entity_manager.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__ENTITY__ENTITY_MANAGER_HPP_
#define TRAFFIC_SIMULATOR__ENTITY__ENTITY_MANAGER_HPP_
 
#include <tf2_ros/static_transform_broadcaster.h>
#include <tf2_ros/transform_broadcaster.h>
 
#include <get_parameter/get_parameter.hpp>
#include <traffic_simulator/api/configuration.hpp>
#include <traffic_simulator/entity/ego_entity.hpp>
#include <traffic_simulator/entity/entity_base.hpp>
#include <traffic_simulator/entity/misc_object_entity.hpp>
#include <traffic_simulator/entity/pedestrian_entity.hpp>
#include <traffic_simulator/entity/vehicle_entity.hpp>
#include <traffic_simulator/traffic_lights/configurable_rate_updater.hpp>
#include <traffic_simulator/traffic_lights/traffic_light_marker_publisher.hpp>
#include <traffic_simulator/traffic_lights/traffic_light_publisher.hpp>
#include <traffic_simulator/traffic_lights/traffic_lights.hpp>
#include <traffic_simulator/utils/pose.hpp>
#include <traffic_simulator_msgs/msg/behavior_parameter.hpp>
#include <traffic_simulator_msgs/msg/bounding_box.hpp>
#include <traffic_simulator_msgs/msg/entity_status_with_trajectory_array.hpp>
 
namespace traffic_simulator
{
namespace entity
{
class LaneletMarkerQoS : public rclcpp::QoS
{
public:
  explicit LaneletMarkerQoS(std::size_t depth = 1) : rclcpp::QoS(depth) { transient_local(); }
};
 
class EntityMarkerQoS : public rclcpp::QoS
{
public:
  explicit EntityMarkerQoS(std::size_t depth = 100) : rclcpp::QoS(depth) {}
};
 
class EntityManager
{
  using EntityStatusWithTrajectoryArray =
    traffic_simulator_msgs::msg::EntityStatusWithTrajectoryArray;
  using MarkerArray = visualization_msgs::msg::MarkerArray;
 
public:
  template <class NodeT, class AllocatorT = std::allocator<void>>
  explicit EntityManager(
    NodeT && node, const Configuration & configuration,
    const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters)
  : configuration_(configuration),
    clock_ptr_(node->get_clock()),
    node_parameters_(node_parameters),
    broadcaster_(node),
    base_link_broadcaster_(node),
    entity_status_array_pub_ptr_(rclcpp::create_publisher<EntityStatusWithTrajectoryArray>(
      node, "entity/status", EntityMarkerQoS(),
      rclcpp::PublisherOptionsWithAllocator<AllocatorT>())),
    lanelet_marker_pub_ptr_(rclcpp::create_publisher<MarkerArray>(
      node, "lanelet/marker", LaneletMarkerQoS(),
      rclcpp::PublisherOptionsWithAllocator<AllocatorT>())),
    entities_(128),
    markers_raw_(lanelet_map::visualizationMarker())
  {
    updateLaneletMarker();
  }
 
  ~EntityManager() = default;
 
  // global
  auto setTrafficLights(const std::shared_ptr<TrafficLights> & traffic_lights_ptr) -> void;
 
  auto setVerbose(const bool verbose) -> void;
 
  auto startNpcLogic(const double current_time) -> void;
 
  auto isNpcLogicStarted() const -> bool;
 
  auto makeDebugMarker() const -> visualization_msgs::msg::MarkerArray;
 
  // update
  auto update(const double current_time, const double step_time) -> void;
 
  auto updateNpcLogic(
    const std::string & name, const double current_time, const double step_time,
    const std::shared_ptr<EuclideanDistancesMap> & distances) -> const CanonicalizedEntityStatus &;
 
  auto updateLaneletMarker() const -> void;
 
  auto broadcastEntityTransform() -> void;
 
  auto broadcastTransform(
    const geometry_msgs::msg::PoseStamped & pose, const bool static_transform = true) -> void;
 
  // entities, ego - spawn
  template <typename EntityType, typename PoseType, typename ParametersType, typename... Ts>
  auto spawnEntity(
    const std::string & name, const PoseType & pose, const ParametersType & parameters,
    const double current_time, Ts &&... xs) -> entity::EntityBase &
  {
    static_assert(
      std::disjunction<
        std::is_same<PoseType, CanonicalizedLaneletPose>,
        std::is_same<PoseType, geometry_msgs::msg::Pose>>::value,
      "Pose must be of type CanonicalizedLaneletPose or geometry_msgs::msg::Pose");
 
    auto makeEntityStatus = [&]() -> CanonicalizedEntityStatus {
      EntityStatus entity_status;
 
      if constexpr (std::is_same_v<std::decay_t<EntityType>, EgoEntity>) {
        if (isAnyEgoSpawned()) {
          THROW_SEMANTIC_ERROR("Multiple egos in the simulation are unsupported yet.");
        } else {
          entity_status.type.type = traffic_simulator_msgs::msg::EntityType::EGO;
        }
      } else if constexpr (std::is_same_v<std::decay_t<EntityType>, VehicleEntity>) {
        entity_status.type.type = traffic_simulator_msgs::msg::EntityType::VEHICLE;
      } else if constexpr (std::is_same_v<std::decay_t<EntityType>, PedestrianEntity>) {
        entity_status.type.type = traffic_simulator_msgs::msg::EntityType::PEDESTRIAN;
      } else {
        entity_status.type.type = traffic_simulator_msgs::msg::EntityType::MISC_OBJECT;
      }
 
