feat(lanelet2_map_validator): apply version control to lanelet2_map_validator

map/autoware_lanelet2_map_validator/CHANGELOG.rst

@@ -0,0 +1,32 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package autoware_lanelet2_map_validator
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.0 (2025-01-28)
+------------------
+* Initial release
+* Containing the following changes
+  * feat(autoware_lanelet2_map_validator): introduce autoware_lanelet2_map_validator (`#118 <https://github.com/autowarefoundation/autoware_tools/pull/118>`_)
+  * chore(autoware_lanelet2_map_validator): add maintainers (`#141 <https://github.com/autowarefoundation/autoware_tools/pull/141>`_)
+  * chore(autoware_lanelet2_map_validator): add requirement vm-02-02 to autoware_requirement_set (`#143 <https://github.com/autowarefoundation/autoware_tools/pull/143>`_)
+  * refactor(lanelet2_map_validator): move headers to include/ (`#144 <https://github.com/autowarefoundation/autoware_tools/pull/144>`_)
+  * feat(autoware_lanelet2_map_validator): allow prerequisites attribute for input (`#147 <https://github.com/autowarefoundation/autoware_tools/pull/147>`_)
+  * Removed redundant appendIssues (`#148 <https://github.com/autowarefoundation/autoware_tools/pull/148>`_)
+  * fix(lanelet2_map_validator): change validation order in regulatory_elements_details (`#151 <https://github.com/autowarefoundation/autoware_tools/pull/151>`_)
+  * refactor(lanelet2_map_validator): move custom implementation to lanelet::autoware::validation (`#152 <https://github.com/autowarefoundation/autoware_tools/pull/152>`_)
+  * refactor(lalenet2_map_validator): divide map loading process (`#153 <https://github.com/autowarefoundation/autoware_tools/pull/153>`_)
+  * feat(lanelet2_map_validator): add test codes for existing validators (`#150 <https://github.com/autowarefoundation/autoware_tools/pull/150>`_)
+  * feat(lanelet2_map_validator): added issue codes (`#163 <https://github.com/autowarefoundation/autoware_tools/pull/163>`_)
+  * feat(lanelet2_map_validator): add validator to check traffic light facing (`#165 <https://github.com/autowarefoundation/autoware_tools/pull/165>`_)
+  * Fixed issue that invalid prerequisites are not reflected to the results (`#169 <https://github.com/autowarefoundation/autoware_tools/pull/169>`_)
+  * docs(lanelet2_map_validator): add a new document how_to_contribute.md (`#170 <https://github.com/autowarefoundation/autoware_tools/pull/170>`_)
+  * feat(lanelet2_map_validator): check whether intersection_area satisfies vm-03-08 (`#171 <https://github.com/autowarefoundation/autoware_tools/pull/171>`_)
+  * chore: sync files (`#11 <https://github.com/autowarefoundation/autoware_tools/pull/11>`_)
+  * feat(autoware_lanelet_map_validator): add dangling reference checker to non existing intersection_area (`#177 <https://github.com/autowarefoundation/autoware_tools/pull/177>`_)
+  * chore(lanelet2_map_validator): automate test code compilation and categorize test codes (`#183 <https://github.com/autowarefoundation/autoware_tools/pull/183>`_)
+  * feat(lanelet2_map_validator): generation script for new validators (`#180 <https://github.com/autowarefoundation/autoware_tools/pull/180>`_)
+  * docs(autoware_lanelet2_map_validator): update usage (`#191 <https://github.com/autowarefoundation/autoware_tools/pull/191>`_)
+  * fix(lanelet2_map_validator): restore missing intersection lane and removed unnecessary linestrings from intersection test maps (`#188 <https://github.com/autowarefoundation/autoware_tools/pull/188>`_)
+  * docs(lanelet2_map_validator): update README (`#193 <https://github.com/autowarefoundation/autoware_tools/pull/193>`_)
+  * feat(lanelet2_map_validator): add validator to check whether intersection lanelets have valid turn_direction tags (`#186 <https://github.com/autowarefoundation/autoware_tools/pull/186>`_)
+  * feat(lanelet2_map_validator): check local coordinates declaration (#194) (`#194 <https://github.com/autowarefoundation/autoware_tools/pull/194>`_)

map/autoware_lanelet2_map_validator/CMakeLists.txt

@@ -67,6 +67,11 @@ if(BUILD_TESTING)
   endforeach()
 endif()
 
