SignalInterface.h

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#ifndef DW_WORLDMODEL_SIGNALINTERFACE_H_
#define DW_WORLDMODEL_SIGNALINTERFACE_H_

#include <dw/core/Types.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_MAX_BULBS_PER_LIGHT 8
#define DW_TRAFFIC_LIGHT_STATES_MAX_COUNT 32
#define DW_TRAFFIC_LIGHT_ARRAY_MAX_COUNT 32

typedef enum dwTrafficLightColor {
    DW_TRAFFIC_LIGHT_COLOR_INVALID = 0,
    DW_TRAFFIC_LIGHT_COLOR_UNKNOWN = 1,
    DW_TRAFFIC_LIGHT_COLOR_NONE    = 2,
    DW_TRAFFIC_LIGHT_COLOR_GREEN   = 3,
    DW_TRAFFIC_LIGHT_COLOR_RED     = 4,
    DW_TRAFFIC_LIGHT_COLOR_YELLOW  = 5,
    DW_TRAFFIC_LIGHT_COLOR_ORANGE  = 6,
    DW_TRAFFIC_LIGHT_COLOR_WHITE   = 7,

    DW_TRAFFIC_LIGHT_COLOR_COUNT = 8,
} dwTrafficLightColor;

typedef enum dwTrafficLightMode {
    DW_TRAFFIC_LIGHT_MODE_INVALID       = 0,
    DW_TRAFFIC_LIGHT_MODE_UNKNOWN       = 1,
    DW_TRAFFIC_LIGHT_MODE_CONSTANT      = 2,
    DW_TRAFFIC_LIGHT_MODE_OCCLUDED      = 3,
    DW_TRAFFIC_LIGHT_MODE_SELF_OCCLUDED = 4,
    DW_TRAFFIC_LIGHT_MODE_FLASHING      = 5,
    DW_TRAFFIC_LIGHT_MODE_COUNTER       = 6,
    DW_TRAFFIC_LIGHT_MODE_COUNT         = 7,
} dwTrafficLightMode;

typedef enum dwTrafficLightShape {
    DW_TRAFFIC_LIGHT_SHAPE_INVALID                   = 0,
    DW_TRAFFIC_LIGHT_SHAPE_UNKNOWN                   = 1,
    DW_TRAFFIC_LIGHT_SHAPE_CIRCLE_SOLID              = 2,
    DW_TRAFFIC_LIGHT_SHAPE_ARROW_STRAIGHT            = 3,
    DW_TRAFFIC_LIGHT_SHAPE_ARROW_DOWN                = 4,
    DW_TRAFFIC_LIGHT_SHAPE_ARROW_LEFT                = 5,
    DW_TRAFFIC_LIGHT_SHAPE_ARROW_RIGHT               = 6,
    DW_TRAFFIC_LIGHT_SHAPE_ARROW_DIAGONAL_UP_RIGHT   = 7,
    DW_TRAFFIC_LIGHT_SHAPE_ARROW_DIAGONAL_UP_LEFT    = 8,
    DW_TRAFFIC_LIGHT_SHAPE_ARROW_DIAGONAL_DOWN_RIGHT = 9,
    DW_TRAFFIC_LIGHT_SHAPE_ARROW_DIAGONAL_DOWN_LEFT  = 10,
    DW_TRAFFIC_LIGHT_SHAPE_ARROW_LEFT_U_TURN         = 11,
    DW_TRAFFIC_LIGHT_SHAPE_ARROW_RIGHT_U_TURN        = 12,
    DW_TRAFFIC_LIGHT_SHAPE_PEDESTRIAN                = 13,
    DW_TRAFFIC_LIGHT_SHAPE_HAND                      = 14,
    DW_TRAFFIC_LIGHT_SHAPE_VERTICAL_BLOCK            = 15,
    DW_TRAFFIC_LIGHT_SHAPE_DIAGONAL_BLOCK_LEFT       = 16,
    DW_TRAFFIC_LIGHT_SHAPE_DIAGONAL_BLOCK_RIGHT      = 17,
    DW_TRAFFIC_LIGHT_SHAPE_HORIZONTAL_BLOCK          = 18,
    DW_TRAFFIC_LIGHT_SHAPE_BICYCLE                   = 19,
    DW_TRAFFIC_LIGHT_SHAPE_COUNTER                   = 20,
    DW_TRAFFIC_LIGHT_SHAPE_CROSS                     = 21,
    DW_TRAFFIC_LIGHT_SHAPE_LETTERS                   = 22,
    DW_TRAFFIC_LIGHT_SHAPE_NUMBERS                   = 23,
    DW_TRAFFIC_LIGHT_SHAPE_OTHER                     = 24,
    DW_TRAFFIC_LIGHT_SHAPE_COUNT                     = 25,
} dwTrafficLightShape;

