diff --git a/.clang-format b/.clang-format
index 9cf6330c11cd21bf7dc5c49cd4992dfa8a050a06..b580ec9ff78e8322008ec834c3ecfd72d8bbc62a 100644
--- a/.clang-format
+++ b/.clang-format
@@ -6,3 +6,4 @@ BinPackArguments: false
BinPackParameters: false
BreakBeforeBraces: Allman
ColumnLimit: 0
+InsertNewlineAtEOF: true
diff --git a/.cmake-format b/.cmake-format
index 1fbbb020b01441bdb068a1865696cab156703875..8227f04a9b626d235889dfb597735a39d1cbc57f 100644
--- a/.cmake-format
+++ b/.cmake-format
@@ -14,12 +14,14 @@ command_case: canonical
keyword_case: upper
additional_commands:
CPMAddPackage:
+ pargs: "*"
kwargs:
NAME: "*"
GITHUB_REPOSITORY: "*"
GIT_TAG: "*"
VERSION: "*"
OPTIONS: "*"
+ PATCH_COMMAND: "*"
configure_package_config_file:
flags:
- NO_SET_AND_CHECK_MACRO
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 67832395372f48cd4ed963b3db54cfc73536fdd4..ad3fb24318d1b2dfe774ebb7de4b01b9a619801c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,7 +25,7 @@ endif()
project(
MantleAPI
VERSION 0.1.0
- DESCRIPTION "MantleAPI, an abstraction layer for environmental simulators"
+ DESCRIPTION "An abstraction layer for environmental simulators"
LANGUAGES CXX
)
diff --git a/README.md b/README.md
index a27500d38d9cccc0bd272e6e20019136b167ff71..d15a6cdf6440114710cab70719ca9d4025c2cbac 100644
--- a/README.md
+++ b/README.md
@@ -3,69 +3,55 @@
A collection of interfaces for abstraction between a scenario engine and an environment simulator.
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.
+â—ï¸ 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: v2.3.3
+## Build
-### GoogleTest
-License: BSD-3-Clause License
-URL: https://github.com/google/googletest
-Version: v1.12.1
+In order to build this project please consider the following sections.
-### CPM
-License: MIT License
-URL: https://github.com/cpm-cmake/CPM.cmake
-Version: v0.36.0
+The used configuration for all setups is `Debug`. For release builds change the configuration to `Release`.
+### Ubuntu native or wsl2 (preferred)
-## Build
+1. âš™ï¸ Install requirements
-In order to build this project please consider the following sections.
+ sudo apt-get -y update && sudo apt-get -y install \
+ build-essential \
+ cmake \
+ doxygen \
+ graphviz \
+ ninja-build \
+ plantuml
-The used configuration for all setups is `Debug`. For release builds change the configuration to `Release`.
+2. ðŸ› ï¸ Configure, build, and install
-### Windows wsl2 Ubuntu and on Linux/Ubuntu native (prefered)
+ cd <path/to/mantle_api>
+ cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Debug -DCMAKE_INSTALL_PREFIX=$PWD/install
+ cmake --build build
+ cmake --install build
-Install Requirements:
-```
-sudo apt install graphviz doxygen cmake g++
-```
+3. 📄 Build docs
-1. Build via cmake:
- ```
- cd <path_to_mantle_api>
- cmake -B build -DCMAKE_BUILD_TYPE=Debug -DCMAKE_INSTALL_PREFIX=$PWD/install
- cmake --build build -j
- cmake --install build
- ```
+ cd <path/to/mantle_api>
+ cmake --build build --target MantleAPI_doc
+ cat <path/to/mantle_api>/build/doc/html/index.html
-2. Build doc:
- ```
- cd <path_to_mantle_api>
- cmake --build build --target MantleAPI_doc
- cat <path_to_mantle_api>/build/doc/html/index.html
- ```
+4. 🧪 Run tests
-3. Test via ctest:
- ```
- cd <path_to_mantle_api>/build
- ctest --stop-on-failure
- ```
- ctest runs the tests from both build targets: `CommonTests` and `MentleAPITests`.
+ cd <path/to/mantle_api>/build
+ ctest --stop-on-failure
+
+ CTest runs the tests from both build targets: `CommonTest` and `MantleAPITest`.
### Windows mingw with cmake
This section introduces a step by step guide to install the requirements to build this API with mingw tooling.
Requirements:
-- Follow the following guide to set up the mingw64 shell and the required dependencies (cmake, gcc, ninja, doxygen, graphviz): https://www.eclipse.org/openpass/content/html/installation_guide/20_install_prerequisites.html#installing-the-binary-packages
+- Follow the following guide to set up the mingw64 shell and the required dependencies (cmake, gcc, ninja, doxygen, graphviz): https://www.eclipse.org/openpass/content/html/installation_guide/20_install_prerequisites.html#installing-the-binary-packages
-Build via cmake (on a mingw console):
+Build via cmake (on a mingw console):
1. Go to the project dir: `cd <project_dir>`
2. Build via cmake:
```
@@ -74,12 +60,12 @@ Build via cmake (on a mingw console):
cmake -G "Ninja" ..
ninja
```
-3. Test the API
+3. Test the API
```
cd <path_to_mantle_api>/build/test
./MantleAPITest.exe
```
-4. Build Doc:
+4. Build Doc:
```
cd <path_to_mantle_api>/build
cmake --build . --target MantleAPI_doc
@@ -90,10 +76,10 @@ Build via cmake (on a mingw console):
This section introduces a step by step guide to install the requirements to build this API with native tooling.
Requirements:
-- install cmake: https://cmake.org/install/
+- install CMake: https://cmake.org/install/
- install Visual Studio build tools 2022: https://visualstudio.microsoft.com/downloads/#remote-tools-for-visual-studio-2022
-- install doxygen: https://www.doxygen.nl/download.html
-- install graphviz: https://graphviz.org/download/
+- install Doxygen: https://www.doxygen.nl/download.html
+- install Graphviz: https://graphviz.org/download/
Add doxygen, graphiz, and cmake to at least the current users PATH variable.
@@ -107,9 +93,9 @@ Add doxygen, graphiz, and cmake to at least the current users PATH variable.
cmake.exe --build <path_to_mantle_api>/build --config Debug --target all --
```
-3. Run Tests:
+3. Run Tests:
- Common Test:
+ Common Test:
```
$> ."<path_to_mantle_api>/build/CommonTest.exe"
Running main() from gmock_main.cc
@@ -157,7 +143,7 @@ Add doxygen, graphiz, and cmake to at least the current users PATH variable.
### Versioning
-Versioning should follow the semantic versioning pattern `MAJOR.MINOR.PATCH`.
+Versioning follows the [semantic versioning pattern](https://semver.org/) `MAJOR.MINOR.PATCH`.
Currently this is a manual task that needs to be approved as a part of a code review.
In the following a course guideline is given, when to increment the according fields:
@@ -169,14 +155,22 @@ In the following a course guideline is given, when to increment the according fi
**Minor:**
-- Increments, if changes are ABI compatible, i.e. independent of the rest of other mantle definitions.
+- Increments, if changes are ABI compatible, i.e. independent of the rest of other mantle definitions.
It is expected that this does not happen very often at the current state of development.
-- Features related to testing, such as enhancing mocks, adding tests, etc.
+- Features related to testing, such as enhancing mocks, adding tests etc.
- Features related to chore tasks, such as CI scripts, CMake enhancements, formatters, etc.
**Patch:**
-- Fixing typos in the documentation (as long as they don't change the semantic of a function call!)
+- Fixing typos in the documentation (as long as they don't change the semantics of a function call!)
