openscenario_preprocessor.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 OPENSCENARIO_PREPROCESSOR__OPENSCENARIO_PREPROCESSOR_HPP_
#define OPENSCENARIO_PREPROCESSOR__OPENSCENARIO_PREPROCESSOR_HPP_
 
#include <concealer/execute.hpp>
#include <deque>
#include <filesystem>
#include <memory>
#include <openscenario_interpreter/syntax/open_scenario.hpp>
#include <openscenario_preprocessor_msgs/srv/check_derivative_remained.hpp>
#include <openscenario_preprocessor_msgs/srv/derive.hpp>
#include <openscenario_preprocessor_msgs/srv/load.hpp>
#include <openscenario_preprocessor_msgs/srv/set_parameter.hpp>
#include <rclcpp/rclcpp.hpp>
 
namespace openscenario_preprocessor
{
struct ScenarioSet
{
  ScenarioSet() = default;
 
  explicit ScenarioSet(openscenario_preprocessor_msgs::srv::Load::Request & load_request)
  {
    path = load_request.path;
    frame_rate = load_request.frame_rate;
  }
 
  auto getDeriveResponse() -> openscenario_preprocessor_msgs::srv::Derive::Response
  {
    openscenario_preprocessor_msgs::srv::Derive::Response response;
    response.path = path.string();
    response.frame_rate = frame_rate;
    return response;
  }
 
  std::filesystem::path path;
 
  float frame_rate;
};
 
class Preprocessor : public rclcpp::Node
{
public:
  explicit Preprocessor(const rclcpp::NodeOptions &);
 
private:
  void preprocessScenario(ScenarioSet &);
 
  [[nodiscard]] bool validateXOSC(const std::filesystem::path &, bool);
 
  rclcpp::Service<openscenario_preprocessor_msgs::srv::Load>::SharedPtr load_server;
 
  rclcpp::Service<openscenario_preprocessor_msgs::srv::Derive>::SharedPtr derive_server;
 
  rclcpp::Service<openscenario_preprocessor_msgs::srv::CheckDerivativeRemained>::SharedPtr
    check_server;
 
  rclcpp::Service<openscenario_preprocessor_msgs::srv::SetParameter>::SharedPtr
    set_parameter_server;
 
  std::deque<ScenarioSet> preprocessed_scenarios;
 
  std::mutex preprocessed_scenarios_mutex;
 
  std::unordered_map<std::string, std::string> override_parameters;
};
}  // namespace openscenario_preprocessor
 
#endif  // OPENSCENARIO_PREPROCESSOR__OPENSCENARIO_PREPROCESSOR_HPP_