feat!(lanelet2_extension): introduce API versioning along with format…

…_version

Signed-off-by: Mamoru Sobue <[email protected]>

autoware_lanelet2_extension/include/autoware_lanelet2_extension/io/autoware_osm_parser.hpp

@@ -19,9 +19,12 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
+#include <autoware_lanelet2_extension/version.hpp>
+
 #include <lanelet2_io/io_handlers/OsmHandler.h>
 
 #include <memory>
+#include <optional>
 #include <string>
 
 namespace lanelet::io_handlers
@@ -56,6 +59,8 @@ class AutowareOsmParser : public OsmParser
   static constexpr const char * name() { return "autoware_osm_handler"; }
 };
 
+std::optional<uint64_t> parseMajorVersion(const std::string & format_version);
+
 }  // namespace lanelet::io_handlers
 
 // NOLINTEND(readability-identifier-naming)

autoware_lanelet2_extension/include/autoware_lanelet2_extension/projection/mgrs_projector.hpp

@@ -30,6 +30,9 @@
 
 namespace lanelet::projection
 {
+
+inline namespace v1
+{
 class MGRSProjector : public Projector
 {
 public:
@@ -108,6 +111,7 @@ class MGRSProjector : public Projector
    */
   mutable std::string projected_grid_;
 };
+}  // namespace v1
 
 }  // namespace lanelet::projection
 

autoware_lanelet2_extension/include/autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp

@@ -27,6 +27,9 @@
 
 namespace lanelet::projection
 {
+
+inline namespace v1
+{
 class TransverseMercatorProjector : public Projector
 {
 public:
@@ -53,6 +56,7 @@ class TransverseMercatorProjector : public Projector
   double origin_y_;
   double central_meridian_;
 };
+}  // namespace v1
 
 }  // namespace lanelet::projection
 

autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/Forward.hpp

@@ -25,6 +25,8 @@
 namespace lanelet::autoware
 {
 
+inline namespace v1
+{
 class AutowareTrafficLight;
 class Crosswalk;
 class DetectionArea;
@@ -33,11 +35,14 @@ class NoStoppingArea;
 class RoadMarking;
 class SpeedBump;
 class VirtualTrafficLight;
+}  // namespace v1
 
 }  // namespace lanelet::autoware
 
 namespace lanelet
 {
+inline namespace v1
+{
 using TrafficSignConstPtr = std::shared_ptr<const lanelet::TrafficSign>;
 using TrafficLightConstPtr = std::shared_ptr<const lanelet::TrafficLight>;
 using AutowareTrafficLightConstPtr = std::shared_ptr<const lanelet::autoware::AutowareTrafficLight>;
@@ -47,6 +52,8 @@ using NoStoppingAreaConstPtr = std::shared_ptr<const lanelet::autoware::NoStoppi
 using NoParkingAreaConstPtr = std::shared_ptr<const lanelet::autoware::NoParkingArea>;
 using SpeedBumpConstPtr = std::shared_ptr<const lanelet::autoware::SpeedBump>;
 using CrosswalkConstPtr = std::shared_ptr<const lanelet::autoware::Crosswalk>;
+}  // namespace v1
+
 }  // namespace lanelet
 
 // NOLINTEND(readability-identifier-naming)

autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp

@@ -28,6 +28,9 @@
 
 namespace lanelet::autoware
 {
+
+inline namespace v1
+{
 class AutowareTrafficLight : public lanelet::TrafficLight
 {
 public:
@@ -83,6 +86,7 @@ class AutowareTrafficLight : public lanelet::TrafficLight
   friend class RegisterRegulatoryElement<AutowareTrafficLight>;
   explicit AutowareTrafficLight(const lanelet::RegulatoryElementDataPtr & data);
 };
+}  // namespace v1
 
 }  // namespace lanelet::autoware
 

autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp

@@ -25,6 +25,9 @@
 
 namespace lanelet::autoware
 {
+
+inline namespace v1
+{
 class Crosswalk : public lanelet::RegulatoryElement
 {
 public:
@@ -84,6 +87,7 @@ class Crosswalk : public lanelet::RegulatoryElement
   friend class RegisterRegulatoryElement<Crosswalk>;
   explicit Crosswalk(const lanelet::RegulatoryElementDataPtr & data);
 };
+}  // namespace v1
 
