base_map.h

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/******************************************************************************
 * Copyright 2019 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 <map>
#include <memory>
#include <set>
#include <string>
#include <vector>

#include "cyber/task/task.h"
#include "modules/localization/msf/common/util/base_map_cache.h"
#include "modules/localization/msf/local_pyramid_map/base_map/base_map_config.h"
#include "modules/localization/msf/local_pyramid_map/base_map/base_map_fwd.h"
#include "modules/localization/msf/local_pyramid_map/base_map/base_map_node.h"
#include "modules/localization/msf/local_pyramid_map/base_map/base_map_node_index.h"
#include "modules/localization/msf/local_pyramid_map/base_map/base_map_pool.h"

namespace apollo {
namespace localization {
namespace msf {
namespace pyramid_map {

class BaseMap {
 public:
  explicit BaseMap(BaseMapConfig* config);
  virtual ~BaseMap();

  // @brief Init level 1 and level 2 map node caches. */
  virtual void InitMapNodeCaches(int cacheL1_size, int cahceL2_size);

  void AttachMapNodePool(BaseMapNodePool* p_map_node_pool);

  BaseMapNode* GetMapNode(const MapNodeIndex& index);

  BaseMapNode* GetMapNodeSafe(const MapNodeIndex& index);

  bool IsMapNodeExist(const MapNodeIndex& index);

  bool SetMapFolderPath(const std::string folder_path);

  void AddDataset(const std::string dataset_path);

  void Release();

  virtual void PreloadMapArea(const Eigen::Vector3d& location,
                              const Eigen::Vector3d& trans_diff,
                              unsigned int resolution_id, unsigned int zone_id);
  virtual bool LoadMapArea(const Eigen::Vector3d& seed_pt3d,
                           unsigned int resolution_id, unsigned int zone_id,
                           int filter_size_x, int filter_size_y);

  void ComputeMd5ForAllMapNodes();

  bool CheckMap();
  bool CheckMapStrictly();

  inline const BaseMapConfig& GetMapConfig() const { return *map_config_; }
  inline BaseMapConfig& GetMapConfig() { return *map_config_; }
  inline const std::vector<std::string>& GetAllMapNodePaths() const {
    return all_map_node_paths_;
  }
  inline const std::vector<std::string>& GetAllMapNodeMd5s() const {
    return all_map_node_md5s_;
  }

 protected:
  void GetAllMapIndexAndPath();
  MapNodeIndex GetMapIndexFromMapPath(const std::string& map_path);

 protected:
  void LoadMapNodes(std::set<MapNodeIndex>* map_ids);
  void PreloadMapNodes(std::set<MapNodeIndex>* map_ids);
  void LoadMapNodeThreadSafety(const MapNodeIndex& index,
                               bool is_reserved = false);
  void CheckAndUpdateCache(std::set<MapNodeIndex>* map_ids);

  BaseMapConfig* map_config_ = nullptr;

  MapNodeCache<MapNodeIndex, BaseMapNode>::DestroyFunc destroy_func_lvl1_;
  MapNodeCache<MapNodeIndex, BaseMapNode>::DestroyFunc destroy_func_lvl2_;
  std::unique_ptr<MapNodeCache<MapNodeIndex, BaseMapNode>>
      map_node_cache_lvl1_ = nullptr;
  std::unique_ptr<MapNodeCache<MapNodeIndex, BaseMapNode>>
      map_node_cache_lvl2_ = nullptr;
  BaseMapNodePool* map_node_pool_ = nullptr;
  std::set<MapNodeIndex> map_preloading_task_index_;
  boost::recursive_mutex map_load_mutex_;

  std::vector<MapNodeIndex> all_map_node_indices_;
  std::vector<std::string> all_map_node_paths_;

  std::vector<std::string> all_map_node_md5s_;
};

}  // namespace pyramid_map
}  // namespace msf
}  // namespace localization
}  // namespace apollo