diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000000000000000000000000000000000000..c38ef3470ee867424442ffc6b198105139ef7efe
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,36 @@
+BasedOnStyle: llvm
+Language: Cpp
+ColumnLimit: 0
+IndentWidth: 4
+AccessModifierOffset: -4
+IncludeBlocks: Regroup
+IncludeCategories:
+ - Regex: '^<(gtest|gmock)/)'
+ Priority: -1
+ - Regex: '^<[^Q]'
+ Priority: 1
+ - Regex: '^<Q'
+ Priority: 2
+AlignTrailingComments: true
+BreakConstructorInitializers: AfterColon
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+AllowShortFunctionsOnASingleLine: None
+KeepEmptyLinesAtTheStartOfBlocks: false
+BreakBeforeBraces: Custom
+BraceWrapping:
+ AfterClass: true
+ AfterControlStatement: true
+ AfterEnum: true
+ AfterFunction: true
+ AfterNamespace: false
+ AfterObjCDeclaration: true
+ AfterStruct: true
+ AfterUnion: true
+ AfterExternBlock: true
+ BeforeCatch: true
+ BeforeElse: true
+ IndentBraces: false
+ SplitEmptyFunction: true
+ SplitEmptyRecord: true
+ SplitEmptyNamespace: true
+ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH, forever, Q_FOREVER, QBENCHMARK, QBENCHMARK_ONCE ]
\ No newline at end of file
diff --git a/DoxyGen/Function/Markdown/Simulation/Development/FrameworkModules.md b/DoxyGen/Function/Markdown/Simulation/Development/FrameworkModules.md
index 159ecb2c526dcf72e4b5e46cf79763862f4460a5..9bd8213b91a36a6c180f3c832a026657cafab5cc 100644
--- a/DoxyGen/Function/Markdown/Simulation/Development/FrameworkModules.md
+++ b/DoxyGen/Function/Markdown/Simulation/Development/FrameworkModules.md
@@ -35,6 +35,21 @@ Then the AgentType with the components and channels is build by the DynamicAgent
+\section dev_framework_modules_datastore DataStore
+
+The DataStore accepts arbitrary values from different components (from framework as well as agents).
+The stored values if cyclic and acyclic type are associated with an timestamp, entity id and a key (topic).
+Static values are only associated with a key.
+
+Typically, Observers are using the DataStore to retrieve information about the simulation.
+This can happen during the simulation run and/or at the end of a run.
+For the keys, a generic datatype is used (strings).
+For the values, a set of predefined datatypes is used (bool, char, int, size_t, float, double, string).
+A value can also hold a vector of one of the mentioned datatypes.
+
+For information about the usage, please refer to the implementation's inline documentation.
+
+
\section dev_framework_modules_eventdetectors EventDetectors
[//]: <> "Please refer to each section!"
diff --git a/OpenPass_Source_Code/openPASS/Common/basicEvent.h b/OpenPass_Source_Code/openPASS/Common/basicEvent.h
index 65e36782ec9e946d043af5770b7d6dea329dfb84..6761afa56ca3a6a45b200c6d03432ded82cddfda 100644
--- a/OpenPass_Source_Code/openPASS/Common/basicEvent.h
+++ b/OpenPass_Source_Code/openPASS/Common/basicEvent.h
@@ -1,5 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2017, 2018, 2019 in-tech GmbH
+* Copyright (c) 2017, 2018, 2019, 2020 in-tech GmbH
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -20,6 +20,8 @@
#pragma once
+#include <vector>
+
#include "Interfaces/eventInterface.h"
//-----------------------------------------------------------------------------
@@ -30,115 +32,125 @@
class BasicEvent : public EventInterface
{
public:
- BasicEvent(int time,
- std::string eventName,
- std::string source):
+ BasicEvent(int time, std::string eventName, std::string source,
+ const std::vector<int> triggeringAgents, const std::vector<int> actingAgents) :
time(time),
name(eventName),
- source(source)
- {}
- BasicEvent(const BasicEvent&) = delete;
- BasicEvent(BasicEvent&&) = delete;
- BasicEvent& operator=(const BasicEvent&) = delete;
- BasicEvent& operator=(BasicEvent&&) = delete;
+ source(source),
+ triggeringAgents(triggeringAgents),
+ actingAgents(actingAgents)
+ {
+ }
+
+ BasicEvent(int time, std::string eventName, std::string source) :
+ time(time),
+ name(eventName),
+ source(source),
+ triggeringAgents{},
+ actingAgents{}
+ {
+ }
+
virtual ~BasicEvent() override = default;
- /*!
- * \brief Sets the Id of the event.
- *
- * @param[in] Id of the event.
- */
virtual void SetId(const int eventId) override
{
this->eventId = eventId;
}
- /*!
- * \brief Returns the Id of the event.
- *
- * @return Id.
- */
virtual int GetId() const override
{
return eventId;
}
- /*!
- * \brief Returns the time of the event.
- *
- * @return Time in milliseconds.
- */
virtual int GetEventTime() const override
{
return time;
}
- /*!
- * \brief Returns the category of the event.
- *
- * @return EventCategory.
- */
virtual EventDefinitions::EventCategory GetCategory() const override
{
return EventDefinitions::EventCategory::Basic;
}
- /*!
- * \brief Sets the Id of the event which triggered this event.
- *
- * @param[in] Event Id.
- */
virtual void SetTriggeringEventId(const int triggeringEventId) override
{
this->triggeringEventId = triggeringEventId;
}
- /*!
- * \brief Returns the Id of the event which triggered this event.
- *
- * @return Event Id.
- */
virtual int GetTriggeringEventId() const override
{
return triggeringEventId;
}
- /*!
- * \brief Returns the name of the event.
- *
- * @return Name of the event as string.
- */
virtual std::string GetName() const override
{
return name;
}
- /*!
- * \brief Returns the name of the source component.
- *
- * @return Name of source component as string.
- */
virtual std::string GetSource() const override
{
return source;
}
- /*!
- * \brief Returns all parameters of the event as string list.
- * \details Returns all parameters of the event as a generic string list.
- * The parameter name and the value are returned as string.
- *
- * @return List of string pairs of the event parameters.
- */
+ virtual const std::vector<int> GetTriggeringAgents() const override
+ {
+ return triggeringAgents;
+ }
+
+ virtual const std::vector<int> GetActingAgents() const override
+ {
+ return actingAgents;
+ }
+
virtual EventParameters GetParametersAsString() override
{
- return {};
+ EventParameters eventParameters;
+
+ std::string triggeringAgentsAsString{};
+ for (auto &triggeringAgentId : triggeringAgents)
+ {
+ triggeringAgentsAsString += std::to_string(triggeringAgentId) + ",";
+ }
+
+ std::string actingAgentsAsString;
+ for (auto &actingAgentId : actingAgents)
+ {
+ actingAgentsAsString += std::to_string(actingAgentId) + ",";
+ }
+
+ if (!triggeringAgentsAsString.empty())
+ {
+ triggeringAgentsAsString.pop_back();
+ eventParameters.push_back({"TriggeringAgentIds", triggeringAgentsAsString});
+ }
+
+ if (!actingAgentsAsString.empty())
+ {
+ actingAgentsAsString.pop_back();
+ eventParameters.push_back({"ActingAgentIds", actingAgentsAsString});
+ }
+
+ return eventParameters;
+ }
+
+ const openpass::type::FlatParameter &GetParameter() const noexcept override
+ {
+ return parameter;
}
private:
- int eventId;
const int time;
- int triggeringEventId {-1};
const std::string name;
const std::string source;
+
+ int eventId{};
+ int triggeringEventId{-1};
+
+public:
+ const std::vector<int> triggeringAgents;
+ const std::vector<int> actingAgents;
+
+protected:
+ openpass::type::FlatParameter parameter{};
};
diff --git a/OpenPass_Source_Code/openPASS/Common/collisionEvent.h b/OpenPass_Source_Code/openPASS/Common/collisionEvent.h
index 7f2ed6475c540f19a6669a970f282b2107f84d3e..9bf4688f2dbb0b21803e9cadfad65b93dfedc2d3 100644
--- a/OpenPass_Source_Code/openPASS/Common/collisionEvent.h
+++ b/OpenPass_Source_Code/openPASS/Common/collisionEvent.h
@@ -14,7 +14,6 @@
*
* This class contains all functionality of the module. */
//-----------------------------------------------------------------------------
-
#pragma once
#include "basicEvent.h"
@@ -27,54 +26,32 @@
class CollisionEvent : public BasicEvent
{
public:
- CollisionEvent(int time,
- std::string source,
- bool collisionWithAgent,
- int collisionAgentId,
- int collisionOpponentId):
- BasicEvent(time,
- "Collision",
- source),
- collisionWithAgent(collisionWithAgent),
- collisionAgentId(collisionAgentId),
- collisionOpponentId(collisionOpponentId)
- {}
- CollisionEvent(const CollisionEvent&) = delete;
- CollisionEvent(CollisionEvent&&) = delete;
- CollisionEvent& operator=(const CollisionEvent&) = delete;
- CollisionEvent& operator=(CollisionEvent&&) = delete;
- virtual ~CollisionEvent() override = default;
-
- /*!
- * \brief Returns the category of the event.
- *
- * @return EventCategory.
- */
- virtual EventDefinitions::EventCategory GetCategory() const override
+ CollisionEvent(int time, std::string source, bool collisionWithAgent, int collisionAgentId, int collisionOpponentId) :
+ BasicEvent{time, "Collision", source, {collisionAgentId, collisionOpponentId}, {}},
+ collisionWithAgent{collisionWithAgent},
+ collisionAgentId{collisionAgentId},
+ collisionOpponentId{collisionOpponentId}
{
- return EventDefinitions::EventCategory::Collision;
+ parameter.emplace("CollisionWithAgent", collisionWithAgent);
}
- /*!
- * \brief Returns all parameters of the event as string list.
- * \details Returns the CollisionWithAgent flag and both worldobject ids as string list.
- *
- * @return List of string pairs of the event parameters.
- */
- virtual EventParameters GetParametersAsString() override
+ ~CollisionEvent() override = default;
+
+ EventDefinitions::EventCategory GetCategory() const override
{
- EventParameters eventParameters;
+ return EventDefinitions::EventCategory::OpenPASS;
+ }
+ EventParameters GetParametersAsString() override
+ {
+ EventParameters eventParameters = BasicEvent::GetParametersAsString();
eventParameters.push_back({"CollisionWithAgent", collisionWithAgent ? "true" : "false"});
eventParameters.push_back({"CollisionAgentId", std::to_string(collisionAgentId)});
eventParameters.push_back({"CollisionOpponentId", std::to_string(collisionOpponentId)});
-
return eventParameters;
}
-
- bool collisionWithAgent;
- int collisionAgentId;
- int collisionOpponentId;
+ [[deprecated("Will be replaced by BasicEvent::parameter")]] bool collisionWithAgent;
+ [[deprecated("Will be replaced by BasicEvent::parameter")]] int collisionAgentId;
+ [[deprecated("Will be replaced by BasicEvent::parameter")]] int collisionOpponentId;
};
-
diff --git a/OpenPass_Source_Code/openPASS/Common/commonTools.h b/OpenPass_Source_Code/openPASS/Common/commonTools.h
index bbb3ffaade0733fcf45265343fd989b1b385ae58..bd847b53a1614a0f2644afb02cbe67bc60528824 100644
--- a/OpenPass_Source_Code/openPASS/Common/commonTools.h
+++ b/OpenPass_Source_Code/openPASS/Common/commonTools.h
@@ -17,10 +17,11 @@
#define _USE_MATH_DEFINES
#endif
#include <cmath>
-
#include <map>
#include <unordered_map>
+#include <boost/algorithm/string/trim.hpp>
+
#include "globalDefinitions.h"
#include "vector2d.h"
@@ -318,6 +319,27 @@ public:
}
};
+namespace helper::vector {
+
+/// \brief convenience function to convert a vector into a string using a constom delimiter
+/// \remark Please refer to the standard, how decimals are converted
+/// \param values vector of strings
+/// \param delimiter string in between the individual values
+/// \return delimiter seperated list as string
+template <typename T>
+std::string to_string(const std::vector<T>& values, const std::string& delimiter = ",")
+{
+ if (values.empty())
+ {
+ return "";
+ }
+
+ std::ostringstream oss;
+ std::copy(values.begin(), values.end(), std::ostream_iterator<T>(oss, delimiter.c_str()));
+
+ return {oss.str(), 0, oss.str().length() - delimiter.size()};
+}
+} // namespace helper::vector
namespace helper::map {
/// @brief queries a map for a given key and returns the value if available
diff --git a/OpenPass_Source_Code/openPASS/Common/componentStateChangeEvent.h b/OpenPass_Source_Code/openPASS/Common/componentStateChangeEvent.h
index dc04676cf07d7ccb9536b35c2a1567fcfddfa2b4..09a5c35afca080edf20b9cb4cdaeac7c16637eef 100644
--- a/OpenPass_Source_Code/openPASS/Common/componentStateChangeEvent.h
+++ b/OpenPass_Source_Code/openPASS/Common/componentStateChangeEvent.h
@@ -33,44 +33,43 @@
class ComponentChangeEvent : public ConditionalEvent
{
public:
- ComponentChangeEvent(int time,
- const std::string& eventName,
- const std::string& source,
- std::vector<int> triggeringAgents,
- std::vector<int> actingAgents,
- const std::string& componentName,
- const std::string& goalStateName):
- ConditionalEvent(time,
- eventName,
- source,
- triggeringAgents,
- actingAgents),
- componentName(componentName),
- goalStateName(goalStateName)
+ ComponentChangeEvent(int time, const std::string &eventName, const std::string &source,
+ std::vector<int> triggeringAgents, std::vector<int> actingAgents,
+ const std::string &componentName, const std::string &goalStateName) :
+ ConditionalEvent{time, eventName, source, triggeringAgents, actingAgents},
+ componentName{componentName},
+ goalStateName{goalStateName}
{
goalState = ComponentStateMapping.at(goalStateName);
+
+ parameter.emplace("ComponentName", componentName);
+ parameter.emplace("GoalStateName", goalStateName);
}
- ComponentChangeEvent(const ComponentChangeEvent&) = delete;
- ComponentChangeEvent(ComponentChangeEvent&&) = delete;
- ComponentChangeEvent& operator=(const ComponentChangeEvent&) = delete;
- ComponentChangeEvent& operator=(ComponentChangeEvent&&) = delete;
- virtual ~ComponentChangeEvent() override = default;
- /*!
- * \brief Returns the category of the event.
- *
- * @return EventCategory.
- */
- virtual EventDefinitions::EventCategory GetCategory() const override
+ ~ComponentChangeEvent() override = default;
+
+ EventDefinitions::EventCategory GetCategory() const override
{
return EventDefinitions::EventCategory::ComponentStateChange;
}
+
+ EventParameters GetParametersAsString() override
+ {
+ EventParameters eventParameters = ConditionalEvent::GetParametersAsString();
+
+ eventParameters.push_back({"ComponentName", componentName});
+ eventParameters.push_back({"State", goalStateName});
+
+ return eventParameters;
+ }
+
/*!
* \brief Returns the component name for which the event is targeted
* @return Component Name
*/
- std::string GetComponentName() const {
+ std::string GetComponentName() const
+ {
return componentName;
}
@@ -78,7 +77,8 @@ public:
* \brief Returns the goal state name for which the event is targeted
* @return State Name
*/
- std::string GetGoalStateName() const {
+ std::string GetGoalStateName() const
+ {
return goalStateName;
}
@@ -86,24 +86,9 @@ public:
* \brief Returns the goal state as a result of the event
* @return State
*/
- ComponentState GetGoalState() const {
- return goalState;
- }
-
- /*!
- * \brief Returns all parameters of the event as string list.
- * \details Returns the agentId as string list.
- *
- * @return List of string pairs of the event parameters.
- */
- virtual EventParameters GetParametersAsString() override
+ ComponentState GetGoalState() const
{
- EventParameters eventParameters = ConditionalEvent::GetParametersAsString();
-
- eventParameters.push_back({"ComponentName", componentName});
- eventParameters.push_back({"State", goalStateName});
-
- return eventParameters;
+ return goalState;
}
private:
diff --git a/OpenPass_Source_Code/openPASS/Common/componentWarningEvent.h b/OpenPass_Source_Code/openPASS/Common/componentWarningEvent.h
deleted file mode 100644
index 1da4dc673eecf1dc6b67f8fed69b19ff610a66d1..0000000000000000000000000000000000000000
--- a/OpenPass_Source_Code/openPASS/Common/componentWarningEvent.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/*******************************************************************************
-* Copyright (c) 2019 in-tech 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
-*******************************************************************************/
-
-#pragma once
-
-#include "vehicleComponentEvent.h"
-#include "Interfaces/signalInterface.h"
-
-/*!
- * ----------------------------------------------------------------------------
- * \brief The ComponentWarningEvent class contains all information related to
- * an event emitted in response to a Component Warning.
- * ----------------------------------------------------------------------------
- */
-class ComponentWarningEvent : public VehicleComponentEvent
-{
-public:
- ComponentWarningEvent(const int time,
- const std::string& source,
- const int agentId,
- const std::string& componentName,
- const ComponentWarningInformation& warning):
- VehicleComponentEvent(time,
- "",
- source,
- agentId),
- componentName(componentName),
- warning(warning)
- {}
-
- ComponentWarningEvent(const ComponentWarningEvent&) = delete;
- ComponentWarningEvent(ComponentWarningEvent&&) = delete;
- ComponentWarningEvent& operator=(const ComponentWarningEvent&) = delete;
- ComponentWarningEvent& operator=(ComponentWarningEvent&&) = delete;
- virtual ~ComponentWarningEvent() override = default;
-
- /*!
- * \brief Returns the component name for which the event is targeted
- * @return Component Name
- */
- std::string GetComponentName() const
- {
- return componentName;
- }
-
- /*!
- * \brief GetComponentWarningInformation gets the information regarding the warning from the event
- * \return Component warning information
- */
- ComponentWarningInformation GetComponentWarningInformation() const
- {
- return warning;
- }
-
- /*!
- * \brief Returns all parameters of the event as string list.
- * \details Returns the agentId as string list.
- *
- * @return List of string pairs of the event parameters.
- */
- virtual EventParameters GetParametersAsString() override
- {
- auto eventParameters = VehicleComponentEvent::GetParametersAsString();
-
- eventParameters.push_back({"ComponentName", componentName});
- eventParameters.push_back({"Activity", warning.activity ? "true" : "false"});
- eventParameters.push_back({"Level", ComponentWarningLevelMapping.at(warning.level)});
- eventParameters.push_back({"Type", ComponentWarningTypeMapping.at(warning.type)});
- eventParameters.push_back({"Intensity", ComponentWarningIntensityMapping.at(warning.intensity)});
-
- return eventParameters;
- }
-
-
-private:
- const std::string componentName; //!< The name of the component that has a warning
- const ComponentWarningInformation warning; //!< The collected information regarding the warning
-};
diff --git a/OpenPass_Source_Code/openPASS/Common/conditionalEvent.h b/OpenPass_Source_Code/openPASS/Common/conditionalEvent.h
index 5917fc0f709605b11eb6f1de06f0ec85a597db0d..3e5d229771b7df581250d4aae3a40e5bc2090158 100644
--- a/OpenPass_Source_Code/openPASS/Common/conditionalEvent.h
+++ b/OpenPass_Source_Code/openPASS/Common/conditionalEvent.h
@@ -1,5 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2017, 2018, 2019 in-tech GmbH
+* Copyright (c) 2017, 2018, 2019, 2020 in-tech GmbH
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -8,13 +8,6 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
-//-----------------------------------------------------------------------------
-/** @file AgentBasedEvent.h
-* @brief This file contains all functions for agent based events.
-*
-* This class contains all functionality of the module. */
-//-----------------------------------------------------------------------------
-
#pragma once
#include <vector>
@@ -22,71 +15,23 @@
#include "basicEvent.h"
//-----------------------------------------------------------------------------
-/** This class implements all functionality of the AgentBasedEvent.
+/** This class implements all functionality of the ConditionalEvent.
*
* \ingroup Event */
//-----------------------------------------------------------------------------
class ConditionalEvent : public BasicEvent
{
public:
- ConditionalEvent(int time,
- std::string eventName,
- std::string source,
- std::vector<int> triggeringAgents,
- std::vector<int> actingAgents):
- BasicEvent(time,
- eventName,
- source),
- triggeringAgents(triggeringAgents),
- actingAgents(actingAgents)
- {}
- ~ConditionalEvent() override = default;
-
- /*!
- * \brief Returns the category of the event.
- *
- * @return EventCategory.
- */
- virtual EventDefinitions::EventCategory GetCategory() const override
+ ConditionalEvent(int time, std::string eventName, std::string source,
+ std::vector<int> triggeringAgents, std::vector<int> actingAgents) :
+ BasicEvent{time, eventName, source, triggeringAgents, actingAgents}
{
- return EventDefinitions::EventCategory::Conditional;
}
- /*!
- * \brief Returns all parameters of the event as string list.
- * \details Returns the agentId as string list.
- *
- * @return List of string pairs of the event parameters.
