traffic_light_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__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_MANAGER_BASE_HPP_
#define TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_MANAGER_BASE_HPP_
 
#include <iomanip>
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <simulation_interface/conversions.hpp>
#include <stdexcept>  // std::out_of_range
#include <string>
#include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
#include <traffic_simulator/traffic_lights/traffic_light.hpp>
#include <tuple>
#include <unordered_map>
#include <utility>
#include <vector>
 
namespace traffic_simulator
{
class TrafficLightManager
{
protected:
  using TrafficLightMap = std::unordered_map<lanelet::Id, TrafficLight>;
 
  TrafficLightMap traffic_lights_;
 
  const std::shared_ptr<hdmap_utils::HdMapUtils> hdmap_;
 
public:
  explicit TrafficLightManager(const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap);
 
  auto getTrafficLight(const lanelet::Id traffic_light_id) -> TrafficLight &;
 
  auto getTrafficLightIds() const -> const lanelet::Ids;
 
  auto getTrafficLights() const -> const TrafficLightMap &;
 
  auto getTrafficLights() -> TrafficLightMap &;
 
  auto getTrafficLights(const lanelet::Id lanelet_id)
    -> std::vector<std::reference_wrapper<TrafficLight>>;
 
  auto hasAnyLightChanged() -> bool;
 
  auto generateUpdateTrafficLightsRequest() -> simulation_api_schema::UpdateTrafficLightsRequest;
};
}  // namespace traffic_simulator
#endif  // TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_MANAGER_BASE_HPP_