typedef enum dwTrafficSignalSubject {
    DW_TRAFFIC_SIGNAL_SUBJECT_INVALID             = 0,
    DW_TRAFFIC_SIGNAL_SUBJECT_UNKNOWN             = 1,
    DW_TRAFFIC_SIGNAL_SUBJECT_ALL_SUBJECTS        = 2,
    DW_TRAFFIC_SIGNAL_SUBJECT_VEHICLE             = 3,
    DW_TRAFFIC_SIGNAL_SUBJECT_TRUCK               = 4,
    DW_TRAFFIC_SIGNAL_SUBJECT_TRAM                = 5,
    DW_TRAFFIC_SIGNAL_SUBJECT_PEDESTRIAN          = 6,
    DW_TRAFFIC_SIGNAL_SUBJECT_BIKE                = 7,
    DW_TRAFFIC_SIGNAL_SUBJECT_MOTORCYCLE          = 8,
    DW_TRAFFIC_SIGNAL_SUBJECT_VEHICLES_ON_TRACKS  = 9,
    DW_TRAFFIC_SIGNAL_SUBJECT_TAXI                = 10,
    DW_TRAFFIC_SIGNAL_SUBJECT_BUS                 = 11,
    DW_TRAFFIC_SIGNAL_SUBJECT_TRACTOR             = 12,
    DW_TRAFFIC_SIGNAL_SUBJECT_LONG_TRUCK          = 13,
    DW_TRAFFIC_SIGNAL_SUBJECT_MOPED               = 14,
    DW_TRAFFIC_SIGNAL_SUBJECT_EMERGENCY_VEHICLES  = 15,
    DW_TRAFFIC_SIGNAL_SUBJECT_ACCESSIBLE_VEHICLES = 16,
    DW_TRAFFIC_SIGNAL_SUBJECT_COUNT               = 17
} dwTrafficSignalSubject;

typedef struct dwSignalBody
{
    dwTime_t timestamp_us;                
    uint64_t trackId;                     
    float32_t confidence;                 
    uint64_t sensorIdMask;                
    dwVector3f position;                  
    dwConfidence3f positionConfidence;    
    dwVector3f orientation;               
    dwConfidence2f orientationConfidence; 
} dwSignalBody;

typedef struct dwBulbState
{
    dwTrafficLightColor lightColor;      
    dwTrafficLightShape lightShape;      
    dwTrafficSignalSubject lightSubject; 
    dwTrafficLightMode lightMode;        
    uint64_t counterValue;               
} dwBulbState;

typedef struct dwTrafficLightState
{
    float32_t probability;                          
    dwBulbState bulbStates[DW_MAX_BULBS_PER_LIGHT]; 
    uint32_t count;                                 
} dwTrafficLightState;

typedef struct dwTrafficLight
{
    dwSignalBody signalBody;                                            
    dwTrafficLightState lightStates[DW_TRAFFIC_LIGHT_STATES_MAX_COUNT]; 
    uint32_t lightStatesCount;                                          
} dwTrafficLight;

typedef struct dwTrafficLightsArray
{
    dwTrafficLight lights[DW_TRAFFIC_LIGHT_ARRAY_MAX_COUNT]; 
    uint32_t count;                                          
} dwTrafficLightsArray;

#ifdef __cplusplus
}
#endif

#endif // DW_WORLDMODEL_SIGNALINTERFACE_H_