- */
- EventParameters GetParametersAsString() override
- {
- EventParameters eventParameters;
-
- std::string triggeringAgentsAsString{};
- for (auto &triggeringAgentId : triggeringAgents) {
- triggeringAgentsAsString += std::to_string(triggeringAgentId) + ",";
- }
-
- std::string actingAgentsAsString;
- for (auto &actingAgentId : actingAgents) {
- actingAgentsAsString += std::to_string(actingAgentId) + ",";
- }
-
- if(triggeringAgentsAsString.size() > 0)
- {
- triggeringAgentsAsString.pop_back();
- eventParameters.push_back({"TriggeringAgentIds", triggeringAgentsAsString});
- }
- if(actingAgentsAsString.size() > 0)
- {
- actingAgentsAsString.pop_back();
- eventParameters.push_back({"ActingAgentIds", actingAgentsAsString});
- }
+ ~ConditionalEvent() override = default;
- return eventParameters;
+ EventDefinitions::EventCategory GetCategory() const override
+ {
+ return EventDefinitions::EventCategory::OpenSCENARIO;
}
-
- const std::vector<int> triggeringAgents;
- const std::vector<int> actingAgents;
};
-
diff --git a/OpenPass_Source_Code/openPASS/Common/eventDetectorDefinitions.h b/OpenPass_Source_Code/openPASS/Common/eventDetectorDefinitions.h
index 2197e95f9cab37b7da909614fa43cdfbea67f9e8..9602f3861fa0a551585ea60e87a64ba6458d1b35 100644
--- a/OpenPass_Source_Code/openPASS/Common/eventDetectorDefinitions.h
+++ b/OpenPass_Source_Code/openPASS/Common/eventDetectorDefinitions.h
@@ -266,10 +266,13 @@ using Condition = std::variant<ReachPositionRoadCondition,
TimeHeadwayCondition>;
using ConditionCollection = std::vector<Condition>;
+///
+/// \brief Event specific information collected from an openSCENARIO story
+///
struct ConditionalEventDetectorInformation
{
ActorInformation actorInformation{};
- int numberOfExecutions{};
+ int numberOfExecutions{}; ///< Specifies number of executions. Use -1 for "unrestricted"
std::string eventName{};
ConditionCollection conditions{};
};
diff --git a/OpenPass_Source_Code/openPASS/Common/eventTypes.h b/OpenPass_Source_Code/openPASS/Common/eventTypes.h
index b9882f52d9f186579167237dd6b0c524f1162b94..90db6156c99800749bbac3807fbbfc066fe93f4d 100644
--- a/OpenPass_Source_Code/openPASS/Common/eventTypes.h
+++ b/OpenPass_Source_Code/openPASS/Common/eventTypes.h
@@ -14,20 +14,83 @@
#include <map>
#include <string>
-namespace EventDefinitions
+#include "Common/openPassTypes.h"
+#include "Interfaces/dataStoreInterface.h" // TODO: RP: make datastore types (Acyclic, TriggeringEntites,...) explicitly available
+
+namespace openpass::narrator {
+
+class EventBase
{
+public:
+ EventBase() = default;
+ EventBase(std::string name) :
+ name{std::move(name)}
+ {
+ }
+ EventBase(std::string name, TriggeringEntities triggeringEntities, AffectedEntities affectedEntities) :
+ name{std::move(name)},
+ triggeringEntities{std::move(triggeringEntities)},
+ affectedEntities{std::move(affectedEntities)}
+ {
+ }
+
+ std::string name;
+ TriggeringEntities triggeringEntities;
+ AffectedEntities affectedEntities;
+
+ virtual explicit operator Acyclic() const = 0;
+
+ // We do not allow copy to force move semantics
+ EventBase(const EventBase &) = delete;
+ EventBase &operator=(const EventBase &) = delete;
+
+ // Explicitly allow move
+ EventBase(EventBase &&) = default;
+ EventBase &operator=(EventBase &&) = default;
+
+ // Neccesary evil
+ virtual ~EventBase() = default;
+};
+
+}
+
+namespace EventDefinitions {
enum struct EventCategory
{
- Basic = 0,
- Conditional,
- Collision,
- ComponentStateChange,
- LaneChange,
- CustomLaneChange,
- SetTrajectory,
- SetGazeFollower,
- VehicleComponent
+ Basic, // deprecated
+ Conditional, // deprecated
+ Collision, // deprecated
+ ComponentStateChange, // deprecated
+ LaneChange, // deprecated
+ CustomLaneChange, // deprecated ?
+ SetTrajectory, // deprecated ?
+ SetGazeFollower, // deprecated ?
+ VehicleComponent, // deprecated
+ OpenPASS,
+ OpenSCENARIO
};
-}//namespace EventDefinitions
+namespace helper {
+
+static constexpr std::array<const char *, 11> EventCategoryMapping{
+ "Basic",
+ "Conditional",
+ "Collision",
+ "ComponentStateChange",
+ "LaneChange",
+ "CustomLaneChange",
+ "SetTrajectory",
+ "SetGazeFollower",
+ "VehicleComponent",
+ "OpenPASS",
+ "OpenSCENARIO"};
+
+constexpr auto GetAsString(EventCategory category)
+{
+ return EventCategoryMapping[static_cast<size_t>(category)];
+}
+
+} // namespace helper
+
+} //namespace EventDefinitions
diff --git a/OpenPass_Source_Code/openPASS/Common/globalDefinitions.h b/OpenPass_Source_Code/openPASS/Common/globalDefinitions.h
index 103fe31b47f62529983023d6da3cd9482d7a2e63..08509b726231caf88f03753183bdfa0b45a1a1ff 100644
--- a/OpenPass_Source_Code/openPASS/Common/globalDefinitions.h
+++ b/OpenPass_Source_Code/openPASS/Common/globalDefinitions.h
@@ -1,5 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2017, 2018, 2019 in-tech GmbH
+* Copyright (c) 2017, 2018, 2019, 2020 in-tech GmbH
* 2018, 2019 AMFD GmbH
* 2016, 2017, 2018, 2019 ITK Engineering GmbH
*
@@ -15,8 +15,7 @@
//! @brief This file contains several classes for global purposes
//-----------------------------------------------------------------------------
-#ifndef GLOBALDEFINITIONS
-#define GLOBALDEFINITIONS
+#pragma once
#include <list>
#include <map>
@@ -103,20 +102,19 @@ inline AgentVehicleType GetAgentVehicleType(const std::string &strVehicleType)
// convert a AgentVehicleType to VehicleType string
inline std::string GetAgentVehicleTypeStr(const AgentVehicleType &vehicleType)
{
- return (vehicleType == AgentVehicleType::Car) ? "Car" :
- (vehicleType == AgentVehicleType::Pedestrian) ? "Pedestrian" :
- (vehicleType == AgentVehicleType::Motorbike) ? "Motorbike" :
- (vehicleType == AgentVehicleType::Bicycle) ? "Bicycle" :
- (vehicleType == AgentVehicleType::Truck) ? "Truck" : "unknown type";
+ return (vehicleType == AgentVehicleType::Car) ? "Car" : (vehicleType == AgentVehicleType::Pedestrian) ? "Pedestrian" : (vehicleType == AgentVehicleType::Motorbike) ? "Motorbike" : (vehicleType == AgentVehicleType::Bicycle) ? "Bicycle" : (vehicleType == AgentVehicleType::Truck) ? "Truck" : "unknown type";
}
// convert a string of type code to VehicleType string
inline std::string GetAgentVehicleTypeStr(const std::string &vehicleTypeCode)
{
- try{
+ try
+ {
AgentVehicleType vehicleType = static_cast<AgentVehicleType>(std::stoi(vehicleTypeCode));
return GetAgentVehicleTypeStr(vehicleType);
- } catch(...) {
+ }
+ catch (...)
+ {
return "unknown type";
}
}
@@ -139,23 +137,26 @@ enum class IndicatorState
struct Position
{
- Position() {}
+ Position()
+ {
+ }
Position(double x,
double y,
double yaw,
- double curvature):
+ double curvature) :
xPos(x),
yPos(y),
yawAngle(yaw),
- curvature(curvature) {}
+ curvature(curvature)
+ {
+ }
- double xPos {0};
- double yPos {0};
- double yawAngle {0};
- double curvature {0};
+ double xPos{0};
+ double yPos{0};
+ double yawAngle{0};
+ double curvature{0};
};
-
//! Enum of potential types of marks.
enum class MarkType
{
@@ -178,10 +179,10 @@ enum class ObjectType
enum ObjectTypeOSI : int
{
- None = 0x00, // default at initialization
+ None = 0x00, // default at initialization
Vehicle = 0x01,
- Object = 0x02,
- Any = Vehicle | Object
+ Object = 0x02,
+ Any = Vehicle | Object
};
using CollisionPartner = std::pair<ObjectTypeOSI, int>;
@@ -301,10 +302,9 @@ enum class AdasType
Undefined
};
-const std::map<AdasType, std::string> adasTypeToString = { { AdasType::Safety, "Safety" },
- { AdasType::Comfort, "Comfort" },
- { AdasType::Undefined, "Undefined" }
-};
+const std::map<AdasType, std::string> adasTypeToString = {{AdasType::Safety, "Safety"},
+ {AdasType::Comfort, "Comfort"},
+ {AdasType::Undefined, "Undefined"}};
enum class ComponentType
{
@@ -330,7 +330,8 @@ public:
weekday(weekday),
timeOfDay(timeOfDay),
libraryName(libraryName)
- {}
+ {
+ }
WorldParameter(const WorldParameter &) = delete;
WorldParameter(WorldParameter &&) = delete;
WorldParameter &operator=(const WorldParameter &) = delete;
@@ -367,7 +368,8 @@ public:
AgentSpawnItem(int id, int reference) :
id(id),
reference(reference)
- {}
+ {
+ }
AgentSpawnItem(const AgentSpawnItem &) = delete;
AgentSpawnItem(AgentSpawnItem &&) = delete;
AgentSpawnItem &operator=(const AgentSpawnItem &) = delete;
@@ -538,6 +540,3 @@ private:
double accelerationY;
double yawAngle;
};
-
-
-#endif // GLOBALDEFINITIONS
diff --git a/OpenPass_Source_Code/openPASS/Common/namedType.h b/OpenPass_Source_Code/openPASS/Common/namedType.h
new file mode 100644
index 0000000000000000000000000000000000000000..777686471294ea855e5b6219eba854cf7e2c34e0
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/Common/namedType.h
@@ -0,0 +1,31 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#pragma once
+
+namespace openpass::type {
+
+template <typename T, typename Tag>
+struct NamedType
+{
+ T value;
+
+ NamedType(T value) :
+ value(value)
+ {
+ }
+
+ operator T() const
+ {
+ return value;
+ }
+};
+
+} // namespace openpass::type
diff --git a/OpenPass_Source_Code/openPASS/Common/observationLibraryDefinitions.h b/OpenPass_Source_Code/openPASS/Common/observationLibraryDefinitions.h
index ce5b7816ca9e80b506cf705a4ca93ce3f0243dec..c7789eab14de07e5995acbd8774230eb87bead62 100644
--- a/OpenPass_Source_Code/openPASS/Common/observationLibraryDefinitions.h
+++ b/OpenPass_Source_Code/openPASS/Common/observationLibraryDefinitions.h
@@ -12,6 +12,7 @@
#include <string>
#include <vector>
#include "parameter.h"
+#include "Interfaces/dataStoreInterface.h"
/**
* @brief Wrapper for building an ObservationInstance
diff --git a/OpenPass_Source_Code/openPASS/Common/observationTypes.h b/OpenPass_Source_Code/openPASS/Common/observationTypes.h
index b5b69129753f0a54fedbe9abcdca85b7d0a9765c..bf239d50f1bf7a21644a12a941bbc7c6dafc3c22 100644
--- a/OpenPass_Source_Code/openPASS/Common/observationTypes.h
+++ b/OpenPass_Source_Code/openPASS/Common/observationTypes.h
@@ -14,17 +14,74 @@
#define OBSERVATION_LOG_VALUE_UNDEFINED ""
#include <string>
+#include <unordered_map>
+#include <vector>
-enum class LoggingGroup
+//! Defines the cyclic coloumn names associated with each logging group
+const std::unordered_map<std::string, std::vector<std::string>> LOGGINGGROUP_DEFINITIONS
{
- Trace,
- Visualization,
- RoadPosition,
- RoadPositionExtended,
- Vehicle,
- Sensor,
- SensorExtended,
- Driver
+ { "RoadPosition", {
+ "AgentInFront",
+ "Lane",
+ "PositionRoute",
+ "Road",
+ "TCoordinate"
+ }
+ },
+ { "RoadPositionExtended", {
+ "SecondaryLanes"
+ }
+ },
+ { "Trace", {
+ "XPosition",
+ "YPosition",
+ "YawAngle"
+ }
+ },
+ { "Sensor", {
+ }
+ },
+ { "SensorExtended", {
+ "Sensor0_DetectedAgents",
+ "Sensor1_DetectedAgents",
+ "Sensor2_DetectedAgents",
+ "Sensor3_DetectedAgents",
+ "Sensor4_DetectedAgents",
+ "Sensor5_DetectedAgents",
+ "Sensor6_DetectedAgents",
+ "Sensor7_DetectedAgents",
+ "Sensor8_DetectedAgents",
+ "Sensor9_DetectedAgents",
+ "Sensor0_VisibleAgents",
+ "Sensor1_VisibleAgents",
+ "Sensor2_VisibleAgents",
+ "Sensor3_VisibleAgents",
+ "Sensor4_VisibleAgents",
+ "Sensor5_VisibleAgents",
+ "Sensor6_VisibleAgents",
+ "Sensor7_VisibleAgents",
+ "Sensor8_VisibleAgents",
+ "Sensor9_VisibleAgents"
+ }
+ },
+ { "Vehicle", {
+ "AccelerationPedalPosition",
+ "BrakePedalPosition",
+ "EngineMoment",
+ "Gear",
+ "SteeringAngle",
+ "TotalDistanceTraveled",
+ "YawRate",
+ }
+ },
+ { "Visualization", {
+ "AccelerationEgo",
+ "BrakeLight",
+ "IndicatorState",
+ "LightStatus",
+ "VelocityEgo"
+ }
+ }
};
const std::string AgentCategoryStrings[] =
diff --git a/OpenPass_Source_Code/openPASS/Common/openPassTypes.h b/OpenPass_Source_Code/openPASS/Common/openPassTypes.h
new file mode 100644
index 0000000000000000000000000000000000000000..3d84e51deb902c025188b85333552f1477406ac6
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/Common/openPassTypes.h
@@ -0,0 +1,41 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#pragma once
+
+#include <functional>
+#include <string>
+#include <variant>
+
+#include "namedType.h"
+
+namespace openpass::type {
+
+// TODO: MOVE TO CORE ONLY!
+static constexpr int CoreId = 67798269; // ASCII: C O R E
+
+using AgentId = int;
+using EntityId = NamedType<AgentId, struct EntityIdType>;
+using Timestamp = NamedType<int, struct TimestampType>;
+using EntityIds = std::vector<EntityId>;
+
+using FlatParameterKey = std::string;
+using FlatParameterValue = std::variant<
+ bool, std::vector<bool>,
+ char, std::vector<char>,
+ int, std::vector<int>,
+ size_t, std::vector<size_t>,
+ float, std::vector<float>,
+ double, std::vector<double>,
+ std::string, std::vector<std::string>>;
+
+using FlatParameter = std::unordered_map<FlatParameterKey, FlatParameterValue>;
+
+} // namespace openpass::type
diff --git a/OpenPass_Source_Code/openPASS/Common/openPassUtils.h b/OpenPass_Source_Code/openPASS/Common/openPassUtils.h
new file mode 100644
index 0000000000000000000000000000000000000000..316dbf3c01b9c5373dc474ae6003805d27955cce
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/Common/openPassUtils.h
@@ -0,0 +1,88 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#pragma once
+
+#include <functional>
+#include <iterator>
+#include <sstream>
+#include <string>
+#include <vector>
+
+template <class... Ts>
+struct overload : Ts...
+{
+ using Ts::operator()...;
+};
+
+template <class... Ts>
+overload(Ts...)->overload<Ts...>;
+
+namespace openpass::utils {
+
+namespace vector {
+
+/// \brief convenience function to convert a vector into a string using a constom delimiter
+/// \remark Please refer to the standard, how decimals are converted
+/// \param values vector of strings
+/// \param delimiter string in between the individual values
+/// \return delimiter seperated list as string
+template <typename T>
+std::string to_string(const std::vector<T> &values, const std::string &delimiter = ",")
+{
+ if (values.empty())
+ {
+ return "";
+ }
+
+ std::ostringstream oss;
+ std::copy(values.begin(), values.end(), std::ostream_iterator<T>(oss, delimiter.c_str()));
+
+ return {oss.str(), 0, oss.str().length() - delimiter.size()};
+}
+
+} // namespace vector
+
+namespace FlatParameter {
+
+/// \brief visitor for parameter values of events
+/// Converts the visitor values into strings and forwards the result to writer callable
+/// Values in vectors are converted and seperated by a delimiter.
+/// If value is 12.34 => writer("12.34");
+/// If value is {12.34, 23.45} => writer("12.34,23.45");
+/// \see openpass::type::FlatParameterValue
+/// \see openpass::utils::vector::to_string
+/// \param[in] writer callable collecting the converted value
+/// \param[in] delimiter used for vector type (default = ",")
+[[maybe_unused]] static auto to_string(std::function<void(std::string)> writer, const std::string &delimiter = ",")
+{
+ return overload{
+ //[&](std::string &value) { writer(value); },
+ [&](const std::string &value) { writer(value); },
+ [&](auto &value) {
+ if constexpr (std::is_arithmetic_v<std::decay_t<decltype(value)>>)
+ {
+ writer(std::to_string(value));
+ }
+ else // path for std::vector types
+ {
+ if (!value.empty())
+ {
+ writer(vector::to_string(value, delimiter));
+ }
+ }
+ },
+
+ };
+}
+
+} // namespace FlatParameter
+
+} // namespace openpass::utils
diff --git a/OpenPass_Source_Code/openPASS/Common/openScenarioDefinitions.h b/OpenPass_Source_Code/openPASS/Common/openScenarioDefinitions.h
index dbc1cb3cca005a983e2ffb9b105db15c8f53b78b..723ac5fc503cf8e4f731ab03ece362e333946975 100644
--- a/OpenPass_Source_Code/openPASS/Common/openScenarioDefinitions.h
+++ b/OpenPass_Source_Code/openPASS/Common/openScenarioDefinitions.h
@@ -56,7 +56,7 @@ struct StochasticAttribute
struct ActorInformation
{
- std::optional<bool> triggeringAgentsAsActors{};
+ bool actorIsTriggeringEntity{false};
std::optional<std::vector<std::string>> actors{};
};
diff --git a/OpenPass_Source_Code/openPASS/Common/parameter.h b/OpenPass_Source_Code/openPASS/Common/parameter.h
index 64e9b9616ffff8a88427115e99c7cfffea222c21..08548b5089e57a7d714012eb51e65237b14b7706 100644
--- a/OpenPass_Source_Code/openPASS/Common/parameter.h
+++ b/OpenPass_Source_Code/openPASS/Common/parameter.h
@@ -9,9 +9,11 @@
*******************************************************************************/
#pragma once
+#include <optional>
+#include <string>
+#include <utility>
#include <variant>
#include <vector>
-#include <optional>
#include "Common/stochasticDefinitions.h"
diff --git a/OpenPass_Source_Code/openPASS/Common/vehicleComponentEvent.h b/OpenPass_Source_Code/openPASS/Common/vehicleComponentEvent.h
index 6b4146b73084e3f1365222b0a33f69846ebd58e4..f5453d041692edcd43bdec25aa1f88debc72bf2d 100644
--- a/OpenPass_Source_Code/openPASS/Common/vehicleComponentEvent.h
+++ b/OpenPass_Source_Code/openPASS/Common/vehicleComponentEvent.h
@@ -32,12 +32,18 @@ public:
VehicleComponentEvent(int time,
const std::string &eventName,
std::string source,
- int agentId):
+ int agentId) :
BasicEvent(time,
eventName,
- source),
+ source,
+ {agentId},
+ {}),
agentId(agentId)
- {}
+ {
+ parameter.emplace("Source", source);
+ parameter.emplace("State", eventName);
+ }
+
VehicleComponentEvent(const VehicleComponentEvent&) = delete;
VehicleComponentEvent(VehicleComponentEvent&&) = delete;
VehicleComponentEvent& operator=(const VehicleComponentEvent&) = delete;
diff --git a/OpenPass_Source_Code/openPASS/Common/worldDefinitions.h b/OpenPass_Source_Code/openPASS/Common/worldDefinitions.h
index 9608f847ba70d71d5600a0156e12e42a9d7b6f73..b5f9fe4cbe79073a0c5e3c61c601955b5e5d3378 100644
--- a/OpenPass_Source_Code/openPASS/Common/worldDefinitions.h
+++ b/OpenPass_Source_Code/openPASS/Common/worldDefinitions.h
@@ -10,6 +10,8 @@
#pragma once
+#include <limits>
+
#include "globalDefinitions.h"
#include <set>
#include "boost/graph/adjacency_list.hpp"
diff --git a/OpenPass_Source_Code/openPASS/Components/Action_BrakeLight_Basic/action_brakelight_basic.cpp b/OpenPass_Source_Code/openPASS/Components/Action_BrakeLight_Basic/action_brakelight_basic.cpp
index 84bdbd4a164546650e98e3781c60bb33f39a90db..f25c140d82c2ebd3d828c90f8d216c19c7991467 100644
--- a/OpenPass_Source_Code/openPASS/Components/Action_BrakeLight_Basic/action_brakelight_basic.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Action_BrakeLight_Basic/action_brakelight_basic.cpp
@@ -35,7 +35,7 @@ extern "C" ACTION_BRAKELIGHT_BASICSHARED_EXPORT ModelInterface *OpenPASS_CreateI
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -53,7 +53,7 @@ extern "C" ACTION_BRAKELIGHT_BASICSHARED_EXPORT ModelInterface *OpenPASS_CreateI
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Action_BrakeLight_Basic/action_brakelight_basic_implementation.h b/OpenPass_Source_Code/openPASS/Components/Action_BrakeLight_Basic/action_brakelight_basic_implementation.h
index f8a8d1ee3e28edb15182b627d43852a3ad328449..745b3a1aeaf5c45e0fc36bde3d35dbafe5d4b440 100644
--- a/OpenPass_Source_Code/openPASS/Components/Action_BrakeLight_Basic/action_brakelight_basic_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Action_BrakeLight_Basic/action_brakelight_basic_implementation.h
@@ -13,7 +13,6 @@
#define ACTION_BRAKELIGHT_BASIC_IMPLEMENTATION_H
#include "modelInterface.h"
-#include "observationInterface.h"
#include "primitiveSignals.h"
/*!
