Adds ResourceManager and offer malidrive resources.

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

maliput-sdk/BUILD.bazel

@@ -22,6 +22,9 @@ cc_binary(
         "@maliput//:utility",
         "@maliput_malidrive//:maliput_plugins/libmaliput_malidrive_road_network.so",
     ],
+    data = [
+        "@maliput_malidrive//resources:all"
+    ],
     linkshared = True,
     linkstatic = False
 )

maliput-sdk/build.rs

@@ -88,6 +88,12 @@ fn main() -> Result<(), Box<dyn Error>> {
     // ************* maliput_malidrive header files ************* //
     // TODO(francocipollone): For consistency we should also add include paths for maliput_malidrive.
 
+    // ************* maliput_malidrive resource files ************* //
+    let maliput_malidrive_resource_path = bazel_bin_dir
+        .join("libmaliput_sdk.so.runfiles")
+        .join(String::from("maliput_malidrive~") + maliput_malidrive_version)
+        .join("resources");
+
     // ************* crate output env vars ************* //
 
     // Environment variable to pass down to this crate:
@@ -100,6 +106,10 @@ fn main() -> Result<(), Box<dyn Error>> {
         "cargo:rustc-env=MALIPUT_MALIDRIVE_PLUGIN_PATH={}",
         maliput_malidrive_bin_path.join("maliput_plugins").display()
     );
+    println!(
+        "cargo:rustc-env=MALIPUT_MALIDRIVE_RESOURCE_PATH={}",
+        maliput_malidrive_resource_path.display()
+    );
 
     // Environment variable to pass down to dependent crates:
     // See: https://doc.rust-lang.org/cargo/reference/build-scripts.html#the-links-manifest-key

maliput-sdk/src/lib.rs

@@ -41,6 +41,14 @@ pub fn sdk_libraries() -> Vec<(String, PathBuf)> {
     ]
 }
 
+/// Returns a map of resources here vendored and the directories to search for the resources.
+pub fn sdk_resources() -> Vec<(String, PathBuf)> {
+    vec![(
+        "maliput_malidrive".to_string(),
+        PathBuf::from(env!("MALIPUT_MALIDRIVE_RESOURCE_PATH")),
+    )]
+}
+
 /// Returns the path to the maliput_malidrive plugin.
 pub fn get_maliput_malidrive_plugin_path() -> PathBuf {
     PathBuf::from(env!("MALIPUT_MALIDRIVE_PLUGIN_PATH"))

maliput/examples/maliput_malidrive_resources.rs

@@ -0,0 +1,62 @@
+// 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.
+
+fn main() {
+    use maliput::api::RoadNetwork;
+    use std::collections::HashMap;
+
+    // The ResourceManager is a convenient method for getting the path to the resources of the backends.
+    // In this case, we are getting the path to the Town01.xodr file from the maliput_malidrive backend.
+    // And then using it to create a RoadNetwork.
+    let rm = maliput::ResourceManager::new();
+    let town_xodr_path = rm
+        .get_resource_path_by_name("maliput_malidrive", "Town01.xodr")
+        .unwrap();
+
+    let road_network_properties = HashMap::from([
+        ("road_geometry_id", "my_rg_from_rust"),
+        ("opendrive_file", town_xodr_path.to_str().unwrap()),
+    ]);
+
+    let road_network = RoadNetwork::new("maliput_malidrive", &road_network_properties);
+    let road_geometry = road_network.road_geometry();
+
+    // Exercise the RoadGeometry API.
+    println!("linear_tolerance: {}", road_geometry.linear_tolerance());
+    println!("angular_tolerance: {}", road_geometry.angular_tolerance());
+    println!("num_junctions: {}", road_geometry.num_junctions());
+
+    let lanes = road_geometry.get_lanes();
+    println!("num_lanes: {}", lanes.len());
+    println!("lanes: ");
+    for lane in lanes {
+        println!("\tlane id: {}", lane.id());
+    }
+}

