59 lines
1.6 KiB
C
59 lines
1.6 KiB
C
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// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include <fstream>
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#include "carla/trafficmanager/SimpleWaypoint.h"
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namespace carla {
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namespace traffic_manager {
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using SimpleWaypointPtr = std::shared_ptr<SimpleWaypoint>;
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class CachedSimpleWaypoint {
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public:
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uint64_t waypoint_id;
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uint32_t road_id;
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uint32_t section_id;
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int32_t lane_id;
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float s;
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std::vector<uint64_t> next_waypoints;
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std::vector<uint64_t> previous_waypoints;
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uint64_t next_left_waypoint = 0;
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uint64_t next_right_waypoint = 0;
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int32_t geodesic_grid_id;
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bool is_junction;
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uint8_t road_option;
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CachedSimpleWaypoint() = default;
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CachedSimpleWaypoint(const SimpleWaypointPtr& simple_waypoint);
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void Read(const std::vector<uint8_t>& content, unsigned long& start);
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void Read(std::ifstream &in_file);
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void Write(std::ofstream &out_file);
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private:
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template <typename T>
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void WriteValue(std::ofstream &out_file, const T &in_obj) {
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out_file.write(reinterpret_cast<const char *>(&in_obj), sizeof(T));
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}
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template <typename T>
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void ReadValue(std::ifstream &in_file, T &out_obj) {
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in_file.read(reinterpret_cast<char *>(&out_obj), sizeof(T));
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}
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template <typename T>
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void ReadValue(const std::vector<uint8_t>& content, unsigned long& start, T &out_obj) {
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memcpy(&out_obj, &content[start], sizeof(T));
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start += sizeof(T);
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}
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};
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} // namespace traffic_manager
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} // namespace carla
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