Program Listing for File SimOneHDMapAPI.h
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api\Cpp_API_Reference\SimOneHDMapAPI.h
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// ==========================================================================
// Copyright (C) 2018 - 2021 Beijing 51WORLD Digital Twin Technology Co., Ltd.
// , and/or its licensors. All rights reserved.
//
// The coded instructions, statements, computer programs, and/or related
// material (collectively the "Data") in these files contain unpublished
// information proprietary to Beijing 51WORLD Digital Twin Technology Co., Ltd.
// ("51WORLD") and/or its licensors, which is protected by the People's
// Republic of China and/or other countries copyright law and by
// international treaties.
//
// The Data may not be disclosed or distributed to third parties or be
// copied or duplicated, in whole or in part, without the prior written
// consent of 51WORLD.
//
// The copyright notices in the Software and this entire statement,
// including the above license grant, this restriction and the following
// disclaimer, must be included in all copies of the Software, in whole
// or in part, and all derivative works of the Software, unless such copies
// or derivative works are solely in the form of machine-executable object
// code generated by a source language processor.
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND.
// 51WORLD DOES NOT MAKE AND HEREBY DISCLAIMS ANY EXPRESS OR IMPLIED
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// ==========================================================================
#pragma once
#pragma warning(disable:4819)
#pragma warning(disable:4190)
#ifndef WITHOUT_HDMAP
#ifdef BUILD_SIMONE_API
#if defined(WIN32) || defined(_WIN32)
#define SIMONE_API __declspec(dllexport)
#elif defined(__linux__) || defined(__linux)
#define SIMONE_API __attribute__((visibility("default")))
#endif
#else
#define SIMONE_API
#endif
#include <string>
#include "Service/SimOneIOStruct.h"
#include "public/common/MEnum.h"
#include "public/common/MLaneLink.h"
#include "public/common/MLaneInfo.h"
#include "public/common/MRoadMark.h"
#include "public/common/MSignal.h"
#include "public/common/MObject.h"
#include "public/common/MParkingSpace.h"
#include "public/common/MRoutePath.h"
#include "public/common/MTopoGraph.h"
#include "public/MHDMap.h"
#include "SSD/SimPoint3D.h"
#include "SSD/SimString.h"
#include "SSD/SimString.h"
#include "SSD/SimVector.h"
//namespace HDMapStandalone
//{
// struct MLaneInfo;
// struct MLaneLink;
//}
#ifdef __cplusplus
extern "C"
{
#endif
namespace SimOneAPI {
struct LaneSample
{
int laneCode; //1, 2, ...
bool inJunction = false;
SSD::SimPoint3DVector leftBoundary; //Left boundary sample data£ºlane_line_left_data
SSD::SimPoint3DVector rightBoundary; //Right boundary sample data£ºlane_line_right_data
};
struct LaneData
{
SSD::SimVector<LaneSample> laneSampleList;
SSD::SimStringVector laneNameList;
HDMapStandalone::MRoadMark leftRoadMark;
HDMapStandalone::MRoadMark rightRoadMark;
};
struct LaneInfo
{
SSD::SimString currentLane;
SSD::SimVector<LaneData> dataList;
};
struct TyrePosInfo
{
SSD::SimPoint3D frontLeft;
SSD::SimPoint3D frontRight;
SSD::SimPoint3D rearLeft;
SSD::SimPoint3D rearRight;
};
enum EDirectionType_
{
Forward = 0,
TurnLeft = 1,
TurnRight = 2,
TurnBack = 3,
ForwardAndTurnLeft = 4,
ForwardAndTurnRight = 5,
ForwardAndTurnBack = 6,
TurnLeftAndTurnBack = 7
};
enum ELaneLineType_
{
none = 0,
whiteSolid = 1,
whiteDotted = 2,
yellowSolid = 3,
yellowDotted = 4
};
struct LaneIndexInfo_
{
int currentIndex = -99;
SSD::SimVector<int> indexList;
};
struct LaneSample_
{
int laneCode; //1, 2, ...
