relative_map.h

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/******************************************************************************
 * Copyright 2018 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 <string>

#include "modules/common/monitor_log/monitor_log_buffer.h"
#include "modules/common/status/status.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/relative_map/navigation_lane.h"
#include "modules/map/relative_map/proto/navigation.pb.h"
#include "modules/map/relative_map/proto/relative_map_config.pb.h"
#include "modules/perception/proto/perception_obstacle.pb.h"

namespace apollo {
namespace relative_map {

class RelativeMap {
 public:
  RelativeMap();

  std::string Name() const { return "RelativeMap"; }

  apollo::common::Status Init(
      common::VehicleStateProvider* vehicle_state_provider);

  apollo::common::Status Start();

  void Stop();

  virtual ~RelativeMap() = default;

  bool Process(MapMsg* const map_msg);

  void OnPerception(
      const perception::PerceptionObstacles& perception_obstacles);
  void OnChassis(const canbus::Chassis& chassis);
  void OnLocalization(const localization::LocalizationEstimate& localization);
  void OnNavigationInfo(const NavigationInfo& navigation_info);

 private:
  bool CreateMapFromNavigationLane(MapMsg* map_msg);
  RelativeMapConfig config_;
  apollo::common::monitor::MonitorLogBuffer monitor_logger_buffer_;

  NavigationLane navigation_lane_;
  perception::PerceptionObstacles perception_obstacles_;
  canbus::Chassis chassis_;
  localization::LocalizationEstimate localization_;

  std::mutex navigation_lane_mutex_;
  common::VehicleStateProvider* vehicle_state_provider_;
};

}  // namespace relative_map
}  // namespace apollo