+install(
+  FILES package.xml autoware_requirement_set.json
+  DESTINATION share/${PROJECT_NAME}
+)
+
 ament_auto_package(
   INSTALL_TO_SHARE
   test/data

map/autoware_lanelet2_map_validator/autoware_requirement_set.json

@@ -1,4 +1,5 @@
 {
+  "version": "0.0.0",
   "requirements": [
     {
       "id": "vm-02-02",

map/autoware_lanelet2_map_validator/docs/how_to_contribute.md

@@ -25,6 +25,43 @@ Please note that the validators are categorized according to [the vector map req
 - Area
 - Others
 
+## Version Control
+
+`autoware_lanelet2_map_validator` began version control on January, 2025 in order to clarify the linkage to versioned map requirements and specifications.
+The version of `autoware_lanelet2_map_validator` starts from `1.0.0` having the major, minor, and patch version.
+See the following sections for further explanations of each version.
+Note that the version of `autoware_lanelet2_map_validator` is stated in the `package.xml` and it is a separated to that of `autoware_requiremenet_set.json`.
+Therefore, the version written in `autoware_requirement_set.json` is **NOT** linked to the version of `autoware_lanelet2_map_validator`.
+The version of `autoware_requirement_set.json` refers to the version of [map requirements and specifications for Autoware](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/) (... which is not having its version controlled so yes leave it alone for now).
+
+### Major version
+
+The major version increases with the following changes.
+
+- Destructive changes that backward compatibility cannot be maintained.
+- The format of inputs and outputs drastically changes.
+- The entire code structure drastically changes.
+
+The major version is NOT intended to be updated frequenetly.
+
+### Minor version
+
+The minor version increases with the following changes.
+
+- Addition of new validators.
+- Modification of existing validators due to updates of map requirements or other reasons.
+  - Even if the validation result changes, it will not be taken as the lost of backward compability if it only affects a few validators.
+- Modification to the entire validation process that doesn't affect backward compatibility.
+
+This minor version is intended to be updated frequently as pull requests increase.
+
+### Patch version
+
+The patch version increases with the following changes.
+
+- Bug fixes
+- Refactors that don't change the features.
+
 ## Contribution Guide
 
 This section is aimed at contributors who want to add their own validators. If you want to change the core process of `autoware_lanelet2_map_validator`, please open a PR and discuss it with the maintainers.
@@ -127,8 +164,6 @@ Contributors must also provide test codes to ensure your validator is working pr
   - A test function for each unique issue the validator can detect. It is recommended to create a small lanelet2 map for each unique issue.
     - In this test, please also check that the issue code is emitted as expected.
   - A test function ensuring that no issues occur when validating `test/data/map/sample_map.osm`. If `sample_map.osm` violates the validation or doesn't contain the primitive to validate, please fix or add the primitives to it.
-- Add the test code to `CMakeLists.txt` using the `add_validation_test` function.
-  - Currently, this part must be added to CMakeLists.txt manually. Automation is expected in the future.
 
 ### 3. Test the entire validator
 
@@ -159,6 +194,12 @@ The document must explain the following.
 
 In addition, add a link of the document to the table [Relationship between requirements and validators](https://github.com/autowarefoundation/autoware_tools/tree/main/map/autoware_lanelet2_map_validator#relationship-between-requirements-and-validators) in the main `README.md` to let the users know which map requirement your validator relates with.
 
-### 5. Submit a pull request
+### 5. Increase version
+
+Contributors must increase the version of `autoware_lanelet2_map_validator`.
+See [Version Control](#version-control) for further information about how versioning is managed.
+Note that contributors should increase the version in `package.xml` and do **NOT** edit the one in `autoware_requirement_set.json` unless the map requirements in Autoware documentation got its version changed.
+
+### 6. Submit a pull request
 
 Submit a pull request to the [autowarefoundation/autoware_tools](https://github.com/autowarefoundation/autoware_tools) repository.

map/autoware_lanelet2_map_validator/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lanelet2_map_validator</name>
-  <version>0.1.0</version>
+  <version>1.0.0</version>
   <description>Validation tool for lanelet2 maps especially for Autoware usage</description>
   <maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
@@ -24,6 +24,7 @@
   <depend>lanelet2_traffic_rules</depend>
   <depend>lanelet2_validation</depend>
   <depend>nlohmann-json-dev</depend>
+  <depend>pugixml-dev</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
 

