From 7286c440a69babbd7a0531a3d6c7be27bf3dd94c Mon Sep 17 00:00:00 2001
From: Andreas Rauschert <andreas.rb.rauschert@bmw.de>
Date: Wed, 6 Oct 2021 17:16:42 +0200
Subject: [PATCH] Update after review and fix test build
---
MantleAPI/BUILD.bazel | 3 ++
.../MantleAPI/Common/simulation_time.h | 29 -------------------
.../MantleAPI/Execution/i_environment.h | 3 +-
.../MantleAPI/Traffic/entity_properties.h | 2 +-
MantleAPI/test/MantleAPI/Test/test_utils.h | 11 +++----
MantleAPI/test/interface_test.cpp | 2 +-
README.md | 7 +++++
7 files changed, 19 insertions(+), 38 deletions(-)
delete mode 100644 MantleAPI/include/MantleAPI/Common/simulation_time.h
diff --git a/MantleAPI/BUILD.bazel b/MantleAPI/BUILD.bazel
index e533abec..54b5d534 100644
--- a/MantleAPI/BUILD.bazel
+++ b/MantleAPI/BUILD.bazel
@@ -19,6 +19,9 @@ cc_library(
visibility = [
"//visibility:public",
],
+ deps = [
+ "@units",
+ ],
)
cc_library(
diff --git a/MantleAPI/include/MantleAPI/Common/simulation_time.h b/MantleAPI/include/MantleAPI/Common/simulation_time.h
deleted file mode 100644
index 7fd924a2..00000000
--- a/MantleAPI/include/MantleAPI/Common/simulation_time.h
+++ /dev/null
@@ -1,29 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- *
- * This program and the accompanying materials are made
- * available under the terms of the Eclipse Public License 2.0
- * which is available at https://www.eclipse.org/legal/epl-2.0/
- *
- * SPDX-License-Identifier: EPL-2.0
- *******************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** @file simulation_time.h */
-//-----------------------------------------------------------------------------
-
-#ifndef MANTLEAPI_COMMON_SIMULATION_TIME_H
-#define MANTLEAPI_COMMON_SIMULATION_TIME_H
-
-#include <MantleAPI/Common/time_utils.h>
-
-namespace mantle_api
-{
-struct SimulationTime
-{
- Time current_sim_time{0};
- Time last_delta_time{0};
-};
-
-} // namespace mantle_api
-#endif // MANTLEAPI_COMMON_SIMULATION_TIME_H
diff --git a/MantleAPI/include/MantleAPI/Execution/i_environment.h b/MantleAPI/include/MantleAPI/Execution/i_environment.h
index e9b08fc1..7c031c84 100644
--- a/MantleAPI/include/MantleAPI/Execution/i_environment.h
+++ b/MantleAPI/include/MantleAPI/Execution/i_environment.h
@@ -15,7 +15,6 @@
#ifndef MANTLEAPI_EXECUTION_IENVIRONMENT_H
#define MANTLEAPI_EXECUTION_IENVIRONMENT_H
-#include <MantleAPI/Common/simulation_time.h>
#include <MantleAPI/Common/time_utils.h>
#include <MantleAPI/EnvironmentalConditions/road_condition.h>
#include <MantleAPI/EnvironmentalConditions/weather.h>
@@ -77,7 +76,7 @@ public:
virtual void SetDateTime(mantle_api::Time time) = 0;
virtual mantle_api::Time GetDateTime() = 0;
- /// @brief Time since start of simulation and delta time to previous step
+ /// @brief Time since start of simulation
virtual mantle_api::Time GetSimulationTime() = 0;
virtual void SetWeather(Weather weather) = 0;
diff --git a/MantleAPI/include/MantleAPI/Traffic/entity_properties.h b/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
index 7d6ac794..0e591df5 100644
--- a/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
+++ b/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
@@ -176,7 +176,7 @@ struct PedestrianProperties : public EntityProperties
struct StaticObjectProperties : public EntityProperties
{
- units::length::meter_t upwards_shift{0.0};
+ units::length::meter_t z_placement_offset{0.0};
};
} // namespace mantle_api
diff --git a/MantleAPI/test/MantleAPI/Test/test_utils.h b/MantleAPI/test/MantleAPI/Test/test_utils.h
index 6bb16d4e..c11fe9d4 100644
--- a/MantleAPI/test/MantleAPI/Test/test_utils.h
+++ b/MantleAPI/test/MantleAPI/Test/test_utils.h
@@ -35,7 +35,7 @@ class MockConverter : public mantle_api::ICoordConverter
public:
MOCK_METHOD(mantle_api::Vec3<units::length::meter_t>, Convert, (mantle_api::Position position), (const override));
- mantle_api::Position Convert(mantle_api::Vec3<units::length::meter_t> vec) const override
+ mantle_api::Position Convert(const mantle_api::Vec3<units::length::meter_t>& vec) const override
{
std::ignore = vec;
return mantle_api::Position{};
@@ -270,13 +270,13 @@ public:
CreateStaticObjectProxy,
(const std::string& name, const mantle_api::StaticObjectProperties& properties), ());
- mantle_api::IEntity& Get(const std::string& name) override
+ std::optional<std::reference_wrapper<IEntity>> Get(const std::string& name) override
{
std::ignore = name;
return test_vehicle_;
}
- mantle_api::IEntity& Get(mantle_api::UniqueId id) override
+ std::optional<std::reference_wrapper<IEntity>> Get(mantle_api::UniqueId id) override
{
std::ignore = id;
return test_vehicle_;
@@ -294,8 +294,9 @@ public:
}
void Delete(UniqueId id) override { std::ignore = id; }
- // const std::vector<mantle_api::IEntity>& GetEntities() const override { return <#initializer #>{}; }
- // std::vector<mantle_api::IEntity>& GetEntities() override { return <#initializer #>; }
+ void RegisterEntityCreatedCallback(const std::function<void(IEntity&)>& callback) override { std::ignore = callback; }
+ void RegisterEntityDeletedCallback(const std::function<void(const std::string&)>& callback) override { std::ignore = callback; }
+ void RegisterEntityDeletedCallback(const std::function<void(UniqueId)>& callback) override { std::ignore = callback; }
private:
MockVehicle test_vehicle_{};
diff --git a/MantleAPI/test/interface_test.cpp b/MantleAPI/test/interface_test.cpp
index 51bf3fdf..67a5ecf6 100644
--- a/MantleAPI/test/interface_test.cpp
+++ b/MantleAPI/test/interface_test.cpp
@@ -17,7 +17,7 @@
TEST(InterfaceTest, GivenTeleportAction_When_ThenHostVehicleIsPlaced)
{
mantle_api::Position inert_pos{};
- inert_pos = mantle_api::OpenDrivePosition{{0, 0}, 0, 0};
+ inert_pos = mantle_api::OpenDrivePosition{{0, 0}, units::length::meter_t{0}, units::length::meter_t{0}};
mantle_api::MockEnvironment env{};
env.CreateMap("dummy_map_path", {});
diff --git a/README.md b/README.md
index e3199812..539914fb 100644
--- a/README.md
+++ b/README.md
@@ -4,3 +4,10 @@ A collection of interfaces for abstraction between a scenario engine and an envi
It is intended to be usable with a wide variety of scenario description languages by implementing according scenario engines.
Remark: This is currently work in progress and no stable state is reached yet.
+
+## Used libraries
+
+### Units
+License: MIT License
+URL: https://github.com/nholthaus/units
+Version: v2.3.1
--
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