RssConstellationIdProvider.hpp

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// ----------------- BEGIN LICENSE BLOCK ---------------------------------
//
// Copyright (C) 2018-2021 Intel Corporation
//
// SPDX-License-Identifier: LGPL-2.1-only
//
// ----------------- END LICENSE BLOCK -----------------------------------
#pragma once
 
#include <map>
#include <set>
#include "ad/rss/core/RelativeConstellationId.hpp"
#include "ad/rss/world/Constellation.hpp"
#include "ad/rss/world/TimeIndex.hpp"
 
namespace ad {
namespace rss {
namespace structured {
 
class RssConstellationIdProvider
{
public:
  RssConstellationIdProvider() = default;
 
  ~RssConstellationIdProvider() = default;
 
  core::RelativeConstellationId getConstellationId(world::TimeIndex const &time_index,
                                                   world::Constellation const &constellation);
 
  void dropConstellationIds(world::ObjectId const &object_id);
 
private:
  struct ConstellationData
  {
    ConstellationData(world::TimeIndex time_index,
                      core::RelativeConstellationId const constellation_id,
                      world::Constellation const &constellation);
    bool updateConstellation(world::TimeIndex time_index, world::Constellation const &constellation);
 
    typedef std::set<world::LaneSegmentId> IntersectionArea;
 
    bool isSmallerOrEqual(IntersectionArea const &left, IntersectionArea const &right) const;
 
    IntersectionArea getIntersectionArea(world::RoadArea const &roadArea);
 
    world::TimeIndex mTimeIndex;
    world::ConstellationType mConstellationType;
    core::RelativeConstellationId mConstellationId;
    IntersectionArea mEgoVehicleIntersectionArea;
    IntersectionArea mObjectIntersectionArea;
  };
 
  void updateTime(world::TimeIndex const &time_index);
 
  core::RelativeConstellationId getFreeConstellationId();
 
  typedef std::multimap<world::ObjectId, ConstellationData> ConstellationDataMap;
 
  world::TimeIndex mCurrentTime{0};
  world::TimeIndex mLastTime{0};
  core::RelativeConstellationId mNextConstellationId{0};
  ConstellationDataMap mConstellationData;
};
 
} // namespace structured
} // namespace rss
} // namespace ad