From b0221b79bf50c9edce0ed9d13f40373e9114603d Mon Sep 17 00:00:00 2001
From: Etienne Pellan <etienne.pellan@external.crf.it>
Date: Thu, 10 Aug 2023 10:46:11 +0200
Subject: [PATCH] Adding relative position to the spawning poses for traffic
swarm
---
include/MantleAPI/Traffic/i_traffic_swarm_service.h | 10 +++++++++-
test/MantleAPI/Test/test_utils.h | 2 +-
2 files changed, 10 insertions(+), 2 deletions(-)
diff --git a/include/MantleAPI/Traffic/i_traffic_swarm_service.h b/include/MantleAPI/Traffic/i_traffic_swarm_service.h
index 0c018c32..c879b33c 100644
--- a/include/MantleAPI/Traffic/i_traffic_swarm_service.h
+++ b/include/MantleAPI/Traffic/i_traffic_swarm_service.h
@@ -43,7 +43,15 @@ struct TrafficSwarmParameters
class ITrafficSwarmService
{
public:
- virtual std::vector<mantle_api::Pose> GetAvailableSpawningPoses() const = 0;
+ enum class RelativePosition
+ {
+ kInFront = 0,
+ kBehind
+ };
+
+ using SpawningPosition = std::pair<mantle_api::Pose, RelativePosition>;
+
+ virtual std::vector<SpawningPosition> GetAvailableSpawningPoses() const = 0;
virtual mantle_api::VehicleProperties GetVehicleProperties(mantle_api::VehicleClass vehicle_class) const = 0;
virtual void UpdateControllerConfig(std::unique_ptr<mantle_api::ExternalControllerConfig>& config,
units::velocity::meters_per_second_t speed) = 0;
diff --git a/test/MantleAPI/Test/test_utils.h b/test/MantleAPI/Test/test_utils.h
index 6755a007..4f887ef9 100755
--- a/test/MantleAPI/Test/test_utils.h
+++ b/test/MantleAPI/Test/test_utils.h
@@ -481,7 +481,7 @@ public:
class MockTrafficSwarmService : public mantle_api::ITrafficSwarmService
{
public:
- MOCK_METHOD(std::vector<mantle_api::Pose>,
+ MOCK_METHOD(std::vector<ITrafficSwarmService::SpawningPosition>,
GetAvailableSpawningPoses,
(),
(const, override));
--
GitLab