Add rust API for DiscreteValue and Range. (#120)

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

maliput-sys/src/api/rules/mod.rs

@@ -69,7 +69,7 @@ pub mod ffi {
     /// This is needed because maps can't be binded directly.
     struct RelatedUniqueId {
         pub group_name: String,
-        pub unique_id: Vec<String>,
+        pub unique_ids: Vec<String>,
     }
 
     #[repr(i32)]
@@ -187,7 +187,10 @@ pub mod ffi {
         fn RangeValueRuleRange_description(range: &RangeValueRuleRange) -> String;
         fn RangeValueRuleRange_min(range: &RangeValueRuleRange) -> f64;
         fn RangeValueRuleRange_max(range: &RangeValueRuleRange) -> f64;
-
+        fn RangeValueRuleRange_severity(range: &RangeValueRuleRange) -> i32;
+        fn RangeValueRuleRange_related_rules(range: &RangeValueRuleRange) -> UniquePtr<CxxVector<RelatedRule>>;
+        fn RangeValueRuleRange_related_unique_ids(range: &RangeValueRuleRange)
+            -> UniquePtr<CxxVector<RelatedUniqueId>>;
         // RangeValueRule::Range bindings definitions.
         type RangeValueRule;
         fn RangeValueRule_id(rule: &RangeValueRule) -> String;

maliput/src/api/rules/mod.rs

@@ -547,6 +547,27 @@ impl DiscreteValueRule {
     pub fn type_id(&self) -> String {
         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")
+    }
+    /// Returns the states of the rule.
+    pub fn states(&self) -> Vec<DiscreteValue> {
+        let states_cpp = &self.discrete_value_rule.states();
+        states_cpp
+            .into_iter()
+            .map(|dv| DiscreteValue {
+                rule_state: RuleStateBase {
+                    severity: maliput_sys::api::rules::ffi::DiscreteValueRuleDiscreteValue_severity(dv),
+                    related_rules: maliput_sys::api::rules::ffi::DiscreteValueRuleDiscreteValue_related_rules(dv),
+                    related_unique_ids: maliput_sys::api::rules::ffi::DiscreteValueRuleDiscreteValue_related_unique_ids(
+                        dv,
+                    ),
+                },
+                value: maliput_sys::api::rules::ffi::DiscreteValueRuleDiscreteValue_value(dv),
+            })
+            .collect::<Vec<DiscreteValue>>()
+    }
 }
 
