Fix TypeError in lane_builder when width_end is None

orbit/export/lane_builder.py

@@ -39,14 +39,16 @@ def convert_road_mark_type(road_mark_type: RoadMarkType) -> str:
 class LaneBuilder:
     """Builds lane XML elements for OpenDRIVE export."""
 
-    def __init__(self, scale_x: float = 1.0):
+    def __init__(self, scale_x: float = 1.0, opendrive_version: str = "1.8"):
         """
         Initialize lane builder.
 
         Args:
             scale_x: Scale factor in meters per pixel for s-coordinate conversion
+            opendrive_version: Target OpenDRIVE version (e.g. "1.8" or "1.4")
         """
         self.scale_x = scale_x
+        self.opendrive_version = opendrive_version
 
     def create_lanes(
         self,
@@ -241,10 +243,11 @@ def _create_lane(
         lane.set('level', 'true' if lane_obj.level else 'false')
 
         # V1.8 direction and advisory attributes
-        if lane_obj.direction is not None:
-            lane.set('direction', lane_obj.direction)
-        if lane_obj.advisory is not None:
-            lane.set('advisory', lane_obj.advisory)
+        if self.opendrive_version == "1.8":
+            if lane_obj.direction is not None:
+                lane.set('direction', lane_obj.direction)
+            if lane_obj.advisory is not None:
+                lane.set('advisory', lane_obj.advisory)
 
         # Lane link with predecessor/successor
         pred_id = lane_obj.predecessor_id
@@ -273,13 +276,11 @@ def _create_lane(
         width_d = lane_obj.width_d
 
         # Override with linear transition if width_end is specified
-        if lane_obj.has_variable_width and section_length_m > 0:
+        if lane_obj.width_end is not None and section_length_m > 0:
             width_a = lane_obj.width
             width_b = (lane_obj.width_end - lane_obj.width) / section_length_m
-            # Keep c and d as 0 for linear transition (unless already set)
-            if width_c == 0.0 and width_d == 0.0:
-                width_c = 0.0
-                width_d = 0.0
+            width_c = 0.0
+            width_d = 0.0
 
         width_elem = etree.SubElement(lane, 'width')
         width_elem.set('sOffset', '0.0')

orbit/export/opendrive_writer.py

@@ -34,6 +34,7 @@ class ExportOptions:
     country_code: str = "se"
     use_tmerc: bool = False
     use_german_codes: bool = False
+    opendrive_version: str = "1.8"
     offset_x: float = 0.0
     offset_y: float = 0.0
     geo_reference_string: Optional[str] = None
@@ -52,6 +53,7 @@ def __init__(
         country_code: str = "se",
         use_tmerc: bool = False,
         use_german_codes: bool = False,
+        opendrive_version: str = "1.8",
         offset_x: float = 0.0,
         offset_y: float = 0.0,
         geo_reference_string: Optional[str] = None,
@@ -73,6 +75,7 @@ def __init__(
             country_code=country_code,
             use_tmerc=use_tmerc,
             use_german_codes=use_german_codes,
+            opendrive_version=opendrive_version,
             offset_x=offset_x,
             offset_y=offset_y,
             geo_reference_string=geo_reference_string,
@@ -81,6 +84,7 @@ def __init__(
         self.right_hand_traffic = opts.right_hand_traffic
         self.country_code = opts.country_code.lower()
         self.use_tmerc = opts.use_tmerc
+        self.opendrive_version = opts.opendrive_version
         self.offset_x = opts.offset_x
         self.offset_y = opts.offset_y
         self.geo_reference_string = opts.geo_reference_string
@@ -113,7 +117,7 @@ def __init__(
         self.lane_analyzer = LaneAnalyzer(project, self.right_hand_traffic, scale_factors, transformer)
 