 }  // namespace lanelet::autoware
 

autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/detection_area.hpp

@@ -27,6 +27,9 @@
 
 namespace lanelet::autoware
 {
+
+inline namespace v1
+{
 class DetectionArea : public lanelet::RegulatoryElement
 {
 public:
@@ -88,6 +91,7 @@ class DetectionArea : public lanelet::RegulatoryElement
   friend class RegisterRegulatoryElement<DetectionArea>;
   explicit DetectionArea(const lanelet::RegulatoryElementDataPtr & data);
 };
+}  // namespace v1
 
 }  // namespace lanelet::autoware
 

autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp

@@ -25,6 +25,9 @@
 
 namespace lanelet::autoware
 {
+
+inline namespace v1
+{
 class NoParkingArea : public lanelet::RegulatoryElement
 {
 public:
@@ -64,6 +67,7 @@ class NoParkingArea : public lanelet::RegulatoryElement
   friend class RegisterRegulatoryElement<NoParkingArea>;
   explicit NoParkingArea(const lanelet::RegulatoryElementDataPtr & data);
 };
+}  // namespace v1
 
 }  // namespace lanelet::autoware
 

autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp

@@ -25,6 +25,9 @@
 
 namespace lanelet::autoware
 {
+
+inline namespace v1
+{
 class NoStoppingArea : public lanelet::RegulatoryElement
 {
 public:
@@ -86,6 +89,7 @@ class NoStoppingArea : public lanelet::RegulatoryElement
   friend class RegisterRegulatoryElement<NoStoppingArea>;
   explicit NoStoppingArea(const lanelet::RegulatoryElementDataPtr & data);
 };
+}  // namespace v1
 
 }  // namespace lanelet::autoware
 

autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/road_marking.hpp

@@ -25,6 +25,9 @@
 
 namespace lanelet::autoware
 {
+
+inline namespace v1
+{
 class RoadMarking : public lanelet::RegulatoryElement
 {
 public:
@@ -64,6 +67,7 @@ class RoadMarking : public lanelet::RegulatoryElement
   friend class RegisterRegulatoryElement<RoadMarking>;
   explicit RoadMarking(const lanelet::RegulatoryElementDataPtr & data);
 };
+}  // namespace v1
 
 }  // namespace lanelet::autoware
 

autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/speed_bump.hpp

@@ -27,6 +27,9 @@
 
 namespace lanelet::autoware
 {
+
+inline namespace v1
+{
 class SpeedBump : public lanelet::RegulatoryElement
 {
 public:
@@ -66,6 +69,7 @@ class SpeedBump : public lanelet::RegulatoryElement
   friend class RegisterRegulatoryElement<SpeedBump>;
   explicit SpeedBump(const lanelet::RegulatoryElementDataPtr & data);
 };
+}  // namespace v1
 
 }  // namespace lanelet::autoware
 

autoware_lanelet2_extension/include/autoware_lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp

@@ -25,6 +25,9 @@
 
 namespace lanelet::autoware
 {
+
+inline namespace v1
+{
 class VirtualTrafficLight : public lanelet::RegulatoryElement
 {
 public:
@@ -71,6 +74,7 @@ class VirtualTrafficLight : public lanelet::RegulatoryElement
   friend class RegisterRegulatoryElement<VirtualTrafficLight>;
   explicit VirtualTrafficLight(const lanelet::RegulatoryElementDataPtr & data);
 };
+}  // namespace v1
 
 }  // namespace lanelet::autoware
 

autoware_lanelet2_extension/include/autoware_lanelet2_extension/utility/query.hpp

@@ -39,22 +39,9 @@
 
 namespace lanelet::utils::query
 {
-/**
- * [laneletLayer converts laneletLayer into lanelet vector]
- * @param  ll_Map [input lanelet map]
- * @return        [all lanelets in the map]
- */
-lanelet::ConstLanelets laneletLayer(const lanelet::LaneletMapConstPtr & ll_Map);
-
-/**
- * [subtypeLanelets extracts Lanelet that has given subtype attribute]
- * @param  lls     [input lanelets with various subtypes]
- * @param  subtype [subtype of lanelets to be retrieved (e.g.
- * lanelet::AttributeValueString::Road)]
- * @return         [lanelets with given subtype]
- */
-lanelet::ConstLanelets subtypeLanelets(const lanelet::ConstLanelets & lls, const char subtype[]);
 