diff --git a/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriver.cpp b/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriver.cpp
index 6221010bdc35704275508e474656692370f8d1bf..6e87aff3f8bed7ea33b5a66fa7271842d1514a09 100644
--- a/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriver.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriver.cpp
@@ -35,7 +35,7 @@ extern "C" ACTION_LONGITUDINAL_DRIVER_SHARED_EXPORT ModelInterface *OpenPASS_Cre
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -53,7 +53,7 @@ extern "C" ACTION_LONGITUDINAL_DRIVER_SHARED_EXPORT ModelInterface *OpenPASS_Cre
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriverImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriverImplementation.cpp
index 7804f7a7329a4864eb6f5df66f52a6e7c078ac80..0cc3b4b13fda47327545ba1d73676e5a72c006dc 100644
--- a/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriverImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriverImplementation.cpp
@@ -68,4 +68,8 @@ void ActionLongitudinalDriverImplementation::Trigger(int time)
GetAgent()->SetEffBrakePedal(in_brakePedalPos);
//! Set gear
GetAgent()->SetGear(in_gear);
+
+ GetPublisher()->Publish("AccelerationPedalPosition", in_accPedalPos);
+ GetPublisher()->Publish("BrakePedalPosition", in_brakePedalPos);
+ GetPublisher()->Publish("Gear", in_gear);
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriverImplementation.h b/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriverImplementation.h
index 1bdb61d98d76595a168c797223a413f3ed685888..0bac3a1f3facefdd20e42cadf079674c3c6bbb78 100644
--- a/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriverImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Action_LongitudinalDriver/action_longitudinalDriverImplementation.h
@@ -35,7 +35,6 @@
#define ACTION_LONGITUDINAL_DRIVER_IMPLEMENTATION_H
#include "Interfaces/modelInterface.h"
-#include "Interfaces/observationInterface.h"
#include "Common/primitiveSignals.h"
//! \ingroup Action_LongitudinalDriver
diff --git a/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasks.cpp b/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasks.cpp
index d60126a11d4344de400b7ef1f4293c99f863ac3c..4a13f71159419c0b56273007eedfdea0471f6603 100644
--- a/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasks.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasks.cpp
@@ -35,7 +35,7 @@ extern "C" ACTION_SECONDARY_DRIVER_TASKS_SHARED_EXPORT ModelInterface *OpenPASS_
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -53,7 +53,7 @@ extern "C" ACTION_SECONDARY_DRIVER_TASKS_SHARED_EXPORT ModelInterface *OpenPASS_
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasksImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasksImplementation.cpp
index b6e8f96539ecc6ef08ffca656ec58a84b682bf06..91bacb337432a9a668861700618555845a195b20 100644
--- a/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasksImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasksImplementation.cpp
@@ -65,12 +65,15 @@ void ActionSecondaryDriverTasksImplementation::Trigger(int time)
{
Q_UNUSED(time);
- if (GetAgent()->GetEffBrakePedal()>0)
+ if (GetAgent()->GetEffBrakePedal() > 0.0)
{
GetAgent()->SetBrakeLight(true);
- }else
+ GetPublisher()->Publish("BrakeLight", true);
+ }
+ else
{
GetAgent()->SetBrakeLight(false);
+ GetPublisher()->Publish("BrakeLight", false);
}
GetAgent()->SetIndicatorState(in_IndicatorState);
@@ -78,4 +81,23 @@ void ActionSecondaryDriverTasksImplementation::Trigger(int time)
GetAgent()->SetHighBeamLight(in_highBeamLightSwitch);
GetAgent()->SetHorn(in_hornSwitch);
GetAgent()->SetFlasher(in_flasherSwitch);
+
+ GetPublisher()->Publish("IndicatorState", static_cast<int>(in_IndicatorState));
+
+ LightState effectiveLightState = LightState::Off;
+
+ if (in_flasherSwitch)
+ {
+ effectiveLightState = LightState::Flash;
+ }
+ else if (in_highBeamLightSwitch)
+ {
+ effectiveLightState = LightState::HighBeam;
+ }
+ else if (in_headLightSwitch)
+ {
+ effectiveLightState = LightState::LowBeam;
+ }
+
+ GetPublisher()->Publish("LightStatus", static_cast<int>(effectiveLightState));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasksImplementation.h b/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasksImplementation.h
index cb1fc08eefc85e906fc7ba173c15d3b2c052f2f4..214b3321552534ac08df37687d5b56a424aad789 100644
--- a/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasksImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Action_SecondaryDriverTasks/action_secondaryDriverTasksImplementation.h
@@ -17,7 +17,6 @@
#define ACTION_SECONDARY_DRIVER_TASKS_IMPLEMENTATION_H
#include "Interfaces/modelInterface.h"
-#include "Interfaces/observationInterface.h"
#include "Common/primitiveSignals.h"
/*! \addtogroup Action_SecondaryDriverTasks
diff --git a/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdater.cpp b/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdater.cpp
index e125252d0883888655407fcd797ad675ae3b0116..248ec6883ce9fb6cb8dedfcb737e2bd6dcb0640f 100644
--- a/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdater.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdater.cpp
@@ -13,60 +13,61 @@
//-----------------------------------------------------------------------------
#include "agentUpdater.h"
+
#include "agentUpdaterImplementation.h"
-const std::string Version = "0.0.1";
+const static std::string VERSION = "0.2.0";
static const CallbackInterface *Callbacks = nullptr;
extern "C" AGENT_UPDATER_SHARED_EXPORT const std::string &OpenPASS_GetVersion()
{
- return Version;
+ return VERSION;
}
extern "C" AGENT_UPDATER_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
- std::string componentName,
- bool isInit,
- int priority,
- int offsetTime,
- int responseTime,
- int cycleTime,
- StochasticsInterface *stochastics,
- WorldInterface *world,
- const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
- AgentInterface *agent,
- const CallbackInterface *callbacks)
+ std::string componentName,
+ bool isInit,
+ int priority,
+ int offsetTime,
+ int responseTime,
+ int cycleTime,
+ StochasticsInterface *stochastics,
+ WorldInterface *world,
+ const ParameterInterface *parameters,
+ PublisherInterface * const publisher,
+ AgentInterface *agent,
+ const CallbackInterface *callbacks)
{
Callbacks = callbacks;
try
{
- return (ModelInterface*)(new (std::nothrow) AgentUpdaterImplementation(
- componentName,
- isInit,
- priority,
- offsetTime,
- responseTime,
- cycleTime,
- stochastics,
- world,
- parameters,
- observations,
- callbacks,
- agent));
+ return (ModelInterface *)(new (std::nothrow) AgentUpdaterImplementation(
+ componentName,
+ isInit,
+ priority,
+ offsetTime,
+ responseTime,
+ cycleTime,
+ stochastics,
+ world,
+ parameters,
+ publisher,
+ callbacks,
+ agent));
}
- catch(const std::runtime_error &ex)
+ catch (const std::runtime_error &ex)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
}
return nullptr;
}
- catch(...)
+ catch (...)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
}
@@ -77,30 +78,30 @@ extern "C" AGENT_UPDATER_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
extern "C" AGENT_UPDATER_SHARED_EXPORT void OpenPASS_DestroyInstance(ModelInterface *implementation)
{
- delete (AgentUpdaterImplementation*)implementation;
+ delete (AgentUpdaterImplementation *)implementation;
}
extern "C" AGENT_UPDATER_SHARED_EXPORT bool OpenPASS_UpdateInput(ModelInterface *implementation,
- int localLinkId,
- const std::shared_ptr<SignalInterface const> &data,
- int time)
+ int localLinkId,
+ const std::shared_ptr<SignalInterface const> &data,
+ int time)
{
try
{
implementation->UpdateInput(localLinkId, data, time);
}
- catch(const std::runtime_error &ex)
+ catch (const std::runtime_error &ex)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
}
return false;
}
- catch(...)
+ catch (...)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
}
@@ -112,26 +113,26 @@ extern "C" AGENT_UPDATER_SHARED_EXPORT bool OpenPASS_UpdateInput(ModelInterface
}
extern "C" AGENT_UPDATER_SHARED_EXPORT bool OpenPASS_UpdateOutput(ModelInterface *implementation,
- int localLinkId,
- std::shared_ptr<SignalInterface const> &data,
- int time)
+ int localLinkId,
+ std::shared_ptr<SignalInterface const> &data,
+ int time)
{
try
{
implementation->UpdateOutput(localLinkId, data, time);
}
- catch(const std::runtime_error &ex)
+ catch (const std::runtime_error &ex)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
}
return false;
}
- catch(...)
+ catch (...)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
}
@@ -143,24 +144,24 @@ extern "C" AGENT_UPDATER_SHARED_EXPORT bool OpenPASS_UpdateOutput(ModelInterface
}
extern "C" AGENT_UPDATER_SHARED_EXPORT bool OpenPASS_Trigger(ModelInterface *implementation,
- int time)
+ int time)
{
try
{
implementation->Trigger(time);
}
- catch(const std::runtime_error &ex)
+ catch (const std::runtime_error &ex)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
}
return false;
}
- catch(...)
+ catch (...)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
}
diff --git a/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdaterImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdaterImplementation.cpp
index 69fb48c9cea77a34133493ee6c444997dc75e741..508f6ec989d1cd7ac2b2061ed681604ede86cc57 100644
--- a/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdaterImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdaterImplementation.cpp
@@ -17,10 +17,8 @@
#include "agentUpdaterImplementation.h"
#include <qglobal.h>
-void AgentUpdaterImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const> &data, int time)
+void AgentUpdaterImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const> &data, [[maybe_unused]] int time)
{
- Q_UNUSED(time);
-
if (localLinkId == 0)
{
// from DynamicsPrioritizer
@@ -50,16 +48,14 @@ void AgentUpdaterImplementation::UpdateInput(int localLinkId, const std::shared_
}
}
-void AgentUpdaterImplementation::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterface const> &data, int time)
+void AgentUpdaterImplementation::UpdateOutput([[maybe_unused]] int localLinkId,
+ [[maybe_unused]] std::shared_ptr<SignalInterface const> &data,
+ [[maybe_unused]] int time)
{
- Q_UNUSED(localLinkId);
- Q_UNUSED(data);
- Q_UNUSED(time);
}
-void AgentUpdaterImplementation::Trigger(int time)
+void AgentUpdaterImplementation::Trigger([[maybe_unused]] int time)
{
- Q_UNUSED(time);
AgentInterface *agent = GetAgent();
agent->SetAcceleration(acceleration);
@@ -70,5 +66,16 @@ void AgentUpdaterImplementation::Trigger(int time)
agent->SetYawRate(yawRate);
agent->SetSteeringWheelAngle(steeringWheelAngle);
agent->SetCentripetalAcceleration(centripetalAcceleration);
- agent->SetDistanceTraveled(travelDistance + agent->GetDistanceTraveled());
+
+ GetPublisher()->Publish("XPosition", positionX);
+ GetPublisher()->Publish("YPosition", positionY);
+ GetPublisher()->Publish("VelocityEgo", velocity);
+ GetPublisher()->Publish("AccelerationEgo", acceleration);
+ GetPublisher()->Publish("YawAngle", yaw);
+ GetPublisher()->Publish("YawRate", yawRate);
+ GetPublisher()->Publish("SteeringAngle", steeringWheelAngle);
+
+ totalTravelDistance += travelDistance;
+
+ GetPublisher()->Publish("TotalDistanceTraveled", totalTravelDistance);
}
diff --git a/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdaterImplementation.h b/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdaterImplementation.h
index d8fe76c9dc4c7a6454073674d495c4e8b7465d33..a5ea24b18c5de4ba33ecbb5a1552173c0cf5a208 100644
--- a/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdaterImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/AgentUpdater/agentUpdaterImplementation.h
@@ -32,7 +32,7 @@
#pragma once
#include "Interfaces/modelInterface.h"
-#include "Interfaces/observationInterface.h"
+#include "Interfaces/publisherInterface.h"
#include "Common/dynamicsSignal.h"
/**
@@ -55,7 +55,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
UnrestrictedModelInterface(
@@ -68,7 +68,7 @@ public:
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{}
@@ -126,4 +126,5 @@ private:
double steeringWheelAngle {0.0};
double centripetalAcceleration {0.0};
double travelDistance {0.0};
+ double totalTravelDistance {0.0};
};
diff --git a/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModel.cpp b/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModel.cpp
index 057c968df82dbb84620a1e79b9056e051944883d..ecffda47de4febbd3701b956a82b859e046b1668 100644
--- a/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModel.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModel.cpp
@@ -34,7 +34,7 @@ extern "C" ALGORITHM_AGENTFOLLOWINGDRIVERMODEL_SHARED_EXPORT ModelInterface *Ope
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -52,7 +52,7 @@ extern "C" ALGORITHM_AGENTFOLLOWINGDRIVERMODEL_SHARED_EXPORT ModelInterface *Ope
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModelImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModelImplementation.cpp
index f295b55414c06dfc5032ca5c2d1706b824008a18..b5a4ea5194cf60793c8252e000e25b6e8d598ab6 100644
--- a/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModelImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModelImplementation.cpp
@@ -27,7 +27,7 @@ AlgorithmAgentFollowingDriverModelImplementation::AlgorithmAgentFollowingDriverM
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
SensorInterface(
@@ -40,7 +40,7 @@ AlgorithmAgentFollowingDriverModelImplementation::AlgorithmAgentFollowingDriverM
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModelImplementation.h b/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModelImplementation.h
index 6fb9667b8fd47cca4c1d428281b969f7688a840b..1806b6fc6be8ac863c8b7947df8de03d1f0f9424 100644
--- a/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModelImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/AlgorithmAgentFollowingDriverModel/AlgorithmAgentFollowingDriverModelImplementation.h
@@ -24,7 +24,6 @@
class AgentInterface;
class StochasticsInterface;
-class ObservationInterface;
class ParameterInterface;
class WorldInterface;
@@ -55,7 +54,7 @@ public:
//! \param [in] stochastics Stochastics instance
//! \param [in] world World interface
//! \param [in] parameters Paramaters
- //! \param [in] observations Observation instance
+ //! \param [in] pubslisher Publisher instance
//! \param [in] callbacks Callbacks
//! \param [in] agent Agent
AlgorithmAgentFollowingDriverModelImplementation(
@@ -68,7 +67,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBraking.cpp b/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBraking.cpp
index 7e80f127438ca99936ed18bf68e5495fe38f5fa0..cabf6bbf249b0d81e7c89d09651e1075aae402be 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBraking.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBraking.cpp
@@ -13,29 +13,30 @@
//-----------------------------------------------------------------------------
#include "algorithm_autonomousEmergencyBraking.h"
+
#include "algorithm_autonomousEmergencyBrakingImplementation.h"
-const std::string Version = "0.0.1";
+const static std::string VERSION = "0.2.0";
static const CallbackInterface *Callbacks = nullptr;
extern "C" ALGORITHM_AEB_SHARED_EXPORT const std::string &OpenPASS_GetVersion()
{
- return Version;
+ return VERSION;
}
extern "C" ALGORITHM_AEB_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
- std::string componentName,
- bool isInit,
- int priority,
- int offsetTime,
- int responseTime,
- int cycleTime,
- StochasticsInterface *stochastics,
- WorldInterface *world,
- const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
- AgentInterface *agent,
- const CallbackInterface *callbacks)
+ std::string componentName,
+ bool isInit,
+ int priority,
+ int offsetTime,
+ int responseTime,
+ int cycleTime,
+ StochasticsInterface *stochastics,
+ WorldInterface *world,
+ const ParameterInterface *parameters,
+ PublisherInterface * const publisher,
+ AgentInterface *agent,
+ const CallbackInterface *callbacks)
{
Q_UNUSED(world);
@@ -43,31 +44,31 @@ extern "C" ALGORITHM_AEB_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
try
{
- return (ModelInterface*)(new (std::nothrow) AlgorithmAutonomousEmergencyBrakingImplementation(
- componentName,
- isInit,
- priority,
- offsetTime,
- responseTime,
- cycleTime,
- stochastics,
- parameters,
- observations,
- callbacks,
- agent));
+ return (ModelInterface *)(new (std::nothrow) AlgorithmAutonomousEmergencyBrakingImplementation(
+ componentName,
+ isInit,
+ priority,
+ offsetTime,
+ responseTime,
+ cycleTime,
+ stochastics,
+ parameters,
+ publisher,
+ callbacks,
+ agent));
}
- catch(const std::runtime_error &ex)
+ catch (const std::runtime_error &ex)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
}
return nullptr;
}
- catch(...)
+ catch (...)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
}
@@ -78,30 +79,30 @@ extern "C" ALGORITHM_AEB_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
extern "C" ALGORITHM_AEB_SHARED_EXPORT void OpenPASS_DestroyInstance(ModelInterface *implementation)
{
- delete (AlgorithmAutonomousEmergencyBrakingImplementation*)implementation;
+ delete (AlgorithmAutonomousEmergencyBrakingImplementation *)implementation;
}
extern "C" ALGORITHM_AEB_SHARED_EXPORT bool OpenPASS_UpdateInput(ModelInterface *implementation,
- int localLinkId,
- const std::shared_ptr<SignalInterface const> &data,
- int time)
+ int localLinkId,
+ const std::shared_ptr<SignalInterface const> &data,
+ int time)
{
try
{
implementation->UpdateInput(localLinkId, data, time);
}
- catch(const std::runtime_error &ex)
+ catch (const std::runtime_error &ex)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
}
return false;
}
- catch(...)
+ catch (...)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
}
@@ -113,26 +114,26 @@ extern "C" ALGORITHM_AEB_SHARED_EXPORT bool OpenPASS_UpdateInput(ModelInterface
}
extern "C" ALGORITHM_AEB_SHARED_EXPORT bool OpenPASS_UpdateOutput(ModelInterface *implementation,
- int localLinkId,
- std::shared_ptr<SignalInterface const> &data,
- int time)
+ int localLinkId,
+ std::shared_ptr<SignalInterface const> &data,
+ int time)
{
try
{
implementation->UpdateOutput(localLinkId, data, time);
}
- catch(const std::runtime_error &ex)
+ catch (const std::runtime_error &ex)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
}
return false;
}
- catch(...)
+ catch (...)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
}
@@ -144,24 +145,24 @@ extern "C" ALGORITHM_AEB_SHARED_EXPORT bool OpenPASS_UpdateOutput(ModelInterface
}
extern "C" ALGORITHM_AEB_SHARED_EXPORT bool OpenPASS_Trigger(ModelInterface *implementation,
- int time)
+ int time)
{
try
{
implementation->Trigger(time);
}
- catch(const std::runtime_error &ex)
+ catch (const std::runtime_error &ex)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
}
return false;
}
- catch(...)
+ catch (...)
