openscenario-rs 0.3.0

Rust library for parsing and manipulating OpenSCENARIO files
Documentation 
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

//! Relative position builder for entity-relative positions

use super::PositionBuilder;
use crate::builder::{BuilderError, BuilderResult};
use crate::types::basic::{Double, Int, OSString};
use crate::types::positions::{Position, RelativeLanePosition, RelativeWorldPosition};

/// Builder for relative positions
#[derive(Debug, Clone, Default)]
pub struct RelativePositionBuilder {
    entity_ref: Option<String>,
    // World offset
    dx: Option<f64>,
    dy: Option<f64>,
    dz: Option<f64>,
    // Lane offset
    ds: Option<f64>,
    d_lane: Option<i32>,
    offset: Option<f64>,
    position_type: RelativePositionType,
}

#[derive(Debug, Clone, Default)]
enum RelativePositionType {
    #[default]
    World,
    Lane,
}

impl RelativePositionBuilder {
    /// Create a new relative position builder
    pub fn new() -> Self {
        Self::default()
    }

    /// Set the reference entity
    pub fn to_entity(mut self, entity_ref: &str) -> Self {
        self.entity_ref = Some(entity_ref.to_string());
        self
    }

    /// Set world coordinate offsets
    pub fn world_offset(mut self, dx: f64, dy: f64, dz: f64) -> Self {
        self.dx = Some(dx);
        self.dy = Some(dy);
        self.dz = Some(dz);
        self.position_type = RelativePositionType::World;
        self
    }

    /// Set lane coordinate offsets
    pub fn lane_offset(mut self, ds: f64, offset: f64) -> Self {
        self.ds = Some(ds);
        self.d_lane = Some(0);
        self.offset = Some(offset);
        self.position_type = RelativePositionType::Lane;
        self
    }
}

impl PositionBuilder for RelativePositionBuilder {
    fn finish(self) -> BuilderResult<Position> {
        self.validate()?;

        let mut position = Position::default();

        match self.position_type {
            RelativePositionType::World => {
                let relative_world_position = RelativeWorldPosition {
                    entity_ref: OSString::literal(self.entity_ref.unwrap()),
                    dx: Double::literal(self.dx.unwrap()),
                    dy: Double::literal(self.dy.unwrap()),
                    dz: Double::literal(self.dz.unwrap()),
                };
                position.relative_world_position = Some(relative_world_position);
            }
            RelativePositionType::Lane => {
                let relative_lane_position = RelativeLanePosition {
                    entity_ref: OSString::literal(self.entity_ref.unwrap()),
                    ds: Double::literal(self.ds.unwrap()),
                    d_lane: Int::literal(self.d_lane.unwrap()),
                    offset: Double::literal(self.offset.unwrap()),
                    orientation: None,
                };
                position.relative_lane_position = Some(relative_lane_position);
            }
        }

        Ok(position)
    }

    fn validate(&self) -> BuilderResult<()> {
        if self.entity_ref.is_none() {
            return Err(BuilderError::validation_error(
                "Entity reference is required",
            ));
        }

        match self.position_type {
            RelativePositionType::World => {
                if self.dx.is_none() || self.dy.is_none() || self.dz.is_none() {
                    return Err(BuilderError::validation_error(
                        "World offsets (dx, dy, dz) are required",
                    ));
                }
            }
            RelativePositionType::Lane => {
                if self.ds.is_none() || self.offset.is_none() {
                    return Err(BuilderError::validation_error(
                        "Lane offsets (ds, offset) are required",
                    ));
                }
            }
        }

        Ok(())
    }
}