         # Initialize builders
-        self.lane_builder = LaneBuilder(scale_x=self.scale_x)
+        self.lane_builder = LaneBuilder(scale_x=self.scale_x, opendrive_version=self.opendrive_version)
         self.signal_builder = SignalBuilder(
             scale_x=self.scale_x,
             country_code=opts.country_code,
@@ -290,9 +294,12 @@ def write_and_validate(
 
     def _create_opendrive_root(self) -> etree.Element:
         """Create the root OpenDRIVE element with all content."""
-        # OpenDRIVE 1.8 namespace
-        nsmap = {None: "http://code.asam.net/simulation/standard/opendrive_schema"}
-        root = etree.Element('OpenDRIVE', nsmap=nsmap)
+        # OpenDRIVE namespace (only for 1.8)
+        if self.opendrive_version == "1.8":
+            nsmap = {None: "http://code.asam.net/simulation/standard/opendrive_schema"}
+            root = etree.Element('OpenDRIVE', nsmap=nsmap)
+        else:
+            root = etree.Element('OpenDRIVE')
 
         # Add header
         header = self._create_header()
@@ -566,7 +573,10 @@ def _create_header(self) -> etree.Element:
         """Create OpenDrive header element."""
         header = etree.Element('header')
         header.set('revMajor', '1')
-        header.set('revMinor', '8')
+        if self.opendrive_version == "1.8":
+            header.set('revMinor', '8')
+        else:
+            header.set('revMinor', '4')
 
         # Use map name from project, fallback to 'ORBIT Export' if empty
         map_name = self.project.map_name if self.project.map_name else 'ORBIT Export'
@@ -1571,7 +1581,7 @@ def _create_junction(self, junction: Junction, junction_numeric_id: int) -> Opti
             connection_id += 1
 
         # Add boundary (V1.8 feature)
-        if junction.boundary and junction.boundary.segments:
+        if self.opendrive_version == "1.8" and junction.boundary and junction.boundary.segments:
             boundary_elem = etree.SubElement(junction_elem, 'boundary')
             for segment in junction.boundary.segments:
                 seg_elem = etree.SubElement(boundary_elem, 'segment')
@@ -1598,7 +1608,7 @@ def _create_junction(self, junction: Junction, junction_numeric_id: int) -> Opti
                         seg_elem.set('transitionLength', f'{segment.transition_length:.6g}')
 
         # Add elevation grid (V1.8 feature)
-        if junction.elevation_grid and junction.elevation_grid.elevations:
+        if self.opendrive_version == "1.8" and junction.elevation_grid and junction.elevation_grid.elevations:
             eg_elem = etree.SubElement(junction_elem, 'elevationGrid')
             if junction.elevation_grid.grid_spacing:
                 eg_elem.set('gridSpacing', junction.elevation_grid.grid_spacing)
@@ -1660,6 +1670,7 @@ def export_to_opendrive(
     country_code: str = "se",
     use_tmerc: bool = False,
     use_german_codes: bool = False,
+    opendrive_version: str = "1.8",
     offset_x: float = 0.0,
     offset_y: float = 0.0,
     geo_reference_string: Optional[str] = None,
@@ -1692,7 +1703,7 @@ def export_to_opendrive(
     curve_fitter = CurveFitter(line_tolerance, arc_tolerance, preserve_geometry)
     writer = OpenDriveWriter(
         project, transformer, curve_fitter, right_hand_traffic,
-        country_code, use_tmerc, use_german_codes,
+        country_code, use_tmerc, use_german_codes, opendrive_version,
         offset_x, offset_y, geo_reference_string, export_object_types
     )
     return writer.write(output_path)

orbit/gui/dialogs/export_dialog.py

@@ -109,6 +109,13 @@ def setup_ui(self):
         self.arc_tolerance_spin.setToolTip("Maximum deviation for arc fitting")
         options_layout.addRow("Arc Tolerance:", self.arc_tolerance_spin)
 
