map_stopline_management.h

Go to the documentation of this file.

/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 ********************************************************************************/
 
 
#pragma once
 
#include "adore/env/borderbased/lanepositionedobjectset.h"
#include "adore/env/borderbased/stopline.h"
#include <deque>
 
namespace adore
{
    namespace env
    {
        class MapStopLineManagement
        {
            adore::env::BorderBased::LanePositionedObjectSet m_globalSet;
            adore::env::BorderBased::LanePositionedObjectSet m_localSet;
            std::deque<adore::env::BorderBased::BorderID> m_borderQueue;
 
        public:
            MapStopLineManagement()
            {
                m_localSet.setIsOwner(false);
            }
 
            void init(adore::env::BorderBased::LanePositionedObjectSet &globalSet)
            {
                m_globalSet = globalSet;
                globalSet.setIsOwner(false);
            }
            
            void reset()
            {
                m_localSet.clear();
                m_borderQueue.clear();
            }
            void run
            (
                std::vector<adore::env::BorderBased::Border*> newBorders,
                std::vector<adore::env::BorderBased::BorderID> outdatedBorders,
                std::vector<adore::env::BorderBased::StopLine> &newLines,
                std::vector<adore::env::BorderBased::StopLine> &outdatedLines,
                int MAX_SEND_NUMBER = 5
            )
            {
                newLines.clear();
                outdatedLines.clear();
 
                /* collect outdated stop lines */
                for(auto borderID = outdatedBorders.begin(); borderID!=outdatedBorders.end(); borderID++)
                {
                    if(m_localSet.hasObjects(*borderID))
                    {
                        for(auto it = m_localSet.getObjects(*borderID); it.first!=it.second; it.first++)
                        {
                            outdatedLines.push_back(*(static_cast<adore::env::BorderBased::StopLine*>(it.first->second)));
                        }
                    }
                }
                /* remove outdated stop lines from local set */
                m_localSet.eraseObjectsBorderBased(outdatedBorders);
                
 
                /* collect new stop lines */
                /* add borders to queue that has to be worked off */
                for(auto border = newBorders.begin(); border!=newBorders.end(); border++)
                {
                    m_borderQueue.push_back((*border)->m_id);
                }
 
                /* collect new stop lines from borders in border queue */
                int newCount = 0;
                int bCount = 0;
                for(auto borderId = m_borderQueue.begin(); borderId != m_borderQueue.end(); borderId++)
                {
                    bCount++;
                    if(!m_localSet.hasObjects(*borderId))
                    {
                        for(auto it = m_globalSet.getObjects(*borderId); it.first!=it.second; it.first++)
                        {
                            newLines.push_back(*(static_cast<adore::env::BorderBased::StopLine*>(it.first->second)));
                            newCount++;
                            m_localSet.insert_object(static_cast<adore::env::BorderBased::StopLine*>(it.first->second));
                        }
                        if(newCount>=MAX_SEND_NUMBER)
                        {
                            break;
                        }
                    }
                }
 
                /* remove all processed borders from border queue */
                for(;bCount>0;bCount--)
                {
                    m_borderQueue.pop_front();
                }
            }
        };
    }
}