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Support UNKNOWN for traffic light color/shape in TrafficSignalState #1219

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Support UNKNOWN for traffic light color/shape in TrafficSignalState #1219

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e6e5abb
feat: support UNKNOWN for traffic light color in scenario
HansRobo Mar 18, 2024
07fac7d
feat: support UNKNOWN for traffic light shape in scenario
HansRobo Mar 18, 2024
521e00c
feat: support UNKNOWN for traffic light in proto conversion
HansRobo Mar 18, 2024
4a45a1d
Merge branch 'master' into feature/traffic_light_unknown
HansRobo May 28, 2024
4abbbec
Merge branch 'master' into feature/traffic_light_unknown
HansRobo Jun 19, 2024
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6 changes: 6 additions & 0 deletions simulation/simulation_interface/include/simulation_interface/conversions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -203,6 +203,8 @@ auto toMsg(
return TrafficLightBulbMessageType::GREEN;
case TrafficLight_Color_WHITE:
return TrafficLightBulbMessageType::WHITE;
case TrafficLight_Color_UNKNOWN_COLOR:
return TrafficLightBulbMessageType::UNKNOWN;
default:
return TrafficLightBulbMessageType::UNKNOWN;
}
Expand Down Expand Up @@ -232,6 +234,8 @@ auto toMsg(
return TrafficLightBulbMessageType::DOWN_RIGHT_ARROW;
case TrafficLight_Shape_CROSS:
return TrafficLightBulbMessageType::CROSS;
case TrafficLight_Shape_UNKNOWN_SHAPE:
return TrafficLightBulbMessageType::UNKNOWN;
default:
return TrafficLightBulbMessageType::UNKNOWN;
}
Expand All @@ -246,6 +250,8 @@ auto toMsg(
return TrafficLightBulbMessageType::SOLID_ON;
case TrafficLight_Status_FLASHING:
return TrafficLightBulbMessageType::FLASHING;
case TrafficLight_Status_UNKNOWN_STATUS:
return TrafficLightBulbMessageType::UNKNOWN;
default:
return TrafficLightBulbMessageType::UNKNOWN;
}
Expand Down
46 changes: 29 additions & 17 deletions simulation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_light.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,13 +45,15 @@ struct TrafficLight
yellow,
red,
white,
unknown,
} value;

// clang-format off
static_assert(static_cast<std::uint8_t>(green ) == 0b0000'0000);
static_assert(static_cast<std::uint8_t>(yellow) == 0b0000'0001);
static_assert(static_cast<std::uint8_t>(red ) == 0b0000'0010);
static_assert(static_cast<std::uint8_t>(white ) == 0b0000'0011);
static_assert(static_cast<std::uint8_t>(green ) == 0b0000'0000);
static_assert(static_cast<std::uint8_t>(yellow ) == 0b0000'0001);
static_assert(static_cast<std::uint8_t>(red ) == 0b0000'0010);
static_assert(static_cast<std::uint8_t>(white ) == 0b0000'0011);
static_assert(static_cast<std::uint8_t>(unknown) == 0b0000'0100);
// clang-format on

constexpr Color(const Value value = green) : value(value) {}
Expand All @@ -64,6 +66,7 @@ struct TrafficLight
std::make_pair("red", red),
std::make_pair("white", white),
std::make_pair("yellow", yellow),
std::make_pair("unknown", unknown),

// BACKWARD COMPATIBILITY
std::make_pair("Green", green),
Expand Down Expand Up @@ -132,26 +135,29 @@ struct TrafficLight
circle,
cross,
arrow,
unknown,
};

