configuration.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 TRAFFIC_SIMULATOR__API__CONFIGURATION_HPP_
#define TRAFFIC_SIMULATOR__API__CONFIGURATION_HPP_
 
#include <algorithm>
#include <boost/range/iterator_range.hpp>
#include <filesystem>
#include <iomanip>
#include <scenario_simulator_exception/exception.hpp>
#include <set>
#include <string>
#include <traffic_simulator/utils/lanelet_map.hpp>
 
namespace traffic_simulator
{
struct Configuration
{
  using Filename = std::string;
 
  using Pathname = std::filesystem::path;
 
  bool verbose = false;
 
  std::string simulator_host = "localhost";
 
  const bool standalone_mode = false;
 
  const double conventional_traffic_light_publish_rate = 30.0;
 
  const double v2i_traffic_light_publish_rate = 10.0;
 
  const std::set<std::uint8_t> auto_sink_entity_types;
 
  /* ---- NOTE -----------------------------------------------------------------
   *
   *  This setting comes from the argument of the same name (= `map_path`) in
   *  the launch file of ArchitectureProposal. In general, Autoware expects
   *  this argument to be given the path to the directory containing the two HD
   *  maps, lanelet_map.osm and pointcloud_map.pcd.
   *
   *  Depending on your map file, you may need to include additional files in
   *  this directory. For example, Autoware.Auto (at the time this comment was
   *  written) should be given the map origin coordinates in a separate yaml
   *  file.
   *
   * ------------------------------------------------------------------------ */
  const Pathname map_path;
 
  const Filename lanelet2_map_file;
 
  const Filename pointcloud_map_file;
 
  const Pathname scenario_path;
 
  explicit Configuration(
    const Pathname & map_path, const Pathname & scenario_path,
    const std::set<std::uint8_t> & auto_sink_entity_types = {})
  : auto_sink_entity_types(auto_sink_entity_types),
    map_path(assertMapPath(map_path)),
    lanelet2_map_file(findLexicographicallyFirstFilenameOf(map_path, ".osm")),
    pointcloud_map_file(findLexicographicallyFirstFilenameOf(map_path, ".pcd")),
    scenario_path(scenario_path)
  {
    traffic_simulator::lanelet_map::activate(lanelet2_map_path().string());
  }
 
  explicit Configuration(
    const Pathname & map_path, const Filename & lanelet2_map_file, const Pathname & scenario_path,
    const std::set<std::uint8_t> & auto_sink_entity_types = {})
  : auto_sink_entity_types(auto_sink_entity_types),
    map_path(assertMapPath(map_path)),
    lanelet2_map_file(lanelet2_map_file),
    pointcloud_map_file(findLexicographicallyFirstFilenameOf(map_path, ".pcd")),
    scenario_path(scenario_path)
  {
    traffic_simulator::lanelet_map::activate(lanelet2_map_path().string());
  }
 
  auto assertMapPath(const Pathname & map_path) const -> const Pathname &
  {
    if (map_path.empty()) {
      throw common::SimulationError("No map path is given");
    } else if (not std::filesystem::is_directory(map_path)) {
      throw common::SimulationError(
        "The map_path must be a directory (given an ", std::quoted(map_path.string()), ")");
    } else if (not contains(map_path, ".osm")) {
      throw common::SimulationError("The map_path must contain at least one *.osm file");
    } else if (not contains(map_path, ".pcd")) {
      throw common::SimulationError("The map_path must contain at least one *.pcd file");
    } else {
      return map_path;
    }
  }
 
  template <typename... Ts>
  auto contains(Ts &&... xs) const -> bool
  {
    return not findLexicographicallyFirstFilenameOf(std::forward<decltype(xs)>(xs)...).empty();
  }
 
  auto findLexicographicallyFirstFilenameOf(
    const Pathname & pathname, const std::string & extension) const -> Filename
  {
    Filename result;
 
    for (const auto & each : std::filesystem::directory_iterator(pathname)) {
      const auto filename = each.path().filename().string();
      if (
        each.path().extension() == extension and
        std::lexicographical_compare(
          std::cbegin(result), std::cend(result), std::cbegin(filename), std::cend(filename))) {
        result = filename;
      }
    }
 
    return result;
  }
 
  auto getLanelet2MapFile() const -> const auto &
  {
    if (not lanelet2_map_file.empty()) {
      return lanelet2_map_file;
    } else {
      throw common::SimulationError("The map_path must contain at least one *.osm file");
    }
  }
 
  auto getPointCloudMapFile() const -> const auto &
  {
    if (not pointcloud_map_file.empty()) {
      return pointcloud_map_file;
    } else {
      throw common::SimulationError("The map_path must contain at least one *.pcd file");
    }
  }
 
  auto lanelet2_map_path() const -> std::filesystem::path { return map_path / lanelet2_map_file; }
 
  auto pointcloud_map_path() const -> std::filesystem::path
  {
    return map_path / pointcloud_map_file;
  }
};
}  // namespace traffic_simulator
 
#endif  // TRAFFIC_SIMULATOR__API__CONFIGURATION_HPP_