{
- if(Callbacks != nullptr)
+ if (Callbacks != nullptr)
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBrakingImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBrakingImplementation.cpp
index 06f9a30090418084006ab56837a4aa704378f923..d51c152005a832d1d8fb7555c94d6301938aac6f 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBrakingImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBrakingImplementation.cpp
@@ -1,5 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2019 in-tech GmbH
+* Copyright (c) 2019, 2020 in-tech GmbH
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -12,23 +12,16 @@
/** @file AlgorithmAEBmplementation.cpp */
//-----------------------------------------------------------------------------
+#include "algorithm_autonomousEmergencyBrakingImplementation.h"
+
#include <limits>
#include <memory>
-#include <QtGlobal>
-#include <QCoreApplication>
-
-#include "Interfaces/parameterInterface.h"
-
#include "Common/commonTools.h"
#include "Common/eventTypes.h"
-
#include "Components/SensorFusion_OSI/sensorFusionQuery.h"
-
-#include "algorithm_autonomousEmergencyBrakingImplementation.h"
#include "boundingBoxCalculation.h"
-
AlgorithmAutonomousEmergencyBrakingImplementation::AlgorithmAutonomousEmergencyBrakingImplementation(
std::string componentName,
bool isInit,
@@ -36,11 +29,11 @@ AlgorithmAutonomousEmergencyBrakingImplementation::AlgorithmAutonomousEmergencyB
int offsetTime,
int responseTime,
int cycleTime,
- StochasticsInterface* stochastics,
- const ParameterInterface* parameters,
- const std::map<int, ObservationInterface*>* observations,
- const CallbackInterface* callbacks,
- AgentInterface* agent) :
+ StochasticsInterface *stochastics,
+ const ParameterInterface *parameters,
+ PublisherInterface * const publisher,
+ const CallbackInterface *callbacks,
+ AgentInterface *agent) :
AlgorithmInterface(
componentName,
isInit,
@@ -50,7 +43,7 @@ AlgorithmAutonomousEmergencyBrakingImplementation::AlgorithmAutonomousEmergencyB
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
@@ -67,26 +60,28 @@ AlgorithmAutonomousEmergencyBrakingImplementation::AlgorithmAutonomousEmergencyB
try
{
- observer = GetObservations()->at(0);
- if (observer == nullptr) { throw std::runtime_error(""); }
+ if (GetPublisher() == nullptr)
+ {
+ throw std::runtime_error("");
+ }
}
catch (...)
{
- const std::string msg = COMPONENTNAME + " invalid observation module setup";
+ const std::string msg = COMPONENTNAME + " invalid publisher module setup";
LOG(CbkLogLevel::Error, msg);
throw std::runtime_error(msg);
}
}
-void AlgorithmAutonomousEmergencyBrakingImplementation::ParseParameters(const ParameterInterface* parameters)
+void AlgorithmAutonomousEmergencyBrakingImplementation::ParseParameters(const ParameterInterface *parameters)
{
ttcBrake = parameters->GetParametersDouble().at("TTC");
brakingAcceleration = parameters->GetParametersDouble().at("Acceleration");
collisionDetectionLongitudinalBoundary = parameters->GetParametersDouble().at("CollisionDetectionLongitudinalBoundary");
collisionDetectionLateralBoundary = parameters->GetParametersDouble().at("CollisionDetectionLateralBoundary");
- const auto& sensorList = parameters->GetParameterLists().at("SensorLinks");
- for (const auto& sensorLink : sensorList)
+ const auto &sensorList = parameters->GetParameterLists().at("SensorLinks");
+ for (const auto &sensorLink : sensorList)
{
if (sensorLink->GetParametersString().at("InputId") == "Camera")
{
@@ -96,13 +91,11 @@ void AlgorithmAutonomousEmergencyBrakingImplementation::ParseParameters(const Pa
}
void AlgorithmAutonomousEmergencyBrakingImplementation::UpdateInput(int localLinkId,
- const std::shared_ptr<SignalInterface const>& data, int time)
+ const std::shared_ptr<SignalInterface const> &data,
+ [[maybe_unused]] int time)
{
- Q_UNUSED(time);
-
std::stringstream log;
- log << COMPONENTNAME << " (component " << GetComponentName() << ", agent " << GetAgent()->GetId() <<
- ", input data for local link " << localLinkId << ": ";
+ log << COMPONENTNAME << " (component " << GetComponentName() << ", agent " << GetAgent()->GetId() << ", input data for local link " << localLinkId << ": ";
LOG(CbkLogLevel::Debug, log.str());
//from SensorFusion
@@ -129,17 +122,16 @@ void AlgorithmAutonomousEmergencyBrakingImplementation::UpdateInput(int localLin
}
void AlgorithmAutonomousEmergencyBrakingImplementation::UpdateOutput(int localLinkId,
- std::shared_ptr<SignalInterface const>& data, int time)
+ std::shared_ptr<SignalInterface const> &data,
+ [[maybe_unused]] int time)
{
- Q_UNUSED(time);
-
if (localLinkId == 0)
{
try
{
data = std::make_shared<AccelerationSignal const>(componentState, activeAcceleration);
}
- catch (const std::bad_alloc&)
+ catch (const std::bad_alloc &)
{
const std::string msg = COMPONENTNAME + " could not instantiate signal";
LOG(CbkLogLevel::Debug, msg);
@@ -155,18 +147,19 @@ void AlgorithmAutonomousEmergencyBrakingImplementation::UpdateOutput(int localLi
}
}
-void AlgorithmAutonomousEmergencyBrakingImplementation::Trigger(int time)
+void AlgorithmAutonomousEmergencyBrakingImplementation::Trigger([[maybe_unused]] int time)
{
const auto ttc = CalculateTTC();
+
if (componentState == ComponentState::Disabled && ShouldBeActivated(ttc))
{
componentState = ComponentState::Acting;
- UpdateAcceleration(time);
+ UpdateAcceleration();
}
- else if(componentState == ComponentState::Acting && ShouldBeDeactivated(ttc))
+ else if (componentState == ComponentState::Acting && ShouldBeDeactivated(ttc))
{
componentState = ComponentState::Disabled;
- UpdateAcceleration(time);
+ UpdateAcceleration();
}
}
@@ -180,7 +173,7 @@ bool AlgorithmAutonomousEmergencyBrakingImplementation::ShouldBeDeactivated(cons
return ttc > (ttcBrake * 1.5);
}
-double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(const osi3::BaseMoving& baseMoving)
+double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(const osi3::BaseMoving &baseMoving)
{
TtcCalculations::TtcParameters own;
own.length = GetAgent()->GetLength() + collisionDetectionLongitudinalBoundary;
@@ -194,7 +187,7 @@ double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(con
own.accelerationY = 0.0;
own.yaw = 0.0;
own.yawRate = GetAgent()->GetYawRate();
- own.yawAcceleration = 0.0; // GetAgent()->GetYawAcceleration() not implemented yet
+ own.yawAcceleration = 0.0; // GetAgent()->GetYawAcceleration() not implemented yet
TtcCalculations::TtcParameters opponent;
opponent.length = baseMoving.dimension().length() + collisionDetectionLongitudinalBoundary;
opponent.width = baseMoving.dimension().width() + collisionDetectionLateralBoundary;
@@ -211,7 +204,7 @@ double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(con
return TtcCalculations::CalculateObjectTTC(own, opponent, ttcBrake * 1.5, GetCycleTime());
}
-double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(const osi3::BaseStationary& baseStationary)
+double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(const osi3::BaseStationary &baseStationary)
{
TtcCalculations::TtcParameters own;
own.length = GetAgent()->GetLength() + collisionDetectionLongitudinalBoundary;
@@ -225,17 +218,17 @@ double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(con
own.accelerationY = 0.0;
own.yaw = 0.0;
own.yawRate = GetAgent()->GetYawRate();
- own.yawAcceleration = 0.0; // GetAgent()->GetYawAcceleration() not implemented yet
+ own.yawAcceleration = 0.0; // GetAgent()->GetYawAcceleration() not implemented yet
TtcCalculations::TtcParameters opponent;
opponent.length = baseStationary.dimension().length() + collisionDetectionLongitudinalBoundary;
opponent.width = baseStationary.dimension().width() + collisionDetectionLateralBoundary;
- opponent.frontLength = 0.5 * opponent.length;
- opponent.backLength = 0.5 * opponent.length;
+ opponent.frontLength = 0.5 * opponent.length;
+ opponent.backLength = 0.5 * opponent.length;
opponent.position = {baseStationary.position().x(), baseStationary.position().y()};
- opponent.velocityX = - GetAgent()->GetVelocity();
+ opponent.velocityX = -GetAgent()->GetVelocity();
opponent.velocityY = 0.0;
- opponent.accelerationX = - GetAgent()->GetAcceleration();
+ opponent.accelerationX = -GetAgent()->GetAcceleration();
opponent.accelerationY = 0.0;
opponent.yaw = baseStationary.orientation().yaw();
opponent.yawRate = 0.0;
@@ -247,7 +240,7 @@ double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(con
double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateTTC()
{
double ttc = std::numeric_limits<double>::max();
- for (const auto& detectedObject : detectedMovingObjects)
+ for (const auto &detectedObject : detectedMovingObjects)
{
double objectTtc = CalculateObjectTTC(detectedObject.base());
if (objectTtc < ttc)
@@ -255,7 +248,7 @@ double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateTTC()
ttc = objectTtc;
}
}
- for (const auto& detectedObject : detectedStationaryObjects)
+ for (const auto &detectedObject : detectedStationaryObjects)
{
double objectTtc = CalculateObjectTTC(detectedObject.base());
if (objectTtc < ttc)
@@ -267,29 +260,22 @@ double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateTTC()
return ttc;
}
-void AlgorithmAutonomousEmergencyBrakingImplementation::UpdateAcceleration(const int time)
+void AlgorithmAutonomousEmergencyBrakingImplementation::SetAcceleration(double setValue)
{
- std::shared_ptr<VehicleComponentEvent> event;
+ activeAcceleration = setValue;
+ GetPublisher()->Publish(COMPONENTNAME, ComponentEvent({{"ComponentState", openpass::utils::to_string(componentState)}}));
+}
- if(componentState == ComponentState::Acting && activeAcceleration != brakingAcceleration)
- {
- activeAcceleration = brakingAcceleration;
- event = std::make_shared<VehicleComponentEvent>(time,
- "AEBActive",
- COMPONENTNAME,
- GetAgent()->GetId());
- }
- else if (componentState == ComponentState::Disabled && activeAcceleration != 0.0)
+void AlgorithmAutonomousEmergencyBrakingImplementation::UpdateAcceleration()
+{
+ if (componentState == ComponentState::Acting &&
+ (activeAcceleration - brakingAcceleration) != 0.0)
{
- activeAcceleration = 0.0;
- event = std::make_shared<VehicleComponentEvent>(time,
- "AEBInactive",
- COMPONENTNAME,
- GetAgent()->GetId());
+ SetAcceleration(brakingAcceleration);
}
-
- if(event.get())
+ else if (componentState == ComponentState::Disabled &&
+ activeAcceleration != 0.0)
{
- observer->InsertEvent(event);
+ SetAcceleration(0.0);
}
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBrakingImplementation.h b/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBrakingImplementation.h
index a7933629ae3906e62d82f5a89273e84fe57be767..9ed850502cb67ee296775f1c68f0f1bf94aa26bd 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBrakingImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_AEB/algorithm_autonomousEmergencyBrakingImplementation.h
@@ -34,12 +34,13 @@
#include <vector>
-#include "Interfaces/modelInterface.h"
-#include "Interfaces/observationInterface.h"
#include "Common/accelerationSignal.h"
-#include "Common/vehicleComponentEvent.h"
#include "Common/primitiveSignals.h"
#include "Common/sensorDataSignal.h"
+#include "Common/vehicleComponentEvent.h"
+#include "Interfaces/modelInterface.h"
+#include "Interfaces/parameterInterface.h"
+#include "Interfaces/publisherInterface.h"
#include "osi3/osi_sensordata.pb.h"
class AlgorithmAutonomousEmergencyBrakingImplementation : public AlgorithmInterface
@@ -54,16 +55,16 @@ public:
int offsetTime,
int responseTime,
int cycleTime,
- StochasticsInterface* stochastics,
- const ParameterInterface* parameters,
- const std::map<int, ObservationInterface*>* observations,
- const CallbackInterface* callbacks,
- AgentInterface* agent);
- AlgorithmAutonomousEmergencyBrakingImplementation(const AlgorithmAutonomousEmergencyBrakingImplementation&) = delete;
- AlgorithmAutonomousEmergencyBrakingImplementation(AlgorithmAutonomousEmergencyBrakingImplementation&&) = delete;
- AlgorithmAutonomousEmergencyBrakingImplementation& operator=(const AlgorithmAutonomousEmergencyBrakingImplementation&) =
+ StochasticsInterface *stochastics,
+ const ParameterInterface *parameters,
+ PublisherInterface * const publisher,
+ const CallbackInterface *callbacks,
+ AgentInterface *agent);
+ AlgorithmAutonomousEmergencyBrakingImplementation(const AlgorithmAutonomousEmergencyBrakingImplementation &) = delete;
+ AlgorithmAutonomousEmergencyBrakingImplementation(AlgorithmAutonomousEmergencyBrakingImplementation &&) = delete;
+ AlgorithmAutonomousEmergencyBrakingImplementation &operator=(const AlgorithmAutonomousEmergencyBrakingImplementation &) =
delete;
- AlgorithmAutonomousEmergencyBrakingImplementation& operator=(AlgorithmAutonomousEmergencyBrakingImplementation&&) =
+ AlgorithmAutonomousEmergencyBrakingImplementation &operator=(AlgorithmAutonomousEmergencyBrakingImplementation &&) =
delete;
virtual ~AlgorithmAutonomousEmergencyBrakingImplementation() = default;
@@ -79,7 +80,7 @@ public:
* \param[in] data Referenced signal (copied by sending component)
* \param[in] time Current scheduling time
*/
- virtual void UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const>& data, int time);
+ virtual void UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const> &data, int time);
/*!
* \brief Update outputs.
@@ -93,7 +94,7 @@ public:
* \param[out] data Referenced signal (copied by this component)
* \param[in] time Current scheduling time
*/
- virtual void UpdateOutput(int localLinkId, std::shared_ptr<SignalInterface const>& data, int time);
+ virtual void UpdateOutput(int localLinkId, std::shared_ptr<SignalInterface const> &data, int time);
/*!
* \brief Process data within component.
@@ -122,7 +123,7 @@ private:
* \param parameters ParameterInterface containing braking information
* ------------------------------------------------------------------------
*/
- void ParseParameters(const ParameterInterface* parameters);
+ void ParseParameters(const ParameterInterface *parameters);
/*!
* \brief Calculates the minimim ttc (time to collision) of all objects the linked sensors
@@ -137,14 +138,14 @@ private:
* \param baseMoving osi BaseMoving of other object
* \return ttc
*/
- double CalculateObjectTTC(const osi3::BaseMoving& baseMoving);
+ double CalculateObjectTTC(const osi3::BaseMoving &baseMoving);
/*!
* \brief Calculates the ttc between a stationary object and the own agent
* \param baseStationary osi BaseStationary of other object
* \return ttc
*/
- double CalculateObjectTTC(const osi3::BaseStationary& baseStationary);
+ double CalculateObjectTTC(const osi3::BaseStationary &baseStationary);
/*!
* \brief ShouldBeActivated Determines if the Autonomous Emergency Braking system
@@ -166,28 +167,28 @@ private:
bool ShouldBeDeactivated(double ttc) const;
/*!
- * \brief Sets the current acceleration of the system
+ * \brief Checks if current acceleration of the system needs to be updated
*
- * The acceleration is determined by the currently active stage. After a
- * stage gets activated the acceralation moves to the defined acceleration of
- * this stage by a parametrized gradient.
- *
- * \param time current timeStep
+ * The acceleration is determined by the currently active stage.
+ */
+ void UpdateAcceleration();
+
+ /*!
