WorldModelSim.h

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#ifndef DW_WORLDMODELSIM_H_
#define DW_WORLDMODELSIM_H_

#include <dw/core/Config.h>
#include <dw/core/Status.h>
#include <dw/core/Types.h>
#include <dw/core/Context.h>
#include <dw/world/Object.h>
#include <dw/worldmodel/Obstacle.h>
#include <dw/world/ObjectArray.h>
#include <dw/worldmodel/LaneGraph.h>
#include <dw/maps/Maps.h>
#include <dw/egomotion/Egomotion.h>
#include <dw/egomotion/EgomotionState.h>
#include <dw/localization/Localization.h>
#include <dw/waitcondition/camera/WaitConditionSignal.h>

#ifdef __cplusplus
extern "C" {
#endif

//#######################################################################################
// Structs
//#######################################################################################
typedef struct dwWorldModelSimParams_t
{
    const char* domainId;               
    const char* configFileDDSTransport; 
} dwWorldModelSimParams_t;

// Output object array bind parameters
typedef struct dwWorldModelSimObjectArrayBindParams_t
{
    dwObjectArray* addr;
    int32_t sensorTypeIdx;
    int32_t sensorRigIdx;
    const char* sensorName;
} dwWorldModelSimObjectArrayBindParams_t;

// Output lane assignment array bind parameters
typedef struct dwWorldModelSimLaneAssignmentArrayBindParams_t
{
    dwLaneAssignmentArray* addr;
    int32_t sensorTypeIdx;
} dwWorldModelSimLaneAssignmentArrayBindParams_t;

//#######################################################################################
// Handles
//#######################################################################################
typedef struct dwWorldModelSimObject* dwWorldModelSimHandle_t;
typedef struct dwWorldModelSimObject const* dwWorldModelSimConstHandle_t;

//#######################################################################################
// WorldModelSim Functions
//#######################################################################################
DW_API_PUBLIC
dwStatus dwWorldModelSim_initialize(dwWorldModelSimHandle_t* wmSimHandle,
                                    const dwWorldModelSimParams_t* params,
                                    dwConstMapHandle_t mapHandle,
                                    dwContextHandle_t contextHandle);

DW_API_PUBLIC
dwStatus dwWorldModelSim_process(dwWorldModelSimHandle_t wmSimHandle);

DW_API_PUBLIC
dwStatus dwWorldModelSim_reset(dwWorldModelSimHandle_t wmSimHandle);

DW_API_PUBLIC
dwStatus dwWorldModelSim_bindOutputEgomotionState(dwEgomotionStateHandle_t outputEgoState,
                                                  dwWorldModelSimHandle_t wmSimHandle);

DW_API_PUBLIC
dwStatus dwWorldModelSim_bindOutputLocalizationResult(dwLocalizationResult* outputLocalizationResult,
                                                      dwWorldModelSimHandle_t wmSimHandle);

DW_API_PUBLIC
dwStatus dwWorldModelSim_bindOutputObjectArray(const dwWorldModelSimObjectArrayBindParams_t* bindParams,
                                               dwWorldModelSimHandle_t wmSimHandle);

DW_API_PUBLIC
dwStatus dwWorldModelSim_bindOutputLaneGraph(dwLaneGraph* address,
                                             dwWorldModelSimHandle_t wmSimHandle);

DW_API_PUBLIC
dwStatus dwWorldModelSim_bindOutputLaneAssignmentArray(const dwWorldModelSimLaneAssignmentArrayBindParams_t* bindParams,
                                                       dwWorldModelSimHandle_t wmSimHandle);

DW_API_PUBLIC
dwStatus dwWorldModelSim_bindOutputTSLObjectBuffer(dwTSLObjectArray* address,
                                                   dwWorldModelSimHandle_t wmSimHandle);

DW_API_PUBLIC
dwStatus dwWorldModelSim_release(dwWorldModelSimHandle_t wmSimHandle);

#ifdef __cplusplus
}
#endif

#endif // DW_WORLDMODELSIM_H_