- Fixing bugs related to testing
- Fixing bugs related to chore tasks
+## Third party
+
+| Name | License | Version |
+|--------------------------------------------------------------------|--------------|---------|
+| [CPM](https://github.com/cpm-cmake/CPM.cmake) | MIT | 0.36.0 |
+| [Doxygen Awesome](https://github.com/jothepro/doxygen-awesome-css) | MIT | 2.3.1 |
+| [GoogleTest](https://github.com/google/googletest) | BSD-3-Clause | 1.12.1 |
+| [Units](https://github.com/nholthaus/units) | MIT | 2.3.3 |
diff --git a/cmake/FindPlantUML.cmake b/cmake/FindPlantUML.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..9f056d1940a2d2f2d959b48be423fe83d8ee831d
--- /dev/null
+++ b/cmake/FindPlantUML.cmake
@@ -0,0 +1,23 @@
+################################################################################
+# Copyright (c) 2024 Mercedes-Benz Tech Innovation GmbH
+#
+# 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
+################################################################################
+
+find_file(PLANTUML_JAR plantuml.jar PATHS ${PLANTUML_JAR_PATH} ENV{PLANTUML_JAR_PATH} /usr/share/plantuml)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(PlantUML DEFAULT_MSG PLANTUML_JAR)
+
+if(PlantUML_FOUND)
+ if(NOT TARGET PlantUML::PlantUML)
+ add_executable(PlantUML::PlantUML IMPORTED)
+ if(EXISTS "${PLANTUML_JAR}")
+ set_target_properties(PlantUML::PlantUML PROPERTIES IMPORTED_LOCATION "${PLANTUML_JAR}")
+ endif()
+ endif()
+endif()
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index 3f2dc76506e3744b194de97fbed3a7db085984cd..b3b8e2eca1a0160e4c53c143b161b175cc1fd872 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -9,11 +9,30 @@
# SPDX-License-Identifier: EPL-2.0
################################################################################
+CPMAddPackage("gh:jothepro/doxygen-awesome-css@2.3.3")
+
find_package(Doxygen QUIET REQUIRED dot OPTIONAL_COMPONENTS mscgen dia)
set(DOXYGEN_BUILTIN_STL_SUPPORT YES)
+set(DOXYGEN_DISABLE_INDEX NO)
set(DOXYGEN_DOT_IMAGE_FORMAT svg)
+set(DOXYGEN_DOT_TRANSPARENT YES)
+set(DOXYGEN_FULL_SIDEBAR NO)
set(DOXYGEN_GENERATE_LATEX NO)
+set(DOXYGEN_GENERATE_TREEVIEW YES)
+set(DOXYGEN_HTML_EXTRA_FILES
+ ${CMAKE_CURRENT_SOURCE_DIR}/header.html
+ ${doxygen-awesome-css_SOURCE_DIR}/doxygen-awesome-darkmode-toggle.js
+ ${doxygen-awesome-css_SOURCE_DIR}/doxygen-awesome-fragment-copy-button.js
+ ${doxygen-awesome-css_SOURCE_DIR}/doxygen-awesome-interactive-toc.js
+ ${doxygen-awesome-css_SOURCE_DIR}/doxygen-awesome-paragraph-link.js
+)
+set(DOXYGEN_HTML_EXTRA_STYLESHEET
+ ${doxygen-awesome-css_SOURCE_DIR}/doxygen-awesome.css
+ ${doxygen-awesome-css_SOURCE_DIR}/doxygen-awesome-sidebar-only.css
+ ${doxygen-awesome-css_SOURCE_DIR}/doxygen-awesome-sidebar-only-darkmode-toggle.css
+)
+set(DOXYGEN_HTML_HEADER header.html)
set(DOXYGEN_INCLUDE_PATH ${PROJECT_SOURCE_DIR}/include)
set(DOXYGEN_INTERACTIVE_SVG YES)
set(DOXYGEN_JAVADOC_AUTOBRIEF YES)
@@ -25,6 +44,12 @@ set(DOXYGEN_USE_MDFILE_AS_MAINPAGE ${PROJECT_SOURCE_DIR}/README.md)
set(DOXYGEN_WARN_LOGFILE ${CMAKE_CURRENT_BINARY_DIR}/DoxygenWarningLog.txt)
set(DOXYGEN_WARN_NO_PARAMDOC YES)
+find_package(PlantUML)
+if(PlantUML_FOUND)
+ set(DOXYGEN_PLANTUML_INCLUDE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/diagrams)
+ set(DOXYGEN_PLANTUML_JAR_PATH ${PLANTUML_JAR})
+endif()
+
doxygen_add_docs(
${PROJECT_NAME}_doc ${PROJECT_SOURCE_DIR}/README.md ${PROJECT_SOURCE_DIR}/include COMMENT "Generate html docs"
)
diff --git a/doc/diagrams/logging.puml b/doc/diagrams/logging.puml
new file mode 100644
index 0000000000000000000000000000000000000000..c4bd2573e565b2961e95c252fc4b3175f3851445
--- /dev/null
+++ b/doc/diagrams/logging.puml
@@ -0,0 +1,59 @@
+@startuml Logging
+set namespaceSeparator ::
+
+enum mantle_api::LogLevel {
+ kTrace
+ kDebug
+ kInfo
+ kWarning
+ kError
+ kCritical
+}
+
+interface mantle_api::ILogger {
+ + {abstract} LogLevel GetCurrentLogLevel() const
+ + {abstract} void Log(LogLevel level, std::string_view message)
+ ..
+ + void Trace(std::string_view message)
+ + void Debug(std::string_view message)
+ + void Info(std::string_view message)
+ + void Warning(std::string_view message)
+ + void Error(std::string_view message)
+ + void Critical(std::string_view message)
+}
+
+package Environment <<Frame>> #LightCyan {
+
+class EnvironmentImpl {
+ - mantle_api::ILogger logger_
+}
+
+}
+
+package Scenario <<Frame>> #LightGreen {
+
+class ScenarioEngineImpl {
+ - mantle_api::ILogger logger_
+}
+
+}
+
+package Simulator <<Frame>> #LightCoral {
+
+class LoggerImpl implements mantle_api::ILogger {
+ + mantle_api::LogLevel GetCurrentLogLevel() const
+ + void Log(mantle_api::LogLevel level, std::string_view message)
+}
+
+class SimulatorImpl {
+ - mantle_api::ILogger logger_
+}
+
+}
+
+mantle_api::ILogger .right. mantle_api::LogLevel
+EnvironmentImpl o-- mantle_api::ILogger
+ScenarioEngineImpl o-- mantle_api::ILogger
+SimulatorImpl *-- mantle_api::ILogger
+
+@enduml
diff --git a/doc/header.html b/doc/header.html
new file mode 100644
index 0000000000000000000000000000000000000000..81f90941ed30759ee8f4cf53acdbca8820acce00
--- /dev/null
+++ b/doc/header.html
@@ -0,0 +1,73 @@
+<!-- HTML header for doxygen 1.9.1-->
+<!DOCTYPE html
+ PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+
+<head>
+ <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8" />
+ <meta http-equiv="X-UA-Compatible" content="IE=9" />
+ <meta name="generator" content="Doxygen $doxygenversion" />
+ <meta name="viewport" content="width=device-width, initial-scale=1" />
+ <!--BEGIN PROJECT_NAME-->
+ <title>$projectname: $title</title><!--END PROJECT_NAME-->
+ <!--BEGIN !PROJECT_NAME-->
+ <title>$title</title><!--END !PROJECT_NAME-->
+ <link href="$relpath^tabs.css" rel="stylesheet" type="text/css" />
+ <script type="text/javascript" src="$relpath^jquery.js"></script>
+ <script type="text/javascript" src="$relpath^dynsections.js"></script>
+ $treeview
+ $search
+ $mathjax
+ <link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
+ $extrastylesheet
+
+ <script type="text/javascript" src="$relpath^doxygen-awesome-darkmode-toggle.js"></script>
+ <script type="text/javascript" src="$relpath^doxygen-awesome-fragment-copy-button.js"></script>
+ <script type="text/javascript" src="$relpath^doxygen-awesome-paragraph-link.js"></script>
+ <script type="text/javascript" src="$relpath^doxygen-awesome-interactive-toc.js"></script>
+ <script type="text/javascript">
+ DoxygenAwesomeDarkModeToggle.init()
+ DoxygenAwesomeFragmentCopyButton.init()
+ DoxygenAwesomeParagraphLink.init()
+ DoxygenAwesomeInteractiveToc.init()
+ </script>
+</head>
+
+<body>
+ <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+
+ <!--BEGIN TITLEAREA-->
+ <div id="titlearea">
+ <table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+ <!--BEGIN PROJECT_LOGO-->
+ <td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo" /></td>
+ <!--END PROJECT_LOGO-->
+ <!--BEGIN PROJECT_NAME-->
+ <td id="projectalign" style="padding-left: 0.5em;">
+ <div id="projectname">$projectname
+ <!--BEGIN PROJECT_NUMBER--> <span id="projectnumber">$projectnumber</span><!--END PROJECT_NUMBER-->
+ </div>
+ <!--BEGIN PROJECT_BRIEF-->
+ <div id="projectbrief">$projectbrief</div><!--END PROJECT_BRIEF-->
+ </td>
+ <!--END PROJECT_NAME-->
+ <!--BEGIN !PROJECT_NAME-->
+ <!--BEGIN PROJECT_BRIEF-->
+ <td style="padding-left: 0.5em;">
+ <div id="projectbrief">$projectbrief</div>
+ </td>
+ <!--END PROJECT_BRIEF-->
+ <!--END !PROJECT_NAME-->
+ <!--BEGIN DISABLE_INDEX-->
+ <!--BEGIN SEARCHENGINE-->
+ <td>$searchbox</td>
+ <!--END SEARCHENGINE-->
+ <!--END DISABLE_INDEX-->
+ </tr>
+ </tbody>
+ </table>
+ </div>
+ <!--END TITLEAREA-->
+ <!-- end header part -->
diff --git a/include/MantleAPI/Common/bounding_box.h b/include/MantleAPI/Common/bounding_box.h
index 5e378f12df7e8155671638773fd727b9fb18cf7a..0160dab467e5021a428f6f38986e56ef3fcf3857 100644
--- a/include/MantleAPI/Common/bounding_box.h
+++ b/include/MantleAPI/Common/bounding_box.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file bounding_box.h */
+/// @file bounding_box.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_BOUNDING_BOX_H
@@ -27,8 +27,8 @@ namespace mantle_api
/// For vehicles the origin shall be the center of the rear axis.
