RssSceneCreation.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/map/landmark/Types.hpp>
#include <ad/map/route/Types.hpp>
#include <ad/rss/map/RssObjectData.hpp>
#include <ad/rss/world/WorldModel.hpp>
#include <mutex>
#include <ostream>
#include <string>
 
namespace ad {
namespace rss {
namespace map {
 
class RssSceneCreator;
class RssObjectConversion;
 
enum class RssMode
{
  NotRelevant, 
  Structured,  
  Unstructured 
};
 
class RssSceneCreation
{
public:
  RssSceneCreation(::ad::rss::world::TimeIndex const &timeIndex,
                   ::ad::rss::world::RssDynamics const &defaultEgoRssDynamics);
 
  enum class RestrictSpeedLimitMode
  {
    None,
    ExactSpeedLimit,
 
    IncreasedSpeedLimit5,
 
    IncreasedSpeedLimit10,
  };
 
  bool appendScenes(RssObjectData const &egoObjectData,
                    ::ad::map::route::FullRoute const &egoRoute,
                    RssObjectData const &otherObjectData,
                    RestrictSpeedLimitMode const &restrictSpeedLimitMode,
                    ::ad::map::landmark::LandmarkIdSet const &greenTrafficLights,
                    ::ad::rss::map::RssMode const &mode);
 
  enum class AppendRoadBoundariesMode
  {
    RouteOnly,
    ExpandRouteToOppositeLanes,
    ExpandRouteToAllNeighbors,
  };
 
  bool appendRoadBoundaries(RssObjectData const &egoObjectData,
                            ::ad::map::route::FullRoute const &route,
                            AppendRoadBoundariesMode const operationMode);
 
  ::ad::rss::world::WorldModel getWorldModel();
 
private:
  friend class RssSceneCreator;
 
  bool appendStructuredScenes(::ad::rss::map::RssSceneCreator &sceneCreator,
                              std::shared_ptr<RssObjectConversion const> const &egoObject,
                              ::ad::map::route::FullRoute const &egoRoute,
                              std::shared_ptr<RssObjectConversion const> const &otherObject);
 
  bool appendSceneToWorldModel(::ad::rss::world::Scene const &scene);
 
  ::ad::rss::world::WorldModel mWorldModel;
  bool mFinalized;
  std::mutex mWorldModelLock;
};
 
} // namespace map
} // namespace rss
} // namespace ad
 
namespace std {
 
inline string to_string(::ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode const &value)
{
  switch (value)
  {
    case ::ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode::None:
      return string("::ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode::None");
    case ::ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode::ExactSpeedLimit:
      return string("::ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode::ExactSpeedLimit");
    case ::ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode::IncreasedSpeedLimit5:
      return string("::ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode::IncreasedSpeedLimit5");
    case ::ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode::IncreasedSpeedLimit10:
      return string("::ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode::IncreasedSpeedLimit10");
    default:
      return string("::ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode UNKNOWN ENUM VALUE");
  }
}
 
inline ostream &operator<<(ostream &os, ::ad::rss::map::RssSceneCreation::RestrictSpeedLimitMode const &value)
{
  return os << std::to_string(value);
}
 
inline string to_string(::ad::rss::map::RssMode const &value)
{
  switch (value)
  {
    case ::ad::rss::map::RssMode::NotRelevant:
      return string("::ad::rss::map::RssMode::NotRelevant");
    case ::ad::rss::map::RssMode::Structured:
      return string("::ad::rss::map::RssMode::Structured");
    case ::ad::rss::map::RssMode::Unstructured:
      return string("::ad::rss::map::RssMode::Unstructured");
    default:
      return string("::ad::rss::map::RssMode UNKNOWN ENUM VALUE");
  }
}
 
inline ostream &operator<<(ostream &os, ::ad::rss::map::RssMode const &value)
{
  return os << to_string(value);
}
 
} // namespace std