// clang-format off
static_assert(static_cast<std::uint8_t>(Category::circle) == 0b0000'0000);
static_assert(static_cast<std::uint8_t>(Category::cross ) == 0b0000'0001);
static_assert(static_cast<std::uint8_t>(Category::arrow ) == 0b0000'0010);
static_assert(static_cast<std::uint8_t>(Category::circle ) == 0b0000'0000);
static_assert(static_cast<std::uint8_t>(Category::cross ) == 0b0000'0001);
static_assert(static_cast<std::uint8_t>(Category::arrow ) == 0b0000'0010);
static_assert(static_cast<std::uint8_t>(Category::unknown) == 0b0000'0011);
// clang-format on

enum Value : std::uint16_t {
// clang-format off
circle = static_cast<std::uint8_t>(Category::circle),
cross = static_cast<std::uint8_t>(Category::cross ),
left = (0b0000'1000 << 8) | static_cast<std::uint8_t>(Category::arrow ),
down = (0b0000'0100 << 8) | static_cast<std::uint8_t>(Category::arrow ),
up = (0b0000'0010 << 8) | static_cast<std::uint8_t>(Category::arrow ),
right = (0b0000'0001 << 8) | static_cast<std::uint8_t>(Category::arrow ),
lower_left = (0b0000'1100 << 8) | static_cast<std::uint8_t>(Category::arrow ),
upper_left = (0b0000'1010 << 8) | static_cast<std::uint8_t>(Category::arrow ),
lower_right = (0b0000'0101 << 8) | static_cast<std::uint8_t>(Category::arrow ),
upper_right = (0b0000'0011 << 8) | static_cast<std::uint8_t>(Category::arrow ),
circle = static_cast<std::uint8_t>(Category::circle ),
cross = static_cast<std::uint8_t>(Category::cross ),
left = (0b0000'1000 << 8) | static_cast<std::uint8_t>(Category::arrow ),
down = (0b0000'0100 << 8) | static_cast<std::uint8_t>(Category::arrow ),
up = (0b0000'0010 << 8) | static_cast<std::uint8_t>(Category::arrow ),
right = (0b0000'0001 << 8) | static_cast<std::uint8_t>(Category::arrow ),
lower_left = (0b0000'1100 << 8) | static_cast<std::uint8_t>(Category::arrow ),
upper_left = (0b0000'1010 << 8) | static_cast<std::uint8_t>(Category::arrow ),
lower_right = (0b0000'0101 << 8) | static_cast<std::uint8_t>(Category::arrow ),
upper_right = (0b0000'0011 << 8) | static_cast<std::uint8_t>(Category::arrow ),
unknown = static_cast<std::uint8_t>(Category::unknown),
// clang-format on
} value;

Expand All @@ -166,6 +172,7 @@ struct TrafficLight
static_assert(static_cast<std::uint16_t>(upper_left ) == 0b0000'1010'0000'0010);
static_assert(static_cast<std::uint16_t>(lower_right) == 0b0000'0101'0000'0010);
static_assert(static_cast<std::uint16_t>(upper_right) == 0b0000'0011'0000'0010);
static_assert(static_cast<std::uint16_t>(unknown ) == 0b0000'0000'0000'0011);
// clang-format on

constexpr Shape(const Value value = circle) : value(value) {}
Expand All @@ -183,6 +190,7 @@ struct TrafficLight
std::make_pair("upperLeft", Shape::upper_left),
std::make_pair("lowerRight", Shape::lower_right),
std::make_pair("upperRight", Shape::upper_right),
std::make_pair("unknown", Shape::unknown),

// BACKWARD COMPATIBILITY
std::make_pair("straight", Shape::up),
Expand Down Expand Up @@ -262,6 +270,8 @@ struct TrafficLight
return simulation_api_schema::TrafficLight_Color_RED;
case Color::white:
return simulation_api_schema::TrafficLight_Color_WHITE;
case Color::unknown:
return simulation_api_schema::TrafficLight_Color_UNKNOWN_COLOR;
default:
throw common::SyntaxError(std::get<Color>(value), " is not supported color.");
}
Expand Down Expand Up @@ -304,6 +314,8 @@ struct TrafficLight
return simulation_api_schema::TrafficLight_Shape_UP_LEFT_ARROW;
case Shape::upper_right:
return simulation_api_schema::TrafficLight_Shape_UP_RIGHT_ARROW;
case Shape::unknown:
return simulation_api_schema::TrafficLight_Shape_UNKNOWN_SHAPE;
default:
throw common::SyntaxError(std::get<Shape>(value), " is not supported as a shape.");
}
Expand Down
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