map_parkingspot_management.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 ********************************************************************************/
 
 
#pragma once
 
#include "adore/env/borderbased/parkingspotset.h"
#include "map_auxiliary.h"
 
namespace adore
{
    namespace env
    {
        class MapParkingSpotManagement
        {
            adore::env::BorderBased::ParkingSpotSet m_globalSet;
            adore::env::BorderBased::ParkingSpotSet m_localSet;
 
        public:
            void init(adore::env::BorderBased::ParkingSpotSet &globalSet)
            {
                m_globalSet = globalSet;
            }
 
            void reset()
            {
                m_localSet.clear();
            }
 
            void run(double x, double y, double r, std::vector<adore::env::BorderBased::ParkingSpot> &newSpots, std::vector<adore::env::BorderBased::ParkingSpot> &outdatedSpots, int MAX_SEND_NUMBER = 5)
            {
                auto corners = MAP_AUX::getCornerPoints(x,y,r);
 
                newSpots.clear();
                outdatedSpots.clear();
 
                /* collect ParkingSpots that will be removed */
                outdatedSpots = m_localSet.itPair2ParkingSpotVector(m_localSet.getParkingSpotsOutsideRegion(corners.at(0),corners.at(1),corners.at(2),corners.at(3)));
                for(auto it = outdatedSpots.begin(); it!=outdatedSpots.end(); it++)
                {
                    m_localSet.eraseParkingSpot(*it);
                }
 
                /* collect new ParkingSpots */
                int newCount = 0;
                for(auto visible = m_globalSet.getParkingSpotsInRegion(corners.at(0),corners.at(1),corners.at(2),corners.at(3)); visible.first!=visible.second; visible.first++)
                {
                    adore::env::BorderBased::ParkingSpot ps(adore::env::BorderBased::Coordinate(visible.first->first),visible.first->second);
                    if(!m_localSet.hasParkingSpot(ps))
                    {
                        m_localSet.insertParkingSpot(ps);
                        newSpots.push_back(ps);
                        newCount++;
                        if(newCount>=MAX_SEND_NUMBER)
                        {
                            break;
                        }
                    }
                }
 
                
            }
        };
    }
}