maliput-sys 0.26.0

FFI Rust bindings for maliput
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207

// BSD 3-Clause License
//
// Copyright (c) 2024, Woven by Toyota.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice, this
//   list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// * Neither the name of the copyright holder nor the names of its
//   contributors may be used to endorse or promote products derived from
//   this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

// This header contains function declarations for the CXX bridge.
// Implementations are in rules_impl.cc to avoid circular dependency with mod.rs.h.

#pragma once

#include <memory>
#include <optional>
#include <vector>

#include <maliput/api/intersection.h>
#include <maliput/api/rules/discrete_value_rule.h>
#include <maliput/api/rules/discrete_value_rule_state_provider.h>
#include <maliput/api/rules/phase.h>
#include <maliput/api/rules/phase_ring.h>
#include <maliput/api/rules/phase_ring_book.h>
#include <maliput/api/rules/range_value_rule.h>
#include <maliput/api/rules/range_value_rule_state_provider.h>
#include <maliput/api/rules/rule_registry.h>
#include <maliput/api/rules/traffic_lights.h>
#include <maliput/api/rules/traffic_light_book.h>
#include <maliput/api/rules/traffic_sign.h>
#include <maliput/api/rules/traffic_sign_book.h>
#include <maliput/math/bounding_box.h>
#include <maliput/math/roll_pitch_yaw.h>
#include <maliput/math/vector.h>

#include <rust/cxx.h>

#include "api/rules/aliases.h"

namespace maliput {
namespace api {
namespace rules {

// Forward declarations for CXX shared structs.
// These are defined in the CXX-generated mod.rs.h header.
// NOTE: Do NOT forward declare types from aliases.h (DiscreteValueRuleDiscreteValue,
// PhaseStateProviderQuery, etc.) - they are type aliases, not structs.
struct ConstTrafficLightPtr;
struct ConstBulbGroupPtr;
struct ConstBulbPtr;
struct ConstTrafficSignPtr;
struct FloatWrapper;
struct StringWrapper;
struct RelatedRule;
struct RelatedUniqueId;
struct DiscreteValueRuleState;
struct NextPhase;
struct DiscreteValueRuleType;
struct RangeValueRuleType;
struct DiscreteValueNextState;
struct RangeValueNextState;
struct ConstLaneSRangeRef;

// Function declarations - implementations are in rules.cc

std::unique_ptr<std::vector<ConstTrafficLightPtr>> TrafficLightBook_TrafficLights(const TrafficLightBook& traffic_light_book);
const TrafficLight* TrafficLightBook_GetTrafficLight(const TrafficLightBook& traffic_light_book, const rust::String& id);
std::unique_ptr<std::vector<ConstTrafficLightPtr>> TrafficLightBook_FindByLane(const TrafficLightBook& traffic_light_book, const rust::String& lane_id);

rust::String TrafficLight_id(const TrafficLight& traffic_light);
std::unique_ptr<maliput::api::InertialPosition> TrafficLight_position_road_network(const TrafficLight& traffic_light);
std::unique_ptr<maliput::api::Rotation> TrafficLight_orientation_road_network(const TrafficLight& traffic_light);
std::unique_ptr<std::vector<ConstBulbGroupPtr>> TrafficLight_bulb_groups(const TrafficLight& traffic_light);
const BulbGroup* TrafficLight_GetBulbGroup(const TrafficLight& traffic_light, const rust::String& id);
rust::Vec<rust::String> TrafficLight_related_lanes(const TrafficLight& traffic_light);

std::unique_ptr<UniqueBulbId> Bulb_unique_id(const Bulb& bulb);
rust::String Bulb_id(const Bulb& bulb);
std::unique_ptr<maliput::api::InertialPosition> Bulb_position_bulb_group(const Bulb& bulb);
std::unique_ptr<maliput::api::Rotation> Bulb_orientation_bulb_group(const Bulb& bulb);
const BulbType& Bulb_type(const Bulb& bulb);
std::unique_ptr<FloatWrapper> Bulb_arrow_orientation_rad(const Bulb& bulb);
std::unique_ptr<std::vector<BulbState>> Bulb_states(const Bulb& bulb);
std::unique_ptr<maliput::math::Vector3> Bulb_bounding_box_min(const Bulb& bulb);
std::unique_ptr<maliput::math::Vector3> Bulb_bounding_box_max(const Bulb& bulb);
const BulbGroup* Bulb_bulb_group(const Bulb& bulb);

