hdmap_util.h

Go to the documentation of this file.

/* Copyright 2017 The Apollo Authors. 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.
=========================================================================*/

#pragma once

#include <memory>
#include <string>

#include "absl/strings/str_cat.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/map/proto/map_id.pb.h"
#include "modules/map/relative_map/proto/navigation.pb.h"

namespace apollo {
namespace hdmap {

std::string BaseMapFile();

std::string SimMapFile();

std::string RoutingMapFile();

inline std::string EndWayPointFile() {
  if (FLAGS_use_navigation_mode) {
    return absl::StrCat(FLAGS_navigation_mode_end_way_point_file);
  } else {
    return absl::StrCat(FLAGS_map_dir, "/", FLAGS_end_way_point_filename);
  }
}

inline std::string DefaultRoutingFile() {
    return absl::StrCat(FLAGS_map_dir, "_", FLAGS_default_routing_filename);
}

inline apollo::hdmap::Id MakeMapId(const std::string& id) {
  apollo::hdmap::Id map_id;
  map_id.set_id(id);
  return map_id;
}

std::unique_ptr<HDMap> CreateMap(const std::string& map_file_path);

class HDMapUtil {
 public:
  // Get default base map from the file specified by global flags.
  // Return nullptr if failed to load.
  static const HDMap* BaseMapPtr();
  static const HDMap* BaseMapPtr(const relative_map::MapMsg& map_msg);
  // Guarantee to return a valid base_map, or else raise fatal error.
  static const HDMap& BaseMap();

  // Get default sim_map from the file specified by global flags.
  // Return nullptr if failed to load.
  static const HDMap* SimMapPtr();

  // Guarantee to return a valid sim_map, or else raise fatal error.
  static const HDMap& SimMap();

  // Reload maps from the file specified by global flags.
  static bool ReloadMaps();

 private:
  HDMapUtil() = delete;

  static std::unique_ptr<HDMap> base_map_;
  static uint64_t base_map_seq_;
  static std::mutex base_map_mutex_;

  static std::unique_ptr<HDMap> sim_map_;
  static std::mutex sim_map_mutex_;
};

}  // namespace hdmap
}  // namespace apollo