 /// ## Rule
@@ -580,4 +601,122 @@ impl RangeValueRule {
     pub fn type_id(&self) -> String {
         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")
+    }
+    /// Returns the states of the rule.
+    pub fn states(&self) -> Vec<Range> {
+        let states_cpp = &self.range_value_rule.states();
+        states_cpp
+            .into_iter()
+            .map(|r| Range {
+                rule_state: RuleStateBase {
+                    severity: maliput_sys::api::rules::ffi::RangeValueRuleRange_severity(r),
+                    related_rules: maliput_sys::api::rules::ffi::RangeValueRuleRange_related_rules(r),
+                    related_unique_ids: maliput_sys::api::rules::ffi::RangeValueRuleRange_related_unique_ids(r),
+                },
+                description: maliput_sys::api::rules::ffi::RangeValueRuleRange_description(r),
+                min: maliput_sys::api::rules::ffi::RangeValueRuleRange_min(r),
+                max: maliput_sys::api::rules::ffi::RangeValueRuleRange_max(r),
+            })
+            .collect::<Vec<Range>>()
+    }
+}
+
+/// Defines a base state for a rule.
+///
+/// ## RuleStateBase
+///
+/// - `severity` - The severity of the rule state.
+/// - `related_rules` - A map of related rules. The key is the group name and the value is a vector of rule ids.
+/// - `related_unique_ids` - A map of related unique ids. The key is the group name and the value is a vector of unique ids.
+///
+/// See [DiscreteValueRule] and [RangeValueRule] for more information.
+pub struct RuleStateBase {
+    severity: i32,
+    related_rules: cxx::UniquePtr<cxx::CxxVector<maliput_sys::api::rules::ffi::RelatedRule>>,
+    related_unique_ids: cxx::UniquePtr<cxx::CxxVector<maliput_sys::api::rules::ffi::RelatedUniqueId>>,
+}
+
+/// Defines the interface for a rule state.
+/// ## To implement by the trait user.
+/// - `get_rule_state` - Returns the base state of the rule.
+///   To be implemented by the concrete rule state.
+pub trait RuleState {
+    /// Returns the base state of the rule.
+    /// To be implemented by the concrete rule state.
+    fn get_rule_state(&self) -> &RuleStateBase;
+
+    /// Returns the severity of the rule state.
+    fn severity(&self) -> i32 {
+        self.get_rule_state().severity
+    }
+
+    /// Returns a map of related unique ids. The key is the group name and the value is a vector of unique ids.
+    fn related_rules(&self) -> std::collections::HashMap<&String, &Vec<String>> {
+        self.get_rule_state()
+            .related_rules
+            .iter()
+            .map(|rr| (&rr.group_name, &rr.rule_ids))
+            .collect::<std::collections::HashMap<&String, &Vec<String>>>()
+    }
+    /// Returns a map of related unique ids. The key is the group name and the value is a vector of unique ids.
+    fn related_unique_ids(&self) -> std::collections::HashMap<&String, &Vec<String>> {
+        self.get_rule_state()
+            .related_unique_ids
+            .iter()
+            .map(|rui| (&rui.group_name, &rui.unique_ids))
+            .collect::<std::collections::HashMap<&String, &Vec<String>>>()
+    }
+}
+
+/// Defines a discrete value for a [DiscreteValueRule].
+/// It extends the [RuleStateBase] with the value of the discrete value.
+pub struct DiscreteValue {
+    rule_state: RuleStateBase,
+    value: String,
+}
+
+impl RuleState for DiscreteValue {
+    fn get_rule_state(&self) -> &RuleStateBase {
+        &self.rule_state
+    }
+}
+
+impl DiscreteValue {
+    /// Returns the value of the discrete value.
+    pub fn value(&self) -> &String {
+        &self.value
+    }
+}
+
+/// Defines a range value for a [RangeValueRule].
+/// It extends the [RuleStateBase] with the description, and min and max values of the range.
+pub struct Range {
+    rule_state: RuleStateBase,
+    description: String,
+    min: f64,
+    max: f64,
+}
+
+impl RuleState for Range {
+    fn get_rule_state(&self) -> &RuleStateBase {
+        &self.rule_state
+    }
+}
+
+impl Range {
+    /// Returns the description of the range value.
+    pub fn description(&self) -> &String {
+        &self.description
+    }
+    /// Returns the minimum value of the range.
+    pub fn min(&self) -> f64 {
+        self.min
+    }
+    /// Returns the maximum value of the range.
+    pub fn max(&self) -> f64 {
+        self.max
+    }
 }