+        # OpenDRIVE version selection
+        self.opendrive_version_combo = QComboBox()
+        self.opendrive_version_combo.addItem("1.8", "1.8")
+        self.opendrive_version_combo.addItem("1.4", "1.4")
+        self.opendrive_version_combo.setToolTip("Select the OpenDRIVE version to export.")
+        options_layout.addRow("OpenDRIVE Version:", self.opendrive_version_combo)
+
         # Preserve geometry checkbox
         self.preserve_geometry_checkbox = QCheckBox("Preserve all polyline points")
         self.preserve_geometry_checkbox.setChecked(True)
@@ -502,6 +509,7 @@ def do_export(self):
                 country_code=country_code,
                 use_tmerc=use_tmerc,
                 use_german_codes=self.use_german_codes_checkbox.isChecked(),
+                opendrive_version=self.opendrive_version_combo.currentData(),
                 offset_x=offset_x,
                 offset_y=offset_y,
                 geo_reference_string=geo_reference_string,

tests/unit/test_export/test_lane_builder.py

@@ -125,6 +125,7 @@ def mock_road(self):
         right_lane.predecessor_id = None
         right_lane.successor_id = None
         right_lane.width = 3.5
+        right_lane.width_end = None
         right_lane.width_b = 0.0
         right_lane.width_c = 0.0
         right_lane.width_d = 0.0
@@ -285,7 +286,7 @@ def test_left_lanes_sorted(self, builder):
         lane1 = Mock(id=2, lane_type=LaneType.DRIVING, level=False,
                      direction=None, advisory=None,
                      predecessor_id=None, successor_id=None,
-                     width=3.5, width_b=0.0, width_c=0.0, width_d=0.0,
+                     width=3.5, width_end=None, width_b=0.0, width_c=0.0, width_d=0.0,
                      has_variable_width=False,
                      road_mark_type=RoadMarkType.SOLID,
                      road_mark_weight='standard', road_mark_color='white',
@@ -294,7 +295,7 @@ def test_left_lanes_sorted(self, builder):
         lane2 = Mock(id=1, lane_type=LaneType.DRIVING, level=False,
                      direction=None, advisory=None,
                      predecessor_id=None, successor_id=None,
-                     width=3.5, width_b=0.0, width_c=0.0, width_d=0.0,
+                     width=3.5, width_end=None, width_b=0.0, width_c=0.0, width_d=0.0,
                      has_variable_width=False,
                      road_mark_type=RoadMarkType.SOLID,
                      road_mark_weight='standard', road_mark_color='white',
@@ -391,6 +392,7 @@ def mock_lane(self):
         lane.predecessor_id = None
         lane.successor_id = None
         lane.width = 3.5
+        lane.width_end = None
         lane.width_b = 0.0
         lane.width_c = 0.0
         lane.width_d = 0.0

tests/unit/test_export/test_opendrive_writer.py

@@ -8,7 +8,13 @@
 from orbit.export.curve_fitting import CurveFitter, GeometryElement, GeometryType
 from orbit.export.opendrive_writer import OpenDriveWriter, export_to_opendrive, validate_opendrive_file
 from orbit.models import Junction, LineType, Polyline, Project, Road
-from orbit.models.junction import LaneConnection
+from orbit.models.junction import (
+    JunctionBoundary,
+    JunctionBoundarySegment,
+    JunctionElevationGrid,
+    JunctionElevationGridPoint,
+    LaneConnection,
+)
 from orbit.models.lane import Lane
 from orbit.models.lane import LaneType as ModelLaneType
 from orbit.models.road import RoadType
@@ -926,6 +932,112 @@ def test_export_to_opendrive_with_options(self, simple_project, mock_transformer
 
