base_map.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <list>
#include <set>
#include <string>
 
#include "modules/localization/msf/common/util/base_map_cache.h"
#include "modules/localization/msf/local_map/base_map/base_map_config.h"
#include "modules/localization/msf/local_map/base_map/base_map_fwd.h"
#include "modules/localization/msf/local_map/base_map/base_map_node.h"
#include "modules/localization/msf/local_map/base_map/base_map_node_index.h"
#include "modules/localization/msf/local_map/base_map/base_map_pool.h"
 
namespace apollo {
namespace localization {
namespace msf {
 
class BaseMap {
 public:
  explicit BaseMap(BaseMapConfig* map_config);
  virtual ~BaseMap();
 
  virtual void InitMapNodeCaches(int cacheL1_size, int cahceL2_size);
 
  BaseMapNode* GetMapNode(const MapNodeIndex& index);
  BaseMapNode* GetMapNodeSafe(const MapNodeIndex& index);
  bool IsMapNodeExist(const MapNodeIndex& index) const;
 
  bool SetMapFolderPath(const std::string folder_path);
  void AddDataset(const std::string dataset_path);
 
  virtual void PreloadMapArea(const Eigen::Vector3d& location,
                              const Eigen::Vector3d& trans_diff,
                              unsigned int resolution_id, unsigned int zone_id);
  virtual bool LoadMapArea(const Eigen::Vector3d& seed_pt3d,
                           unsigned int resolution_id, unsigned int zone_id,
                           int filter_size_x, int filter_size_y);
 
  void AttachMapNodePool(BaseMapNodePool* p_map_node_pool);
 
  void WriteBinary(FILE* file);
  void LoadBinary(FILE* file, std::string map_folder_path = "");
 
  inline const BaseMapConfig& GetConfig() const { return *map_config_; }
  inline BaseMapConfig& GetConfig() { return *map_config_; }
 
 protected:
  void LoadMapNodes(std::set<MapNodeIndex>* map_ids);
  void PreloadMapNodes(std::set<MapNodeIndex>* map_ids);
  void LoadMapNodeThreadSafety(MapNodeIndex index, bool is_reserved = false);
 
  BaseMapConfig* map_config_;
  std::list<MapNodeIndex> map_nodes_disk_;
 
  MapNodeCache<MapNodeIndex, BaseMapNode>::DestroyFunc destroy_func_lvl1_;
  MapNodeCache<MapNodeIndex, BaseMapNode>::DestroyFunc destroy_func_lvl2_;
  MapNodeCache<MapNodeIndex, BaseMapNode>* map_node_cache_lvl1_;
  MapNodeCache<MapNodeIndex, BaseMapNode>* map_node_cache_lvl2_;
  BaseMapNodePool* map_node_pool_;
  std::set<MapNodeIndex> map_preloading_task_index_;
  boost::recursive_mutex map_load_mutex_;
};
 
}  // namespace msf
}  // namespace localization
}  // namespace apollo