+ * \brief Sets the current acceleration of the system
*/
- void UpdateAcceleration(const int time);
+ void SetAcceleration(double setValue);
std::vector<int> sensors; ///!< Collection of sensor input ids
- double collisionDetectionLongitudinalBoundary {0.0}; ///!< Additional length added to the vehicle boundary when checking for collision detection
- double collisionDetectionLateralBoundary {0.0}; ///!< Additional width added to the vehicle boundary when checking for collision detection
+ double collisionDetectionLongitudinalBoundary{0.0}; ///!< Additional length added to the vehicle boundary when checking for collision detection
+ double collisionDetectionLateralBoundary{0.0}; ///!< Additional width added to the vehicle boundary when checking for collision detection
- ObservationInterface* observer = nullptr; ///!< Observer containing the eventnetwork into which (de-)activation events are inserted
- std::vector<osi3::DetectedMovingObject> detectedMovingObjects; ///!< Collection of moving objects detected by connected sensors
+ std::vector<osi3::DetectedMovingObject> detectedMovingObjects; ///!< Collection of moving objects detected by connected sensors
std::vector<osi3::DetectedStationaryObject> detectedStationaryObjects; ///!< Collection of stationary objects detected by connected sensors
ComponentState componentState = ComponentState::Disabled; ///!< Current state of the AEB component
- double ttcBrake{0.0}; ///!< The minimum Time-To-Collision before the AEB component activates
+ double ttcBrake{0.0}; ///!< The minimum Time-To-Collision before the AEB component activates
double brakingAcceleration{0.0}; ///!< The acceleration provided by the AEB component when activated (should be negative)
- double activeAcceleration {0.0}; ///!< The current acceleration actively provided by the AEB component (should be 0.0 when off)
+ double activeAcceleration{0.0}; ///!< The current acceleration actively provided by the AEB component (should be 0.0 when off)
};
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance.cpp b/OpenPass_Source_Code/openPASS/Components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance.cpp
index 2f3404b3e76890ad948bd5a4ed8084b37e05812c..c9317f4ed5a1e8a18b0015a8bdcb4ce71bcb3f9d 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance.cpp
@@ -35,7 +35,7 @@ extern "C" ALGORITHM_CRUISECONTROLBYDISTANCESHARED_EXPORT ModelInterface *OpenPA
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -54,7 +54,7 @@ extern "C" ALGORITHM_CRUISECONTROLBYDISTANCESHARED_EXPORT ModelInterface *OpenPA
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent->GetAgentId()));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance_implementation.h b/OpenPass_Source_Code/openPASS/Components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance_implementation.h
index 43787868b50f965a5e938858ebf246fcc3a608ba..4942f2f5db15ca7c7cc20cd73e59c86cb4e966a1 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance_implementation.h
@@ -106,7 +106,7 @@ public:
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
int agentId) :
AlgorithmInterface(
@@ -118,7 +118,7 @@ public:
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agentId)
{
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapper.cpp b/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapper.cpp
index 3e40be9d67b34f013c8a6fba673d7b2ce2b915d2..858d9de1ccc1daf738870f878f46e355c5b2d1b0 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapper.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapper.cpp
@@ -28,7 +28,7 @@ extern "C" ALGORITHM_FMUWRAPPER_SHARED_EXPORT ModelInterface *OpenPASS_CreateIns
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -43,7 +43,7 @@ extern "C" ALGORITHM_FMUWRAPPER_SHARED_EXPORT ModelInterface *OpenPASS_CreateIns
world,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapper.h b/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapper.h
index c8bc4784a5c882e542c973a55eab6703115e6c35..84e4abe944bbbc766220c9eec78cdba4b73a6f09 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapper.h
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapper.h
@@ -24,7 +24,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks);
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapperImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapperImplementation.cpp
index 69530e55bdfb977554287297a7c1220e642c6532..29bab2b29cf1c01c640a34d24ff1e2194caf2770 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapperImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapperImplementation.cpp
@@ -35,7 +35,7 @@ AlgorithmFmuWrapperImplementation::AlgorithmFmuWrapperImplementation(std::string
WorldInterface* world,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface* agent) :
UnrestrictedModelInterface(componentName,
@@ -47,7 +47,7 @@ AlgorithmFmuWrapperImplementation::AlgorithmFmuWrapperImplementation(std::string
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent),
startTime { 0 },
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapperImplementation.h b/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapperImplementation.h
index d39826c782262106a1ed90c74a060c00b7f32854..4d177432d3940eb7f2d7628786a913d7f5ad8bea 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapperImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_FmuWrapper/AlgorithmFmuWrapperImplementation.h
@@ -47,7 +47,7 @@ public:
WorldInterface* world,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface* agent);
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_Lateral/algorithm_lateral.cpp b/OpenPass_Source_Code/openPASS/Components/Algorithm_Lateral/algorithm_lateral.cpp
index 901be34ba0701d5fb7c75c8a6737108efdf40d9b..173fe213b3ebff99c2d175922ae573f60886901d 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_Lateral/algorithm_lateral.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_Lateral/algorithm_lateral.cpp
@@ -35,7 +35,7 @@ extern "C" ALGORITHM_LATERAL_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstan
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -54,7 +54,7 @@ extern "C" ALGORITHM_LATERAL_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstan
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_Lateral/algorithm_lateralImplementation.h b/OpenPass_Source_Code/openPASS/Components/Algorithm_Lateral/algorithm_lateralImplementation.h
index efecd4c615e278ba38b72aefc89e8f27a2f88b77..5415025dc65ec8394fb3b87f9c55b720ae67e67d 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_Lateral/algorithm_lateralImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_Lateral/algorithm_lateralImplementation.h
@@ -12,7 +12,6 @@
#pragma once
#include "Interfaces/modelInterface.h"
-#include "Interfaces/observationInterface.h"
#include "Common/primitiveSignals.h"
/** \addtogroup Algorithm_Lateral
@@ -102,7 +101,7 @@ public:
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
AlgorithmInterface(
@@ -114,7 +113,7 @@ public:
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{}
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_Longitudinal/algorithm_longitudinal.cpp b/OpenPass_Source_Code/openPASS/Components/Algorithm_Longitudinal/algorithm_longitudinal.cpp
index 84a1e58d2b8bb4a4a0c273f1279ba86fa3292b40..35ec0f0d0a9f516e0ef4c07a5c4344e1e0769252 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_Longitudinal/algorithm_longitudinal.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_Longitudinal/algorithm_longitudinal.cpp
@@ -35,7 +35,7 @@ extern "C" ALGORITHM_LONGITUDINAL_SHARED_EXPORT ModelInterface *OpenPASS_CreateI
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -54,7 +54,7 @@ extern "C" ALGORITHM_LONGITUDINAL_SHARED_EXPORT ModelInterface *OpenPASS_CreateI
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Algorithm_Longitudinal/algorithm_longitudinalImplementation.h b/OpenPass_Source_Code/openPASS/Components/Algorithm_Longitudinal/algorithm_longitudinalImplementation.h
index 4f1eb89f8a774cf6e646b4155feafc3060ab1384..f61de965d7af2eb3ad2bcfd174d9d11c9358c4a8 100644
--- a/OpenPass_Source_Code/openPASS/Components/Algorithm_Longitudinal/algorithm_longitudinalImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Algorithm_Longitudinal/algorithm_longitudinalImplementation.h
@@ -68,7 +68,6 @@
#pragma once
#include "Interfaces/modelInterface.h"
-#include "Interfaces/observationInterface.h"
#include "Common/primitiveSignals.h"
#include "algorithm_longitudinalCalculations.h"
#include "Components/Sensor_Driver/Signals/sensorDriverSignal.h"
@@ -98,7 +97,7 @@ public:
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
AlgorithmInterface(
@@ -110,7 +109,7 @@ public:
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components/ComponentController/componentController.cpp b/OpenPass_Source_Code/openPASS/Components/ComponentController/componentController.cpp
index 89557d14f5823f1b814dac9f821e17c8fa2f6709..a1a4cb388a3a1bbeaa64113fd4a1b01be85fc60c 100644
--- a/OpenPass_Source_Code/openPASS/Components/ComponentController/componentController.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/ComponentController/componentController.cpp
@@ -33,7 +33,7 @@ extern "C" COMPONENT_CONTROLLER_SHARED_EXPORT ModelInterface *OpenPASS_CreateIns
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks,
SimulationSlave::EventNetworkInterface * const eventNetwork)
@@ -52,7 +52,7 @@ extern "C" COMPONENT_CONTROLLER_SHARED_EXPORT ModelInterface *OpenPASS_CreateIns
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent,
eventNetwork));
diff --git a/OpenPass_Source_Code/openPASS/Components/ComponentController/componentControllerImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/ComponentController/componentControllerImplementation.cpp
index 7059ad98c7e20f743bca398a5be9311ccb6e1fa7..4c7ef88d4e909acda1b1e74c81d0ab2b05d24c71 100644
--- a/OpenPass_Source_Code/openPASS/Components/ComponentController/componentControllerImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/ComponentController/componentControllerImplementation.cpp
@@ -19,7 +19,6 @@
#include "Interfaces/eventNetworkInterface.h"
#include "Common/eventTypes.h"
#include "Common/componentStateChangeEvent.h"
-#include "Common/componentWarningEvent.h"
ComponentControllerImplementation::ComponentControllerImplementation(std::string componentName,
bool isInit,
@@ -30,7 +29,7 @@ ComponentControllerImplementation::ComponentControllerImplementation(std::string
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent,
SimulationSlave::EventNetworkInterface* const eventNetwork) :
@@ -44,7 +43,7 @@ ComponentControllerImplementation::ComponentControllerImplementation(std::string
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent,
eventNetwork),
@@ -52,11 +51,9 @@ ComponentControllerImplementation::ComponentControllerImplementation(std::string
{
}
-void ComponentControllerImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const>& data, int time)
+void ComponentControllerImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const>& data, [[maybe_unused]] int time)
{
- Q_UNUSED(time);
-
- const auto signal = SignalCast<AgentCompToCompCtrlSignal const>(data, localLinkId);
+ const auto signal = SignalCast<AgentCompToCompCtrlSignal>(data, localLinkId);
if (stateManager.LocalLinkIdIsRegistered(localLinkId))
{
@@ -69,7 +66,7 @@ void ComponentControllerImplementation::UpdateInput(int localLinkId, const std::
ComponentType componentType = signal->GetComponentType();
if(componentType == ComponentType::VehicleComponent)
{
- const auto castedSignal = SignalCast<VehicleCompToCompCtrlSignal const>(signal, localLinkId);
+ const auto castedSignal = SignalCast<VehicleCompToCompCtrlSignal>(signal, localLinkId);
componentStateInformation = std::make_shared<AdasComponentStateInformation>(castedSignal->GetComponentType(),
castedSignal->GetAgentComponentName(),
castedSignal->GetCurrentState(),
@@ -94,10 +91,8 @@ void ComponentControllerImplementation::UpdateInput(int localLinkId, const std::
}
}
-void ComponentControllerImplementation::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterface const>& data, int time)
+void ComponentControllerImplementation::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterface const>& data, [[maybe_unused]] int time)
{
- Q_UNUSED(time);
-
ComponentState maxReachableState = ComponentState::Undefined;
if (stateManager.LocalLinkIdIsRegistered(localLinkId))
@@ -128,10 +123,8 @@ void ComponentControllerImplementation::UpdateOutput(int localLinkId, std::share
* Each trigger, pull ComponentChangeEvents for this agent and pass the list of them
* to the stateManager for proper handling of changes of component max reachable state
*/
-void ComponentControllerImplementation::Trigger(int time)
+void ComponentControllerImplementation::Trigger([[maybe_unused]] int time)
{
- Q_UNUSED(time);
-
// get the event list and filter by ComponentChangeEvents and this agent's id
const auto stateChangeEventList = GetEventNetwork()->GetActiveEventCategory(EventDefinitions::EventCategory::ComponentStateChange);
const auto agentId = GetAgent()->GetId();
diff --git a/OpenPass_Source_Code/openPASS/Components/ComponentController/componentControllerImplementation.h b/OpenPass_Source_Code/openPASS/Components/ComponentController/componentControllerImplementation.h
index 172c26bd0a7a3ef2e5e88c2a65b3e10b0a8dae39..3db02b981e81e2efa35a5514fe0d0a610cc4e265 100644
--- a/OpenPass_Source_Code/openPASS/Components/ComponentController/componentControllerImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/ComponentController/componentControllerImplementation.h
@@ -42,7 +42,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent,
SimulationSlave::EventNetworkInterface * const eventNetwork);
@@ -91,19 +91,17 @@ public:
virtual void Trigger(int time);
private:
- template <typename T>
- const std::shared_ptr<T const> SignalCast(std::shared_ptr<SignalInterface const> const& baseSignal, int linkId)
+ template <typename T, typename Signal>
+ const std::shared_ptr<T const> SignalCast(Signal&& signal, int linkId)
{
- const auto castedSignal = std::dynamic_pointer_cast<T const>(baseSignal);
-
- if (!castedSignal)
+ if (const auto castedSignal = std::dynamic_pointer_cast<T const>(std::forward<Signal>(signal)))
{
- const std::string msg = COMPONENTNAME + " invalid signaltype on link " + std::to_string(linkId);
- LOG(CbkLogLevel::Debug, msg);
- throw std::runtime_error(msg);
+ return castedSignal;
}
- return castedSignal;
+ const std::string msg = COMPONENTNAME + " invalid signaltype on link " + std::to_string(linkId);
+ LOG(CbkLogLevel::Debug, msg);
+ throw std::runtime_error(msg);
}
std::map<int, std::string> driverInputChannels;
diff --git a/OpenPass_Source_Code/openPASS/Components/ComponentController/condition.cpp b/OpenPass_Source_Code/openPASS/Components/ComponentController/condition.cpp
index 5f813ae2b958975c06ec3d4201609d252f5554c6..b1aeafc29b2cf829c95705477a7c2fd02456a3e5 100644
--- a/OpenPass_Source_Code/openPASS/Components/ComponentController/condition.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/ComponentController/condition.cpp
@@ -7,50 +7,29 @@
*
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
-#include <QtGlobal>
-
#include "condition.h"
using namespace ComponentControl;
-FixedComponentStateExpression::FixedComponentStateExpression(ComponentState value) : value(value)
+ComponentState FixedComponentStateExpression::Get(const StateMapping &) const
{
-
-}
-
-ComponentState FixedComponentStateExpression::Get(const std::map<std::string, std::pair<ComponentType, ComponentState>> &componentNameToComponentTypeAndStateMap) const
-{
- Q_UNUSED(componentNameToComponentTypeAndStateMap);
return value;
}
-VehicleComponentStateExpression::VehicleComponentStateExpression(const std::string& component) : component(component)
-{
-
-}
-
-ComponentState VehicleComponentStateExpression::Get(const std::map<std::string, std::pair<ComponentType, ComponentState>> &componentNameToComponentTypeAndStateMap) const
+ComponentState VehicleComponentStateExpression::Get(const StateMapping &componentNameToComponentTypeAndStateMap) const
{
try
{
auto componentInformation = componentNameToComponentTypeAndStateMap.at(component);
return componentInformation.second;
}
- catch (const std::out_of_range& e)
+ catch ([[maybe_unused]] const std::out_of_range & e)
{
- Q_UNUSED(e);
return ComponentState::Undefined;
}
}
-
-ComponentStateEquality::ComponentStateEquality(std::unique_ptr<ComponentStateExpression> expression1, std::unique_ptr<ComponentStateExpression> expression2)
-{
- this->expression1 = std::move(expression1);
- this->expression2 = std::move(expression2);
-}
-
-bool ComponentStateEquality::IsFullfilled(const std::map<std::string, std::pair<ComponentType, ComponentState>> &componentNameToComponentTypeAndStateMap) const
+bool ComponentStateEquality::IsFullfilled(const StateMapping &componentNameToComponentTypeAndStateMap) const
{
return expression1->Get(componentNameToComponentTypeAndStateMap) == expression2->Get(componentNameToComponentTypeAndStateMap);
}
diff --git a/OpenPass_Source_Code/openPASS/Components/ComponentController/condition.h b/OpenPass_Source_Code/openPASS/Components/ComponentController/condition.h
index 48b21dc4f794a09ad48a1a310ff262035e8ef656..8f14b3bc8f6479b49b1a59962bdfbb344dca40a9 100644
--- a/OpenPass_Source_Code/openPASS/Components/ComponentController/condition.h
+++ b/OpenPass_Source_Code/openPASS/Components/ComponentController/condition.h
@@ -9,15 +9,16 @@
*******************************************************************************/
#pragma once
-#include <QtGlobal>
#include <memory>
+#include "Common/globalDefinitions.h"
#include "Interfaces/signalInterface.h"
#include "componentControllerCommon.h"
-#include "Common/globalDefinitions.h"
namespace ComponentControl {
+using StateMapping = std::map<std::string, std::pair<ComponentType, ComponentState>>;
+
/*!
* \brief This class represents a Condition based on all the information the ComponentController has gathered.
*
@@ -34,7 +35,7 @@ public:
* \brief Returns wether this Condition is fullfilled.
* \param componentNameToComponentTypeAndStatesMap Information the ComponentController has gathered
*/
- virtual bool IsFullfilled(const std::map<std::string, std::pair<ComponentType, ComponentState>> &componentNameToComponentTypeAndStatesMap) const = 0;
+ virtual bool IsFullfilled(const StateMapping &componentNameToComponentTypeAndStatesMap) const = 0;
};
/*!
@@ -54,7 +55,7 @@ public:
* \param componentNameToComponentTypeAndStatesMap Information the ComponentController has gathered
* \return ComponentState this expression evaluates to
*/
- virtual ComponentState Get(const std::map<std::string, std::pair<ComponentType, ComponentState>> &componentNameToComponentTypeAndStateMap) const = 0;
+ virtual ComponentState Get(const StateMapping &componentNameToComponentTypeAndStateMap) const = 0;
};
/*!
@@ -67,9 +68,12 @@ public:
/*!
* \param value The fixed ComponentState
*/
- FixedComponentStateExpression(ComponentState value);
+ FixedComponentStateExpression(ComponentState value) :
+ value(value)
+ {
+ }
- ComponentState Get(const std::map<std::string, std::pair<ComponentType, ComponentState>> &componentNameToComponentTypeAndStateMap) const override;
+ ComponentState Get(const StateMapping &componentNameToComponentTypeAndStateMap) const override;
private:
ComponentState value;
@@ -85,9 +89,12 @@ public:
/*!
* \param component Name of the component of which the state is evaluated
*/
- VehicleComponentStateExpression(const std::string& component);
+ VehicleComponentStateExpression(const std::string &component) :
+ component(component)
+ {
+ }
- ComponentState Get(const std::map<std::string, std::pair<ComponentType, ComponentState>> &componentNameToComponentTypeAndStateMap) const override;
+ ComponentState Get(const StateMapping &componentNameToComponentTypeAndStateMap) const override;
private:
const std::string component;
@@ -103,9 +110,13 @@ private:
class ComponentStateEquality : public Condition
{
public:
- ComponentStateEquality(std::unique_ptr<ComponentStateExpression> expression1, std::unique_ptr<ComponentStateExpression> expression2);
+ ComponentStateEquality(std::unique_ptr<ComponentStateExpression> expression1, std::unique_ptr<ComponentStateExpression> expression2)
+ {
+ this->expression1 = std::move(expression1);
+ this->expression2 = std::move(expression2);
+ }
- bool IsFullfilled(const std::map<std::string, std::pair<ComponentType, ComponentState>> &componentNameToComponentTypeAndStateMap) const override;
+ bool IsFullfilled(const StateMapping &componentNameToComponentTypeAndStateMap) const override;
private:
std::unique_ptr<ComponentStateExpression> expression1;
diff --git a/OpenPass_Source_Code/openPASS/Components/ComponentController/stateManager.cpp b/OpenPass_Source_Code/openPASS/Components/ComponentController/stateManager.cpp
index cb3a17c98cdbf446c092f0636fcc13153119972e..9fcf4e2b69fb172627e6752735491c26da08e157 100644
--- a/OpenPass_Source_Code/openPASS/Components/ComponentController/stateManager.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/ComponentController/stateManager.cpp
@@ -102,18 +102,18 @@ void StateManager::FlagComponentMaxReachableStateSetByEvent(const int localLinkI
void StateManager::UpdateMaxReachableStatesForRegisteredComponents(const
std::list<std::shared_ptr<ComponentChangeEvent const>>& componentStateChangeEventListFilteredByAgent)
{
- for (const auto stateChangeEvent : componentStateChangeEventListFilteredByAgent)
+ for (const auto& stateChangeEvent : componentStateChangeEventListFilteredByAgent)
{
try
{
const auto localLinkId = GetComponentLocalLinkIdByName(stateChangeEvent->GetComponentName());
- UpdateComponentMaxReachableState(localLinkId, ComponentStateMapping.at(stateChangeEvent->GetGoalStateName()));
+ UpdateComponentMaxReachableState(localLinkId, stateChangeEvent->GetGoalState());
FlagComponentMaxReachableStateSetByEvent(localLinkId);
}
catch (const std::out_of_range& error)
{
const std::string errorMessage = error.what();
- const std::string warning = errorMessage + "The event will be ignored.";
+ const std::string warning = errorMessage + " The event will be ignored.";
LOG(CbkLogLevel::Warning, warning);
}
}
@@ -155,15 +155,15 @@ bool StateManager::LocalLinkIdIsRegistered(const int localLinkId) const
return (vehicleComponentStateInformations.find(localLinkId) != vehicleComponentStateInformations.end());
}
-std::map<std::string, std::pair<ComponentType, ComponentState>>
- StateManager::GetVehicleComponentNamesToTypeAndStateMap()
+std::map<std::string, std::pair<ComponentType, ComponentState>> StateManager::GetVehicleComponentNamesToTypeAndStateMap()
{
std::map<std::string, std::pair<ComponentType, ComponentState>> vehicleComponentStates;
- for (const auto& vehicleComponentStateInformationIterator : vehicleComponentStateInformations)
+ for (const auto &vehicleComponentStateInformationIterator : vehicleComponentStateInformations)
{
- const auto& vehicleComponentStateInformation = vehicleComponentStateInformationIterator.second;
- vehicleComponentStates.insert({ vehicleComponentStateInformation->GetComponentName(), { vehicleComponentStateInformation->GetComponentType(), vehicleComponentStateInformation->GetCurrentState() } });
+ const auto &vehicleComponentStateInformation = vehicleComponentStateInformationIterator.second;
+ vehicleComponentStates.insert({vehicleComponentStateInformation->GetComponentName(),
+ {vehicleComponentStateInformation->GetComponentType(), vehicleComponentStateInformation->GetCurrentState()}});
}
return vehicleComponentStates;
diff --git a/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collision.cpp b/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collision.cpp
index 6dae3a642c8eca2e48e73704ea15ca3b476698d1..920d738a946eb0d1f98b7a57e9fdb3cb7a929364 100644
--- a/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collision.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collision.cpp
@@ -34,7 +34,7 @@ extern "C" DYNAMICS_COLLISION_SHARED_EXPORT ModelInterface *OpenPASS_CreateInsta
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -52,7 +52,7 @@ extern "C" DYNAMICS_COLLISION_SHARED_EXPORT ModelInterface *OpenPASS_CreateInsta
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collisionImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collisionImplementation.cpp
index d8e442e549a8538a9874aaaa0afe1eade85217b8..ec973db80c344d9061dd704b7fcd46513738b7cc 100644
--- a/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collisionImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collisionImplementation.cpp
@@ -29,7 +29,7 @@ DynamicsCollisionImplementation::DynamicsCollisionImplementation(std::string com
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent)
: UnrestrictedModelInterface { componentName,
@@ -41,7 +41,7 @@ DynamicsCollisionImplementation::DynamicsCollisionImplementation(std::string com
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent },
dynamicsSignal{}
diff --git a/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collisionImplementation.h b/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collisionImplementation.h
index 6d02000941cdb351c36c9be3ab5eccc1e7cce9af..54a8cf7ca2c0b5d1b5533285b22802192f1e54b6 100644
--- a/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collisionImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Dynamics_Collision/dynamics_collisionImplementation.h
@@ -56,7 +56,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
DynamicsCollisionImplementation(const DynamicsCollisionImplementation&) = delete;
diff --git a/OpenPass_Source_Code/openPASS/Components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic.cpp b/OpenPass_Source_Code/openPASS/Components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic.cpp
index b1a14c7398226cc61fc9a153d3a1f72d281cd1f5..ca43b8fbd1ad51abf111103270fac3d28ef6506a 100644
--- a/OpenPass_Source_Code/openPASS/Components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic.cpp
@@ -35,7 +35,7 @@ extern "C" DYNAMICS_LONGITUDINAL_BASICSHARED_EXPORT ModelInterface *OpenPASS_Cre
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -53,7 +53,7 @@ extern "C" DYNAMICS_LONGITUDINAL_BASICSHARED_EXPORT ModelInterface *OpenPASS_Cre
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic_implementation.h b/OpenPass_Source_Code/openPASS/Components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic_implementation.h
index 8466cbd463a404e19a1376fe113271aabde75369..cb7d74d3fa3b32c69d1a45d063bcf2a06c80e146 100644
--- a/OpenPass_Source_Code/openPASS/Components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic_implementation.h
@@ -13,7 +13,6 @@
#define DYNAMICS_LONGITUDINAL_BASIC_IMPLEMENTATION_H
#include "modelInterface.h"
-#include "observationInterface.h"
#include "primitiveSignals.h"
//-----------------------------------------------------------------------------
@@ -83,7 +82,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
DynamicsInterface(
@@ -96,7 +95,7 @@ public:
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{}
diff --git a/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDriving.cpp b/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDriving.cpp
index f130782c71e42af7d6e9efe30ef9fb06dfce65be..0e010040531d5e475b92a2d37e9f6cd303ca7f02 100644
--- a/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDriving.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDriving.cpp
@@ -35,7 +35,7 @@ extern "C" DYNAMICS_REGULAR_DRIVING_SHARED_EXPORT ModelInterface *OpenPASS_Creat
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -53,7 +53,7 @@ extern "C" DYNAMICS_REGULAR_DRIVING_SHARED_EXPORT ModelInterface *OpenPASS_Creat
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDrivingImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDrivingImplementation.cpp
index 6ed853d084e9e1bc3ca91fb5dab541c0804682e8..a293db7d4cf24b9c7b49e0df60863de7f8acad61 100644
--- a/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDrivingImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDrivingImplementation.cpp
@@ -238,7 +238,7 @@ double DynamicsRegularDrivingImplementation::GetAccVehicle(double accPedalPos, d
else // Gas
{
double engineMoment = GetEngineMoment(accPedalPos, gear);
- observation->Insert(time, GetAgent()->GetId(), LoggingGroup::Vehicle, "EngineMoment", std::to_string(engineMoment));
+ GetPublisher()->Publish("EngineMoment", engineMoment);
resultAcc = GetAccFromEngineMoment(xVel, engineMoment, gear, GetCycleTime());
}
@@ -291,7 +291,7 @@ void DynamicsRegularDrivingImplementation::Trigger(int time)
// convert steering wheel angle to steering angle of front wheels [degree]
double steering_angle_degrees = TrafficHelperFunctions::ValueInBounds(-vehicleModelParameters.maximumSteeringWheelAngleAmplitude, in_steeringWheelAngle, vehicleModelParameters.maximumSteeringWheelAngleAmplitude) / vehicleModelParameters.steeringRatio;
dynamicsSignal.steeringWheelAngle = TrafficHelperFunctions::ValueInBounds(-vehicleModelParameters.maximumSteeringWheelAngleAmplitude, in_steeringWheelAngle, vehicleModelParameters.maximumSteeringWheelAngleAmplitude);
- observation->Insert(time, GetAgent()->GetId(), LoggingGroup::Vehicle, "SteeringAngle", std::to_string(steering_angle_degrees));
+ GetPublisher()->Publish("SteeringAngle", steering_angle_degrees);
// calculate curvature (Ackermann model; reference point of yawing = rear axle!) [radiant]
double steeringCurvature = std::tan(DegreeToRadiant * steering_angle_degrees) / vehicleModelParameters.wheelbase;
// change of yaw angle due to ds and curvature [radiant]
diff --git a/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDrivingImplementation.h b/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDrivingImplementation.h
index 3021fc748919bd216cf757fac201fb38071fb4cd..8634fb5d80976ec4a07fef087e65294af39f3e2d 100644
--- a/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDrivingImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Dynamics_RegularDriving/dynamics_regularDrivingImplementation.h
@@ -116,7 +116,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
DynamicsInterface(
@@ -129,20 +129,16 @@ public:
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent),
dynamicsSignal {ComponentState::Acting}
{
- try
+ if (GetPublisher() == nullptr)
{
- this->observation = observations->at(0);
- }
- catch (const std::out_of_range&)
- {
- std::string msg = "DynamicsRegularDriving requires an Observer";
+ std::string msg = "DynamicsRegularDriving requires a publisher";
LOG(CbkLogLevel::Error, msg);
- throw std::out_of_range(msg);
+ throw std::runtime_error(msg);
}
}
DynamicsRegularDrivingImplementation(const DynamicsRegularDrivingImplementation&) = delete;
@@ -271,9 +267,6 @@ private:
* @{
*/
- //! pointer to observation at observations map element 0
- ObservationInterface* observation;
-
//! The minimal velocity of the agent [m/s].
