RssWorldModelCreation.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/lane/Types.hpp>
#include <ad/map/route/Types.hpp>
#include <ad/rss/map/RssAppendRoadBoundariesMode.hpp>
#include <ad/rss/map/RssConstellationCreationMode.hpp>
#include <ad/rss/map/RssObjectData.hpp>
#include <ad/rss/map/RssRestrictSpeedLimitMode.hpp>
#include <ad/rss/map/RssRouteList.hpp>
#include <ad/rss/world/WorldModel.hpp>
#include <mutex>
#include <ostream>
#include <string>
 
#include "ad/rss/map/ConnectingRoutesCache.hpp"
 
namespace ad {
namespace rss {
namespace map {
 
class RssWorldModelCreator;
class RssObjectConversion;
 
class RssWorldModelCreation
{
public:
  RssWorldModelCreation(::ad::rss::world::TimeIndex const &time_index,
                        ::ad::rss::world::RssDynamics const &defaultEgoRssDynamics);
 
  RssWorldModelCreation(::ad::rss::world::TimeIndex const &time_index,
                        ::ad::rss::world::RssDynamics const &defaultEgoRssDynamics,
                        ConnectingRoutesCache &connecting_routes_cache);
 
  ~RssWorldModelCreation() = default;
 
  void setRouteId(::ad::rss::map::RssRouteId const &route_id)
  {
    mRouteId = route_id;
  }
 
  void setMinimumDistanceToObjectsThatHaveToBeAnalyzed(
    ad::physics::Distance const minimumDistanceToObjectsThatHaveToBeAnalyzed)
  {
    mMinimumDistanceToObjectsThatHaveToBeAnalyzed = minimumDistanceToObjectsThatHaveToBeAnalyzed;
  }
 
  bool appendConstellations(RssObjectData const &egoObjectData,
                            ::ad::map::route::FullRoute const &egoRoute,
                            RssObjectData const &otherObjectData,
                            RssRestrictSpeedLimitMode const &restrict_speed_limit_mode,
                            ::ad::map::landmark::LandmarkIdSet const &greenTrafficLights,
                            ::ad::rss::map::RssConstellationCreationMode const &mode,
                            ::ad::map::lane::LaneIdSet const &relevantLanes = ::ad::map::lane::LaneIdSet());
 
  bool appendConstellations(RssObjectData const &egoObjectData,
                            ::ad::map::route::FullRoute const &egoRoute,
                            RssObjectData const &otherObjectData,
                            RssRestrictSpeedLimitMode const &restrict_speed_limit_mode,
                            ::ad::map::landmark::LandmarkIdSet const &greenTrafficLights,
                            ::ad::rss::map::RssConstellationCreationMode const &mode,
                            RssRouteList const &egoObjectPredictionHints,
                            RssRouteList const &otherObjectPredictionHints,
                            ::ad::map::lane::LaneIdSet const &relevantLanes = ::ad::map::lane::LaneIdSet());
 
  bool appendRoadBoundaries(RssObjectData const &egoObjectData,
                            ::ad::map::route::FullRoute const &route,
                            RssAppendRoadBoundariesMode const operationMode);
 
  ::ad::rss::world::WorldModel getWorldModel();
 
  static const ::ad::physics::Distance cMinConnectedRouteLength;
 
private:
  friend class RssWorldModelCreator;
 
  bool appendStructuredConstellations(::ad::rss::map::RssWorldModelCreator &constellationCreator,
                                      std::shared_ptr<RssObjectConversion const> const &egoObject,
                                      ::ad::map::route::FullRoute const &egoRoute,
                                      std::shared_ptr<RssObjectConversion const> const &otherObject,
                                      RssRouteList const &egoObjectPredictionHints,
                                      RssRouteList const &otherObjectPredictionHints,
                                      ::ad::map::lane::LaneIdSet const &relevantLanes,
                                      ::ad::physics::Distance const &maxConnectingRouteDistance);
 
  bool appendConstellationToWorldModel(::ad::rss::world::Constellation const &constellation);
 
  ::ad::rss::world::WorldModel mWorldModel;
  bool mFinalized;
  std::mutex mWorldModelLock;
  ::ad::rss::map::RssRouteId mRouteId{0};
  ad::physics::Distance mMinimumDistanceToObjectsThatHaveToBeAnalyzed{RssWorldModelCreation::cMinConnectedRouteLength};
  ConnectingRoutesCache *mConnectingRoutesCache;
};
 
} // namespace map
} // namespace rss
} // namespace ad