intersection_render_object.hpp

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#include "etsi_its_mapem_ts_msgs/msg/mapem.hpp"
#include "etsi_its_spatem_ts_msgs/msg/spatem.hpp"
#include <geometry_msgs/msg/point.hpp>
#include <std_msgs/msg/header.hpp>
 
#include <rclcpp/rclcpp.hpp>
 
#include <tf2/LinearMath/Quaternion.h>
 
#include "rviz_common/validate_floats.hpp"
 
namespace etsi_its_msgs
{
namespace displays
{
 
enum LaneDirection {ingress, egress, bidirectional, no_travel, unknown_direction};
enum LaneType {vehicle, crosswalk, bike_lane, sidewalk, median, striping, tracked_vehicle, parking, unknown_type};
 
typedef struct IntersectionLane {
  uint8_t lane_id;
  LaneType type = LaneType::unknown_type;
  LaneDirection direction = LaneDirection::unknown_direction;
  std::vector<geometry_msgs::msg::Point> nodes; // relative to ref_point of intersection
  std::vector<uint8_t> signal_group_ids;
} IntersectionLane;
 
typedef struct IntersectionMovementState {
  std_msgs::msg::Header header;
  uint8_t signal_group_id;
  etsi_its_spatem_ts_msgs::msg::MovementPhaseState phase_state;
  etsi_its_spatem_ts_msgs::msg::TimeChangeDetails::SharedPtr time_change_details;
 
} IntersectionMovementState;
 
class IntersectionRenderObject
{
  public:
    IntersectionRenderObject(etsi_its_mapem_ts_msgs::msg::IntersectionGeometry intersection, bool timestamp_is_present, etsi_its_mapem_ts_msgs::msg::MinuteOfTheYear mapem_stamp, rclcpp::Time receive_time);
 
    bool validateFloats();
 
    double getAge(rclcpp::Time now);
 
    void removeOutdatedMovemenStates(rclcpp::Time now, double timeout);
 
    unsigned int getIntersectionID();
 
    std_msgs::msg::Header getHeader();
 
    geometry_msgs::msg::Point getRefPosition();
 
    tf2::Quaternion getGridConvergenceQuaternion();
 
    // public member variables
    std::vector<IntersectionLane> lanes;
    std::unordered_map<int, IntersectionMovementState> movement_states;
 
  private:
    // member variables
    std_msgs::msg::Header header;
    unsigned int intersection_id;
    std::vector<unsigned int> layer_ids;
    geometry_msgs::msg::PointStamped ref_point;
    double grid_convergence_angle;    
};
 
}  // namespace displays
}  // namespace etsi_its_msgs