struct BoundingBox
{
- Vec3<units::length::meter_t> geometric_center{}; ///< Coordinates of bounding box center in local coordinate system
- Dimension3 dimension{}; ///< Dimension of the bounding box (i.e. length = x dimension, width = y dimension, height = z dimension)
+ Vec3<units::length::meter_t> geometric_center{}; ///< Coordinates of bounding box center in local coordinate system
+ Dimension3 dimension{}; ///< Dimension of the bounding box (i.e. length = x dimension, width = y dimension, height = z dimension)
};
/// @brief equality
diff --git a/include/MantleAPI/Common/dimension.h b/include/MantleAPI/Common/dimension.h
index 0c455ac5ba7eb35baab6599e539bb7376d5f75a2..16e13c81d15b481bd40fd4e8c504cb20a8d401cf 100644
--- a/include/MantleAPI/Common/dimension.h
+++ b/include/MantleAPI/Common/dimension.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file dimension.h */
+/// @file dimension.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_DIMENSION_H
diff --git a/include/MantleAPI/Common/floating_point_helper.h b/include/MantleAPI/Common/floating_point_helper.h
index f11ef0ca726fda03b7a4018ad0c8e8f61eb51d1f..4824fa058e0c24288d2a44caef1a3e9a8b63946c 100644
--- a/include/MantleAPI/Common/floating_point_helper.h
+++ b/include/MantleAPI/Common/floating_point_helper.h
@@ -10,7 +10,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file floating_point_helper.h */
+/// @file floating_point_helper.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_FLOATING_POINT_HELPER_H
@@ -19,7 +19,6 @@
#include <units.h>
#include <cmath>
-#include <limits>
#include <type_traits>
#if !defined(MANTLE_API_DEFAULT_EPS)
@@ -98,7 +97,7 @@ constexpr bool AlmostEqual(const T lhs, const T rhs, const T epsilon = static_ca
// Handle bigger values.
// Values are considered almost equal, if their difference is less than epsilon multiplied by the bigger absolute value.
- if(!absolute_comparison_only)
+ if (!absolute_comparison_only)
{
return std::abs(lhs - rhs) <= epsilon * std::max(std::abs(lhs), std::abs(rhs));
}
diff --git a/include/MantleAPI/Common/i_geometry_helper.h b/include/MantleAPI/Common/i_geometry_helper.h
index 44f895c4d6c4c2163bec48f25d5b3582db203394..3f8c98deaa24e2a268902244611298f2d0d06d41 100644
--- a/include/MantleAPI/Common/i_geometry_helper.h
+++ b/include/MantleAPI/Common/i_geometry_helper.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_geometry_helper.h */
+/// @file i_geometry_helper.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_I_GEOMETRY_HELPER_H
@@ -21,6 +21,7 @@
namespace mantle_api
{
+
/// Interface that provides functionality to perform geometrical calculations
class IGeometryHelper
{
diff --git a/include/MantleAPI/Common/i_identifiable.h b/include/MantleAPI/Common/i_identifiable.h
index 52ab357099585e8b3d463b29abea7c798f56b7c9..19b9e821376f05325d7af2ba693106b0d9b13fd8 100644
--- a/include/MantleAPI/Common/i_identifiable.h
+++ b/include/MantleAPI/Common/i_identifiable.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_identifiable.h */
+/// @file i_identifiable.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_I_IDENTIFIABLE_H
@@ -21,6 +21,7 @@
namespace mantle_api
{
+
using UniqueId = std::uint64_t; ///< Container for unique id
constexpr UniqueId InvalidId{std::numeric_limits<UniqueId>::max()}; ///< 'invalid' id
diff --git a/include/MantleAPI/Common/i_logger.h b/include/MantleAPI/Common/i_logger.h
index 88e0c40e45ddfc779fe2150e858891a5ff737fbe..b5c72f39657054d986aa63c233c7f431d2223270 100644
--- a/include/MantleAPI/Common/i_logger.h
+++ b/include/MantleAPI/Common/i_logger.h
@@ -9,15 +9,27 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
+//-----------------------------------------------------------------------------
+/// @file MantleAPI/Common/i_logger.h
+//-----------------------------------------------------------------------------
+
#ifndef MANTLEAPI_COMMON_I_LOGGER_H
#define MANTLEAPI_COMMON_I_LOGGER_H
#include <string_view>
+/// MantleAPI namespace
namespace mantle_api
{
-/// Log levels for the logging interface
+/// @defgroup logging Logging
+/// Logging related classes and utilities
+/// @startuml
+/// !include logging.puml!0
+/// @enduml
+
+/// Log level definition for ILogger
+/// @ingroup logging
enum class LogLevel : int
{
kTrace = 0, ///< Step by step execution messages for intensive debugging
@@ -29,6 +41,7 @@ enum class LogLevel : int
};
/// Interface for logging messages
+/// @ingroup logging
class ILogger
{
public:
diff --git a/include/MantleAPI/Common/log_utils.h b/include/MantleAPI/Common/log_utils.h
index 4be6cd39fe91527061e416a16712294b86dc86d4..6e23967b191c07b1569ff69c50931eb90566fbf9 100644
--- a/include/MantleAPI/Common/log_utils.h
+++ b/include/MantleAPI/Common/log_utils.h
@@ -9,6 +9,10 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
+//-----------------------------------------------------------------------------
+/// @file MantleAPI/Common/log_utils.h
+//-----------------------------------------------------------------------------
+
#ifndef MANTLEAPI_COMMON_LOG_UTILS_H
#define MANTLEAPI_COMMON_LOG_UTILS_H
@@ -19,14 +23,22 @@
#include <ostream>
#include <string_view>
+/// MantleAPI namespace
namespace mantle_api
{
+/// Log utilities namespace
namespace log_utils
{
+/// Array of log level names
+/// @ingroup logging
static inline constexpr auto kLogLevelNames = std::array<std::string_view, 6U>{"Trace", "Debug", "Info", "Warning", "Error", "Critical"};
+/// Convert a log level to its name
+/// @param[in] level The log level
+/// @return The name of the log level
+/// @ingroup logging
[[nodiscard]] constexpr std::string_view ToStringView(LogLevel level) noexcept
{
return (level >= LogLevel::kTrace && level <= LogLevel::kCritical) ? kLogLevelNames.at(static_cast<std::size_t>(level)) : "Log level out of range";
@@ -34,6 +46,8 @@ static inline constexpr auto kLogLevelNames = std::array<std::string_view, 6U>{"
} // namespace log_utils
+/// Stream operator for log level
+/// @ingroup logging
inline std::ostream& operator<<(std::ostream& os, mantle_api::LogLevel level) noexcept
{
os << log_utils::ToStringView(level);
diff --git a/include/MantleAPI/Common/orientation.h b/include/MantleAPI/Common/orientation.h
index 06a515d5936310afff3a582d532a99149e7fbdbc..432bdc11114e158553fbdda08da5d5437efbbcdb 100644
--- a/include/MantleAPI/Common/orientation.h
+++ b/include/MantleAPI/Common/orientation.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file orientation.h */