rust::String BulbGroup_id(const BulbGroup& bulb_group);
std::unique_ptr<UniqueBulbGroupId> BulbGroup_unique_id(const BulbGroup& bulb_group);
std::unique_ptr<InertialPosition> BulbGroup_position_traffic_light(const BulbGroup& bulb_group);
std::unique_ptr<Rotation> BulbGroup_orientation_traffic_light(const BulbGroup& bulb_group);
std::unique_ptr<std::vector<ConstBulbPtr>> BulbGroup_bulbs(const BulbGroup& bulb_group);
const Bulb* BulbGroup_GetBulb(const BulbGroup& bulb_group, const rust::String& id);
const TrafficLight* BulbGroup_traffic_light(const BulbGroup& bulb_group);

rust::String UniqueBulbId_traffic_light_id(const UniqueBulbId& id);
rust::String UniqueBulbId_bulb_group_id(const UniqueBulbId& id);
rust::String UniqueBulbId_bulb_id(const UniqueBulbId& id);

rust::String UniqueBulbGroupId_traffic_light_id(const UniqueBulbGroupId& id);
rust::String UniqueBulbGroupId_bulb_group_id(const UniqueBulbGroupId& id);

std::unique_ptr<UniqueBulbId> UniqueBulbId_create_unique_ptr(const UniqueBulbId& id);

rust::String DiscreteValueRuleDiscreteValue_value(const DiscreteValueRuleDiscreteValue& discrete_value);
rust::i32 DiscreteValueRuleDiscreteValue_severity(const DiscreteValueRuleDiscreteValue& discrete_value);
std::unique_ptr<std::vector<RelatedRule>> DiscreteValueRuleDiscreteValue_related_rules(const DiscreteValueRuleDiscreteValue& discrete_value);
std::unique_ptr<std::vector<RelatedUniqueId>> DiscreteValueRuleDiscreteValue_related_unique_ids(const DiscreteValueRuleDiscreteValue& discrete_value);

std::unique_ptr<DiscreteValueRule> RoadRulebook_GetDiscreteValueRule(const RoadRulebook& road_rulebook, const rust::String& id);
std::unique_ptr<RangeValueRule> RoadRulebook_GetRangeValueRule(const RoadRulebook& road_rulebook, const rust::String& id);
std::unique_ptr<QueryResults> RoadRulebook_Rules(const RoadRulebook& road_rulebook);
std::unique_ptr<QueryResults> RoadRulebook_FindRules(const RoadRulebook& road_rulebook, const rust::Vec<ConstLaneSRangeRef>& ranges, double tolerance);

rust::String DiscreteValueRule_id(const DiscreteValueRule& rule);
rust::String DiscreteValueRule_type_id(const DiscreteValueRule& rule);
std::unique_ptr<LaneSRoute> DiscreteValueRule_zone(const DiscreteValueRule& rule);

rust::String RangeValueRuleRange_description(const RangeValueRuleRange& range);
rust::f64 RangeValueRuleRange_min(const RangeValueRuleRange& range);
rust::f64 RangeValueRuleRange_max(const RangeValueRuleRange& range);
rust::i32 RangeValueRuleRange_severity(const RangeValueRuleRange& range);
std::unique_ptr<std::vector<RelatedRule>> RangeValueRuleRange_related_rules(const RangeValueRuleRange& range);
std::unique_ptr<std::vector<RelatedUniqueId>> RangeValueRuleRange_related_unique_ids(const RangeValueRuleRange& range);

rust::String RangeValueRule_id(const RangeValueRule& rule);
rust::String RangeValueRule_type_id(const RangeValueRule& rule);
std::unique_ptr<LaneSRoute> RangeValueRule_zone(const RangeValueRule& rule);

rust::Vec<rust::String> QueryResults_discrete_value_rules(const QueryResults& query_results);
rust::Vec<rust::String> QueryResults_range_value_rules(const QueryResults& query_results);

rust::String Phase_id(const Phase& phase);
std::unique_ptr<std::vector<DiscreteValueRuleState>> Phase_discrete_value_rule_states(const Phase& phase);
std::unique_ptr<std::vector<UniqueBulbId>> Phase_unique_bulb_ids(const Phase& phase);
std::unique_ptr<BulbState> Phase_bulb_state(const Phase& phase, const UniqueBulbId& bulb_id);

std::unique_ptr<UniqueBulbId> ptr_from_unique_bulb_id(const UniqueBulbId& unique_bulb_id);

