action_node.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef BEHAVIOR_TREE_PLUGIN__ACTION_NODE_HPP_
#define BEHAVIOR_TREE_PLUGIN__ACTION_NODE_HPP_
 
#include <behaviortree_cpp_v3/action_node.h>
 
#include <algorithm>
#include <geometry/spline/catmull_rom_spline.hpp>
#include <geometry_msgs/msg/point.hpp>
#include <memory>
#include <optional>
#include <string>
#include <traffic_simulator/behavior/behavior_plugin_base.hpp>
#include <traffic_simulator/data_type/behavior.hpp>
#include <traffic_simulator/data_type/entity_status.hpp>
#include <traffic_simulator/entity/entity_base.hpp>
#include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
#include <traffic_simulator/helper/stop_watch.hpp>
#include <traffic_simulator/traffic_lights/traffic_lights.hpp>
#include <traffic_simulator/utils/lanelet_map.hpp>
#include <traffic_simulator/utils/pose.hpp>
#include <traffic_simulator_msgs/msg/behavior_parameter.hpp>
#include <traffic_simulator_msgs/msg/obstacle.hpp>
#include <traffic_simulator_msgs/msg/waypoints_array.hpp>
#include <unordered_map>
#include <utility>
#include <vector>
 
namespace entity_behavior
{
BT::PortsList operator+(const BT::PortsList & ports_0, const BT::PortsList & ports_1);
 
class ActionNode : public BT::ActionNodeBase
{
public:
  ActionNode(const std::string & name, const BT::NodeConfiguration & config);
  ~ActionNode() override = default;
  auto getFrontEntityName(const math::geometry::CatmullRomSplineInterface & spline) const
    -> std::optional<std::string>;
  auto calculateStopDistance(const traffic_simulator_msgs::msg::DynamicConstraints &) const
    -> double;
  auto getDistanceToFrontEntity(const math::geometry::CatmullRomSplineInterface & spline) const
    -> std::optional<double>;
  auto getFrontEntityNameAndDistanceByTrajectory(
    const std::vector<geometry_msgs::msg::Point> & waypoints, const double width,
    const std::size_t num_segments) const -> std::optional<std::pair<std::string, double>>;
  auto getDistanceToTrafficLightStopLine(
    const lanelet::Ids & route_lanelets,
    const math::geometry::CatmullRomSplineInterface & spline) const -> std::optional<double>;
  auto getRightOfWayEntities() const -> std::vector<traffic_simulator::CanonicalizedEntityStatus>;
  auto getRightOfWayEntities(const lanelet::Ids & following_lanelets) const
    -> std::vector<traffic_simulator::CanonicalizedEntityStatus>;
  auto getYieldStopDistance(const lanelet::Ids & following_lanelets) const -> std::optional<double>;
  auto stopEntity() const -> void;
  auto getHorizon() const -> double;
  auto getOtherEntitiesCanonicalizedLaneletPoses() const
    -> std::vector<traffic_simulator::CanonicalizedLaneletPose>;
  auto getOtherEntitiesCanonicalizedEntityStatuses() const
    -> std::vector<traffic_simulator::CanonicalizedEntityStatus>;
 
  auto executeTick() -> BT::NodeStatus override;
 
  void halt() override final { setStatus(BT::NodeStatus::IDLE); }
 
  static BT::PortsList providedPorts()
  {
    return {
      // clang-format off
      BT::InputPort<double>("current_time"),
      BT::InputPort<double>("matching_distance_for_lanelet_pose_calculation"),
      BT::InputPort<double>("step_time"),
      BT::InputPort<EntityStatusDict>("other_entity_status"),
      BT::InputPort<lanelet::Ids>("route_lanelets"),
      BT::InputPort<std::optional<double>>("target_speed"),
      BT::InputPort<std::shared_ptr<hdmap_utils::HdMapUtils>>("hdmap_utils"),
      BT::InputPort<std::shared_ptr<traffic_simulator::CanonicalizedEntityStatus>>("canonicalized_entity_status"),
      BT::InputPort<std::shared_ptr<traffic_simulator::TrafficLightsBase>>("traffic_lights"),
      BT::InputPort<traffic_simulator::behavior::Request>("request"),
      BT::InputPort<std::shared_ptr<EuclideanDistancesMap>>("euclidean_distances_map"),
      BT::InputPort<traffic_simulator_msgs::msg::BehaviorParameter>("behavior_parameter"),
      BT::InputPort<std::optional<double>>("lateral_collision_threshold"),
      BT::OutputPort<std::optional<traffic_simulator_msgs::msg::Obstacle>>("obstacle"),
      BT::OutputPort<traffic_simulator_msgs::msg::WaypointsArray>("waypoints"),
      BT::OutputPort<traffic_simulator::behavior::Request>("request"),
      // clang-format on
    };
  }
 
  virtual auto getBlackBoardValues() -> void;
  auto getEntityStatus(const std::string & target_name) const
    -> const traffic_simulator::CanonicalizedEntityStatus &;
 
  auto setCanonicalizedEntityStatus(const traffic_simulator::EntityStatus & entity_status) -> void;
  auto calculateUpdatedEntityStatus(
    const double local_target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &) const
    -> traffic_simulator::EntityStatus;
  auto calculateUpdatedEntityStatusInWorldFrame(
    const double local_target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &) const
    -> traffic_simulator::EntityStatus;
 
protected:
  traffic_simulator::behavior::Request request_;
  std::shared_ptr<hdmap_utils::HdMapUtils> hdmap_utils_;
  std::shared_ptr<traffic_simulator::TrafficLightsBase> traffic_lights_;
  std::shared_ptr<traffic_simulator::CanonicalizedEntityStatus> canonicalized_entity_status_;
  double current_time_;
  double step_time_;
  double default_matching_distance_for_lanelet_pose_calculation_;
  std::optional<double> target_speed_;
  EntityStatusDict other_entity_status_;
  lanelet::Ids route_lanelets_;
  traffic_simulator_msgs::msg::BehaviorParameter behavior_parameter_;
  std::optional<double> lateral_collision_threshold_;
 
  virtual bool checkPreconditions() { return true; }
  virtual BT::NodeStatus doAction() = 0;
 
private:
  auto foundConflictingEntity(const lanelet::Ids & following_lanelets) const -> bool;
  auto getDistanceToTargetEntityOnCrosswalk(
    const math::geometry::CatmullRomSplineInterface & spline,
    const traffic_simulator::CanonicalizedEntityStatus & status) const -> std::optional<double>;
  auto getConflictingEntityStatusOnCrossWalk(const lanelet::Ids & route_lanelets) const
    -> std::vector<traffic_simulator::CanonicalizedEntityStatus>;
  auto getConflictingEntityStatusOnLane(const lanelet::Ids & route_lanelets) const
    -> std::vector<traffic_simulator::CanonicalizedEntityStatus>;
  auto isOtherEntityAtConsideredAltitude(
    const traffic_simulator::CanonicalizedEntityStatus & entity_status) const -> bool;
  auto tick() -> BT::NodeStatus override;
 
  std::shared_ptr<EuclideanDistancesMap> euclidean_distances_map_;
};
}  // namespace entity_behavior
 
#endif  // BEHAVIOR_TREE_PLUGIN__ACTION_NODE_HPP_