[Bugfix] Envision 0 length lane crash (#1876)

* Fix envision crash

* Shift formatting to data formatter.

* Update changelog

CHANGELOG.md

@@ -20,6 +20,8 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Made the heading input relative to the current heading in `RelativeTargetPose` action space.
 ### Deprecated
 ### Fixed
+- Issue where a 0 length lane caused `envision` to crash.
+- Fixed an issue where `Feature.type_specific_info` was calling a non-existant method.
 ### Removed
 ### Security
 

envision/data_formatter.py

@@ -280,6 +280,8 @@ def _format_traffic_actor(obj, data_formatter: EnvisionDataFormatter):
     for l_point in data_formatter.layer(obj.point_cloud):
         data_formatter.add(l_point, op=Operation.FLATTEN)
     for geo in data_formatter.layer(obj.mission_route_geometry):
+        if len(geo) == 0:
+            continue
         for route_point in data_formatter.layer(geo):
             data_formatter.add(route_point, op=Operation.FLATTEN)
     assert type(obj.actor_type) is TrafficActorType

smarts/core/sumo_road_network.py

@@ -1074,7 +1074,7 @@ def type_specific_info(self) -> Optional[Any]:
             # the only type we currently handle is FIXED_LOC_SIGNAL
             in_lane, to_lane, _ = self._feat_data
             via_id = in_lane.getConnection(to_lane).getViaLaneID()
-            return self.lane_by_id(via_id)
+            return self._map.lane_by_id(via_id)
 
         def min_dist_from(self, point: Point) -> float:
             return np.linalg.norm(self.geometry[0].as_np_array - point.as_np_array)