Merge branch 'impl_vehicle_light_state_strategy' into 'main'

Add vehicle light state control strategy

See merge request !162

include/MantleAPI/Traffic/control_strategy.h

 /*******************************************************************************
- * Copyright (c) 2021-2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
  * Copyright (c) 2022 Ansys, Inc.
  *
  * This program and the accompanying materials are made
@@ -22,6 +22,7 @@
 #include <MantleAPI/Common/vector.h>
 #include <MantleAPI/Map/lane_definition.h>
 #include <MantleAPI/Traffic/traffic_light_properties.h>
+#include <MantleAPI/Traffic/vehicle_light_properties.h>
 
 #include <vector>
 
@@ -50,7 +51,8 @@ enum class ControlStrategyType
   kAcquireLaneOffset,
   kFollowTrajectory,
   kUpdateTrafficLightStates,
-  kPerformLaneChange
+  kPerformLaneChange,
+  kUpdateVehicleLightStates,
 };
 
 /// Defintion of all control strategies for a single entity.
@@ -217,6 +219,19 @@ struct AcquireLaneOffsetControlStrategy : public ControlStrategy
   TransitionDynamics transition_dynamics;
 };
 
+/// Controls the transition of a vehicle light state to the target light state
+struct VehicleLightStatesControlStrategy : public ControlStrategy
+{
+  VehicleLightStatesControlStrategy()
+  {
+    type = ControlStrategyType::kUpdateVehicleLightStates;
+    movement_domain = MovementDomain::kNone;
+  }
+
+  LightType light_type;    ///< Light type
+  LightState light_state;  ///< Light state
+};
+
 /// Controls the transition of a current light state to the target light state
 struct TrafficLightStateControlStrategy : public ControlStrategy
 {

include/MantleAPI/Traffic/vehicle_light_properties.h

+/*******************************************************************************
+ * Copyright (c) 2024, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/// @file vehicle_light_properties.h
+//-----------------------------------------------------------------------------
+
+#ifndef MANTLEAPI_TRAFFIC_VEHICLE_LIGHT_PROPERTIES_H
+#define MANTLEAPI_TRAFFIC_VEHICLE_LIGHT_PROPERTIES_H
+
+#include <string>
+#include <variant>
+
+namespace mantle_api
+{
+
+/// Defines the vehicle light type
+enum class VehicleLightType
+{
+  kUndefined = 0,
+  kBrakeLights,
+  kDaytimeRunningLights,
+  kFogLights,
+  kFogLightsFront,
+  kFogLightsRear,
+  kHighBeam,
+  kIndicatorLeft,
+  kIndicatorRight,
+  kLicensePlateIllumination,
+  kLowBeam,
+  kReversingLights,
+  kSpecialPurposeLights,
+  kWarningLights
+};
+
+/// Light type variant of vehicle light type or user defined light
+using LightType = std::variant<VehicleLightType, std::string>;
+
+/// Defines the light mode
+enum class LightMode
+{
+  kUndefined = 0,
+  kFlashing,
+  kOff,
+  kOn
+};
+
+/// Specifies the light state
+struct LightState
+{
+  LightMode light_mode;  ///< Light mode
+};
+
+/// Equality comparison for LightState.
+///
+/// @param[in]  lhs The left-hand side value for the comparison
+/// @param[in]	rhs The right-hand side value for the comparison
+/// @returns  true if the values of lhs exactly equal to the values of rhs.
+constexpr bool operator==(const LightState& lhs,
+                          const LightState& rhs) noexcept
+{
+  return lhs.light_mode == rhs.light_mode;
+}
+
+/// Inequality comparison for LightState.
+///
+/// @param[in]  lhs The left-hand side value for the comparison
+/// @param[in]	rhs The right-hand side value for the comparison
+/// @returns  true if the value of lhs is not equal to the value of rhs.
+constexpr bool operator!=(const LightState& lhs,
+                          const LightState& rhs) noexcept
+{
+  return !(lhs == rhs);
+}
+
+}  // namespace mantle_api
+
+#endif  // MANTLEAPI_TRAFFIC_VEHICLE_LIGHT_PROPERTIES_H