+/// @file orientation.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_ORIENTATION_H
@@ -21,6 +21,7 @@
namespace mantle_api
{
+
template <typename T,
class = typename std::enable_if_t<units::traits::is_angle_unit<T>::value ||
units::traits::is_angular_velocity_unit<T>::value ||
diff --git a/include/MantleAPI/Common/poly_line.h b/include/MantleAPI/Common/poly_line.h
index 6e301b033d5de1906ad78ac64e639f92e0780f6d..c28c40a1c432d14820f372704490ed60773f9cb1 100644
--- a/include/MantleAPI/Common/poly_line.h
+++ b/include/MantleAPI/Common/poly_line.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file poly_line.h */
+/// @file poly_line.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_POLY_LINE_H
@@ -23,11 +23,12 @@
namespace mantle_api
{
+
/// This struct represents the point of a polygonal chain (polyline) trajectory specification
struct PolyLinePoint
{
- Pose pose{}; ///< Pose of the PolyLinePoint
- std::optional<Time> time{}; ///< Time specification of the PolyLinePoint
+ Pose pose{}; ///< Pose of the PolyLinePoint
+ std::optional<Time> time{}; ///< Time specification of the PolyLinePoint
/// @brief Equality comparison for PolyLinePoint.
///
@@ -66,4 +67,4 @@ using PolyLine = std::vector<PolyLinePoint>;
} // namespace mantle_api
-#endif // MANTLEAPI_COMMON_POLY_LINE_H
\ No newline at end of file
+#endif // MANTLEAPI_COMMON_POLY_LINE_H
diff --git a/include/MantleAPI/Common/pose.h b/include/MantleAPI/Common/pose.h
index 35fef7c693dbb525b964f22437c11c4ea374aee2..5bbaf6a5f6c68152384474a96c3514d767f81ea9 100644
--- a/include/MantleAPI/Common/pose.h
+++ b/include/MantleAPI/Common/pose.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file pose.h */
+/// @file pose.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_POSE_H
@@ -23,6 +23,7 @@
namespace mantle_api
{
+
/// Pose in the Cartesian coordinate system
struct Pose
{
diff --git a/include/MantleAPI/Common/position.h b/include/MantleAPI/Common/position.h
index 0befbc214ecb9961a394b09cddb7a248c27462ae..6e9dc2c1bbc4573eed4dec2e3b8d18880355a968 100644
--- a/include/MantleAPI/Common/position.h
+++ b/include/MantleAPI/Common/position.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file position.h */
+/// @file position.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_POSITION_H
@@ -17,10 +17,10 @@
#include <MantleAPI/Common/floating_point_helper.h>
#include <MantleAPI/Common/vector.h>
-#include <cmath>
+#include <units.h>
+
#include <cstdint>
#include <string>
-#include <units.h>
#include <variant>
namespace mantle_api
diff --git a/include/MantleAPI/Common/route_definition.h b/include/MantleAPI/Common/route_definition.h
index f1ab172c0fd41f4a1eca00ce8d19da3ccc80cc09..6dfc890b46465cfb1a19509d344d945977bfbe2e 100644
--- a/include/MantleAPI/Common/route_definition.h
+++ b/include/MantleAPI/Common/route_definition.h
@@ -10,7 +10,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file route_definition.h */
+/// @file route_definition.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_ROUTE_DEFINITION_H
@@ -25,7 +25,7 @@
namespace mantle_api
{
-/// Defines how a route should be calculated
+/// Define how the route from a waypoint forward should be calculated.
enum class RouteStrategy
{
kUndefined = 0,
@@ -34,7 +34,7 @@ enum class RouteStrategy
kShortest
};
-/// Groups a Waypoint with a RouteStrategy
+/// Group a Waypoint with a RouteStrategy.
struct RouteWaypoint
{
/// Reference position used to form a route
@@ -43,7 +43,7 @@ struct RouteWaypoint
RouteStrategy route_strategy{};
};
-/// @brief Equality comparison for RouteWaypoint
+/// Equality comparison for RouteWaypoint.
///
/// @param[in] lhs The left-hand side value for the comparison
/// @param[in] rhs The right-hand side value for the comparison
@@ -53,7 +53,7 @@ inline bool operator==(const RouteWaypoint& lhs, const RouteWaypoint& rhs) noexc
return std::tie(lhs.waypoint, lhs.route_strategy) == std::tie(rhs.waypoint, rhs.route_strategy);
}
-/// @brief Inequality comparison for RouteWaypoint
+/// Inequality comparison for RouteWaypoint.
///
/// @param[in] lhs The left-hand side value for the comparison
/// @param[in] rhs The right-hand side value for the comparison
@@ -63,15 +63,15 @@ inline bool operator!=(const RouteWaypoint& lhs, const RouteWaypoint& rhs) noexc
return !(lhs == rhs);
}
-/// Serves as a raw set of global coordinates and information for
-/// linking them, from which the actual route can be calculated
+/// A raw set of global coordinates and information for
+/// linking them, from which the actual route can be calculated.
struct RouteDefinition
{
/// The list of waypoints with associated RouteStrategies
- std::vector<mantle_api::RouteWaypoint> waypoints{};
+ std::vector<mantle_api::RouteWaypoint> waypoints;
};
-/// @brief Equality comparison for RouteDefinition.
+/// Equality comparison for RouteDefinition.
///
/// @param[in] lhs The left-hand side value for the comparison
/// @param[in] rhs The right-hand side value for the comparison
@@ -81,7 +81,7 @@ inline bool operator==(const RouteDefinition& lhs, const RouteDefinition& rhs) n
return lhs.waypoints == rhs.waypoints;
}
-/// @brief Inequality comparison for RouteDefinition.
+/// Inequality comparison for RouteDefinition.
///
/// @param[in] lhs The left-hand side value for the comparison
/// @param[in] rhs The right-hand side value for the comparison
diff --git a/include/MantleAPI/Common/spline.h b/include/MantleAPI/Common/spline.h
index 36f8f186e119f19a50e069e2a9a01969c004efca..250e7d6f335fdbab68190aec7015699e97a8ca72 100644
--- a/include/MantleAPI/Common/spline.h
+++ b/include/MantleAPI/Common/spline.h
@@ -10,7 +10,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file spline.h */
+/// @file spline.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_SPLINE_H
diff --git a/include/MantleAPI/Common/time_utils.h b/include/MantleAPI/Common/time_utils.h
index 6c12effdf806aa5aa0b49f697fb38508b93d0520..fbdb5f86509d7e1f815f680f78239f2eeae77562 100644
--- a/include/MantleAPI/Common/time_utils.h
+++ b/include/MantleAPI/Common/time_utils.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file time_utils.h */
+/// @file time_utils.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_TIME_UTILS_H
@@ -21,7 +21,8 @@
namespace mantle_api
{
-using Time = units::time::millisecond_t; ///< Time in ms
+
+using Time = units::time::millisecond_t; ///< Time in ms
/// @brief Converts input in [s] to @cond \ref Time @endcond.
