traffic_verifier.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Suresh Golconda

#ifndef CAJUN_TRAFFIC_VERIFIER_H
#define CAJUN_TRAFFIC_VERIFIER_H


#include "data_type.H"
#include "rndf.H"
#include "world_state.H"
#include "uc_planner_param.H"

#include "intersection_task_planner.H"
#include "change_lane_task_planner.H"
#include "uturn_task_planner.H"
#include "passing_lane_task_planner.H"
#include "task_planner_util.H"

namespace cajun
{
class traffic_verifier_t
{

public:
        traffic_verifier_t (world_state_t *ws_, rndf_t const *rndf_);

        bool path_free_of_traffic (std::deque<task_planner_t *> &plan_,
                                   unsigned &stop_tp_ind_,
                                   unsigned &stop_path_ind_);


private:
        world_state_t *m_ws;
        rndf_t const *m_rndf;

        const uc_planner_param_t *m_uc_param;

        bool intersection_free_of_traffic (
                intersection_task_planner_t* int_tp_,
                unsigned &stop_path_ind_, double start_tstamp_);

        bool change_lane_free_of_traffic (
                change_lane_task_planner_t* cl_tp,
                unsigned &stop_path_ind_, double start_tstamp_);

        bool uturn_free_of_traffic (uturn_task_planner_t *ut_tp_,
                                    double start_tstamp_);

        bool passing_lane_free_of_traffic (
                passing_lane_task_planner_t *pl_tp,
                unsigned &stop_path_ind_,
                double start_tstamp_);

        bool approach_traffic (
                rndf_t::waypoint_id_t const &exit_wp_id_,
                rndf_t::waypoint_id_t const &entry_wp_id_,
                double till_time_);

        bool approaching_traffic_through_radar (
                rndf_t::waypoint_id_t const &ref_exit_id,
                rndf_t::waypoint_id_t const &entry_id,
                double till_time_);

        bool check_radar (std::vector<radar_info_t> const &radar_qid_,
                          double till_time_);

        bool traffic_crossing (double x_, double y_,
                                          unsigned sid_, unsigned lid_,
                                          unsigned wid_, double till_time_);

        void traffic_approach_point (
                std::vector<blocked_lane_data_t> &traff_approaching,
                double x_, double y_, unsigned sid_, unsigned lid_,
                unsigned wid_);

        bool tp_path_free_of_traffic (task_planner_t *tp_,
                                      unsigned tp_i,
                                      unsigned &stop_tp_ind_,
                                      unsigned &stop_path_ind_,
                                      double start_tstamp_);

        int radar_to_check (
                rndf_t::waypoint_id_t const &ref_exit_id,
                rndf_t::waypoint_id_t const &entry_id);
};

};


#endif

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