RssSituationChecking.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 "ad/rss/core/RssSituationSnapshot.hpp"
#include "ad/rss/state/RssStateSnapshot.hpp"
#include "ad/rss/structured/RssIntersectionConstellationChecker.hpp"
#include "ad/rss/structured/RssNonIntersectionConstellationChecker.hpp"
#include "ad/rss/unstructured/RssUnstructuredConstellationChecker.hpp"
 
namespace ad {
namespace rss {
namespace core {
 
class RssSituationChecking
{
public:
  typedef std::shared_ptr<RssSituationChecking> Ptr;
 
  typedef std::shared_ptr<RssSituationChecking const> ConstPtr;
 
  RssSituationChecking() = default;
 
  ~RssSituationChecking() = default;
 
  bool checkSituation(RssSituationSnapshot const &situationSnapshot, state::RssStateSnapshot &rssStateSnapshot);
 
  void registerCalculateTrajectorySetsCallback(
    world::ObjectType objectType,
    unstructured::RssUnstructuredConstellationChecker::CalculateTrajectorySetsCallbackFunctionType
      calculateTrajectorySetsCallback)
  {
    mUnstructuredConstellationChecker.registerCalculateTrajectorySetsCallback(objectType,
                                                                              calculateTrajectorySetsCallback);
  }
 
private:
  bool checkConstellationInputRangeChecked(RelativeConstellation const &constellation,
                                           state::RssStateSnapshot &rssStateSnapshot);
 
  bool checkTimeIncreasingConsistently(world::TimeIndex const &nextTimeIndex);
 
  structured::RssIntersectionConstellationChecker mIntersectionChecker;
  structured::RssNonIntersectionConstellationChecker mNonIntersectionChecker;
  unstructured::RssUnstructuredConstellationChecker mUnstructuredConstellationChecker;
  world::TimeIndex mCurrentTimeIndex{0u};
};
} // namespace core
} // namespace rss
} // namespace ad