intersection_tracker.H

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#ifndef CAJUN_INTERSECTION_TRACKER_H
#define CAJUN_INTERSECTION_TRACKER_H

#include "rndf.H"
#include "data_type.H"

namespace cajun
{
class intersection_tracker_t
{
public:
        struct stop_status_t
        {
                rndf_t::waypoint_id_t m_wp_id; //wp id
                bool m_is_blocked; // true if blocked, else not blocked
                double m_blk_since; // tstamp since its blocked
                double m_last_noticed;//tstamp when last update
                unsigned m_blk_lane_id;// id of object blocking
        };

        struct intersection_status_t
        {
                intersection_status_t () { }
                std::vector <stop_status_t> m_stop_status;
                unsigned m_inter_id; //index to rndf_t's intersection
        };

        intersection_tracker_t (const rndf_t *rndf_) : m_rndf (rndf_)
                { init (); }
        void update (std::vector <blocked_lane_data_t> const &blk_lanes_);
        //returns the intersection status for given it_id)
        const intersection_status_t *get_inter_status (
                rndf_t::waypoint_id_t wp_id_);
private:
        const rndf_t *m_rndf;
        double m_blk_status_timeout;
        double m_max_dis_before_stop;
        double m_max_dis_after_stop;

        std::vector<intersection_status_t *> m_inter_status;

        void init ();
        void add_intersection_contents (
                unsigned it_id_, intersection_status_t* &int_st_);
        bool at_near_stop (const blocked_lane_data_t &blk_lane_,
                           unsigned &int_id_, unsigned &stop_wp_id_);
        void update_stop_point (const blocked_lane_data_t &blk_lanes_,
                                unsigned int_id_, unsigned stop_wp_id_);
        void flush_old_blockage (intersection_status_t *it_st_);
        void print_stop (stop_status_t const stop_);
};


};

#endif

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