maliput/tests/discrete_value_rule_test.rs

@@ -0,0 +1,123 @@
+// 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.
+mod common;
+
+// LoopRoadPedestrianCrosswalk map is being used to test the discrete value rule API and its components.
+// YAML information about the RoadRulebook can be found at:
+// https://github.com/maliput/maliput_malidrive/blob/352601969b1363cc13fe2008c198a3d95843bf5b/resources/LoopRoadPedestrianCrosswalk.yaml#L64
+
+#[test]
+fn discrete_value_rule_test_api() {
+    use maliput::api::rules::RuleState;
+
+    let road_network = common::create_loop_road_pedestrian_crosswalk_road_network_with_books();
+
+    let book = road_network.rulebook();
+    let expected_rule_id = String::from("Right-Of-Way Rule Type/WestToEastSouth");
+    let expected_type_id = String::from("Right-Of-Way Rule Type");
+    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 states = rule.states();
+    assert_eq!(states.len(), 2); // Go and Stop
+
+    // Find DiscreteValue with value "Go"
+    let expected_value = "Go";
+    let go_discrete_value = states.iter().find(|state| state.value() == expected_value).unwrap();
+    assert_eq!(go_discrete_value.value(), expected_value);
+
+    let severity = go_discrete_value.severity();
+    assert_eq!(severity, 0);
+
+    let related_rules = go_discrete_value.related_rules();
+    assert_eq!(related_rules.len(), 1);
+    let related_rule_group = String::from("Vehicle-Stop-In-Zone-Behavior Rule Type");
+    let related_rules_for_vehicle_stop_behavior_group = related_rules
+        .get(&related_rule_group)
+        .expect("Related rule group not found");
+    assert_eq!(related_rules_for_vehicle_stop_behavior_group.len(), 1);
+    assert_eq!(
+        related_rules_for_vehicle_stop_behavior_group
+            .first()
+            .expect("Related rule not found"),
+        "Vehicle-Stop-In-Zone-Behavior Rule Type/WestToEastSouth"
+    );
+
+    let related_unique_ids = go_discrete_value.related_unique_ids();
+    assert_eq!(related_unique_ids.len(), 1);
+    let related_unique_id_group = String::from("Bulb Group");
+    let related_unique_ids_for_bulb_group = related_unique_ids
+        .get(&related_unique_id_group)
+        .expect("Related unique id group not found");
+    assert_eq!(related_unique_ids_for_bulb_group.len(), 1);
+    assert_eq!(
+        related_unique_ids_for_bulb_group
+            .first()
+            .expect("Related unique id not found"),
+        "WestFacingSouth-WestFacingBulbsSouth"
+    );
+
+    // Find DiscreteValue with value "Stop"
+    let expected_value = "Stop";
+    let stop_discrete_value = states.iter().find(|state| state.value() == expected_value).unwrap();
+    assert_eq!(stop_discrete_value.value(), expected_value);
+
+    let severity = go_discrete_value.severity();
+    assert_eq!(severity, 0);
+
+    let related_rules = stop_discrete_value.related_rules();
+    assert_eq!(related_rules.len(), 1);
+    let related_rule_group = String::from("Vehicle-Stop-In-Zone-Behavior Rule Type");
+    let related_rules_for_vehicle_stop_behavior_group = related_rules
+        .get(&related_rule_group)
+        .expect("Related rule group not found");
+    assert_eq!(related_rules_for_vehicle_stop_behavior_group.len(), 1);
+    assert_eq!(
+        related_rules_for_vehicle_stop_behavior_group
+            .first()
+            .expect("Related rule not found"),
+        "Vehicle-Stop-In-Zone-Behavior Rule Type/WestToEastSouth"
+    );
+
+    let related_unique_ids = stop_discrete_value.related_unique_ids();
+    assert_eq!(related_unique_ids.len(), 1);
+    let related_unique_id_group = String::from("Bulb Group");
+    let related_unique_ids_for_bulb_group = related_unique_ids
+        .get(&related_unique_id_group)
+        .expect("Related unique id group not found");
+    assert_eq!(related_unique_ids_for_bulb_group.len(), 1);
+    assert_eq!(
+        related_unique_ids_for_bulb_group
+            .first()
+            .expect("Related unique id not found"),
+        "WestFacingSouth-WestFacingBulbsSouth"
+    );
+}

maliput/tests/range_value_rule_test.rs

@@ -0,0 +1,63 @@
+// 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.
+mod common;
+
+// LoopRoadPedestrianCrosswalk map is being used to test the discrete value rule API and its components.
+// YAML information about the RoadRulebook can be found at:
+// https://github.com/maliput/maliput_malidrive/blob/352601969b1363cc13fe2008c198a3d95843bf5b/resources/LoopRoadPedestrianCrosswalk.yaml#L64
+
+#[test]
+fn range_value_rule_test_api() {
+    use maliput::api::rules::RuleState;
+
+    let road_network = common::create_loop_road_pedestrian_crosswalk_road_network_with_books();
+
+    let book = road_network.rulebook();
+    let expected_rule_id = String::from("Speed-Limit Rule Type/1_0_1_1");
+    let expected_type_id = String::from("Speed-Limit Rule Type");
+    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 states = rule.states();
+    assert_eq!(states.len(), 1); // Only one speed limit state
+    let speed_limit_state = states.first().expect("State not found");
+    assert_eq!(speed_limit_state.description(), "m/s");
+    assert_eq!(speed_limit_state.min(), 0.);
+    assert_eq!(speed_limit_state.max(), 11.11111111111111);
+
+    let severity = speed_limit_state.severity();
+    assert_eq!(severity, 0);
+
+    let related_rules = speed_limit_state.related_rules();
+    assert_eq!(related_rules.len(), 0);
+    let related_unique_ids = speed_limit_state.related_unique_ids();
+    assert_eq!(related_unique_ids.len(), 0);
+}