const double VLowerLimit = 0;
diff --git a/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/dynamics_trajectoryFollower.cpp b/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/dynamics_trajectoryFollower.cpp
index d318208699ca5d6fe5219030972575e8f7172d83..673bf32a9b0628a14399469b9f0a0dcb3579fbd6 100644
--- a/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/dynamics_trajectoryFollower.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/dynamics_trajectoryFollower.cpp
@@ -12,55 +12,54 @@
/** \file dynamics_trajectoryFollower.cpp */
//-----------------------------------------------------------------------------
+#include "dynamics_trajectoryFollower.h"
+
#include <QCoreApplication>
#include "Interfaces/parameterInterface.h"
-#include "dynamics_trajectoryFollower.h"
#include "trajectoryFollowerImplementation.h"
-const std::string Version = "0.1.0";
-static const CallbackInterface* Callbacks = nullptr;
+const static std::string VERSION = "0.2.0";
+static const CallbackInterface *Callbacks = nullptr;
-extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT const std::string& OpenPASS_GetVersion()
+extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT const std::string &OpenPASS_GetVersion()
{
- return Version;
+ return VERSION;
}
-extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT ModelInterface* OpenPASS_CreateInstance(
+extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
std::string componentName,
bool isInit,
int priority,
int offsetTime,
int responseTime,
int cycleTime,
- StochasticsInterface* stochastics,
- WorldInterface* world,
- const ParameterInterface* parameters,
- const std::map<int, ObservationInterface*>* observations,
- AgentInterface* agent,
- const CallbackInterface* callbacks,
- SimulationSlave::EventNetworkInterface * const eventNetwork)
+ StochasticsInterface *stochastics,
+ WorldInterface *world,
+ const ParameterInterface *parameters,
+ PublisherInterface * const publisher,
+ AgentInterface *agent,
+ const CallbackInterface *callbacks)
{
Callbacks = callbacks;
try
{
- return (ModelInterface*)(new (std::nothrow) TrajectoryFollowerImplementation(
- componentName,
- isInit,
- priority,
- offsetTime,
- responseTime,
- cycleTime,
- stochastics,
- world,
- parameters,
- observations,
- callbacks,
- agent,
- eventNetwork));
+ return (ModelInterface *)(new (std::nothrow) TrajectoryFollowerImplementation(
+ componentName,
+ isInit,
+ priority,
+ offsetTime,
+ responseTime,
+ cycleTime,
+ stochastics,
+ world,
+ parameters,
+ publisher,
+ callbacks,
+ agent));
}
- catch (const std::runtime_error& ex)
+ catch (const std::runtime_error &ex)
{
if (Callbacks != nullptr)
{
@@ -80,22 +79,22 @@ extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT ModelInterface* OpenPASS_C
}
}
-extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT void OpenPASS_DestroyInstance(ModelInterface* implementation)
+extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT void OpenPASS_DestroyInstance(ModelInterface *implementation)
{
delete implementation;
}
extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT bool OpenPASS_UpdateInput(
- ModelInterface* implementation,
+ ModelInterface *implementation,
int localLinkId,
- const std::shared_ptr<SignalInterface const>& data,
+ const std::shared_ptr<SignalInterface const> &data,
int time)
{
try
{
implementation->UpdateInput(localLinkId, data, time);
}
- catch (const std::runtime_error& ex)
+ catch (const std::runtime_error &ex)
{
if (Callbacks != nullptr)
{
@@ -118,16 +117,16 @@ extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT bool OpenPASS_UpdateInput(
}
extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT bool OpenPASS_UpdateOutput(
- ModelInterface* implementation,
+ ModelInterface *implementation,
int localLinkId,
- std::shared_ptr<SignalInterface const>& data,
+ std::shared_ptr<SignalInterface const> &data,
int time)
{
try
{
implementation->UpdateOutput(localLinkId, data, time);
}
- catch (const std::runtime_error& ex)
+ catch (const std::runtime_error &ex)
{
if (Callbacks != nullptr)
{
@@ -150,14 +149,14 @@ extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT bool OpenPASS_UpdateOutput
}
extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT bool OpenPASS_Trigger(
- ModelInterface* implementation,
+ ModelInterface *implementation,
int time)
{
try
{
implementation->Trigger(time);
}
- catch (const std::runtime_error& ex)
+ catch (const std::runtime_error &ex)
{
if (Callbacks != nullptr)
{
diff --git a/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/trajectoryFollowerImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/trajectoryFollowerImplementation.cpp
index 256053e51811819c1ded35cf85a244cedf5511e6..4355c6b575fad6a4402c923e622a7c1d36e2bdbd 100644
--- a/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/trajectoryFollowerImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/trajectoryFollowerImplementation.cpp
@@ -12,30 +12,30 @@
/** \file trajectoryFollowerImplementation.cpp */
//-----------------------------------------------------------------------------
+#include "trajectoryFollowerImplementation.h"
+
#include <memory>
-#include <qglobal.h>
-#include "trajectoryFollowerImplementation.h"
+#include <qglobal.h>
-#include "Interfaces/parameterInterface.h"
-#include "Interfaces/observationInterface.h"
#include "Common/componentStateChangeEvent.h"
#include "Common/trajectorySignal.h"
+#include "Interfaces/parameterInterface.h"
+#include "Interfaces/publisherInterface.h"
TrajectoryFollowerImplementation::TrajectoryFollowerImplementation(std::string componentName,
- bool isInit,
- int priority,
- int offsetTime,
- int responseTime,
- int cycleTime,
- StochasticsInterface* stochastics,
- WorldInterface* world,
- const ParameterInterface* parameters,
- const std::map<int, ObservationInterface*>* observations,
- const CallbackInterface* callbacks,
- AgentInterface* agent,
- SimulationSlave::EventNetworkInterface * const eventNetwork) :
- UnrestrictedEventModelInterface(
+ bool isInit,
+ int priority,
+ int offsetTime,
+ int responseTime,
+ int cycleTime,
+ StochasticsInterface *stochastics,
+ WorldInterface *world,
+ const ParameterInterface *parameters,
+ PublisherInterface * const publisher,
+ const CallbackInterface *callbacks,
+ AgentInterface *agent) :
+ UnrestrictedModelInterface(
componentName,
isInit,
priority,
@@ -45,10 +45,9 @@ TrajectoryFollowerImplementation::TrajectoryFollowerImplementation(std::string c
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
- agent,
- eventNetwork),
+ agent),
cycleTimeInSeconds{static_cast<double>(cycleTime) / 1000.0}
{
dynamicsOutputSignal.positionX = 0;
@@ -58,7 +57,7 @@ TrajectoryFollowerImplementation::TrajectoryFollowerImplementation(std::string c
ParseParameters(parameters);
}
-void TrajectoryFollowerImplementation::ParseParameters(const ParameterInterface* parameters)
+void TrajectoryFollowerImplementation::ParseParameters(const ParameterInterface *parameters)
{
try
{
@@ -66,15 +65,15 @@ void TrajectoryFollowerImplementation::ParseParameters(const ParameterInterface*
enforceTrajectory = boolParameters.at("EnforceTrajectory");
automaticDeactivation = boolParameters.at("AutomaticDeactivation");
}
- catch (const std::out_of_range& error)
+ catch (const std::out_of_range &error)
{
LOG(CbkLogLevel::Error, error.what());
throw std::runtime_error(error.what());
}
}
-void TrajectoryFollowerImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const>& data,
- int time)
+void TrajectoryFollowerImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const> &data,
+ int time)
{
Q_UNUSED(time);
@@ -105,7 +104,7 @@ void TrajectoryFollowerImplementation::UpdateInput(int localLinkId, const std::s
if (!enforceTrajectory)
{
const std::shared_ptr<ComponentStateSignalInterface const> stateSignal =
- std::dynamic_pointer_cast<ComponentStateSignalInterface const>(data);
+ std::dynamic_pointer_cast<ComponentStateSignalInterface const>(data);
if (stateSignal != nullptr && stateSignal->componentState == ComponentState::Acting)
{
const std::shared_ptr<AccelerationSignal const> signal = std::dynamic_pointer_cast<AccelerationSignal const>(data);
@@ -136,13 +135,13 @@ void TrajectoryFollowerImplementation::UpdateInput(int localLinkId, const std::s
}
else
{
- const std::string msg = COMPONENTNAME + " invalid signaltype";
+ const std::string msg = std::string(COMPONENTNAME) + " invalid signaltype";
LOG(CbkLogLevel::Error, msg);
throw std::runtime_error(msg);
}
}
-void TrajectoryFollowerImplementation::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterface const>& data, int time)
+void TrajectoryFollowerImplementation::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterface const> &data, int time)
{
Q_UNUSED(time);
@@ -153,14 +152,14 @@ void TrajectoryFollowerImplementation::UpdateOutput(int localLinkId, std::shared
dynamicsOutputSignal.componentState = componentState;
data = std::make_shared<DynamicsSignal const>(dynamicsOutputSignal);
}
- catch (const std::bad_alloc&)
+ catch (const std::bad_alloc &)
{
ThrowCouldNotInstantiateSignalError();
}
}
else
{
- const std::string msg = COMPONENTNAME + " invalid link";
+ const std::string msg = std::string(COMPONENTNAME) + " invalid link";
LOG(CbkLogLevel::Debug, msg);
throw std::runtime_error(msg);
}
@@ -176,6 +175,12 @@ ComponentState TrajectoryFollowerImplementation::GetState() const
return componentState;
}
+void TrajectoryFollowerImplementation::SetComponentState(const ComponentState newState)
+{
+ componentState = newState;
+ GetPublisher()->Publish(COMPONENTNAME, ComponentEvent({{"ComponentState", openpass::utils::to_string(componentState)}}));
+}
+
void TrajectoryFollowerImplementation::UpdateState(const ComponentState newState)
{
// only update state if the newstate differs from the current state
@@ -185,25 +190,13 @@ void TrajectoryFollowerImplementation::UpdateState(const ComponentState newState
{
if (canBeActivated)
{
- componentState = newState;
- std::shared_ptr<VehicleComponentEvent> event = std::make_shared<VehicleComponentEvent>(currentTime,
- "TrajectoryFollowerActivated",
- GetComponentName(),
- GetAgent()->GetId());
-
- GetObservations()->at(0)->InsertEvent(event);
+ SetComponentState(newState);
}
}
else if (newState == ComponentState::Disabled)
{
canBeActivated = false;
- componentState = newState;
- std::shared_ptr<VehicleComponentEvent> event = std::make_shared<VehicleComponentEvent>(currentTime,
- "TrajectoryFollowerDeactivated",
- GetComponentName(),
- GetAgent()->GetId());
-
- GetObservations()->at(0)->InsertEvent(event);
+ SetComponentState(newState);
}
else
{
@@ -212,16 +205,16 @@ void TrajectoryFollowerImplementation::UpdateState(const ComponentState newState
}
}
-[[ noreturn ]] void TrajectoryFollowerImplementation::ThrowCouldNotInstantiateSignalError()
+[[noreturn]] void TrajectoryFollowerImplementation::ThrowCouldNotInstantiateSignalError()
{
- const std::string msg = COMPONENTNAME + " could not instantiate signal";
+ const std::string msg = std::string(COMPONENTNAME) + " could not instantiate signal";
LOG(CbkLogLevel::Debug, msg);
throw std::runtime_error(msg);
}
-[[ noreturn ]] void TrajectoryFollowerImplementation::ThrowInvalidSignalTypeError()
+[[noreturn]] void TrajectoryFollowerImplementation::ThrowInvalidSignalTypeError()
{
- const std::string msg = COMPONENTNAME + " invalid signaltype";
+ const std::string msg = std::string(COMPONENTNAME) + " invalid signaltype";
LOG(CbkLogLevel::Debug, msg);
throw std::runtime_error(msg);
}
@@ -233,7 +226,7 @@ void TrajectoryFollowerImplementation::HandleEndOfTrajectory()
dynamicsOutputSignal.travelDistance = 0;
dynamicsOutputSignal.yawRate = 0;
- if(automaticDeactivation)
+ if (automaticDeactivation)
{
UpdateState(ComponentState::Disabled);
}
@@ -266,7 +259,7 @@ void TrajectoryFollowerImplementation::TriggerWithActiveAccelerationInput()
previousPosition = *previousTrajectoryIterator;
- if(nextTrajectoryIterator != trajectory.points.end())
+ if (nextTrajectoryIterator != trajectory.points.end())
{
nextPosition = *nextTrajectoryIterator;
}
@@ -296,7 +289,7 @@ void TrajectoryFollowerImplementation::TriggerWithInactiveAccelerationInput()
double remainingTime = cycleTimeInSeconds;
double timeBetweenCoordinates = nextCoordinate.time - previousTimestamp;
- double deltaS {0};
+ double deltaS{0};
while (timeBetweenCoordinates <= remainingTime &&
nextTrajectoryIterator != trajectory.points.end())
@@ -322,8 +315,8 @@ void TrajectoryFollowerImplementation::TriggerWithInactiveAccelerationInput()
}
}
- const auto& previousPosition = previousCoordinate;
- const auto& nextPosition = nextCoordinate;
+ const auto &previousPosition = previousCoordinate;
+ const auto &nextPosition = nextCoordinate;
percentageTraveledBetweenCoordinates = remainingTime / timeBetweenCoordinates;
Common::Vector2d direction = CalculateScaledVector(previousPosition, nextPosition, percentageTraveledBetweenCoordinates);
@@ -352,11 +345,11 @@ void TrajectoryFollowerImplementation::CalculateNextTimestep(int time)
lastVelocity = dynamicsOutputSignal.velocity;
if (previousTrajectoryIterator != trajectory.points.end() &&
- nextTrajectoryIterator != trajectory.points.end())
+ nextTrajectoryIterator != trajectory.points.end())
{
if (initialization)
{
- UpdateDynamics(*previousTrajectoryIterator, {0,0}, 0, 0, 0);
+ UpdateDynamics(*previousTrajectoryIterator, {0, 0}, 0, 0, 0);
lastCoordinateTimestamp = previousTrajectoryIterator->time;
initialization = false;
return;
@@ -379,7 +372,7 @@ void TrajectoryFollowerImplementation::CalculateNextTimestep(int time)
Common::Vector2d TrajectoryFollowerImplementation::CalculateScaledVector(const TrajectoryPoint &previousPosition, const TrajectoryPoint &nextPosition, const double &factor)
{
- Common::Vector2d result (nextPosition.x - previousPosition.x, nextPosition.y - previousPosition.y);
+ Common::Vector2d result(nextPosition.x - previousPosition.x, nextPosition.y - previousPosition.y);
result.Scale(factor);
return result;
@@ -387,10 +380,10 @@ Common::Vector2d TrajectoryFollowerImplementation::CalculateScaledVector(const T
double TrajectoryFollowerImplementation::CalculateScaledDeltaYawAngle(const TrajectoryPoint &previousPosition, const TrajectoryPoint &nextPosition, const double &factor)
{
- return (nextPosition.yaw - previousPosition.yaw) * factor;;
+ return (nextPosition.yaw - previousPosition.yaw) * factor;
+ ;
}
-
TrajectoryPoint TrajectoryFollowerImplementation::CalculateStartPosition(const TrajectoryPoint &previousPosition, const TrajectoryPoint &nextPosition)
{
const auto startDirection = CalculateScaledVector(previousPosition, nextPosition, percentageTraveledBetweenCoordinates);
diff --git a/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/trajectoryFollowerImplementation.h b/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/trajectoryFollowerImplementation.h
index 3af720cd933b875054bb80f949f1dbe56dc343b0..80b403955703034e3cc51ff084ba67ad46787430 100644
--- a/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/trajectoryFollowerImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Dynamics_TrajectoryFollower/trajectoryFollowerImplementation.h
@@ -54,16 +54,16 @@
#pragma once
-#include "Interfaces/modelInterface.h"
-#include "Interfaces/eventNetworkInterface.h"
-#include "Common/openScenarioDefinitions.h"
-
-#include "Common/vector2d.h"
#include "Common/accelerationSignal.h"
-#include "Common/vehicleComponentEvent.h"
#include "Common/dynamicsSignal.h"
#include "Common/globalDefinitions.h"
#include "Common/lateralSignal.h"
+#include "Common/openScenarioDefinitions.h"
+#include "Common/vector2d.h"
+#include "Common/vehicleComponentEvent.h"
+#include "Interfaces/eventNetworkInterface.h"
+#include "Interfaces/modelInterface.h"
+#include "Interfaces/publisherInterface.h"
using openScenario::Trajectory;
using openScenario::TrajectoryPoint;
@@ -73,10 +73,10 @@ using openScenario::TrajectoryPoint;
*
* \ingroup Dynamics_TrajectoryFollower
*/
-class TrajectoryFollowerImplementation : public UnrestrictedEventModelInterface
+class TrajectoryFollowerImplementation : public UnrestrictedModelInterface
{
public:
- const std::string COMPONENTNAME = "Dynamics_TrajectoryFollower";
+ static constexpr char COMPONENTNAME[] = "Dynamics_TrajectoryFollower";
TrajectoryFollowerImplementation(std::string componentName,
bool isInit,
@@ -87,16 +87,9 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
- AgentInterface *agent,
- SimulationSlave::EventNetworkInterface * const eventNetwork);
-
- TrajectoryFollowerImplementation(const TrajectoryFollowerImplementation&) = delete;
- TrajectoryFollowerImplementation(TrajectoryFollowerImplementation&&) = delete;
- TrajectoryFollowerImplementation& operator=(const TrajectoryFollowerImplementation&) = delete;
- TrajectoryFollowerImplementation& operator=(TrajectoryFollowerImplementation&&) = delete;
- virtual ~TrajectoryFollowerImplementation() = default;
+ AgentInterface *agent);
/*!