/// @tparam T Input type, e.g. `double`.
diff --git a/include/MantleAPI/Common/trajectory.h b/include/MantleAPI/Common/trajectory.h
index cd001a6fe6efc99b473766a5a11f0425a8b08522..0dbb0c880e7815cbf0fb27d6eda10fb13e657401 100644
--- a/include/MantleAPI/Common/trajectory.h
+++ b/include/MantleAPI/Common/trajectory.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file trajectory.h */
+/// @file trajectory.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_TRAJECTORY_H
@@ -22,6 +22,7 @@
namespace mantle_api
{
+
/// Definition of a trajectory type in terms of shape
struct Trajectory
{
@@ -59,4 +60,4 @@ inline std::ostream& operator<<(std::ostream& os, const Trajectory& trajectory)
} // namespace mantle_api
-#endif // MANTLEAPI_COMMON_TRAJECTORY_H
\ No newline at end of file
+#endif // MANTLEAPI_COMMON_TRAJECTORY_H
diff --git a/include/MantleAPI/Common/unit_definitions.h b/include/MantleAPI/Common/unit_definitions.h
index a8bc2cbd04f14470c25ca9c498678188572f232f..c3b6693197b7f01e7b88d635e0ccad31bf1f4668 100644
--- a/include/MantleAPI/Common/unit_definitions.h
+++ b/include/MantleAPI/Common/unit_definitions.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file unit_definitions.h */
+/// @file unit_definitions.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_UNIT_DEFINITIONS_H
diff --git a/include/MantleAPI/Common/vector.h b/include/MantleAPI/Common/vector.h
index fddef77fa445715503cd91ae24fb9b640c269cfd..8b878f51cd1f3668dd5152c9fac62b664100fcc6 100644
--- a/include/MantleAPI/Common/vector.h
+++ b/include/MantleAPI/Common/vector.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file vector.h */
+/// @file vector.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_COMMON_VECTOR_H
@@ -17,8 +17,6 @@
#include <MantleAPI/Common/floating_point_helper.h>
-#include <cstdint>
-
namespace mantle_api
{
@@ -39,9 +37,9 @@ struct Vec3
{
}
- T x{0}; ///< x-component
- T y{0}; ///< y-component
- T z{0}; ///< z-component
+ T x{0}; ///< x-component
+ T y{0}; ///< y-component
+ T z{0}; ///< z-component
/// @brief Returns length of the vector
///
diff --git a/include/MantleAPI/EnvironmentalConditions/road_condition.h b/include/MantleAPI/EnvironmentalConditions/road_condition.h
index 41c66cd3aac41e8b9aa540fd12393c41fa5e62d1..1140aaeeb57831cd9e90a4d8ce5b1b4edda6f4ca 100644
--- a/include/MantleAPI/EnvironmentalConditions/road_condition.h
+++ b/include/MantleAPI/EnvironmentalConditions/road_condition.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file road_condition.h */
+/// @file road_condition.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_ENVIRONMENTALCONDITIONS_ROAD_CONDITION_H
@@ -20,6 +20,7 @@
namespace mantle_api
{
+
/// Definition of the position of the rectangle
struct Rectangle
{
@@ -37,5 +38,7 @@ struct FrictionPatch
/// Percentage of road friction
units::concentration::percent_t friction{100.0};
};
+
} // namespace mantle_api
+
#endif // MANTLEAPI_ENVIRONMENTALCONDITIONS_ROAD_CONDITION_H
diff --git a/include/MantleAPI/EnvironmentalConditions/weather.h b/include/MantleAPI/EnvironmentalConditions/weather.h
index 4817d77cef9d0543012ca3090961c08e9f990f4d..af3200b090c44b76664c4d134d45b1bf876c639c 100644
--- a/include/MantleAPI/EnvironmentalConditions/weather.h
+++ b/include/MantleAPI/EnvironmentalConditions/weather.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file weather.h */
+/// @file weather.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_ENVIRONMENTALCONDITIONS_WEATHER_H
@@ -19,6 +19,7 @@
namespace mantle_api
{
+
/// Specify the amount of the precipitation.
enum class Precipitation
{
diff --git a/include/MantleAPI/Execution/i_environment.h b/include/MantleAPI/Execution/i_environment.h
index 2ab006863a4344823884899a762c69be03bc0922..235b6312ef3cc3e5a140c511def54c7f341d6433 100644
--- a/include/MantleAPI/Execution/i_environment.h
+++ b/include/MantleAPI/Execution/i_environment.h
@@ -10,7 +10,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_environment.h */
+/// @file i_environment.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_EXECUTION_I_ENVIRONMENT_H
diff --git a/include/MantleAPI/Execution/i_environment_engine.h b/include/MantleAPI/Execution/i_environment_engine.h
index f2958d8962b2e9a0e281f05bd373ae5d6111238d..f99d65ad7f54787fee332bb7406cb49a97763547 100644
--- a/include/MantleAPI/Execution/i_environment_engine.h
+++ b/include/MantleAPI/Execution/i_environment_engine.h
@@ -8,12 +8,17 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
+//-----------------------------------------------------------------------------
+/// @file i_environment_engine.h
+//-----------------------------------------------------------------------------
+
#ifndef MANTLEAPI_EXECUTION_I_ENVIRONMENT_ENGINE_H
#define MANTLEAPI_EXECUTION_I_ENVIRONMENT_ENGINE_H
#include <MantleAPI/Execution/i_environment.h>
#include <MantleAPI/Execution/i_steppable.h>
+/// MantleAPI namespace
namespace mantle_api
{
diff --git a/include/MantleAPI/Execution/i_scenario_engine.h b/include/MantleAPI/Execution/i_scenario_engine.h
index 4560f4f0b90650cfd8458348d12dc5405e7310ee..8ad78922ab2ceb3237a0b242df9007181596d53e 100644
--- a/include/MantleAPI/Execution/i_scenario_engine.h
+++ b/include/MantleAPI/Execution/i_scenario_engine.h
@@ -11,7 +11,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_scenario_engine.h */
+/// @file i_scenario_engine.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_EXECUTION_I_SCENARIO_ENGINE_H
diff --git a/include/MantleAPI/Execution/i_steppable.h b/include/MantleAPI/Execution/i_steppable.h
index 84406c039acb01ae532b87b1174d55914e6413ca..703c3fa46bde88cebdf95b22be0df66ba647bb0b 100644
--- a/include/MantleAPI/Execution/i_steppable.h
+++ b/include/MantleAPI/Execution/i_steppable.h
@@ -8,6 +8,10 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
+//-----------------------------------------------------------------------------
+/// @file i_steppable.h
+//-----------------------------------------------------------------------------
+
#ifndef MANTLEAPI_EXECUTION_I_STEPPABLE_H
#define MANTLEAPI_EXECUTION_I_STEPPABLE_H
@@ -15,6 +19,7 @@
#include <optional>
+/// MantleAPI namespace
namespace mantle_api
{
diff --git a/include/MantleAPI/Execution/scenario_info.h b/include/MantleAPI/Execution/scenario_info.h
index 7279b7eb784c892ebc166ffaf2b0e7b55f048cf4..b6bc56774125e5b20efff0e154a7f4d2842d9471 100644
--- a/include/MantleAPI/Execution/scenario_info.h
+++ b/include/MantleAPI/Execution/scenario_info.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file scenario_info.h */
+/// @file scenario_info.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_EXECUTION_SCENARIO_INFO_H
@@ -24,6 +24,7 @@
namespace mantle_api
{
+
/// Information about the scenario
struct ScenarioInfo
{
@@ -71,7 +72,7 @@ struct ScenarioInfo
~ScenarioInfo() = default;
/// Duration of the scenario timeout
- Time scenario_timeout_duration;
+ Time scenario_timeout_duration{};
/// Specific description of the scenario
std::string description;
/// Absolute path to the map
diff --git a/include/MantleAPI/Map/i_coord_converter.h b/include/MantleAPI/Map/i_coord_converter.h
index 53952583dd63170aff83bc114d1f9fd100e3f7d1..b261986e06f4b6d92114a592c6f72b58a5ecf042 100644
--- a/include/MantleAPI/Map/i_coord_converter.h
+++ b/include/MantleAPI/Map/i_coord_converter.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_coord_converter.h */
+/// @file i_coord_converter.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_MAP_I_COORD_CONVERTER_H
@@ -21,6 +21,7 @@
namespace mantle_api
{
+
/// Interface that provides functionality to query the underlying map with regard to transformation of different
/// position types, curvature, elevation etc.
