arbitrator_utils.hpp

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/*
 * Copyright (C) 2022 LEIDOS.
 *
 * 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 __ARBITRATOR_INCLUDE_ARBITRATOR_UTILS_HPP__
#define __ARBITRATOR_INCLUDE_ARBITRATOR_UTILS_HPP__
 
#include <rclcpp/rclcpp.hpp>
#include <carma_planning_msgs/msg/maneuver_plan.hpp>
 
#define GET_MANEUVER_PROPERTY(mvr, property)\
        (((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_LEFT_TURN ? (mvr).intersection_transit_left_turn_maneuver.property :\
            ((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_RIGHT_TURN ? (mvr).intersection_transit_right_turn_maneuver.property :\
                ((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_STRAIGHT ? (mvr).intersection_transit_straight_maneuver.property :\
                    ((mvr).type == carma_planning_msgs::msg::Maneuver::LANE_CHANGE ? (mvr).lane_change_maneuver.property :\
                        ((mvr).type == carma_planning_msgs::msg::Maneuver::LANE_FOLLOWING ? (mvr).lane_following_maneuver.property :\
                        ((mvr).type == carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT ? (mvr).stop_and_wait_maneuver.property :\
                            throw std::invalid_argument("GET_MANEUVER_PROPERTY (property) called on maneuver with invalid type id"))))))))
 
namespace arbitrator_utils
{
    rclcpp::Time get_plan_start_time(const carma_planning_msgs::msg::ManeuverPlan&);
 
    double get_plan_start_distance(const carma_planning_msgs::msg::ManeuverPlan&);
 
    rclcpp::Time get_plan_end_time(const carma_planning_msgs::msg::ManeuverPlan&);
 
    double get_plan_end_distance(const carma_planning_msgs::msg::ManeuverPlan&);
 
    rclcpp::Time get_maneuver_start_time(const carma_planning_msgs::msg::Maneuver&);
 
    double get_maneuver_start_distance(const carma_planning_msgs::msg::Maneuver&);
    
    rclcpp::Time get_maneuver_end_time(const carma_planning_msgs::msg::Maneuver&);
 
    double get_maneuver_end_distance(const carma_planning_msgs::msg::Maneuver&);
} // namespace arbitrator
 
#endif //__ARBITRATOR_INCLUDE_ARBITRATOR_UTILS_HPP__