* \brief Update Inputs
@@ -144,32 +137,33 @@ public:
void CalculateNextTimestep(int time);
private:
- bool initialization {true};
+ const double cycleTimeInSeconds{0.0};
+
+ bool initialization{true};
bool enforceTrajectory{false};
bool automaticDeactivation{false};
- bool inputAccelerationActive {false};
+ bool inputAccelerationActive{false};
int currentTime{0};
- double inputAcceleration {0.0};
- const double cycleTimeInSeconds {0.0};
+ double inputAcceleration{0.0};
DynamicsSignal dynamicsOutputSignal{};
Trajectory trajectory{};
- std::vector<TrajectoryPoint>::iterator previousTrajectoryIterator {};
- std::vector<TrajectoryPoint>::iterator nextTrajectoryIterator {};
+ std::vector<TrajectoryPoint>::iterator previousTrajectoryIterator{};
+ std::vector<TrajectoryPoint>::iterator nextTrajectoryIterator{};
- double lastCoordinateTimestamp {0};
- double lastVelocity {0.0};
+ double lastCoordinateTimestamp{0};
+ double lastVelocity{0.0};
TrajectoryPoint lastWorldPosition;
- double percentageTraveledBetweenCoordinates {0};
+ double percentageTraveledBetweenCoordinates{0};
- ComponentState componentState {ComponentState::Disabled};
+ ComponentState componentState{ComponentState::Disabled};
bool canBeActivated{true};
- [[ noreturn ]] void ThrowCouldNotInstantiateSignalError();
- [[ noreturn ]] void ThrowInvalidSignalTypeError();
+ [[noreturn]] void ThrowCouldNotInstantiateSignalError();
+ [[noreturn]] void ThrowInvalidSignalTypeError();
ComponentState GetState() const;
void UpdateState(const ComponentState newState);
@@ -188,6 +182,8 @@ private:
void TriggerWithActiveAccelerationInput();
void TriggerWithInactiveAccelerationInput();
+ void SetComponentState(const ComponentState newState);
+
void UpdateDynamics(const TrajectoryPoint &previousPosition,
const Common::Vector2d &direction,
double deltaYawAngle,
diff --git a/OpenPass_Source_Code/openPASS/Components/LimiterAccelerationVehicleComponents/limiterAccelerationVehicleComponents.cpp b/OpenPass_Source_Code/openPASS/Components/LimiterAccelerationVehicleComponents/limiterAccelerationVehicleComponents.cpp
index cba91924d33006321b8f5b578f5b151a64b4e945..3fe78be7fb04804590d5e7b5bd36b6e4d932f9b8 100644
--- a/OpenPass_Source_Code/openPASS/Components/LimiterAccelerationVehicleComponents/limiterAccelerationVehicleComponents.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/LimiterAccelerationVehicleComponents/limiterAccelerationVehicleComponents.cpp
@@ -33,7 +33,7 @@ extern "C" LIMITER_ACCELERATION_VEHICLE_COMPONENTS_SHARED_EXPORT ModelInterface
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -51,7 +51,7 @@ extern "C" LIMITER_ACCELERATION_VEHICLE_COMPONENTS_SHARED_EXPORT ModelInterface
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/LimiterAccelerationVehicleComponents/limiterAccelerationVehicleComponentsImplementation.h b/OpenPass_Source_Code/openPASS/Components/LimiterAccelerationVehicleComponents/limiterAccelerationVehicleComponentsImplementation.h
index e085c3e841f80452956950289fd6196daa5a6301..430a20d753bff15cce984991c55f5432bbb0f2e5 100644
--- a/OpenPass_Source_Code/openPASS/Components/LimiterAccelerationVehicleComponents/limiterAccelerationVehicleComponentsImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/LimiterAccelerationVehicleComponents/limiterAccelerationVehicleComponentsImplementation.h
@@ -42,7 +42,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
UnrestrictedModelInterface(
@@ -55,7 +55,7 @@ public:
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActions.cpp b/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActions.cpp
index f46c02ba77d1a2adba254abc7e13dcb2a5913e0f..ce3468091133bf8925750a80dc1bedd89d2ed740 100644
--- a/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActions.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActions.cpp
@@ -33,7 +33,7 @@ extern "C" OPENSCENARIO_ACTIONS_SHARED_EXPORT ModelInterface *OpenPASS_CreateIns
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks,
SimulationSlave::EventNetworkInterface * const eventNetwork)
@@ -52,7 +52,7 @@ extern "C" OPENSCENARIO_ACTIONS_SHARED_EXPORT ModelInterface *OpenPASS_CreateIns
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent,
eventNetwork));
diff --git a/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActionsImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActionsImplementation.cpp
index 1ae66facfc4434f5f39ce5d5fd3464deed9b49d6..a04becd27c898c66994ed0b3df82d5292bf20dc4 100644
--- a/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActionsImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActionsImplementation.cpp
@@ -31,7 +31,7 @@ OpenScenarioActionsImplementation::OpenScenarioActionsImplementation(std::string
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent,
SimulationSlave::EventNetworkInterface* const eventNetwork) :
@@ -45,7 +45,7 @@ OpenScenarioActionsImplementation::OpenScenarioActionsImplementation(std::string
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent,
eventNetwork),
diff --git a/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActionsImplementation.h b/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActionsImplementation.h
index 434bb50c2278b74b85ba1fd0f51e4ef8834b47a8..b4d310f8c76996e859f2acedcb0a42344d18fa67 100644
--- a/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActionsImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/OpenScenarioActions/openScenarioActionsImplementation.h
@@ -37,7 +37,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent,
SimulationSlave::EventNetworkInterface * const eventNetwork);
diff --git a/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicle.cpp b/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicle.cpp
index 9de8b0f64d2dec5d9b2b4578d755c6f7a4e08447..bbc6149148f9b39d4c8bdced33108907ba7661cb 100644
--- a/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicle.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicle.cpp
@@ -37,7 +37,7 @@ extern "C" PARAMETERS_VEHICLE_SHARED_EXPORT ModelInterface *OpenPASS_CreateInsta
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -55,7 +55,7 @@ extern "C" PARAMETERS_VEHICLE_SHARED_EXPORT ModelInterface *OpenPASS_CreateInsta
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicleImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicleImplementation.cpp
index 625782b968c8e973727b8899d31ce7fe55735def..42dfd6cd1dccb8eacd35f686cacb891f713de87e 100644
--- a/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicleImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicleImplementation.cpp
@@ -29,7 +29,7 @@ ParametersVehicleImplementation::ParametersVehicleImplementation(
StochasticsInterface* stochastics,
WorldInterface* world,
const ParameterInterface* parameters,
- const std::map<int, ObservationInterface*>* observations,
+ PublisherInterface * const publisher,
const CallbackInterface* callbacks,
AgentInterface* agent) :
SensorInterface(
@@ -42,7 +42,7 @@ ParametersVehicleImplementation::ParametersVehicleImplementation(
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicleImplementation.h b/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicleImplementation.h
index 2f50def506596acfa5201a8b3eeffa68694f41a2..0aa700b88d1874626bc70774a35c8d6185e30d80 100644
--- a/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicleImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Parameters_Vehicle/parameters_vehicleImplementation.h
@@ -12,7 +12,6 @@
#pragma once
#include "Interfaces/modelInterface.h"
-#include "Interfaces/observationInterface.h"
#include "Common/primitiveSignals.h"
/** \addtogroup Parameters_Vehicle
@@ -90,7 +89,7 @@ public:
StochasticsInterface* stochastics,
WorldInterface* world,
const ParameterInterface* parameters,
- const std::map<int, ObservationInterface*>* observations,
+ PublisherInterface * const publisher,
const CallbackInterface* callbacks,
AgentInterface* agent);
ParametersVehicleImplementation(const ParametersVehicleImplementation&) = delete;
diff --git a/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusion.cpp b/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusion.cpp
index 09109b6f5ea1143e9ab59727c7b6b7a800eba207..29334eab4421eafa7707a26ebb33d65b65f6b4f4 100644
--- a/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusion.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusion.cpp
@@ -33,7 +33,7 @@ extern "C" SENSOR_FUSION_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -51,7 +51,7 @@ extern "C" SENSOR_FUSION_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusionImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusionImplementation.cpp
index 2df9d2a12eddf58ebdd1b061d33126bd26c5d1a5..47695bfe56f89b41104a7f1fad31af4197ed0088 100644
--- a/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusionImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusionImplementation.cpp
@@ -25,7 +25,7 @@ SensorFusionImplementation::SensorFusionImplementation(
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
UnrestrictedModelInterface(
@@ -38,7 +38,7 @@ SensorFusionImplementation::SensorFusionImplementation(
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusionImplementation.h b/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusionImplementation.h
index e63c7fbb5f231fc7aad98eded3704df4288892e5..2047acc65c9caddf7d6a27cf106f42416e828ed8 100644
--- a/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusionImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/SensorFusion_OSI/sensorFusionImplementation.h
@@ -68,7 +68,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance.cpp b/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance.cpp
index ef381607ede49d46d53a0736fd2d8453bcd579b1..62bbee1e68e5f3ba71f8dd655e11c4f59ae59993 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance.cpp
@@ -34,7 +34,7 @@ extern "C" SENSOR_DISTANCE_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -51,7 +51,7 @@ extern "C" SENSOR_DISTANCE_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance_implementation.cpp b/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance_implementation.cpp
index bee554bd01f707f38276578e1128245bea3ef5f8..e2a14dd5b870ee1c6946a336108616267d2d0dfa 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance_implementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance_implementation.cpp
@@ -22,7 +22,7 @@ Sensor_Distance_Implementation::Sensor_Distance_Implementation(int componentId,
int cycleTime,
StochasticsInterface *stochastics,
WorldInterface *world,
- const ParameterInterface *parameters, const std::map<int, ObservationInterface *> *observations,
+ const ParameterInterface *parameters, PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
SensorInterface(componentId,
@@ -34,7 +34,7 @@ Sensor_Distance_Implementation::Sensor_Distance_Implementation(int componentId,
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance_implementation.h b/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance_implementation.h
index 15b0ee0852c4511b723e652ec79fa8c487dbd912..37ed33903344eb659e07da774503366c3a3735ec 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_Distance/sensor_distance_implementation.h
@@ -14,7 +14,6 @@
#include <math.h>
#include "modelInterface.h"
-#include "observationInterface.h"
/*!
* \addtogroup Components_Basic openPASS components basic
@@ -79,7 +78,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
virtual ~Sensor_Distance_Implementation() = default;
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driver.cpp b/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driver.cpp
index 079a0d202f2f1bbcee5f6971c3f1e8682145b1a3..e78cdaf036baa935904a4955fa70ffaa132746ba 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driver.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driver.cpp
@@ -34,7 +34,7 @@ extern "C" SENSOR_DRIVER_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -52,7 +52,7 @@ Callbacks = callbacks;
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driverImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driverImplementation.cpp
index 841b2b149c86001bd4dd0679609242db607ed303..7474b1d2250f0ace6195232cf7f8d0a133bca9c0 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driverImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driverImplementation.cpp
@@ -31,7 +31,7 @@ SensorDriverImplementation::SensorDriverImplementation(
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
SensorInterface(
@@ -44,7 +44,7 @@ SensorDriverImplementation::SensorDriverImplementation(
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent),
egoAgent(agent->GetEgoAgent()),
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driverImplementation.h b/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driverImplementation.h
index b80a4e3a37a361149f179bc09d82d69e2745a830..82bdf2ba391140110914affca9b56ead96b40263 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driverImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_Driver/sensor_driverImplementation.h
@@ -14,7 +14,6 @@
#include "Signals/sensor_driverDefinitions.h"
#include "Common/primitiveSignals.h"
#include "Interfaces/modelInterface.h"
-#include "Interfaces/observationInterface.h"
#include "sensor_driverCalculations.h"
/** \addtogroup Sensor_Driver
@@ -38,7 +37,7 @@
* data | Referenced signal (copied by sending component)
* isInit | Query whether the component was just initialized
* localLinkId | Corresponds to "id" of "ComponentInput"
-* observations | Interface which has to be provided by observation modules
+* publisher | Publishing instance provided by the framework
* offsetTime | Offset time of the component
* parameters | Interface provides access to the configuration parameters
* priority | Priority of the component
@@ -73,7 +72,7 @@ public:
//! \param [in] stochastics Provides access to the stochastics functionality of the framework
//! \param [in] world Provides access to world representation
//! \param [in] parameters Interface provides access to the configuration parameters
- //! \param [in] observations Interface which has to be provided by observation modules
+ //! \param [in] pubisher Instance provided by the framework
//! \param [in] callbacks Interface for callbacks to framework
//! \param [in] agent This interface provides access to agent parameters, properties, attributes and dynamic states
SensorDriverImplementation(std::string componentName,
@@ -85,7 +84,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/objectDetectorBase.cpp b/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/objectDetectorBase.cpp
index 082d9774a02a03e006deda02759727d4109090fe..2c25565c0c6e9771a41cb2056669428fc2ca11f4 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/objectDetectorBase.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/objectDetectorBase.cpp
@@ -31,7 +31,7 @@ ObjectDetectorBase::ObjectDetectorBase(
StochasticsInterface* stochastics,
WorldInterface* world,
const ParameterInterface* parameters,
- const std::map<int, ObservationInterface*>* observations,
+ PublisherInterface * const publisher,
const CallbackInterface* callbacks,
AgentInterface* agent) :
SensorInterface(
@@ -44,7 +44,7 @@ ObjectDetectorBase::ObjectDetectorBase(
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
@@ -62,12 +62,11 @@ ObjectDetectorBase::ObjectDetectorBase(
try
{
- _observer = GetObservations()->at(0);
- if (_observer == nullptr) { throw std::runtime_error(""); }
+ if (GetPublisher() == nullptr) { throw std::runtime_error(""); }
}
catch (...)
{
- const std::string msg = COMPONENTNAME + " invalid observation module setup";
+ const std::string msg = COMPONENTNAME + " invalid publisher module setup";
LOG(CbkLogLevel::Error, msg);
throw std::runtime_error(msg);
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/objectDetectorBase.h b/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/objectDetectorBase.h
index d286f0a73112e86f870c38cd493f7dd137a023cd..0e8c9d5463da57f4c2e3b6b6e08262994acdc77f 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/objectDetectorBase.h
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/objectDetectorBase.h
@@ -39,7 +39,6 @@
#pragma once
#include "Interfaces/modelInterface.h"
-#include "Interfaces/observationInterface.h"
#include "Interfaces/profilesInterface.h"
#include "Common/primitiveSignals.h"
#include "Common/vector3d.h"
@@ -72,7 +71,7 @@ public:
StochasticsInterface* stochastics,
WorldInterface* world,
const ParameterInterface* parameters,
- const std::map<int, ObservationInterface*>* observations,
+ PublisherInterface * const publisher,
const CallbackInterface* callbacks,
AgentInterface* agent);
@@ -230,7 +229,6 @@ protected:
osi3::SensorData sensorData;
- ObservationInterface* _observer = nullptr;
openpass::sensors::Position position;
int id;
double failureProbability;
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorGeometric2D.cpp b/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorGeometric2D.cpp
index 55e5ceeab5c299c129cef76c83923e5f64c7c955..2f51911dd8f3b596dd7be93c67a3f45d9f56d5ba 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorGeometric2D.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorGeometric2D.cpp
@@ -29,7 +29,7 @@ SensorGeometric2D::SensorGeometric2D(
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
ObjectDetectorBase(
@@ -42,7 +42,7 @@ SensorGeometric2D::SensorGeometric2D(
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
@@ -119,16 +119,8 @@ void SensorGeometric2D::Observe(const int time, const SensorDetectionResults& re
return object.id().value();
});
- _observer->Insert(time,
- GetAgent()->GetId(),
- LoggingGroup::SensorExtended,
- "Sensor" + std::to_string(id) + "_VisibleAgents",
- CreateAgentIdListString(visibleIds));
- _observer->Insert(time,
- GetAgent()->GetId(),
- LoggingGroup::SensorExtended,
- "Sensor" + std::to_string(id) + "_DetectedAgents",
- CreateAgentIdListString(detectedIds));
+ GetPublisher()->Publish("Sensor" + std::to_string(id) + "_VisibleAgents", CreateAgentIdListString(visibleIds));
+ GetPublisher()->Publish("Sensor" + std::to_string(id) + "_DetectedAgents", CreateAgentIdListString(detectedIds));
}
std::string SensorGeometric2D::CreateAgentIdListString(const std::vector<OWL::Id>& owlIds) const
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorGeometric2D.h b/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorGeometric2D.h
index 5871b10999492df5d337a43f151bd826a3bc53f2..46330570bf8f61ea3e3b7001082c711f9de74c53 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorGeometric2D.h
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorGeometric2D.h
@@ -57,7 +57,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorObjectDetectorFactory.cpp b/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorObjectDetectorFactory.cpp
index 74e078de9de5d77a92d1c34aac15e8ea64f89317..d252dc5e65f43bef2b9388307bf3b319aed4334a 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorObjectDetectorFactory.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_OSI/sensorObjectDetectorFactory.cpp
@@ -34,7 +34,7 @@ extern "C" SENSOR_OBJECT_DETECTOR_SHARED_EXPORT ModelInterface *OpenPASS_CreateI
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -56,7 +56,7 @@ extern "C" SENSOR_OBJECT_DETECTOR_SHARED_EXPORT ModelInterface *OpenPASS_CreateI
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordState.cpp b/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordState.cpp
index 6bf4ef1840f5a20c6955bd04889a9b6050e2f280..3c748aa9f07d85deed07ea04440f5e124a9ad43a 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordState.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordState.cpp
@@ -34,7 +34,7 @@ extern "C" SENSOR_RECORD_STATE_SHARED_EXPORT ModelInterface *OpenPASS_CreateInst
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -52,7 +52,7 @@ Callbacks = callbacks;
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordStateImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordStateImplementation.cpp
index 6c2f59cb5a8c4f4ac504a4b00130f4986c002712..526b8957313cd371478e2a4d8969b0e7ea931a34 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordStateImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordStateImplementation.cpp
@@ -32,7 +32,7 @@ SensorRecordStateImplementation::SensorRecordStateImplementation(
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
SensorInterface(
@@ -45,27 +45,16 @@ SensorRecordStateImplementation::SensorRecordStateImplementation(
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
- agentId = GetAgent()->GetId();
-
- try
- {
- observerInstance = GetObservations()->at(0);
- if(observerInstance == nullptr)
- {
- throw std::runtime_error("");
- }
- }
- catch(...)
+ if (GetPublisher() == nullptr)
{
- const std::string msg = COMPONENTNAME + " invalid observation module setup";
+ const std::string msg = COMPONENTNAME + " invalid publisher module setup";
LOG(CbkLogLevel::Error, msg);
throw std::runtime_error(msg);
}
-
}
void SensorRecordStateImplementation::UpdateInput(int, const std::shared_ptr<SignalInterface const> &, int)
@@ -76,118 +65,16 @@ void SensorRecordStateImplementation::UpdateOutput(int ,std::shared_ptr<SignalIn
{
}
-void SensorRecordStateImplementation::Trigger(int time)
-{
- timeMSec = time;
-
- ObserveEgo();
-}
-
-void SensorRecordStateImplementation::ObserveEgo()
+void SensorRecordStateImplementation::Trigger([[maybe_unused]] int time)
{
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Trace,
- "XPosition",
- std::to_string(GetAgent()->GetPositionX()));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Trace,
- "YPosition",
- std::to_string(GetAgent()->GetPositionY()));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Trace,
- "YawAngle",
- std::to_string(GetAgent()->GetYaw()));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Visualization,
- "VelocityEgo",
- std::to_string(GetAgent()->GetVelocity()));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Visualization,
- "AccelerationEgo",
- std::to_string(GetAgent()->GetAcceleration()));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Visualization,
- "BrakeLight",
- GetAgent()->GetBrakeLight() ? "1" : "0");
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Visualization,
- "IndicatorState",
- std::to_string(static_cast<int>(GetAgent()->GetIndicatorState())));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Visualization,
- "LightStatus",
- std::to_string(static_cast<int>(GetAgent()->GetLightState())));
-
const auto& egoAgent = GetAgent()->GetEgoAgent();
+ GetPublisher()->Publish("PositionRoute", egoAgent.GetMainLocatePosition().roadPosition.s);
+ GetPublisher()->Publish("TCoordinate", egoAgent.GetPositionLateral());
+ GetPublisher()->Publish("Lane", egoAgent.GetLaneIdFromRelative(0));
+ GetPublisher()->Publish("Road", egoAgent.GetRoadId());
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::RoadPosition,
- "PositionRoute",
- std::to_string(egoAgent.GetMainLocatePosition().roadPosition.s));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::RoadPosition,
- "TCoordinate",
- std::to_string(egoAgent.GetPositionLateral()));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::RoadPosition,
- "Lane",
- std::to_string(egoAgent.GetLaneIdFromRelative(0)));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::RoadPosition,
- "Road",
- egoAgent.GetRoadId());
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::RoadPositionExtended,
- "SecondaryLanes",
- SecondaryLanesToString(egoAgent.GetRoadId()));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Vehicle,
- "YawRate",
- std::to_string(GetAgent()->GetYawRate()));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Vehicle,
- "AccelerationPedalPosition",
- std::to_string(GetAgent()->GetEffAccelPedal()));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Vehicle,
- "BrakePedalPosition",
- std::to_string(GetAgent()->GetEffBrakePedal()));
-
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::Vehicle,
- "Gear",
- std::to_string(GetAgent()->GetGear()));
+ const auto& secondaryLanes = GetAgent()->GetObjectPosition().touchedRoads.at(egoAgent.GetRoadId()).lanes;
+ GetPublisher()->Publish("SecondaryLanes", secondaryLanes);
int frontAgentId = -1;
const auto frontAgents = egoAgent.GetAgentsInRange(0, std::numeric_limits<double>::max(), 0);
@@ -197,25 +84,5 @@ void SensorRecordStateImplementation::ObserveEgo()
frontAgentId = frontAgents.front()->GetId();
}
- observerInstance->Insert(timeMSec,
- agentId,
- LoggingGroup::RoadPosition,
- "AgentInFront",
- std::to_string(frontAgentId));
-}
-
-std::string SensorRecordStateImplementation::SecondaryLanesToString(const std::string& roadId)
-{
- const auto secondaryList = GetAgent()->GetObjectPosition().touchedRoads.at(roadId).lanes;
- std::string listOfSecondaryLanes{""};
- for (auto objectIt = secondaryList.cbegin(); objectIt != secondaryList.cend(); objectIt++)
- {
- listOfSecondaryLanes += std::to_string(*objectIt);
-
- if (std::next(objectIt) != secondaryList.cend())
- {
- listOfSecondaryLanes += ";";
- }
- }
- return listOfSecondaryLanes;
+ GetPublisher()->Publish("AgentInFront", frontAgentId);
}
diff --git a/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordStateImplementation.h b/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordStateImplementation.h
index b0bc2597ab8c6d631af00efa15f526f783b88cee..d24bb9710d79576a43ace4059c62ce82c3c8c098 100644
--- a/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordStateImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/Sensor_RecordState/sensor_recordStateImplementation.h
@@ -13,7 +13,6 @@
#pragma once
#include "Interfaces/modelInterface.h"
-#include "Interfaces/observationInterface.h"
/*!
