traffic_sink.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_SINK_HPP_
#define TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_SINK_HPP_
 
#include <lanelet2_core/geometry/Lanelet.h>
 
#include <functional>
#include <geometry_msgs/msg/pose.hpp>
#include <string>
#include <traffic_simulator/data_type/entity_status.hpp>
#include <traffic_simulator/entity/entity_manager.hpp>
#include <traffic_simulator/traffic/traffic_module_base.hpp>
#include <vector>
 
namespace traffic_simulator
{
namespace traffic
{
struct TrafficSinkConfig
{
  explicit TrafficSinkConfig(
    const double radius, const geometry_msgs::msg::Point & position,
    const std::set<std::uint8_t> & sinkable_entity_types,
    const std::optional<lanelet::Id> lanelet_id_opt)
  : radius(radius),
    position(position),
    sinkable_entity_types(sinkable_entity_types),
    description([](const std::optional<lanelet::Id> lanelet_id_opt) -> std::string {
      static long unique_id = 0L;
      if (lanelet_id_opt.has_value()) {
        return std::string("auto_") + std::to_string(lanelet_id_opt.value());
      } else {
        return std::string("custom_") + std::to_string(unique_id++);
      }
    }(lanelet_id_opt))
  {
  }
 
  const double radius;
  const geometry_msgs::msg::Point position;
  const std::set<std::uint8_t> sinkable_entity_types;
  const std::string description;
};
 
class TrafficSink : public TrafficModuleBase
{
public:
  explicit TrafficSink(
    const std::shared_ptr<entity::EntityManager> entity_manager_ptr,
    const TrafficSinkConfig & config);
  auto execute(const double current_time, const double step_time) -> void override;
  auto appendDebugMarker(visualization_msgs::msg::MarkerArray & marker_array) const
    -> void override;
 
private:
  auto isEntitySinkable(const std::string & entity_name) const noexcept(false) -> bool;
 
  const TrafficSinkConfig config_;
  const std::shared_ptr<entity::EntityManager> entity_manager_ptr_;
};
}  // namespace traffic
}  // namespace traffic_simulator
 
#endif  // TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_SINK_HPP_