      entity_status.subtype = parameters.subtype;
      entity_status.time = current_time;
      entity_status.name = name;
      entity_status.bounding_box = parameters.bounding_box;
      entity_status.action_status = traffic_simulator_msgs::msg::ActionStatus();
      entity_status.action_status.current_action = "waiting for initialize";
 
      const auto include_crosswalk = [](const auto & entity_type) {
        return (traffic_simulator_msgs::msg::EntityType::PEDESTRIAN == entity_type.type) ||
               (traffic_simulator_msgs::msg::EntityType::MISC_OBJECT == entity_type.type);
      }(entity_status.type);
 
      const auto matching_distance = [](const auto & local_parameters) {
        if constexpr (std::is_same_v<
                        std::decay_t<ParametersType>,
                        traffic_simulator_msgs::msg::VehicleParameters>) {
          return std::max(
                   local_parameters.axles.front_axle.track_width,
                   local_parameters.axles.rear_axle.track_width) *
                   0.5 +
                 1.0;
        } else {
          return local_parameters.bounding_box.dimensions.y * 0.5 + 1.0;
        }
      }(parameters);
 
      if constexpr (std::is_same_v<std::decay_t<PoseType>, LaneletPose>) {
        THROW_SYNTAX_ERROR(
          "LaneletPose is not supported type as pose argument. Only CanonicalizedLaneletPose and "
          "msg::Pose are supported as pose argument of EntityManager::spawnEntity().");
      } else if constexpr (std::is_same_v<std::decay_t<PoseType>, CanonicalizedLaneletPose>) {
        entity_status.pose = toMapPose(pose);
        return CanonicalizedEntityStatus(entity_status, pose);
      } else if constexpr (std::is_same_v<std::decay_t<PoseType>, geometry_msgs::msg::Pose>) {
        entity_status.pose = pose;
        const auto canonicalized_lanelet_pose = pose::toCanonicalizedLaneletPose(
          pose, parameters.bounding_box, include_crosswalk, matching_distance);
        return CanonicalizedEntityStatus(entity_status, canonicalized_lanelet_pose);
      }
    };
 
    if (const auto [iter, success] = entities_.emplace(
          name, std::make_unique<EntityType>(
                  name, makeEntityStatus(), parameters, std::forward<decltype(xs)>(xs)...));
        success) {
      // FIXME: this ignores V2I traffic lights
      iter->second->setTrafficLights(traffic_lights_ptr_->getConventionalTrafficLights());
      return *(iter->second);
    } else {
      THROW_SEMANTIC_ERROR("Entity ", std::quoted(name), " is already exists.");
    }
  }
 
  // ego - checks, getters
  auto getNumberOfEgo() const -> std::size_t;
 
  auto isAnyEgoSpawned() const -> bool;
 
  auto getFirstEgoName() const -> std::optional<std::string>;
 
  auto getEgoEntity(const std::string & name) -> entity::EgoEntity &;
 
  auto getEgoEntity(const std::string & name) const -> const entity::EgoEntity &;
 
  // entities - checks, getters
  auto isEntityExist(const std::string & name) const -> bool;
 
  auto getEntityNames() const -> const std::vector<std::string>;
 
  auto getEntity(const std::string & name) -> entity::EntityBase &;
 
  auto getEntity(const std::string & name) const -> const entity::EntityBase &;
 
  auto getEntityPointer(const std::string & name) const -> std::shared_ptr<entity::EntityBase>;
 
  // entities - respawn, despawn, reset
  auto resetBehaviorPlugin(const std::string & name, const std::string & behavior_plugin_name)
    -> void;
 
  auto despawnEntity(const std::string & name) -> bool;
 
  // traffics, lanelet
 
  auto calculateEuclideanDistances() -> std::shared_ptr<EuclideanDistancesMap>;
 
private:
  /* */ Configuration configuration_;
 
  const rclcpp::Clock::SharedPtr clock_ptr_;
 
  const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
 
  /* */ tf2_ros::StaticTransformBroadcaster broadcaster_;
 
  /* */ tf2_ros::TransformBroadcaster base_link_broadcaster_;
 
  const rclcpp::Publisher<EntityStatusWithTrajectoryArray>::SharedPtr entity_status_array_pub_ptr_;
 
  const rclcpp::Publisher<MarkerArray>::SharedPtr lanelet_marker_pub_ptr_;
 
  /* */ std::unordered_map<std::string, std::shared_ptr<entity::EntityBase>> entities_;
 
  /* */ bool npc_logic_started_{false};
 
  /* */ std::shared_ptr<TrafficLights> traffic_lights_ptr_{nullptr};
 
  /* */ MarkerArray markers_raw_;
};
}  // namespace entity
}  // namespace traffic_simulator
#endif  // TRAFFIC_SIMULATOR__ENTITY__ENTITY_MANAGER_HPP_