stop_sign_unprotected_scenario.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 <memory>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>

#include "modules/common/util/factory.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/planning/proto/planning.pb.h"
#include "modules/planning/scenarios/scenario.h"

namespace apollo {
namespace planning {
namespace scenario {
namespace stop_sign {

// stage context
struct StopSignUnprotectedContext {
  ScenarioStopSignUnprotectedConfig scenario_config;
  std::string current_stop_sign_overlap_id;
  double stop_start_time = 0.0;
  double creep_start_time = 0.0;
  // watch_vehicle: <lane_id, perception_obstacle_ids>
  std::unordered_map<std::string, std::vector<std::string>> watch_vehicles;
  std::vector<std::pair<hdmap::LaneInfoConstPtr, hdmap::OverlapInfoConstPtr>>
      associated_lanes;
};

class StopSignUnprotectedScenario : public Scenario {
 public:
  StopSignUnprotectedScenario(
      const ScenarioConfig& config, const ScenarioContext* context,
      const std::shared_ptr<DependencyInjector>& injector)
      : Scenario(config, context, injector) {}

  void Init() override;

  std::unique_ptr<Stage> CreateStage(
      const ScenarioConfig::StageConfig& stage_config,
      const std::shared_ptr<DependencyInjector>& injector);

  StopSignUnprotectedContext* GetContext() { return &context_; }

 private:
  static void RegisterStages();
  bool GetScenarioConfig();
  int GetAssociatedLanes(const hdmap::StopSignInfo& stop_sign_info);

 private:
  static apollo::common::util::Factory<
      ScenarioConfig::StageType, Stage,
      Stage* (*)(const ScenarioConfig::StageConfig& stage_config,
                 const std::shared_ptr<DependencyInjector>& injector)>
      s_stage_factory_;
  bool init_ = false;
  StopSignUnprotectedContext context_;
};

}  // namespace stop_sign
}  // namespace scenario
}  // namespace planning
}  // namespace apollo