         assert result is True
 
+    def test_export_opendrive_1_4_suppresses_1_8_features(self, mock_transformer, tmp_path):
+        """Export to OpenDRIVE 1.4 suppresses 1.8-specific features like boundary, elevationGrid, direction, advisory."""
+        project = Project()
+
+        centerline = Polyline(id="1")
+        centerline.line_type = LineType.CENTERLINE
+        centerline.points = [(0, 0), (100, 0)]
+        project.polylines.append(centerline)
+
+        road = Road(id="1")
+        road.centerline_id = centerline.id
+        road.polyline_ids = [centerline.id]
+
+        # Add a lane with direction and advisory
+        from orbit.models.lane import Lane
+        from orbit.models.lane import LaneType as ModelLaneType
+        from orbit.models.lane_section import LaneSection
+        lane_center = Lane(id=0, lane_type=ModelLaneType.NONE)
+        lane = Lane(id=1, lane_type=ModelLaneType.DRIVING)
+        lane.direction = "samedir"
+        lane.advisory = "advisory1"
+        road.left_count = 1
+        road.right_count = 0
+        road.lane_sections = [LaneSection(section_number=1, s_start=0.0, s_end=100.0, lanes=[lane_center, lane])]
+        project.roads.append(road)
+
+        road2 = Road(id="2", junction_id="1")
+        road2.centerline_id = centerline.id
+        road2.polyline_ids = [centerline.id]
+        project.roads.append(road2)
+
+        # Add a junction with boundary and elevation_grid
+        junction = Junction(id="1")
+        junction.name = "TestJunction"
+        junction.connected_road_ids = ['1', '2']
+        junction.lane_connections = [
+            LaneConnection(from_road_id='1', to_road_id='2', from_lane_id=-1, to_lane_id=-1, connecting_road_id='2')
+        ]
+        junction.boundary = JunctionBoundary(
+            segments=[JunctionBoundarySegment(segment_type='lane', road_id='1')]
+        )
+        junction.elevation_grid = JunctionElevationGrid(
+            elevations=[JunctionElevationGridPoint(center="1")]
+        )
+        project.junctions.append(junction)
+
+        output_path_1_4 = tmp_path / "export_1_4.xodr"
+        output_path_1_8 = tmp_path / "export_1_8.xodr"
+
+        # Export 1.8
+        result_1_8 = export_to_opendrive(
+            project,
+            mock_transformer,
+            str(output_path_1_8),
+            opendrive_version="1.8"
+        )
+        assert result_1_8 is True
+
+        # Export 1.4
+        result_1_4 = export_to_opendrive(
+            project,
+            mock_transformer,
+            str(output_path_1_4),
+            opendrive_version="1.4"
+        )
+        assert result_1_4 is True
+
+        import xml.etree.ElementTree as ET
+
+        # Parse 1.8 and assert features exist
+        tree_1_8 = ET.parse(output_path_1_8)
+        root_1_8 = tree_1_8.getroot()
+        ns = {"od": "http://code.asam.net/simulation/standard/opendrive_schema"}
+
+        # In 1.8, namespace is used
+        header_1_8 = root_1_8.find('od:header', ns)
+        assert header_1_8.attrib['revMinor'] == '8'
+
+        junction_1_8 = root_1_8.find('.//od:junction', ns)
+        assert junction_1_8 is not None
+        assert junction_1_8.find('od:boundary', ns) is not None
+        assert junction_1_8.find('od:elevationGrid', ns) is not None
+
+        lane_1_8 = root_1_8.find('.//od:lane', ns)
+        assert lane_1_8 is not None
+        assert lane_1_8.get('direction') == 'samedir'
+        assert lane_1_8.get('advisory') == 'advisory1'
+
+        # Parse 1.4 and assert features are suppressed
+        tree_1_4 = ET.parse(output_path_1_4)
+        root_1_4 = tree_1_4.getroot()
+
+        # In 1.4, no namespace is used
+        header_1_4 = root_1_4.find('header')
+        assert header_1_4.attrib['revMinor'] == '4'
+
+        junction_1_4 = root_1_4.find('.//junction')
+        assert junction_1_4 is not None
+        assert junction_1_4.find('boundary') is None
+        assert junction_1_4.find('elevationGrid') is None
+
+        lane_1_4 = root_1_4.find('.//lane')
+        assert lane_1_4 is not None
+        assert lane_1_4.get('direction') is None
+        assert lane_1_4.get('advisory') is None
+
 
 class TestValidateOpendrive:
     """Tests for validate_opendrive_file function."""
@@ -1523,3 +1635,4 @@ def test_remapped_ids_consistent_across_elements(self, mock_transformer, tmp_pat
                             assert ref_id in all_road_ids, (
                                 f"CR link {tag} references road {ref_id} not in {all_road_ids}"
                             )
+