Adds zone method to rules api. (#122)

Signed-off-by: Franco Cipollone <[email protected]>
maliput · Jun 25, 2024 · 4463b6d · 4463b6d
1 parent 80d6188
commit 4463b6d
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Showing 5 changed files with 26 additions and 4 deletions.
diff --git a/maliput-sys/src/api/rules/mod.rs b/maliput-sys/src/api/rules/mod.rs
@@ -101,6 +101,8 @@ pub mod ffi {
         type InertialPosition = crate::api::ffi::InertialPosition;
         #[namespace = "maliput::api"]
         type Rotation = crate::api::ffi::Rotation;
+        #[namespace = "maliput::api"]
+        type LaneSRoute = crate::api::ffi::LaneSRoute;
         #[namespace = "maliput::math"]
         type Vector3 = crate::math::ffi::Vector3;
 
@@ -181,6 +183,7 @@ pub mod ffi {
         fn states(self: &DiscreteValueRule) -> &CxxVector<DiscreteValueRuleDiscreteValue>;
         fn DiscreteValueRule_id(rule: &DiscreteValueRule) -> String;
         fn DiscreteValueRule_type_id(rule: &DiscreteValueRule) -> String;
+        fn DiscreteValueRule_zone(rule: &DiscreteValueRule) -> UniquePtr<LaneSRoute>;
 
         // RangeValueRule::Range bindings definitions.
         type RangeValueRuleRange;
@@ -195,6 +198,7 @@ pub mod ffi {
         type RangeValueRule;
         fn RangeValueRule_id(rule: &RangeValueRule) -> String;
         fn RangeValueRule_type_id(rule: &RangeValueRule) -> String;
+        fn RangeValueRule_zone(rule: &RangeValueRule) -> UniquePtr<LaneSRoute>;
         fn states(self: &RangeValueRule) -> &CxxVector<RangeValueRuleRange>;
     }
 }
diff --git a/maliput-sys/src/api/rules/rules.h b/maliput-sys/src/api/rules/rules.h
@@ -241,6 +241,10 @@ rust::String DiscreteValueRule_type_id(const DiscreteValueRule& rule) {
   return rule.type_id().string();
 }
 
+std::unique_ptr<LaneSRoute> DiscreteValueRule_zone(const DiscreteValueRule& rule) {
+  return std::make_unique<LaneSRoute>(rule.zone());
+}
+
 rust::String RangeValueRuleRange_description(const RangeValueRuleRange& range) {
   return rust::String(range.description);
 }
@@ -273,6 +277,10 @@ rust::String RangeValueRule_type_id(const RangeValueRule& rule) {
   return rule.type_id().string();
 }
 
+std::unique_ptr<LaneSRoute> RangeValueRule_zone(const RangeValueRule& rule) {
+  return std::make_unique<LaneSRoute>(rule.zone());
+}
+
 std::unique_ptr<RangeValueRule> RoadRulebook_GetRangeValueRule(const RoadRulebook& road_rulebook, const rust::String& id) {
   return std::make_unique<RangeValueRule>(road_rulebook.GetRangeValueRule(Rule::Id{std::string(id)}));
 }

diff --git a/maliput/src/api/rules/mod.rs b/maliput/src/api/rules/mod.rs
@@ -548,8 +548,9 @@ impl DiscreteValueRule {
         maliput_sys::api::rules::ffi::DiscreteValueRule_type_id(&self.discrete_value_rule)
     }
     /// Returns a [LaneSRoute] that represents the zone that the rule applies to.
-    pub fn zone(&self) {
-        unimplemented!("Not yet implemented")
+    pub fn zone(&self) -> crate::api::LaneSRoute {
+        let lane_s_route = maliput_sys::api::rules::ffi::DiscreteValueRule_zone(&self.discrete_value_rule);
+        crate::api::LaneSRoute { lane_s_route }
     }
     /// Returns the states of the rule.
     pub fn states(&self) -> Vec<DiscreteValue> {
@@ -602,8 +603,9 @@ impl RangeValueRule {
         maliput_sys::api::rules::ffi::RangeValueRule_type_id(&self.range_value_rule)
     }
     /// Returns a [LaneSRoute] that represents the zone that the rule applies to.
-    pub fn zone(&self) {
-        unimplemented!("Not yet implemented")
+    pub fn zone(&self) -> crate::api::LaneSRoute {
+        let lane_s_route = maliput_sys::api::rules::ffi::RangeValueRule_zone(&self.range_value_rule);
+        crate::api::LaneSRoute { lane_s_route }
     }
     /// Returns the states of the rule.
     pub fn states(&self) -> Vec<Range> {

diff --git a/maliput/tests/discrete_value_rule_test.rs b/maliput/tests/discrete_value_rule_test.rs
@@ -35,6 +35,7 @@ mod common;
 
 #[test]
 fn discrete_value_rule_test_api() {
+    static TOLERANCE: f64 = 1e-9;
     use maliput::api::rules::RuleState;
 
     let road_network = common::create_loop_road_pedestrian_crosswalk_road_network_with_books();
@@ -45,6 +46,9 @@ fn discrete_value_rule_test_api() {
     let rule = book.get_discrete_value_rule(&expected_rule_id);
     assert_eq!(rule.id(), expected_rule_id);
     assert_eq!(rule.type_id(), expected_type_id);
+    let zone = rule.zone();
+    let expected_zone_length = 15.;
+    assert!((zone.length() - expected_zone_length).abs() < TOLERANCE);
 
     let states = rule.states();
     assert_eq!(states.len(), 2); // Go and Stop

diff --git a/maliput/tests/range_value_rule_test.rs b/maliput/tests/range_value_rule_test.rs
@@ -35,6 +35,7 @@ mod common;
 
 #[test]
 fn range_value_rule_test_api() {
+    static TOLERANCE: f64 = 1e-9;
     use maliput::api::rules::RuleState;
 
     let road_network = common::create_loop_road_pedestrian_crosswalk_road_network_with_books();
@@ -45,6 +46,9 @@ fn range_value_rule_test_api() {
     let rule = book.get_range_value_rule(&expected_rule_id);
     assert_eq!(rule.id(), expected_rule_id);
     assert_eq!(rule.type_id(), expected_type_id);
+    let zone = rule.zone();
+    let expected_zone_length = 15.;
+    assert!((zone.length() - expected_zone_length).abs() < TOLERANCE);
 
     let states = rule.states();
     assert_eq!(states.len(), 1); // Only one speed limit state