// 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:
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// * Redistributions of source code must retain the above copyright notice, this
//   list of conditions and the following disclaimer.
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fn main() -> Result<(), Box<dyn std::error::Error>> {
    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 = format!("{}/data/xodr/TShapeRoad.xodr", package_location);

    let road_network_properties = HashMap::from([
        ("road_geometry_id", "my_rg_from_rust"),
        ("opendrive_file", xodr_path.as_str()),
    ]);

    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());
    }

    let inertial_position = maliput::api::InertialPosition::new(10.0, 0.0, 0.0);
    let road_position_query = road_geometry.to_road_position(&inertial_position)?;
    let round_inertial_pos = road_position_query.road_position.to_inertial_position()?;
    assert!((inertial_position.x() - round_inertial_pos.x()).abs() < road_geometry.linear_tolerance());

    Ok(())
}
