RssDynamicsValidInputRange.hpp

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/*
 * ----------------- BEGIN LICENSE BLOCK ---------------------------------
 *
 * Copyright (C) 2018-2022 Intel Corporation
 *
 * SPDX-License-Identifier: LGPL-2.1-only
 *
 * ----------------- END LICENSE BLOCK -----------------------------------
 */
 
#pragma once
 
#include <cmath>
#include <limits>
#include "ad/physics/DistanceValidInputRange.hpp"
#include "ad/physics/DurationValidInputRange.hpp"
#include "ad/physics/SpeedValidInputRange.hpp"
#include "ad/rss/world/LateralRssAccelerationValuesValidInputRange.hpp"
#include "ad/rss/world/LongitudinalRssAccelerationValuesValidInputRange.hpp"
#include "ad/rss/world/RssDynamics.hpp"
#include "ad/rss/world/UnstructuredSettingsValidInputRange.hpp"
#include "spdlog/fmt/ostr.h"
#include "spdlog/spdlog.h"
 
inline bool withinValidInputRange(::ad::rss::world::RssDynamics const &input, bool const logErrors = true)
{
  // check for generic member input ranges
  bool inValidInputRange = true;
  inValidInputRange = withinValidInputRange(input.alpha_lon, logErrors)
    && withinValidInputRange(input.alpha_lat, logErrors)
    && withinValidInputRange(input.lateral_fluctuation_margin, logErrors)
    && withinValidInputRange(input.response_time, logErrors)
    && withinValidInputRange(input.max_speed_on_acceleration, logErrors)
    && withinValidInputRange(input.unstructured_settings, logErrors)
    && withinValidInputRange(input.min_longitudinal_safety_distance, logErrors);
  if (!inValidInputRange && logErrors)
  {
    spdlog::error("withinValidInputRange(::ad::rss::world::RssDynamics)>> {} has invalid member",
                  input); // LCOV_EXCL_BR_LINE
  }
 
  // check for individual input ranges
  if (inValidInputRange)
  {
    inValidInputRange = (::ad::physics::Distance(0.) <= input.lateral_fluctuation_margin)
      && (input.lateral_fluctuation_margin <= ::ad::physics::Distance(1.));
    if (!inValidInputRange && logErrors)
    {
      spdlog::error(
        "withinValidInputRange(::ad::rss::world::RssDynamics)>> {} element {} out of valid input range [{}, {}]",
        input,
        input.lateral_fluctuation_margin,
        ::ad::physics::Distance(0.),
        ::ad::physics::Distance(1.)); // LCOV_EXCL_BR_LINE
    }
  }
 
  if (inValidInputRange)
  {
    inValidInputRange
      = (::ad::physics::Duration(0.) < input.response_time) && (input.response_time <= ::ad::physics::Duration(10.));
    if (!inValidInputRange && logErrors)
    {
      spdlog::error(
        "withinValidInputRange(::ad::rss::world::RssDynamics)>> {} element {} out of valid input range [{}, {}]",
        input,
        input.response_time,
        ::ad::physics::Duration(0.),
        ::ad::physics::Duration(10.)); // LCOV_EXCL_BR_LINE
    }
  }
 
  return inValidInputRange;
}