traffic_controller.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__TRAFFIC__TRAFFIC_CONTROLLER_HPP_
#define TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_CONTROLLER_HPP_
 
#include <memory>
#include <set>
#include <string>
#include <traffic_simulator/entity/entity_manager.hpp>
#include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
#include <traffic_simulator/traffic/traffic_module_base.hpp>
#include <utility>
#include <vector>
 
namespace traffic_simulator
{
namespace traffic
{
class TrafficController
{
public:
  explicit TrafficController(
    const std::function<void(const std::string &)> & despawn_,
    const std::shared_ptr<entity::EntityManager> entity_manager_ptr,
    const std::set<std::uint8_t> auto_sink_entity_types /*= {}*/);
 
  template <typename T, typename... Ts>
  void addModule(Ts &&... xs)
  {
    auto module_ptr = std::make_shared<T>(std::forward<Ts>(xs)...);
    modules_.emplace_back(module_ptr);
  }
  auto execute(const double current_time, const double step_time) -> void;
  auto makeDebugMarker() const -> visualization_msgs::msg::MarkerArray;
 
private:
  auto appendAutoSinks(const std::set<std::uint8_t> & auto_sink_entity_types) -> void;
  const std::function<void(const std::string &)> despawn_;
  const std::shared_ptr<entity::EntityManager> entity_manager_ptr_;
  std::vector<std::shared_ptr<TrafficModuleBase>> modules_;
};
}  // namespace traffic
}  // namespace traffic_simulator
 
#endif  // TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_CONTROLLER_HPP_