traffic_signal_state.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_INTERPRETER__SYNTAX__TRAFFIC_SIGNAL_STATE_HPP_
#define OPENSCENARIO_INTERPRETER__SYNTAX__TRAFFIC_SIGNAL_STATE_HPP_
 
#include <openscenario_interpreter/scope.hpp>
#include <openscenario_interpreter/simulator_core.hpp>
#include <openscenario_interpreter/syntax/string.hpp>
#include <pugixml.hpp>
 
namespace openscenario_interpreter
{
inline namespace syntax
{
/*
   TrafficSignalState (OpenSCENARIO XML 1.3.1)
 
   State of a traffic signal for this phase. One state per phase and traffic signal.
 
   <xsd:complexType name="TrafficSignalState">
     <xsd:attribute name="state" type="String" use="required"/>
     <xsd:attribute name="trafficSignalId" type="String" use="required"/>
   </xsd:complexType>
*/
struct TrafficSignalState : private SimulatorCore::NonStandardOperation
{
  /*
     NOTE:
       ID of the referenced signal in a road network. The signal ID must be
       listed in TrafficSignal list of the RoadNetwork.
 
       In the TIER IV OpenSCENARIO implementation, it is the Lanelet ID (positive
       integer) of the traffic light, optionally followed by:
         - Signal type: "v2i" (default is "conventional" if omitted)
         - Detected suffix: "_detected" to indicate detected traffic light
 
       Format: "<lanelet_id> [<type>]" or "<lanelet_id> [<type>_detected]"
       Examples: "34802", "34802 v2i", "34802 conventional_detected", "34802 v2i_detected"
   */
  const String traffic_signal_id;
 
  /*
     NOTE:
       State of the signal. The available states are listed in the TrafficSignal
       list of the RoadNetwork.
   */
  const String state;
 
  explicit TrafficSignalState(const pugi::xml_node &, Scope &);
 
  auto clear() const -> void;
 
  auto evaluate() const -> Object;
 
  struct TrafficSignalChannelType
  {
    enum value_type { conventional, v2i } value;
 
    explicit TrafficSignalChannelType(const std::string &);
 
    constexpr TrafficSignalChannelType(value_type value) : value(value) {}
 
    constexpr operator value_type() const noexcept { return value; }
  };
 
  struct TargetTrafficSignalChannel
  {
    explicit TargetTrafficSignalChannel(const std::string &);
 
    lanelet::Id id;
 
    TrafficSignalChannelType channel;
 
    bool detected;
  };
 
  auto id() const -> lanelet::Id { return target.id; }
 
  auto channelType() const -> TrafficSignalChannelType { return target.channel; }
 
  auto isDetected() const -> bool { return target.detected; }
 
private:
  const TargetTrafficSignalChannel target;
};
}  // namespace syntax
}  // namespace openscenario_interpreter
 
#endif  // OPENSCENARIO_INTERPRETER__SYNTAX__TRAFFIC_SIGNAL_STATE_HPP_