bool inJunction = false;
SSD::SimPoint3DVector leftBoundary; //Left boundary sample data：lane_line_left_data
SSD::SimPoint3DVector rightBoundary; //Right boundary sample data：lane_line_right_data
};
struct OverlapLaneInfo_
{
bool isOverlapLeftBoundary = false;
bool isOverlapRightBoundary = false;
};
struct LaneLineTypeInfo_
{
ELaneLineType_ leftLaneLineType;
ELaneLineType_ rightLaneLineType;
};
struct LaneData_
{
LaneIndexInfo_ laneIndexInfo;
EDirectionType_ laneType;
SSD::SimVector<LaneSample_> laneSampleList;
OverlapLaneInfo_ overlapLaneInfo;
LaneLineTypeInfo_ laneLineTypeInfo;
};
struct LaneInfo_
{
SSD::SimVector<LaneData_> dataList;
};
struct TyrePosInfo_
{
SSD::SimPoint3D frontLeft;
SSD::SimPoint3D frontRight;
SSD::SimPoint3D rearLeft;
SSD::SimPoint3D rearRight;
};
SIMONE_API void setHdmapLoad();
SIMONE_API bool LoadHDMap(int timeOutSeconds);
SIMONE_API bool GetNearMostLane(const SSD::SimPoint3D& pos, SSD::SimString& id, double& s, double& t, double& s_toCenterLine, double& t_toCenterLine);
SIMONE_API bool GetNearLanes(const SSD::SimPoint3D& pos, const double& distance, SSD::SimStringVector& nearLanes);
SIMONE_API bool GetNearLanesWithAngle(const SSD::SimPoint3D& pos, const double& distance,
const double& headingAngle, const double& angleShift, SSD::SimStringVector& nearLanes);
SIMONE_API bool GetDistanceToLaneBoundary(const SSD::SimPoint3D& pos, SSD::SimString& id, double& distToLeft, double& distToRight, double& distToLeft2D, double& distToRight2D);
SIMONE_API bool GetLaneSample(const SSD::SimString &id, HDMapStandalone::MLaneInfo& info);
SIMONE_API bool GetLaneLink(const SSD::SimString& id, HDMapStandalone::MLaneLink& laneLink);
SIMONE_API bool GetLaneType(const SSD::SimString& id, HDMapStandalone::MLaneType& laneType);
SIMONE_API bool GetLaneWidth(const SSD::SimString& id, const SSD::SimPoint3D& pos, double& width);
SIMONE_API bool GetLaneST(const SSD::SimString& id, const SSD::SimPoint3D& pos, double& s, double& t);
SIMONE_API bool GetRoadST(const SSD::SimString& id, const SSD::SimPoint3D& pos, double& s, double& t, double& z);
SIMONE_API bool GetInertialFromLaneST(const SSD::SimString& id, const double& s, const double& t, SSD::SimPoint3D& inertial, SSD::SimPoint3D& dir);
SIMONE_API bool ContainsLane(const SSD::SimString& id);
SIMONE_API void GetParkingSpaceList(SSD::SimVector<HDMapStandalone::MParkingSpace>& parkingSpaceList);
SIMONE_API bool GenerateRoute(const SSD::SimPoint3DVector& inputPoints, SSD::SimVector<int>& indexOfValidPoints, SSD::SimPoint3DVector& route);
SIMONE_API bool Navigate(const SSD::SimPoint3DVector& inputPoints, SSD::SimVector<int>& indexOfValidPoints, SSD::SimVector<long>& roadIdList);
SIMONE_API bool GetRoadMark(const SSD::SimPoint3D& pos, const SSD::SimString& id, HDMapStandalone::MRoadMark& left, HDMapStandalone::MRoadMark& right);
SIMONE_API void GetTrafficLightList(SSD::SimVector<HDMapStandalone::MSignal>& list);
SIMONE_API void GetTrafficSignList(SSD::SimVector<HDMapStandalone::MSignal>& list);
SIMONE_API void GetStoplineList(const HDMapStandalone::MSignal& light, const SSD::SimString& id, SSD::SimVector<HDMapStandalone::MObject>& stoplineList);
SIMONE_API void GetCrosswalkList(const HDMapStandalone::MSignal& light, const SSD::SimString& id, SSD::SimVector<HDMapStandalone::MObject>& crosswalkList);