rust::String PhaseRing_id(const PhaseRing& phase_ring);
std::unique_ptr<Phase> PhaseRing_GetPhase(const PhaseRing& phase_ring, const rust::String& id);
rust::Vec<rust::String> PhaseRing_phases_ids(const PhaseRing& phase_ring);
std::unique_ptr<std::vector<NextPhase>> PhaseRing_GetNextPhases(const PhaseRing& phase_ring, const rust::String& id);

rust::String PhaseStateProvider_state(const PhaseStateProviderQuery &phase_state_provider);
std::unique_ptr<NextPhase> PhaseStateProvider_next(const PhaseStateProviderQuery &phase_state_provider);

std::unique_ptr<PhaseStateProviderQuery> PhaseProvider_GetPhase(const PhaseProvider& phase_provider, const rust::String& phase_ring_id);

rust::Vec<rust::String> PhaseRingBook_GetPhaseRingsId(const PhaseRingBook& phase_ring_book);
std::unique_ptr<PhaseRing> PhaseRingBook_GetPhaseRing(const PhaseRingBook& phase_ring_book, const rust::String& id);
std::unique_ptr<PhaseRing> PhaseRingBook_FindPhaseRing(const PhaseRingBook& phase_ring_book, const rust::String& rule_id);

std::unique_ptr<std::vector<DiscreteValueRuleType>> RuleRegistry_DiscreteValueRuleTypes(const RuleRegistry& rule_registry);
std::unique_ptr<std::vector<RangeValueRuleType>> RuleRegistry_RangeValueRuleTypes(const RuleRegistry& rule_registry);

std::unique_ptr<DiscreteValueRuleStateProviderQuery> DiscreteValueRuleStateProvider_GetStateById(const DiscreteValueRuleStateProvider& state_provider, const rust::String& rule_id);
std::unique_ptr<DiscreteValueRuleStateProviderQuery> DiscreteValueRuleStateProvider_GetStateByType(const DiscreteValueRuleStateProvider& state_provider, const RoadPosition& road_position, const rust::String& rule_type, double tolerance);

std::unique_ptr<RangeValueRuleStateProviderQuery> RangeValueRuleStateProvider_GetStateById(const RangeValueRuleStateProvider& state_provider, const rust::String& rule_id);
std::unique_ptr<RangeValueRuleStateProviderQuery> RangeValueRuleStateProvider_GetStateByType(const RangeValueRuleStateProvider& state_provider, const RoadPosition& road_position, const rust::String& rule_type, double tolerance);

std::unique_ptr<DiscreteValueRuleDiscreteValue> DiscreteValueRuleStateProviderQuery_state(const DiscreteValueRuleStateProviderQuery& query);
std::unique_ptr<DiscreteValueNextState> DiscreteValueRuleStateProviderQuery_next(const DiscreteValueRuleStateProviderQuery& query);

std::unique_ptr<RangeValueRuleRange> RangeValueRuleStateProviderQuery_state(const RangeValueRuleStateProviderQuery& query);
std::unique_ptr<RangeValueNextState> RangeValueRuleStateProviderQuery_next(const RangeValueRuleStateProviderQuery& query);

// TrafficSignBook bindings declarations.
std::unique_ptr<std::vector<ConstTrafficSignPtr>> TrafficSignBook_TrafficSigns(const TrafficSignBook& traffic_sign_book);
const TrafficSign* TrafficSignBook_GetTrafficSign(const TrafficSignBook& traffic_sign_book, const rust::String& id);
std::unique_ptr<std::vector<ConstTrafficSignPtr>> TrafficSignBook_FindByLane(const TrafficSignBook& traffic_sign_book, const rust::String& lane_id);
std::unique_ptr<std::vector<ConstTrafficSignPtr>> TrafficSignBook_FindByType(const TrafficSignBook& traffic_sign_book, TrafficSignType sign_type);

// TrafficSign bindings declarations.
rust::String TrafficSign_id(const TrafficSign& sign);
const TrafficSignType& TrafficSign_type(const TrafficSign& sign);
std::unique_ptr<maliput::api::InertialPosition> TrafficSign_position_road_network(const TrafficSign& sign);
std::unique_ptr<maliput::api::Rotation> TrafficSign_orientation_road_network(const TrafficSign& sign);
std::unique_ptr<StringWrapper> TrafficSign_message(const TrafficSign& sign);
rust::Vec<rust::String> TrafficSign_related_lanes(const TrafficSign& sign);
std::unique_ptr<maliput::math::BoundingBox> TrafficSign_bounding_box(const TrafficSign& sign);

}  // namespace rules
}  // namespace api
}  // namespace maliput