class ICoordConverter
diff --git a/include/MantleAPI/Map/i_lane_location_query_service.h b/include/MantleAPI/Map/i_lane_location_query_service.h
index 7e34088205672b58eff2f433f539b1573d9e8f1c..fad37f9181e60837193526b520f4f470662bd765 100644
--- a/include/MantleAPI/Map/i_lane_location_query_service.h
+++ b/include/MantleAPI/Map/i_lane_location_query_service.h
@@ -10,7 +10,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_lane_location_query_service.h */
+/// @file i_lane_location_query_service.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_MAP_I_LANE_LOCATION_QUERY_SERVICE_H
diff --git a/include/MantleAPI/Map/i_route.h b/include/MantleAPI/Map/i_route.h
index f52bb147dfb7fef0b15e0aa051171da8611a742d..80357e6910983a0b5d21b74feeaa756fe5963983 100644
--- a/include/MantleAPI/Map/i_route.h
+++ b/include/MantleAPI/Map/i_route.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_route.h */
+/// @file i_route.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_MAP_I_ROUTE_H
@@ -50,14 +50,14 @@ public:
LaneId lane_id,
units::length::meter_t lane_offset = units::length::meter_t{
0.0}) const = 0;
-
+
/// Returns interpolated value for the width of the lane at the given position
///
/// @param lane_id ID of lane to search in
/// @param route_pos s coordinate of search start
/// @return width at position
[[nodiscard]] virtual units::length::meter_t GetLaneWidth(units::length::meter_t route_pos, LaneId lane_id) const = 0;
-
+
/// Returns ID of the lane that encloses the passed in position within its shape
///
/// @param inert_pos Position to search for the Lane ID
diff --git a/include/MantleAPI/Map/lane_definition.h b/include/MantleAPI/Map/lane_definition.h
index e651178c83062cca7f37434f66908fa6ef0dd386..13d278a5b2c2060ceee2c77616839a9a94e70474 100644
--- a/include/MantleAPI/Map/lane_definition.h
+++ b/include/MantleAPI/Map/lane_definition.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file route_definition.h */
+/// @file lane_definition.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_MAP_LANE_DEFINITION_H
@@ -17,6 +17,7 @@
#include <cstdint>
+/// MantleAPI namespace
namespace mantle_api
{
diff --git a/include/MantleAPI/Map/map_details.h b/include/MantleAPI/Map/map_details.h
index 0d7ad9696b6583292b60978b534f1c4f07e375b8..ad53ed487d5fce53066e8b28b9fd5efa8deb9e2e 100644
--- a/include/MantleAPI/Map/map_details.h
+++ b/include/MantleAPI/Map/map_details.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file map_details.h */
+/// @file map_details.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_MAP_MAP_DETAILS_H
@@ -22,6 +22,7 @@
namespace mantle_api
{
+
/// Definition of the map area
struct MapDetails
{
@@ -29,7 +30,7 @@ struct MapDetails
/// Cloning MapDetails for usage as unique ptr in ScenarioInfo. Can be overwritten in derived classes.
/// @return Copy of MapDetails
- virtual std::unique_ptr<MapDetails> Clone() const
+ [[nodiscard]] virtual std::unique_ptr<MapDetails> Clone() const
{
return std::make_unique<MapDetails>(*this);
}
@@ -39,4 +40,5 @@ struct MapDetails
};
} // namespace mantle_api
+
#endif // MANTLEAPI_MAP_MAP_DETAILS_H
diff --git a/include/MantleAPI/Traffic/control_strategy.h b/include/MantleAPI/Traffic/control_strategy.h
index c76a152b578c6f8986a74a7f0076f0c1a99f0fdc..a79f04317aedf94ddd22b9ae2e37aaa4d9de1be7 100644
--- a/include/MantleAPI/Traffic/control_strategy.h
+++ b/include/MantleAPI/Traffic/control_strategy.h
@@ -10,7 +10,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file control_strategy.h */
+/// @file control_strategy.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_TRAFFIC_CONTROL_STRATEGY_H
@@ -249,8 +249,8 @@ struct FollowTrajectoryControlStrategy : public ControlStrategy
{
/// Specification of the time domain (absolute or relative)
ReferenceContext domainAbsoluteRelative{ReferenceContext::kAbsolute};
- /// Scaling factor for time values.
- /// While values smaller than 1.0 represent negative scaling, values larger than 1.0 will result in positive scaling.
+ /// Scaling factor for time values.
+ /// While values smaller than 1.0 represent negative scaling, values larger than 1.0 will result in positive scaling.
/// A value of 1.0 means no scaling.
double scale{1.0};
/// Global offset for all time values
diff --git a/include/MantleAPI/Traffic/default_routing_behavior.h b/include/MantleAPI/Traffic/default_routing_behavior.h
index 137783928c67a1edbc466a016c06c51e86da5ade..215a845491c9de4f9e2123a283b685ee1a93b1fb 100644
--- a/include/MantleAPI/Traffic/default_routing_behavior.h
+++ b/include/MantleAPI/Traffic/default_routing_behavior.h
@@ -8,18 +8,24 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
+//-----------------------------------------------------------------------------
+/// @file default_routing_behavior.h
+//-----------------------------------------------------------------------------
+
#ifndef MANTLEAPI_TRAFFIC_DEFAULT_ROUTING_BEHAVIOR_H
#define MANTLEAPI_TRAFFIC_DEFAULT_ROUTING_BEHAVIOR_H
-namespace mantle_api {
+/// MantleAPI namespace
+namespace mantle_api
+{
/// Specify behavior to end of route
enum class DefaultRoutingBehavior
{
- kStop, ///< Do nothing
- kRandomRoute ///< Randomly select where to go next
+ kStop, ///< Do nothing
+ kRandomRoute ///< Randomly select where to go next
};
} // namespace mantle_api
-#endif // MANTLEAPI_TRAFFIC_DEFAULT_ROUTING_BEHAVIOR_H
\ No newline at end of file
+#endif // MANTLEAPI_TRAFFIC_DEFAULT_ROUTING_BEHAVIOR_H
diff --git a/include/MantleAPI/Traffic/entity_helper.h b/include/MantleAPI/Traffic/entity_helper.h
index 85ffe60c35bdf04e8572e67b7104d5f36c75920a..65bd5a81367070cd14f50573a94bb0d525c7e309 100644
--- a/include/MantleAPI/Traffic/entity_helper.h
+++ b/include/MantleAPI/Traffic/entity_helper.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file entity_helper.h */
+/// @file entity_helper.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_TRAFFIC_ENTITY_HELPER_H
@@ -18,8 +18,6 @@
#include <MantleAPI/Common/floating_point_helper.h>
#include <MantleAPI/Traffic/i_entity.h>
-#include <cmath>
-
namespace mantle_api
{
diff --git a/include/MantleAPI/Traffic/entity_properties.h b/include/MantleAPI/Traffic/entity_properties.h
index 17e5b1d147803378d9170ac0989d35a00d1d1293..780e9b1d2fac4075e3afe6761e2f81c4b60cf705 100644
--- a/include/MantleAPI/Traffic/entity_properties.h
+++ b/include/MantleAPI/Traffic/entity_properties.h
@@ -10,7 +10,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file entity_properties.h */
+/// @file entity_properties.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_TRAFFIC_ENTITY_PROPERTIES_H
diff --git a/include/MantleAPI/Traffic/i_controller.h b/include/MantleAPI/Traffic/i_controller.h
index e8ed0ef6b15e30bf1d17aa3a8a4608fe83f38ad6..4afd7b91f1e00c6a27a145bc99bd6229718d2a35 100644
--- a/include/MantleAPI/Traffic/i_controller.h
+++ b/include/MantleAPI/Traffic/i_controller.h
@@ -1,6 +1,3 @@
-#ifndef MANTLEAPI_TRAFFIC_I_CONTROLLER_H
-#define MANTLEAPI_TRAFFIC_I_CONTROLLER_H
-
/********************************************************************************
* Copyright (c) 2021 in-tech GmbH
* 2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
@@ -13,17 +10,18 @@
********************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_controller.h */
+/// @file i_controller.h
//-----------------------------------------------------------------------------
+#ifndef MANTLEAPI_TRAFFIC_I_CONTROLLER_H
+#define MANTLEAPI_TRAFFIC_I_CONTROLLER_H
#pragma once
-#include <optional>
-
#include "MantleAPI/Common/i_identifiable.h"
namespace mantle_api
{
+
/// Base interface for all controllers.
