: FedericoCarboni/setup-ffmpeg@v3
+      with:
+        github-token: ${{ inputs.github-token }}

commonroad/common/common_lanelet.py

@@ -67,6 +67,7 @@ class LaneletType(enum.Enum):
     BORDER = "border"
     PARKING = "parking"
     RESTRICTED = "restricted"  # cars not allowed, e.g., special lanes for busses
+    RESTRICTED_AREA = "restricted_area"  # area where vehicles are not allowed; usually the area is indicated by diagonal line markings, e.g., German traffic sign ID 298
     UNKNOWN = "unknown"
 
 

commonroad/common/solution.py

@@ -91,6 +91,7 @@ class CostFunction(Enum):
     SM3 = 5
     MW1 = 6
     TR1 = 7
+    TR2 = 8
 
 
 @unique

commonroad/scenario/lanelet.py

@@ -29,7 +29,7 @@
 )
 from commonroad.geometry.shape import Circle, Polygon, Rectangle, Shape, ShapeGroup
 from commonroad.scenario.area import Area
-from commonroad.scenario.intersection import Intersection
+from commonroad.scenario.intersection import Intersection, IntersectionIncomingElement
 from commonroad.scenario.obstacle import Obstacle
 from commonroad.scenario.state import TraceState
 from commonroad.scenario.traffic_light import TrafficLight
@@ -1484,7 +1484,7 @@ def create_from_lanelet_network(
         traffic_sign_ids = set()
         traffic_light_ids = set()
         area_ids = set()
-        lanelets = set()
+        lanelet_ids = set()
 
         for la in lanelet_network.lanelets:
             if (
@@ -1494,14 +1494,56 @@ def create_from_lanelet_network(
             ):
                 continue
 
-            lanelets.add(la)
+            lanelet_ids.add(la.lanelet_id)
+
             for sign_id in la.traffic_signs:
                 traffic_sign_ids.add(sign_id)
             for light_id in la.traffic_lights:
                 traffic_light_ids.add(light_id)
             for area_id in la.adjacent_areas:
                 area_ids.add(area_id)
 
+        # In contrast to the other objects, intersections need some special processing:
+        # Some lanelets might be excluded from the new lanelet network, but those lanelets could
+        # be referenced as incomings, successors or crossings. Therfore, new intersections
+        # are created here, which only reference lanelets that are also in the new lanelet network
+        for old_intersection in lanelet_network.intersections:
+            new_incomings = list()
+            for old_incoming in old_intersection.incomings:
+                new_incoming_lanelets = old_incoming.incoming_lanelets.intersection(lanelet_ids)
+                if len(new_incoming_lanelets) == 0:
+                    continue
+
+                new_successors_right = old_incoming.successors_right.intersection(lanelet_ids)
+                new_successors_left = old_incoming.successors_left.intersection(lanelet_ids)
+                new_successors_straight = old_incoming.successors_straight.intersection(lanelet_ids)
+
+                if len(new_successors_left) + len(new_successors_straight) + len(new_successors_right) < 1:
+                    continue
+
+                new_incoming = IntersectionIncomingElement(
+                    incoming_id=old_incoming.incoming_id,
+                    incoming_lanelets=new_incoming_lanelets,
+                    successors_right=new_successors_right,
+                    successors_straight=new_successors_straight,
+                    successors_left=new_successors_left,
+                    left_of=old_incoming.left_of,
+                )
+                new_incomings.append(new_incoming)
+
+            if len(new_incomings) == 0:
+                continue
+
+            new_crossings = set()
+            for crossing in old_intersection.crossings:
+                if crossing in lanelet_ids:
+                    new_crossings.add(crossing)
+
+            new_intersection = Intersection(
+                intersection_id=old_intersection.intersection_id, incomings=new_incomings, crossings=new_crossings
+            )
+            new_lanelet_network.add_intersection(new_intersection)
+
         for sign_id in traffic_sign_ids:
             new_lanelet_network.add_traffic_sign(copy.deepcopy(lanelet_network.find_traffic_sign_by_id(sign_id)), set())
         for light_id in traffic_light_ids:
@@ -1510,8 +1552,8 @@ def create_from_lanelet_network(
             )
         for area_id in area_ids:
             new_lanelet_network.add_area(copy.deepcopy(lanelet_network.find_area_by_id(area_id)), set())
-        for la in lanelets:
-            new_lanelet_network.add_lanelet(copy.deepcopy(la), rtree=False)
+        for lanelet_id in lanelet_ids:
+            new_lanelet_network.add_lanelet(copy.deepcopy(lanelet_network.find_lanelet_by_id(lanelet_id)), rtree=False)
 
         if cleanup_ids:
             new_lanelet_network.cleanup_lanelet_references()

commonroad/scenario/obstacle.py

@@ -145,17 +145,24 @@ def __eq__(self, other):
         return obstacle_eq
 
     def __hash__(self):
+        initial_center_lanelet_ids = (
+            None if self.initial_center_lanelet_ids is None else frozenset(self.initial_center_lanelet_ids)
+        )
+        initial_shape_lanelet_ids = (
+            None if self.initial_shape_lanelet_ids is None else frozenset(self.initial_shape_lanelet_ids)
+        )
+        signal_series = None if self.signal_series is None else frozenset(self.signal_series)
         return hash(
             (
                 self._obstacle_id,
                 self._obstacle_role,
                 self._obstacle_type,
                 self._obstacle_shape,
                 self._initial_state,
-                frozenset(self.initial_center_lanelet_ids),
-                frozenset(self.initial_shape_lanelet_ids),
+                initial_center_lanelet_ids,
+                initial_shape_lanelet_ids,
                 self._initial_signal_state,
-                tuple(self.signal_series),
+                signal_series,
             )
         )
 
@@ -538,12 +545,15 @@ def __hash__(self):
             if self.shape_lanelet_ids_history is None
             else tuple(frozenset(value) for value in self.shape_lanelet_ids_history)
         )
+        meta_information_series = (
+            None if self._meta_information_series is None else tuple(self._meta_information_series)
+        )
 
         return hash(
             (
                 self._prediction,
                 self._initial_meta_information_state,
-                tuple(self._meta_information_series),
+                meta_information_series,
                 self._external_dataset_id,
                 tuple(self.history),
                 tuple(self.signal_history),

commonroad/scenario/traffic_light.py

@@ -143,6 +143,9 @@ def cycle_elements(self) -> Union[None, List[TrafficLightCycleElement]]:
     @cycle_elements.setter
     def cycle_elements(self, cycle_elements: Union[None, List[TrafficLightCycleElement]]):
         self._cycle_elements = cycle_elements
+        # Invalidate cached attribute which was calculated based on the previous cycle elements
+        if hasattr(self, "_cycle_init_timesteps"):
+            del self._cycle_init_timesteps
 
     @property
     def time_offset(self) -> int:
@@ -152,6 +155,9 @@ def time_offset(self) -> int:
     @time_offset.setter
     def time_offset(self, time_offset: int):
         self._time_offset = time_offset
+        # Invalidate cached attribute which was calculated based on the previous time offset
+        if hasattr(self, "_cycle_init_timesteps"):
+            del self._cycle_init_timesteps
 
     @property
     def active(self) -> bool: