Removes use of static keyboard in GetLanes binding. (#89)

Signed-off-by: Franco Cipollone <[email protected]>

maliput-sys/src/api/api.h

@@ -210,17 +210,14 @@ ConstLanePtr RoadGeometry_GetLane(const RoadGeometry& road_geometry, const rust:
   return {road_geometry.ById().GetLane(LaneId{std::string(lane_id)})};
 }
 
-const std::vector<ConstLanePtr>& RoadGeometry_GetLanes(const RoadGeometry& road_geometry) {
-  static std::vector<ConstLanePtr> lanes;
+std::unique_ptr<std::vector<ConstLanePtr>> RoadGeometry_GetLanes(const RoadGeometry& road_geometry) {
+  std::vector<ConstLanePtr> lanes;
   const auto lanes_cpp = road_geometry.ById().GetLanes();
-  if (lanes.size() == lanes_cpp.size()) {
-    return lanes;
-  }
   lanes.reserve(lanes_cpp.size());
   for (const auto& lane : road_geometry.ById().GetLanes()) {
     lanes.push_back(ConstLanePtr{lane.second});
   }
-  return lanes;
+  return std::make_unique<std::vector<ConstLanePtr>>(std::move(lanes));
 }
 
 const BranchPoint* RoadGeometry_GetBranchPoint(const RoadGeometry& road_geometry, const rust::String& branch_point_id) {

maliput-sys/src/api/mod.rs

@@ -71,7 +71,7 @@ pub mod ffi {
             inertial_position: &InertialPosition,
         ) -> UniquePtr<RoadPositionResult>;
         fn RoadGeometry_GetLane(rg: &RoadGeometry, lane_id: &String) -> ConstLanePtr;
-        fn RoadGeometry_GetLanes(rg: &RoadGeometry) -> &CxxVector<ConstLanePtr>;
+        fn RoadGeometry_GetLanes(rg: &RoadGeometry) -> UniquePtr<CxxVector<ConstLanePtr>>;
         fn RoadGeometry_GetSegment(rg: &RoadGeometry, segment_id: &String) -> *const Segment;
         fn RoadGeometry_GetJunction(rg: &RoadGeometry, junction_id: &String) -> *const Junction;
         fn RoadGeometry_GetBranchPoint(rg: &RoadGeometry, branch_point_id: &String) -> *const BranchPoint;

maliput/examples/multi_road_geometry.rs

@@ -0,0 +1,70 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2024, Woven by Toyota.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice, this
+//   list of conditions and the following disclaimer.
+//
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+//
+// * Neither the name of the copyright holder nor the names of its
+//   contributors may be used to endorse or promote products derived from
+//   this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+use maliput::api::RoadGeometry;
+
+fn main() {
+    use maliput::api::RoadNetwork;
+    use std::collections::HashMap;
+
+    // Get location of odr resources
+    let package_location = std::env::var("CARGO_MANIFEST_DIR").unwrap();
+    let xodr_path_t_shape = format!("{}/data/xodr/TShapeRoad.xodr", package_location);
+    let xodr_path_town_01 = format!("{}/data/xodr/Town01.xodr", package_location);
+
+    let road_network_properties_rg_1 = HashMap::from([
+        ("road_geometry_id", "rg_1_t_shape_road"),
+        ("opendrive_file", xodr_path_t_shape.as_str()),
+    ]);
+    let road_network_properties_2 = HashMap::from([
+        ("road_geometry_id", "rg_2_town_01"),
+        ("opendrive_file", xodr_path_town_01.as_str()),
+    ]);
+
+    let road_network_1 = RoadNetwork::new("maliput_malidrive", &road_network_properties_rg_1);
+    let road_network_2 = RoadNetwork::new("maliput_malidrive", &road_network_properties_2);
+    let road_geometry_1 = road_network_1.road_geometry();
+    let road_geometry_2 = road_network_2.road_geometry();
+
+    let print_rg = |rg: &RoadGeometry| {
+        let lanes = rg.get_lanes();
+        println!("RoadGeometry ID: {}", rg.id());
+        println!("\tlinear_tolerance: {}", rg.linear_tolerance());
+        println!("\tangular_tolerance: {}", rg.angular_tolerance());
+        println!("\tnum_junctions: {}", rg.num_junctions());
+        println!("\tnum_lanes: {}", lanes.len());
+        println!("\tlanes: ");
+        for lane in lanes {
+            println!("\t\tlane id: {}", lane.id());
+        }
+    };
+    print_rg(&road_geometry_1);
+    print_rg(&road_geometry_2);
+}