class IController : public virtual IIdentifiable
{
@@ -51,4 +49,5 @@ public:
};
} // namespace mantle_api
-#endif
+
+#endif // MANTLEAPI_TRAFFIC_I_CONTROLLER_H
diff --git a/include/MantleAPI/Traffic/i_controller_config.h b/include/MantleAPI/Traffic/i_controller_config.h
index 1e29b041f16c80adfe463c429063118673a5c622..8ba999f08dddff1a81def7a978d3521bcabf7267 100644
--- a/include/MantleAPI/Traffic/i_controller_config.h
+++ b/include/MantleAPI/Traffic/i_controller_config.h
@@ -10,7 +10,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_controller_config.h */
+/// @file i_controller_config.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_TRAFFIC_I_CONTROLLER_CONFIG_H
@@ -22,7 +22,6 @@
#include <MantleAPI/Map/i_lane_location_query_service.h>
#include <MantleAPI/Traffic/control_strategy.h>
-#include <algorithm>
#include <map>
#include <memory>
#include <vector>
diff --git a/include/MantleAPI/Traffic/i_controller_repository.h b/include/MantleAPI/Traffic/i_controller_repository.h
index fe0deb10c8378b10b560c86bb1746c9f6b92cc28..13c0d672330d6ea7b448e017aa59fc94c6a7759d 100644
--- a/include/MantleAPI/Traffic/i_controller_repository.h
+++ b/include/MantleAPI/Traffic/i_controller_repository.h
@@ -1,6 +1,3 @@
-#ifndef MANTLEAPI_TRAFFIC_I_CONTROLLER_REPOSITORY_H
-#define MANTLEAPI_TRAFFIC_I_CONTROLLER_REPOSITORY_H
-
/********************************************************************************
* Copyright (c) 2021 in-tech GmbH
* 2023, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
@@ -13,23 +10,27 @@
********************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_controller_repository.h */
+/// @file i_controller_repository.h
//-----------------------------------------------------------------------------
+#ifndef MANTLEAPI_TRAFFIC_I_CONTROLLER_REPOSITORY_H
+#define MANTLEAPI_TRAFFIC_I_CONTROLLER_REPOSITORY_H
#pragma once
-#include "MantleAPI/Traffic/i_controller_config.h"
#include "MantleAPI/Traffic/i_controller.h"
+#include "MantleAPI/Traffic/i_controller_config.h"
namespace mantle_api
{
/// This interface provides CRUD functionality for controllers.
-/// Controller, which is assigned to exactly one entity, controls that one entity by enforcing the behavior prescribed by
+/// Controller, which is assigned to exactly one entity, controls that one entity by enforcing the behavior prescribed by
/// the control strategies assigned to that entity.
/// Multiple controllers can be assigned to an entity, but only one controller can be activated for an entity at a time.
class IControllerRepository
{
public:
+ virtual ~IControllerRepository() = default;
+
/// Creates a new controller for the entity
///
/// @param config Controller config
@@ -41,7 +42,7 @@ public:
/// @param id Unique ID of the controller
/// @param config Controller config
/// @return newly created controller for the entity
- [[deprecated]] virtual IController& Create(UniqueId id, std::unique_ptr<IControllerConfig> config) = 0; // deprecated
+ [[deprecated]] virtual IController& Create(UniqueId id, std::unique_ptr<IControllerConfig> config) = 0; // deprecated
/// Gets the controller by the given unique ID
///
@@ -68,4 +69,5 @@ public:
};
} // namespace mantle_api
-#endif
+
+#endif // MANTLEAPI_TRAFFIC_I_CONTROLLER_REPOSITORY_H
diff --git a/include/MantleAPI/Traffic/i_entity.h b/include/MantleAPI/Traffic/i_entity.h
index 4ae35654394a0abbf9b85988a66f36c784129553..f3ce582c58813d9ec93a51f538df5f9396230899 100644
--- a/include/MantleAPI/Traffic/i_entity.h
+++ b/include/MantleAPI/Traffic/i_entity.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_entity.h */
+/// @file i_entity.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_TRAFFIC_I_ENTITY_H
diff --git a/include/MantleAPI/Traffic/i_entity_repository.h b/include/MantleAPI/Traffic/i_entity_repository.h
index 8c07355da15457306e205507adba6331de99b2fb..cfaeafb9b6fc982599d1615c174cf1372ffd583f 100644
--- a/include/MantleAPI/Traffic/i_entity_repository.h
+++ b/include/MantleAPI/Traffic/i_entity_repository.h
@@ -9,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_entity_repository.h */
+/// @file i_entity_repository.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_TRAFFIC_I_ENTITY_REPOSITORY_H
@@ -25,10 +25,13 @@
namespace mantle_api
{
+
/// This interface provides CRUD functionality for scenario entities.
class IEntityRepository
{
public:
+ virtual ~IEntityRepository() = default;
+
/// Creates a new dynamic scenario entity of vehicle type
///
/// @param name The name of the entity to be created
diff --git a/include/MantleAPI/Traffic/i_traffic_swarm_service.h b/include/MantleAPI/Traffic/i_traffic_swarm_service.h
index 5325514d69d84ec35b7a0ac0dee407f0da84c0e4..59fdb07eb87facb64702f0cc798df79faa629589 100644
--- a/include/MantleAPI/Traffic/i_traffic_swarm_service.h
+++ b/include/MantleAPI/Traffic/i_traffic_swarm_service.h
@@ -9,84 +9,90 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file i_traffic_swarm_service.h */
+/// @file i_traffic_swarm_service.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_TRAFFIC_I_TRAFFIC_SWARM_CONTROLLER_H
#define MANTLEAPI_TRAFFIC_I_TRAFFIC_SWARM_CONTROLLER_H
-#include <vector>
-#include <MantleAPI/Common/vector.h>
#include <MantleAPI/Common/pose.h>
+#include <MantleAPI/Common/vector.h>
#include <units.h>
+#include <memory>
+#include <vector>
+
+#include "MantleAPI/Traffic/entity_properties.h"
+#include "MantleAPI/Traffic/i_controller_config.h"
+
namespace mantle_api
{
/// This struct represents the parameters of the swarm traffic
struct TrafficSwarmParameters
{
- /// The range for the lower and upper limit of the entity's starting speeds
- struct SpeedRange
- {
- units::velocity::meters_per_second_t minimum; ///< The lower limit of a speed range
- units::velocity::meters_per_second_t maximum; ///< The upper limit of a speed range
- };
-
- /// Name of the central entity the swarm traffic is created around
- std::string central_entity_name;
- /// The maximum number of vehicles surrounding the central entity
- size_t maximum_number_of_vehicles;
- /// The starting speeds of the spawned entities
- SpeedRange speed_range;
- /// Radius of the inner circular area around the central entity
- units::length::meter_t exclusion_radius;
- /// Shape of the swarm traffic distribution area is given as an ellipsis around a central entity.
