LaneGraph.h

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#ifndef DW_WORLD_LANEGRAPH_H_
#define DW_WORLD_LANEGRAPH_H_

#include <dw/core/Types.h>
#include <dw/worldmodel/LandmarkTypes.h>

#ifdef __cplusplus
extern "C" {
#endif

//#######################################################################################
// Data structs
//#######################################################################################

#define DW_LANEGRAPH_MAX_PT_CNT_IN_POLYLINE 600U

typedef struct dwLaneGraphPolyline
{
    dwVector3f points[DW_LANEGRAPH_MAX_PT_CNT_IN_POLYLINE];     
    float32_t speedLimits[DW_LANEGRAPH_MAX_PT_CNT_IN_POLYLINE]; 
    float32_t confidence[DW_LANEGRAPH_MAX_PT_CNT_IN_POLYLINE];  
    uint32_t pointCount;                                        
} dwLaneGraphPolyline;

typedef struct dwLaneGraphLaneDividerSegment
{
    uint32_t startIndex; 
    uint32_t endIndex;   
    dwLaneMarkType type; 
} dwLaneGraphLaneDividerSegment;

#define DW_LANEGRAPH_LANE_DIVIDER_MAX_SEGMENTS 30u

typedef struct dwLaneGraphLaneDivider
{
    dwLaneGraphPolyline geometry;                                                   
    dwLaneGraphLaneDividerSegment segments[DW_LANEGRAPH_LANE_DIVIDER_MAX_SEGMENTS]; 
    uint32_t segmentCount;                                                          
} dwLaneGraphLaneDivider;

typedef enum {
    DW_LANEGRAPH_LANE_TYPE_LEFT                   = DW_SIDE_LEFT,
    DW_LANEGRAPH_LANE_TYPE_RIGHT                  = DW_SIDE_RIGHT,
    DW_LANEGRAPH_LANE_TYPE_EGO                    = DW_SIDE_CENTER,
    DW_LANEGRAPH_LANE_TYPE_MERGE_FROM_LEFT        = 3,
    DW_LANEGRAPH_LANE_TYPE_MERGE_FROM_RIGHT       = 4,
    DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_LEFT         = 5,
    DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_RIGHT        = 6,
    DW_LANEGRAPH_LANE_TYPE_FORK_TO_LEFT           = 7,
    DW_LANEGRAPH_LANE_TYPE_FORK_TO_RIGHT          = 8,
    DW_LANEGRAPH_LANE_TYPE_CONTENDER              = 9,
    DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_LEFT_ENDING  = 10,
    DW_LANEGRAPH_LANE_TYPE_CHANGE_TO_RIGHT_ENDING = 11,
    DW_LANEGRAPH_LANE_TYPE_PEDESTRIAN             = 12,
    DW_LANEGRAPH_LANE_TYPE_OTHER                  = 13,
    DW_LANEGRAPH_LANE_TYPE_COUNT                  = 14
} dwLaneGraphLaneType;

typedef struct dwLaneGraphId
{
    uint32_t trackId; 
    uint32_t leftId;  
    uint32_t rightId; 
} dwLaneGraphId;

#define DW_LANEGRAPH_ID_RANGE_PER_SOURCE 100 
#define DW_LANEGRAPH_ID_INVALID UINT_MAX

#define DW_LANEGRAPH_MAX_CONTENDER_LANES 10U
typedef struct dwLaneGraphLaneContentionProperty
{
    uint32_t contenderLaneIndices[DW_LANEGRAPH_MAX_CONTENDER_LANES]; 
    uint32_t contenderLaneIndexCount;                                
} dwLaneGraphLaneContentionProperty;

typedef struct dwLaneGraphLane
{
    dwLaneGraphPolyline geometry;                  
    dwLaneGraphId id;                              
    dwLaneGraphLaneType side;                      
    dwLaneGraphLaneDivider laneDividers[2];        
    bool isLaneDividerValid[2];                    
    dwLaneGraphLaneContentionProperty contentions; 
} dwLaneGraphLane;

typedef enum dwLaneGraphSource {
    DW_LANEGRAPH_SOURCE_HDMAPS         = 0, 
    DW_LANEGRAPH_SOURCE_PILOTNET       = 1, 
    DW_LANEGRAPH_SOURCE_LANENET        = 2, 
    DW_LANEGRAPH_SOURCE_RAIL           = 3, 
    DW_LANEGRAPH_SOURCE_PATHNET        = 4, 
    DW_LANEGRAPH_SOURCE_VEHICLE_TRACES = 5, 
    DW_LANEGRAPH_SOURCE_LANEFUSION     = 6, 
    DW_LANEGRAPH_SOURCE_LANE_ENSEMBLE  = 7, 
    DW_LANEGRAPH_SOURCE_COUNT          = 8
} dwLaneGraphSource;

#define DW_LANEGRAPH_MAX_LANE_CNT_IN_LANEGRAPH 15U

typedef struct dwLaneGraph
{
    dwTime_t timestamp; 

    dwLaneGraphLane lanes[DW_LANEGRAPH_MAX_LANE_CNT_IN_LANEGRAPH]; 
    uint32_t laneCount;                                            
    bool hasLeftLane;                                              
    bool hasRightLane;                                             
    bool hasMidLane;                                               
    bool hasContenderLane;                                         
    dwLaneGraphSource source;                                      
} dwLaneGraph;

typedef struct dwLaneGraphList
{
    dwLaneGraph* laneGraphs; 
    uint32_t count;          
    uint32_t maxCount;       
} dwLaneGraphList;

typedef enum dwLaneHandlingMode {
    DW_LANEHANDLING_MODE_LANE_KEEP        = 0, 
    DW_LANEHANDLING_MODE_LANE_CHANGE      = 1, 
    DW_LANEHANDLING_MODE_LANE_SPLIT       = 2, 
    DW_LANEHANDLING_MODE_SPEED_ADAPTATION = 3, 
    DW_LANEHANDLING_MODE_ABORT            = 4, 
    DW_LANEHANDLING_MODE_MAX_NUM_STATE    = 5
} dwLaneHandlingMode;

#ifdef __cplusplus
}
#endif

#endif // DW_WORLD_LANEGRAPH_H_