SIMONE_API void GetCrossHatchList(const SSD::SimString& id, SSD::SimVector<HDMapStandalone::MObject>& crossHatchList);
SIMONE_API bool GetLaneMiddlePoint(const SSD::SimPoint3D& inputPt, const SSD::SimString& id, SSD::SimPoint3D& targetPoint, SSD::SimPoint3D& dir);
SIMONE_API bool GetHeights(const SSD::SimPoint3D& inputPt, const double& radius, SSD::SimVector<double>& heights,
SSD::SimVector<long>& roadIds, SSD::SimVector<bool>& insideRoadStates);
// %%%%%%%%%%%% V2 Add %%%%%%%%%%%%
SIMONE_API void GetLaneData(SSD::SimVector<HDMapStandalone::MLaneInfo>& data);
SIMONE_API void GetJunctionList(SSD::SimVector<long>& juncList);
SIMONE_API double GetRoadLength(const long& roadId);
SIMONE_API bool GetSectionLaneList(const SSD::SimString& laneId, SSD::SimStringVector& sectionLaneList);
SIMONE_API bool IsTwoSideRoad(const long& roadId);
SIMONE_API double GetLaneLength(const SSD::SimString& id);
SIMONE_API bool IsDriving(const SSD::SimString& id);
SIMONE_API bool IsInJunction(const SSD::SimString& id, long& juncId);
SIMONE_API bool IsInsideLane(const SSD::SimPoint3D& inputPt, const SSD::SimString& laneName, HDMapStandalone::MSideState& sideState);
// %%%%%%%%%%%% V3 Add %%%%%%%%%%%%
SIMONE_API bool GetLaneSampleByLocation(const SSD::SimPoint3D& pos, HDMapStandalone::MLaneInfo& info);
//%%%%%%%%%%%%%% V4 Add %%%%%%%%%%%%%%%
SIMONE_API void GetLaneLineInfo(SSD::SimVector<HDMapStandalone::MLaneLineInfo> & data);
SIMONE_API void GetSpecifiedLaneCrosswalkList(const SSD::SimString& id, SSD::SimVector<HDMapStandalone::MObject>& crosswalkList);
SIMONE_API void GetSpecifiedLaneStoplineList(const SSD::SimString& id, SSD::SimVector<HDMapStandalone::MObject>& stoplineList);
SIMONE_API void GetSpecifiedLaneTrafficSignalList(const SSD::SimString& id, SSD::SimVector<HDMapStandalone::MSignal>& list);
SIMONE_API void GetSpecifiedLaneTrafficLightList(const SSD::SimString & id, SSD::SimVector<HDMapStandalone::MSignal>& list);
SIMONE_API bool GetParkingSpaceIds(const SSD::SimPoint3D& inputPt, double distance, SSD::SimStringVector& ids);
SIMONE_API bool GetForwardLaneSample(const SSD::SimPoint3D& inputPt, const SSD::SimString& id, const double& forward,
SSD::SimVector<HDMapStandalone::MLaneInfo>& laneInfoList);
SIMONE_API void GetSignalListOnLaneByType(const SSD::SimString& laneName, const SSD::SimString& type, SSD::SimVector<HDMapStandalone::MSignal> & signalInfo);
SIMONE_API void GetLaneList(const long& roadId, SSD::SimStringVector &laneList);
SIMONE_API void GetJunction(const long& junctionId, HDMapStandalone::MJunction &junction);
SIMONE_API bool GenerateRoute_V2(const SSD::SimPoint3DVector& inputPoints, SSD::SimVector<int>& indexOfValidPoints,
HDMapStandalone::MRoutePath &path, SSD::SimVector<HDMapStandalone::MRoutePoint>& routePtList);
//~~~~~~~~~~~~~~~~~~~ADD~~~~~~~~~~~~~~~~~~~~~
SIMONE_API bool IsOverlapLaneLine(const SSD::SimPoint3D& pos, const double& radius, SSD::SimString& id);
SIMONE_API LaneInfo GetForwardLaneInfo(const SSD::SimPoint3D& pos, const TyrePosInfo& tyrePosInfo, const double& forward);
SIMONE_API bool GetTopoGraph(HDMapStandalone::MTopoGraph& topoGraph);
SIMONE_API void GetSectionList(const long& roadId, SSD::SimStringVector& rightList, SSD::SimStringVector& leftList);
}
#ifdef __cplusplus
}
#endif
#endif