- /// semi_minor_spawning_radius defines the half length of the minor axis of this ellipsis.
- units::length::meter_t semi_minor_spawning_radius;
- // Shape of the swarm traffic distribution area is given as an ellipsis around a central entity.
- /// semi_major_spawning_radius defines the half length of the major axis of this ellipsis.
- units::length::meter_t semi_major_spawning_radius;
- /// Offset in longitudinal direction related to the x-axis of the central entity
- units::length::meter_t spawning_area_longitudinal_offset;
+ /// The range for the lower and upper limit of the entity's starting speeds
+ struct SpeedRange
+ {
+ units::velocity::meters_per_second_t minimum; ///< The lower limit of a speed range
+ units::velocity::meters_per_second_t maximum; ///< The upper limit of a speed range
+ };
+
+ /// Name of the central entity the swarm traffic is created around
+ std::string central_entity_name;
+ /// The maximum number of vehicles surrounding the central entity
+ size_t maximum_number_of_vehicles;
+ /// The starting speeds of the spawned entities
+ SpeedRange speed_range;
+ /// Radius of the inner circular area around the central entity
+ units::length::meter_t exclusion_radius;
+ /// Shape of the swarm traffic distribution area is given as an ellipsis around a central entity.
+ /// semi_minor_spawning_radius defines the half length of the minor axis of this ellipsis.
+ units::length::meter_t semi_minor_spawning_radius;
+ // Shape of the swarm traffic distribution area is given as an ellipsis around a central entity.
+ /// semi_major_spawning_radius defines the half length of the major axis of this ellipsis.
+ units::length::meter_t semi_major_spawning_radius;
+ /// Offset in longitudinal direction related to the x-axis of the central entity
+ units::length::meter_t spawning_area_longitudinal_offset;
};
/// Base interface for the swarm traffic
class ITrafficSwarmService
{
public:
-
- /// Specify the relative position of the spawned vehicle to the central entity
- enum class RelativePosition
- {
- kInFront = 0,
- kBehind
- };
-
- /// Specify the position of the spawned vehicle
- using SpawningPosition = std::pair<mantle_api::Pose, RelativePosition>;
-
- /// Returns available spawning poses
- ///
- /// @return list of poses
- virtual std::vector<SpawningPosition> GetAvailableSpawningPoses() const = 0;
-
- /// Returns additional properties for entity objects of type vehicle
- ///
- /// @param vehicle_class Category of the vehicle (car, bicycle, train,...)
- /// @return vehicle properties
- virtual mantle_api::VehicleProperties GetVehicleProperties(mantle_api::VehicleClass vehicle_class) const = 0;
-
- /// Updates parameters for the controller
- ///
- /// @param config External controller configuration file
- /// @param speed The speed of the environment controller
- virtual void UpdateControllerConfig(std::unique_ptr<mantle_api::ExternalControllerConfig>& config,
- units::velocity::meters_per_second_t speed) = 0;
- /// Sets the number of swarm entities
- ///
- /// @param count number of swarm entities
- virtual void SetSwarmEntitiesCount(size_t count) = 0;
+ virtual ~ITrafficSwarmService() = default;
+
+ /// Specify the relative position of the spawned vehicle to the central entity
+ enum class RelativePosition
+ {
+ kInFront = 0,
+ kBehind
+ };
+
+ /// Specify the position of the spawned vehicle
+ using SpawningPosition = std::pair<mantle_api::Pose, RelativePosition>;
+
+ /// Returns available spawning poses
+ ///
+ /// @return list of poses
+ [[nodiscard]] virtual std::vector<SpawningPosition> GetAvailableSpawningPoses() const = 0;
+
+ /// Returns additional properties for entity objects of type vehicle
+ ///
+ /// @param vehicle_class Category of the vehicle (car, bicycle, train,...)
+ /// @return vehicle properties
+ [[nodiscard]] virtual mantle_api::VehicleProperties GetVehicleProperties(mantle_api::VehicleClass vehicle_class) const = 0;
+
+ /// Updates parameters for the controller
+ ///
+ /// @param config External controller configuration file
+ /// @param speed The speed of the environment controller
+ virtual void UpdateControllerConfig(std::unique_ptr<mantle_api::ExternalControllerConfig>& config,
+ units::velocity::meters_per_second_t speed) = 0;
+ /// Sets the number of swarm entities
+ ///
+ /// @param count number of swarm entities
+ virtual void SetSwarmEntitiesCount(size_t count) = 0;
};
} // namespace mantle_api
diff --git a/include/MantleAPI/Traffic/traffic_light_properties.h b/include/MantleAPI/Traffic/traffic_light_properties.h
index 03cff3a238da5231389c059c7bb6ff8acd216ef5..cb13783542537794dca77657338a937fb9438b02 100644
--- a/include/MantleAPI/Traffic/traffic_light_properties.h
+++ b/include/MantleAPI/Traffic/traffic_light_properties.h
@@ -9,13 +9,14 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file traffic_light_properties.h */
+/// @file traffic_light_properties.h
//-----------------------------------------------------------------------------
#ifndef MANTLEAPI_TRAFFIC_TRAFFIC_LIGHT_PROPERTIES_H
#define MANTLEAPI_TRAFFIC_TRAFFIC_LIGHT_PROPERTIES_H
#include <MantleAPI/Common/time_utils.h>
+
#include <vector>
namespace mantle_api
@@ -24,45 +25,45 @@ namespace mantle_api
/// Specify the color of a traffic light bulb.
enum class TrafficLightBulbColor
{
- kUnknown = 0,
- kOther = 1,
- kRed = 2,
- kYellow = 3,
- kGreen = 4,
- kBlue = 5,
- kWhite = 6
+ kUnknown = 0,
+ kOther = 1,
+ kRed = 2,
+ kYellow = 3,
+ kGreen = 4,
+ kBlue = 5,
+ kWhite = 6
};
/// Specify the mode of a traffic light bulb.
enum class TrafficLightBulbMode
{
- kUnknown = 0,
- kOther = 1,
- kOff = 2,
- kConstant = 3,
- kFlashing = 4,
- kCounting = 5
+ kUnknown = 0,
+ kOther = 1,
+ kOff = 2,
+ kConstant = 3,
+ kFlashing = 4,
+ kCounting = 5
};
/// Definition of the traffic light state
struct TrafficLightBulbState
{
- /// Color of the traffic light bulb
- TrafficLightBulbColor color;
- /// Indication if a traffic light should be switched on, off or flashing
- TrafficLightBulbMode mode;
+ /// Color of the traffic light bulb
+ TrafficLightBulbColor color;
+ /// Indication if a traffic light should be switched on, off or flashing
+ TrafficLightBulbMode mode;
};
/// Definition of the specific phase of a traffic light
struct TrafficLightPhase
{
- /// State of a traffic signal for this phase
- /// e.g. the visual information "off;off;on" for a vehicle traffic signal
- std::vector<TrafficLightBulbState> bulb_states;
- /// Time specification at the start of the phase
- mantle_api::Time start_time{0};
- /// Time specification at the end of the phase
- mantle_api::Time end_time{0};
+ /// State of a traffic signal for this phase
+ /// e.g. the visual information "off;off;on" for a vehicle traffic signal
+ std::vector<TrafficLightBulbState> bulb_states;
+ /// Time specification at the start of the phase
+ mantle_api::Time start_time{0};
+ /// Time specification at the end of the phase
+ mantle_api::Time end_time{0};
};
} // namespace mantle_api