maliput/src/lib.rs

@@ -29,3 +29,119 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 pub mod api;
 pub mod math;
+
+/// ### ResourceManager
+///
+/// Convenient method for getting the path to the resources of the backends.
+///
+/// ### Backends
+///  - maliput_malidrive: Resources from maliput_malidrive are brought by maliput-sdk package.
+///                       All the maliput_malidrive resources are stored in the same directory:
+///                       (See https://github.com/maliput/maliput_malidrive/tree/main/resources)
+/// ### Example
+///
+/// How to get all the resources from the maliput_malidrive backend:
+///
+/// ```rust, no_run
+/// let resource_manager = maliput::ResourceManager::new();
+/// let all_resources_in_malidrive = resource_manager.get_all_resources_by_backend("maliput_malidrive");
+/// ```
+///
+/// How to get the path to the TShapeRoad.xodr file from the maliput_malidrive backend:
+/// ```rust, no_run
+/// let resource_manager = maliput::ResourceManager::new();
+/// let t_shape_road_xodr_path = resource_manager.get_resource_path_by_name("maliput_malidrive", "TShapeRoad.xodr");
+/// assert!(t_shape_road_xodr_path.is_some());
+/// assert!(t_shape_road_xodr_path.unwrap().exists());
+/// ```
+pub struct ResourceManager {
+    resource_paths: std::collections::HashMap<String, Vec<std::path::PathBuf>>,
+}
+
+impl Default for ResourceManager {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
+impl ResourceManager {
+    /// Creates a new ResourceManager.
+    pub fn new() -> ResourceManager {
+        let mut resource_paths = std::collections::HashMap::new();
+        maliput_sdk::sdk_resources()
+            .iter()
+            .for_each(|(backend_name, resource_path)| {
+                // All the files in the path are added to the resource manager
+                let files = std::fs::read_dir(resource_path).unwrap();
+                let mut paths = vec![];
+                for file in files {
+                    let path = file.unwrap().path();
+                    paths.push(path);
+                }
+                resource_paths.insert(backend_name.clone(), paths);
+            });
+        ResourceManager { resource_paths }
+    }
+
+    /// Obtains the path to a resource by its name.
+    /// ### Arguments
+    ///
+    /// * `backend_name` - The name of the backend.
+    /// * `resource_name` - The name of the resource.
+    ///
+    /// ### Returns
+    /// The path to the resource if it exists, otherwise None.
+    pub fn get_resource_path_by_name(&self, backend_name: &str, resource_name: &str) -> Option<std::path::PathBuf> {
+        let paths = self.resource_paths.get(backend_name).unwrap();
+        for path in paths {
+            if path.to_str().unwrap().contains(resource_name) {
+                return Some(path.clone());
+            }
+        }
+        None
+    }
+
+    /// Obtains all the resources from a backend.
+    /// ### Arguments
+    ///
+    /// * `backend_name` - The name of the backend.
+    ///
+    /// ### Returns
+    /// A vector with all the resources from the backend if it exists, otherwise None.
+    pub fn get_all_resources_by_backend(&self, backend_name: &str) -> Option<&Vec<std::path::PathBuf>> {
+        self.resource_paths.get(backend_name)
+    }
+
+    /// Get the underlying collection that stores all the resources for each backend.
+    pub fn get_all_resources(&self) -> &std::collections::HashMap<String, Vec<std::path::PathBuf>> {
+        &self.resource_paths
+    }
+}
+
+// test
+
+mod tests {
+
+    #[test]
+    fn test_maliput_malidrive_resources() {
+        let resource_manager = crate::ResourceManager::new();
+
+        let t_shape_road_xodr_path = resource_manager.get_resource_path_by_name("maliput_malidrive", "TShapeRoad.xodr");
+        assert!(t_shape_road_xodr_path.is_some());
+        assert!(t_shape_road_xodr_path.unwrap().exists());
+
+        let wrong_file_path = resource_manager.get_resource_path_by_name("maliput_malidrive", "wrong_file");
+        assert!(wrong_file_path.is_none());
+
+        let all_resources_in_malidrive = resource_manager.get_all_resources_by_backend("maliput_malidrive");
+        assert!(all_resources_in_malidrive.is_some());
+        assert!(all_resources_in_malidrive.unwrap().len() > 10);
+
+        let all_resources_in_wrong_backend = resource_manager.get_all_resources_by_backend("wrong_backend");
+        assert!(all_resources_in_wrong_backend.is_none());
+
+        let all_resources = resource_manager.get_all_resources();
+        // There is only one backend supported at the moment.
+        assert_eq!(all_resources.len(), 1);
+    }
+}