map/autoware_lanelet2_map_validator/src/common/io.cpp

@@ -0,0 +1,93 @@
+// Copyright 2024 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "lanelet2_map_validator/io.hpp"
+
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <pugixml.hpp>
+
+#include <filesystem>
+#include <iostream>
+#include <string>
+
+namespace lanelet::autoware::validation
+{
+std::string get_validator_version()
+{
+  std::string package_share_directory =
+    ament_index_cpp::get_package_share_directory("autoware_lanelet2_map_validator");
+  std::filesystem::path package_xml =
+    std::filesystem::path(package_share_directory) / "package.xml";
+
+  if (!std::filesystem::exists(package_xml)) {
+    throw std::runtime_error("package.xml not found in " + package_share_directory);
+  }
+
+  pugi::xml_document doc;
+  if (!doc.load_file(package_xml.c_str())) {
+    throw std::runtime_error("Failed to parse package.xml!");
+  }
+
+  pugi::xml_node version_node = doc.child("package").child("version");
+  if (!version_node) {
+    throw std::runtime_error("No <version> tag found in package.xml!");
+  }
+
+  return version_node.text().as_string();
+}
+
+void insert_validator_info_to_map(
+  std::string osm_file, std::string requirements, std::string requirements_version)
+{
+  pugi::xml_document doc;
+  pugi::xml_parse_result result = doc.load_file(osm_file.c_str());
+
+  if (!result) {
+    throw std::invalid_argument("Failed to load osm file!");
+  }
+
+  pugi::xml_node osm_node = doc.child("osm");
+  if (!osm_node) {
+    throw std::invalid_argument("No <osm> tag found in the osm file!");
+  }
+
+  pugi::xml_node validation_node = osm_node.child("validation");
+
+  if (!validation_node) {
+    validation_node = osm_node.prepend_child("validation");
+  }
+
+  // Helper function to set or append an attribute
+  auto set_or_append_attribute = [](pugi::xml_node & node, const char * name, const char * value) {
+    pugi::xml_attribute attr = node.attribute(name);
+    if (attr) {
+      attr.set_value(value);
+    } else {
+      node.append_attribute(name) = value;
+    }
+  };
+
+  // Set or append the required attributes
+  set_or_append_attribute(validation_node, "name", "autoware_lanelet2_map_validator");
+  set_or_append_attribute(validation_node, "validator_version", get_validator_version().c_str());
+  set_or_append_attribute(validation_node, "requirements", requirements.c_str());
+  set_or_append_attribute(validation_node, "requirements_version", requirements_version.c_str());
+
+  if (!doc.save_file(osm_file.c_str())) {
+    throw std::runtime_error("Failed to save the validator info to osm file");
+  }
+
+  std::cout << "Modified validator information in the osm file." << std::endl;
+}
+}  // namespace lanelet::autoware::validation

map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/io.hpp

@@ -0,0 +1,27 @@
+// Copyright 2024 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef LANELET2_MAP_VALIDATOR__IO_HPP_
+#define LANELET2_MAP_VALIDATOR__IO_HPP_
+
+#include <string>
+
+namespace lanelet::autoware::validation
+{
+std::string get_validator_version();
+void insert_validator_info_to_map(
+  std::string osm_file, std::string requirements, std::string requirements_version);
+}  // namespace lanelet::autoware::validation
+
+#endif  // LANELET2_MAP_VALIDATOR__IO_HPP_

map/autoware_lanelet2_map_validator/src/main.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "lanelet2_map_validator/cli.hpp"
+#include "lanelet2_map_validator/io.hpp"
 #include "lanelet2_map_validator/map_loader.hpp"
 #include "lanelet2_map_validator/utils.hpp"
 #include "lanelet2_map_validator/validation.hpp"
@@ -23,6 +24,7 @@
 #include <fstream>
 #include <iomanip>
 #include <iostream>
+#include <string>
 
 int main(int argc, char * argv[])
 {
@@ -67,12 +69,16 @@ int main(int argc, char * argv[])
     lanelet::validation::printAllIssues(map_issue);
   } else if (!meta_config.requirements_file.empty()) {
     if (!std::filesystem::is_regular_file(meta_config.requirements_file)) {
-      throw std::invalid_argument("Input file doesn't exist or is not a file!");
+      throw std::invalid_argument("Input JSON file doesn't exist or is not a file!");
     }
     std::ifstream input_file(meta_config.requirements_file);
     json json_data;
     input_file >> json_data;
     lanelet::autoware::validation::process_requirements(json_data, meta_config, *lanelet_map_ptr);
+    lanelet::autoware::validation::insert_validator_info_to_map(
+      meta_config.command_line_config.mapFile,
+      std::filesystem::path(meta_config.requirements_file).filename().string(),
+      json_data.value("version", ""));
   } else {
     const auto issues = lanelet::autoware::validation::apply_validation(
       *lanelet_map_ptr, meta_config.command_line_config.validationConfig);