traffic_incident_parser_worker.hpp

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/*
 * Copyright (C) 2019-2022 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.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <carma_v2x_msgs/msg/mobility_operation.hpp>
#include <carma_v2x_msgs/msg/traffic_control_message_v01.hpp>
#include <carma_v2x_msgs/msg/traffic_control_message.hpp>
#include <std_msgs/msg/string.hpp>
#include <functional>
#include <iostream>
#include <string>
#include <sstream>
#include <iostream>
#include <string>
#include <cstring>
#include <vector>
#include <algorithm>
#include <sstream>
#include <lanelet2_extension/projection/local_frame_projector.h>
#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_routing/RoutingGraph.h>
#include <carma_wm/WorldModel.hpp>
#include <std_msgs/msg/string.h>
#include <carma_wm/Geometry.hpp>
 
namespace traffic_incident_parser{
 
class TrafficIncidentParserWorker
{
 
 public:
 
  using PublishTrafficControlCallback = std::function<void(const carma_v2x_msgs::msg::TrafficControlMessage&)>;
  const double MphToMetersPerSec = 0.44704; //Convert miles per hour to meters per second
 
 
  TrafficIncidentParserWorker(carma_wm::WorldModelConstPtr wm, const PublishTrafficControlCallback &traffic_control_pub,
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger, rclcpp::Clock::SharedPtr clock);
 
  void georeferenceCallback(std_msgs::msg::String::UniquePtr projection_msg);
 
  void mobilityOperationCallback(carma_v2x_msgs::msg::MobilityOperation::UniquePtr mobility_msg);
 
  bool mobilityMessageParser(std::string mobility_strategy_params);
 
  std::string stringParserHelper(std::string str, unsigned long str_index) const;
 
  std::vector<carma_v2x_msgs::msg::TrafficControlMessageV01> composeTrafficControlMesssages();
 
  lanelet::BasicPoint2d getIncidentOriginPoint() const;
 
  void getAdjacentForwardCenterlines(const lanelet::ConstLanelets& adjacentSet,
    const lanelet::BasicPoint2d& start_point, double downtrack, std::vector<std::vector<lanelet::BasicPoint2d>>* forward_lanes) const;
 
  void getAdjacentReverseCenterlines(const lanelet::ConstLanelets& adjacentSet,
    const lanelet::BasicPoint2d& start_point, double uptrack, std::vector<std::vector<lanelet::BasicPoint2d>>* reverse_lanes) const;
 
  double latitude = 0.0;
  double longitude = 0.0;
  double down_track = 0.0;
  double up_track = 0.0;
  double min_gap = 0.0;
  double speed_advisory = 0.0;
  std::string event_reason;
  std::string event_type;
 
  std::string previous_strategy_params="";
 
 private:
 
  lanelet::BasicPoint2d local_point_;
  std::string projection_msg_;
  PublishTrafficControlCallback traffic_control_pub_;// local copy of external object publihsers
  carma_wm::WorldModelConstPtr wm_;
  // Logger interface
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_;
 
  rclcpp::Clock::SharedPtr clock_;
};
 
} // namespace traffic_incident_parser