+inline namespace v1
+{
 /**
  * [crosswalkLanelets extracts crosswalk lanelets]
  * @param  lls [input lanelets with various subtypes]
@@ -63,13 +50,6 @@ lanelet::ConstLanelets subtypeLanelets(const lanelet::ConstLanelets & lls, const
 lanelet::ConstLanelets crosswalkLanelets(const lanelet::ConstLanelets & lls);
 lanelet::ConstLanelets walkwayLanelets(const lanelet::ConstLanelets & lls);
 
-/**
- * [roadLanelets extracts road lanelets]
- * @param  lls [input lanelets with subtype road]
- * @return     [road lanelets]
- */
-lanelet::ConstLanelets roadLanelets(const lanelet::ConstLanelets & lls);
-
 /**
  * [shoulderLanelets extracts shoulder lanelets]
  * @param  lls [input lanelets with subtype shoulder]
@@ -132,10 +112,6 @@ std::vector<lanelet::CrosswalkConstPtr> crosswalks(const lanelet::ConstLanelets
 // query all curbstones in lanelet2 map
 lanelet::ConstLineStrings3d curbstones(const lanelet::LaneletMapConstPtr & lanelet_map_ptr);
 
-// query all polygons that has given type in lanelet2 map
-lanelet::ConstPolygons3d getAllPolygonsByType(
-  const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type);
-
 // query all obstacle polygons in lanelet2 map
 lanelet::ConstPolygons3d getAllObstaclePolygons(
   const lanelet::LaneletMapConstPtr & lanelet_map_ptr);
@@ -228,6 +204,35 @@ std::vector<lanelet::ConstLineString3d> stopLinesLanelet(const lanelet::ConstLan
 std::vector<lanelet::ConstLineString3d> stopSignStopLines(
   const lanelet::ConstLanelets & lanelets, const std::string & stop_sign_id = "stop_sign");
 
+}  // namespace v1
+
+/**
+ * [laneletLayer converts laneletLayer into lanelet vector]
+ * @param  ll_Map [input lanelet map]
+ * @return        [all lanelets in the map]
+ */
+lanelet::ConstLanelets laneletLayer(const lanelet::LaneletMapConstPtr & ll_Map);
+
+/**
+ * [subtypeLanelets extracts Lanelet that has given subtype attribute]
+ * @param  lls     [input lanelets with various subtypes]
+ * @param  subtype [subtype of lanelets to be retrieved (e.g.
+ * lanelet::AttributeValueString::Road)]
+ * @return         [lanelets with given subtype]
+ */
+lanelet::ConstLanelets subtypeLanelets(const lanelet::ConstLanelets & lls, const char subtype[]);
+
+/**
+ * [roadLanelets extracts road lanelets]
+ * @param  lls [input lanelets with subtype road]
+ * @return     [road lanelets]
+ */
+lanelet::ConstLanelets roadLanelets(const lanelet::ConstLanelets & lls);
+
+// query all polygons that has given type in lanelet2 map
+lanelet::ConstPolygons3d getAllPolygonsByType(
+  const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type);
+
 ConstLanelets getLaneletsWithinRange(
   const lanelet::ConstLanelets & lanelets, const lanelet::BasicPoint2d & search_point,
   const double range);

autoware_lanelet2_extension/include/autoware_lanelet2_extension/version.hpp

@@ -0,0 +1,36 @@
+// Copyright 2015-2024 Autoware Foundation. 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.
+//
+// Authors: Mamoru Sobue
+
+#ifndef LANELET2_EXTENSION__VERSION_HPP_
+#define LANELET2_EXTENSION__VERSION_HPP_
+
+// NOLINTBEGIN(readability-identifier-naming)
+
+namespace lanelet::autoware
+{
+/*
+ * @brief denotes the major format_version
+ */
+enum class Version : int {
+  none = 0,
+  v1,
+};
+
+// current format_version
+static constexpr Version version = Version::v1;
+}  // namespace lanelet::autoware
+
+#endif  // LANELET2_EXTENSION__VERSION_HPP_