* \brief records the state of the agent.
@@ -23,7 +22,6 @@
* \ingroup SensorRecordState
*/
-//ToDo This module needs a major refactoring, when the new observation/logging concept is implemented. Until then it uses the first ObservationInterface of the ObservationNetwork.
class SensorRecordStateImplementation : public SensorInterface
{
public:
@@ -39,7 +37,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
@@ -88,30 +86,6 @@ public:
* \param[in] time Current scheduling time
*/
void Trigger(int time);
-
-private:
-
- int agentId = 0;
- int timeMSec = 0;
- ObservationInterface* observerInstance {nullptr};
-
- /*!
- * \brief Translates secondaray covered lanes into a string.
- *
- * This function uses AgentInterface::GetSecondaryCoveredLanes and translates it into a string.
- *
- * \param[in] roadId id if the road for which lanes should be writen
- * @return secondary lanes as string.
- */
- std::string SecondaryLanesToString(const std::string& roadId);
-
- /*!
- * \brief Sends all output relevant agent variables to the observer.
- *
- * Sends all output relevant agent variables to the observer.
- * Which are later on logged.
- */
- void ObserveEgo();
};
diff --git a/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizer.cpp b/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizer.cpp
index 21bbc53942888117b8c5d17ef9632f741da834e6..57d29e6d8895c6ca297b4399b0b0af75cf973fc8 100644
--- a/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizer.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizer.cpp
@@ -34,7 +34,7 @@ extern "C" SIGNAL_PRIORITIZER_SHARED_EXPORT ModelInterface *OpenPASS_CreateInsta
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -53,7 +53,7 @@ extern "C" SIGNAL_PRIORITIZER_SHARED_EXPORT ModelInterface *OpenPASS_CreateInsta
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizerImplementation.cpp b/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizerImplementation.cpp
index 938f4c9b9ecc5033bad44cd8d77ef71170f2e73b..3099023afca3803b8c384b9fa05c7939a6555d0b 100644
--- a/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizerImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizerImplementation.cpp
@@ -27,7 +27,7 @@ SignalPrioritizerImplementation::SignalPrioritizerImplementation(
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
AlgorithmInterface (
@@ -39,7 +39,7 @@ SignalPrioritizerImplementation::SignalPrioritizerImplementation(
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizerImplementation.h b/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizerImplementation.h
index d3582c56c7a96df4fc59ff36945ce8e7ba65185f..ca9cfcd8dd141bbb58bd28f962ac514766ac66d9 100644
--- a/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizerImplementation.h
+++ b/OpenPass_Source_Code/openPASS/Components/SignalPrioritizer/signalPrioritizerImplementation.h
@@ -58,7 +58,7 @@ public:
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector.cpp
index 777fe933869739c219bda55479ff967170bb1fae..018db6ad07d554ff8f21947c9dc4fda864b3fe87 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector.cpp
@@ -36,7 +36,7 @@ extern "C" ALGORITHM_SELECTOR_SHARED_EXPORT ModelInterface *OpenPASS_CreateInsta
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -57,7 +57,7 @@ extern "C" ALGORITHM_SELECTOR_SHARED_EXPORT ModelInterface *OpenPASS_CreateInsta
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent->GetAgentId()));
}
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector_implementation.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector_implementation.cpp
index 56b161903a2a1819436e09494fe5c21164195f4b..69977e1762d9988b14946236f4ceb1d7d38a5203 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector_implementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector_implementation.cpp
@@ -20,7 +20,7 @@ Algorithm_Selector_Implementation::Algorithm_Selector_Implementation(int compone
int responseTime,
int cycleTime,
StochasticsInterface *stochastics,
- const ParameterInterface *parameters, const std::map<int, ObservationInterface *> *observations,
+ const ParameterInterface *parameters, PublisherInterface * const publisher,
const CallbackInterface *callbacks,
int agentId) :
AlgorithmInterface(componentId,
@@ -31,7 +31,7 @@ Algorithm_Selector_Implementation::Algorithm_Selector_Implementation(int compone
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agentId)
{
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector_implementation.h b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector_implementation.h
index 305e2bd27dba09075a92379c1c2bc237ffaae3d0..d1338770502e97ef00ccd2cc94fcb5856573d1ec 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_Selector/algorithm_selector_implementation.h
@@ -20,7 +20,6 @@
#include <fstream>
#include <QTextStream>
#include "modelInterface.h"
-#include "observationInterface.h"
#include "primitiveSignals.h"
#include "vectorSignals.h"
#include "componentPorts.h"
@@ -79,7 +78,7 @@ public:
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks, int agentId);
virtual ~Algorithm_Selector_Implementation();
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower.cpp
index 0646157441c89b8375d76c21691e74dee53fcfdf..363f3e0eefb40ebaf539fa739632f63912f503f8 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower.cpp
@@ -56,7 +56,7 @@ ModelInterface *OpenPASS_CreateInstance(int componentId,
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -77,7 +77,7 @@ ModelInterface *OpenPASS_CreateInstance(int componentId,
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent->GetAgentId()));
}
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower_implementation.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower_implementation.cpp
index 5b8e7078b323c7fff10ec0cec8ce6499a9781294..dd95d1d0bbed1fcda24a85546a61c566d5d89d08 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower_implementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower_implementation.cpp
@@ -30,7 +30,7 @@ Algorithm_TrajectoryFollower_Implementation::Algorithm_TrajectoryFollower_Implem
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
int agentId) :
AlgorithmInterface(componentId,
@@ -41,7 +41,7 @@ Algorithm_TrajectoryFollower_Implementation::Algorithm_TrajectoryFollower_Implem
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agentId)
{
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower_implementation.h b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower_implementation.h
index 578ea56d9f4837c3123a48a223cdb45bac223fb6..0e25c1f53987ecc284eb4cdaea4cdc3e75d4664d 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Algorithm_TrajectoryFollower/algorithm_trajectoryFollower_implementation.h
@@ -75,7 +75,7 @@ public:
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
int agentId);
//! Destructor
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision.cpp
index b77362c90661138acb83bbb762e9381115bfdf2b..7c0fd07a3e42657bd58eeb4ddacaaa6d81cf98f7 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision.cpp
@@ -60,7 +60,7 @@ extern "C" DYNAMICS_COLLISIONSHARED_EXPORT DynamicsInterface *OpenPASS_CreateIns
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *evaluations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -79,7 +79,7 @@ extern "C" DYNAMICS_COLLISIONSHARED_EXPORT DynamicsInterface *OpenPASS_CreateIns
stochastics,
world,
parameters,
- evaluations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision_implementation.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision_implementation.cpp
index fae1f77540c9247825b23f5770e8e30d7f693f2e..de459907631d8d87653c99d67c0b50b7ea189595 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision_implementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision_implementation.cpp
@@ -21,7 +21,7 @@ Dynamics_Collision_Implementation::Dynamics_Collision_Implementation(int compone
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *evaluations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
DynamicsInterface(componentId,
@@ -33,7 +33,7 @@ Dynamics_Collision_Implementation::Dynamics_Collision_Implementation(int compone
stochastics,
world,
parameters,
- evaluations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision_implementation.h b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision_implementation.h
index f4b75a7c395bdb328d3bcea3a066cf709c7caff6..a150751a84f800b2b8aa3da314864e53215c61ef 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_Collision/dynamics_collision_implementation.h
@@ -14,7 +14,6 @@
#include <vector>
#include "modelInterface.h"
-#include "observationInterface.h"
#include "primitiveSignals.h"
#include "postCrashDynamic.h"
#include "componentPorts.h"
@@ -75,7 +74,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *evaluations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
//-----------------------------------------------------------------------------
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory.cpp
index 1fae87a5ee65cc90e21fdc3e63924b5a079cc5d5..3e66b3b73e42d575007e9684e9e0392d065991a9 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory.cpp
@@ -60,7 +60,7 @@ extern "C" DYNAMICS_COPYTRAJECTORYSHARED_EXPORT DynamicsInterface *OpenPASS_Crea
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *evaluations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -79,7 +79,7 @@ extern "C" DYNAMICS_COPYTRAJECTORYSHARED_EXPORT DynamicsInterface *OpenPASS_Crea
stochastics,
world,
parameters,
- evaluations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.cpp
index 539595366f9d73061a0b2d0e07cf4942d6837115..a2c134b09ccd7cd58706204ba232970e53215a0d 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.cpp
@@ -22,7 +22,7 @@ Dynamics_CopyTrajectory_Implementation::Dynamics_CopyTrajectory_Implementation(i
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *evaluations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
DynamicsInterface(componentId,
@@ -34,7 +34,7 @@ Dynamics_CopyTrajectory_Implementation::Dynamics_CopyTrajectory_Implementation(i
stochastics,
world,
parameters,
- evaluations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.h b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.h
index 5c7834e70514912d02cb19a671bc4f72495967d7..9e84cb8b0e42182f1baf2c2129404f00e580ac6f 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.h
@@ -14,7 +14,6 @@
#include <vector>
#include "modelInterface.h"
-#include "observationInterface.h"
/** \addtogroup Components_PCM openPASS components pcm
* @{
@@ -60,7 +59,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *evaluations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
//-----------------------------------------------------------------------------
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack.cpp
index 503f5f19f376d072a4ca43bb67e412db90060e3a..0bdcd88e6c40d70aba97db2fac9b8d14bb05cc07 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack.cpp
@@ -59,7 +59,7 @@ extern "C" DYNAMICS_TWOTRACKSHARED_EXPORT DynamicsInterface *OpenPASS_CreateInst
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -81,7 +81,7 @@ extern "C" DYNAMICS_TWOTRACKSHARED_EXPORT DynamicsInterface *OpenPASS_CreateInst
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack_implementation.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack_implementation.cpp
index 97e7074583defd58e9239dcc3413b05c5e618d9e..b860c203f1261641eaeace9d664b30ad4961300e 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack_implementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack_implementation.cpp
@@ -53,7 +53,7 @@ Dynamics_TwoTrack_Implementation::Dynamics_TwoTrack_Implementation(
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
DynamicsInterface(
@@ -66,7 +66,7 @@ Dynamics_TwoTrack_Implementation::Dynamics_TwoTrack_Implementation(
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack_implementation.h b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack_implementation.h
index 6a0bcb3cd7a79cace4f2aa9bc58342eb13f1f153..21283ea2893755e4228c78c05ad01f4fb0fd9ddb 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Dynamics_TwoTrack/dynamics_twotrack_implementation.h
@@ -13,7 +13,6 @@
#define DYNAMICS_TWOTRACK_IMPLEMENTATION_H
#include "modelInterface.h"
-#include "observationInterface.h"
#include "primitiveSignals.h"
#include "vectorSignals.h"
#include "vector2d.h"
@@ -71,7 +70,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
Dynamics_TwoTrack_Implementation(const Dynamics_TwoTrack_Implementation &) = delete;
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor.cpp
index 46a529ccf8f70ad2c8789182b329d0a4329880b7..91d90482bf5b2df6557d6b6b60612bc779dc1815 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor.cpp
@@ -35,7 +35,7 @@ extern "C" EGO_SENSOR_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(int
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -57,7 +57,7 @@ extern "C" EGO_SENSOR_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(int
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor_implementation.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor_implementation.cpp
index e47398d192096dd531b277405b7b885c40bfd46e..546abbdf943c4e2dbd1081e4a9f8dd114daba419 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor_implementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor_implementation.cpp
@@ -22,7 +22,7 @@ EgoSensor_Implementation::EgoSensor_Implementation(int componentId,
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *evaluations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
SensorInterface(componentId,
@@ -34,7 +34,7 @@ EgoSensor_Implementation::EgoSensor_Implementation(int componentId,
stochastics,
world,
parameters,
- evaluations,
+ publisher,
callbacks,
agent),
isInitDone(false)
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor_implementation.h b/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor_implementation.h
index 1216fb2984c5625c6a9fa55393448080a947d026..c3809551849f05614227e0c6c1c9e51681068516 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/EgoSensor/egoSensor_implementation.h
@@ -14,7 +14,6 @@
#include <math.h>
#include "modelInterface.h"
-#include "observationInterface.h"
#include "primitiveSignals.h"
#include "componentPorts.h"
@@ -64,7 +63,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *evaluations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
//-----------------------------------------------------------------------------
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent.cpp
index 85d509f453b1a744253ee2aa5d3bbb6f4f7779ff..f84ad649aac7e1098f953db764fbf7c1fb192535 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent.cpp
@@ -31,7 +31,7 @@ extern "C" INIT_AGENTSHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -52,7 +52,7 @@ extern "C" INIT_AGENTSHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
} catch (const std::runtime_error &ex) {
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent_implementation.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent_implementation.cpp
index b42794ff8b066f26db3c56be3b0b6408237a35af..6e58776248a0042b26b8ddeb1ac28e8f60cfead7 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent_implementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent_implementation.cpp
@@ -23,7 +23,7 @@ Init_Agent_Implementation::Init_Agent_Implementation(
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
InitInterface(
@@ -36,7 +36,7 @@ Init_Agent_Implementation::Init_Agent_Implementation(
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent_implementation.h b/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent_implementation.h
index ff89acda64a7fa7063e00b32153f99a157734b09..60ddd6098117d4a84973ee268f7a4560521983a9 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Init_Agent/init_agent_implementation.h
@@ -13,7 +13,6 @@
#define INIT_AGENT_IMPLEMENTATION_H
#include "modelInterface.h"
-#include "observationInterface.h"
#include "pcm_trajectory.h"
#include "trajectorySignal.h"
#include "primitiveSignals.h"
@@ -51,7 +50,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
Init_Agent_Implementation(const Init_Agent_Implementation &) = delete;
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision.cpp
index 6e59d7574dea1c17ae9fc397780c7b76c21d8e32..8551a0d1a1df450152cb91b60296f612d30f5824 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision.cpp
@@ -36,7 +36,7 @@ extern "C" SENSOR_COLLISION_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstanc
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -57,7 +57,7 @@ extern "C" SENSOR_COLLISION_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstanc
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision_implementation.cpp b/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision_implementation.cpp
index d807d5180e2c2cd15b9e9eecdf586caff009bc68..08bae58fe6d75a613ab4789d8f87a2ebb867d5bd 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision_implementation.cpp
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision_implementation.cpp
@@ -21,7 +21,7 @@ Sensor_Collision_Implementation::Sensor_Collision_Implementation(int componentId
int cycleTime,
StochasticsInterface *stochastics,
WorldInterface *world,
- const ParameterInterface *parameters, const std::map<int, ObservationInterface *> *observations,
+ const ParameterInterface *parameters, PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
SensorInterface(componentId,
@@ -33,7 +33,7 @@ Sensor_Collision_Implementation::Sensor_Collision_Implementation(int componentId
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
diff --git a/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision_implementation.h b/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision_implementation.h
index ceea6abb4f627a16db79e00589df176b977d671e..7c247f063e4e2dbf698a333dcf35487269237365 100644
--- a/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision_implementation.h
+++ b/OpenPass_Source_Code/openPASS/Components_PCM/Sensor_Collision/sensor_collision_implementation.h
@@ -19,7 +19,6 @@
#include <fstream>
#include <QTextStream>
#include "modelInterface.h"
-#include "observationInterface.h"
#include "primitiveSignals.h"
#include "postCrashDynamic.h"
#include "componentPorts.h"
@@ -76,7 +75,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/CoreShare/xmlParser.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/CoreShare/xmlParser.cpp
index f6c8f83f0b68f2967ae0dcd12f2a48141e356643..a925e8338cb58a5456ef757f2f960c7d613c9919 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/CoreShare/xmlParser.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/CoreShare/xmlParser.cpp
@@ -12,6 +12,8 @@
#include <optional>
#include <sstream>
+#include "Common/commonTools.h"
+
#include "xmlParser.h"
namespace SimulationCommon
@@ -308,6 +310,12 @@ bool ParseAttribute<>(QDomElement element, const std::string &attributeName, std
return ParseAttributeDoubleVector(element, attributeName, &result);
}
+template<>
+bool ParseAttribute<>(QDomElement element, const std::string &attributeName, std::vector<std::string>& result)
+{
+ return ParseAttributeStringVector(element, attributeName, &result);
+}
+
template<>
bool ParseAttribute<int>(QDomElement element, const std::string &attributeName, int& result)
{
@@ -437,6 +445,31 @@ bool ParseAttributeBool(QDomElement element, const std::string &attributeName, b
return true;
}
+bool ParseAttributeStringVector(QDomElement element, const std::string &attributeName, std::vector<std::string> *result)
+{
+ if (!element.hasAttribute(QString::fromStdString(attributeName)))
+ {
+ return false;
+ }
+
+ QDomAttr attribute = element.attributeNode(QString::fromStdString(attributeName));
+ if (attribute.isNull())
+ {
+ return false;
+ }
+
+ try
+ {
+ *result = CommonHelper::TokenizeString(attribute.value().toStdString(), ',');
+ }
+ catch(...)
+ {
+ return false;
+ }
+
+ return true;
+}
+
bool ParseAttributeDoubleVector(QDomElement element, const std::string &attributeName, std::vector<double> *result)
{
if(!element.hasAttribute(QString::fromStdString(attributeName)))
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/CoreShare/xmlParser.h b/OpenPass_Source_Code/openPASS/CoreFramework/CoreShare/xmlParser.h
index 02d11586efb19ca957b239edf64aa384f480af14..2ace9a830dc5ab5c0abf746c0d8a5603bc56f6d6 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/CoreShare/xmlParser.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/CoreShare/xmlParser.h
@@ -17,15 +17,15 @@
#pragma once
#include <string>
-#include <QFile>
-#include <QDomDocument>
#include <unordered_map>
-#include "log.h"
+
+#include <QDomDocument>
+#include <QFile>
#include "Interfaces/roadInterface/roadElementTypes.h"
+#include "log.h"
-namespace SimulationCommon
-{
+namespace SimulationCommon {
extern bool GetFirstChildElement(QDomElement rootElement, const std::string &tag, QDomElement &result);
@@ -37,7 +37,7 @@ extern bool ParseCurrentInt(QDomElement currentElement, int &result);
/// Tempalted wrapper for Parse* functions
template <typename T>
-bool Parse(QDomElement rootElement, const std::string &tag, T & result);
+bool Parse(QDomElement rootElement, const std::string &tag, T &result);
extern bool ParseString(QDomElement rootElement, const std::string &tag, std::string &result);
@@ -59,20 +59,16 @@ extern bool ParseAttributeInt(QDomElement element, const std::string &attributeN
extern bool ParseAttributeBool(QDomElement element, const std::string &attributeName, bool &result);
-extern bool ParseAttributeDoubleVector(QDomElement element, const std::string &attributeName, std::vector<double>* result);
-
-extern bool ParseAttributeIntVector(QDomElement element, const std::string &attributeName, std::vector<int>* result);
+extern bool ParseAttributeStringVector(QDomElement element, const std::string &attributeName, std::vector<std::string> *result);
-extern bool ParseAttributeBoolVector(QDomElement element, const std::string &attributeName, std::vector<bool>* result);
+extern bool ParseAttributeDoubleVector(QDomElement element, const std::string &attributeName, std::vector<double> *result);
-//template <typename T>
-//bool ParseAttributeType(QDomElement element, const std::string &attributeName, T &result);
+extern bool ParseAttributeIntVector(QDomElement element, const std::string &attributeName, std::vector<int> *result);
-bool ParseType(const std::string& element, RoadElementOrientation& orientation);
-bool ParseType(const std::string& element, RoadObjectType& objectType);
+extern bool ParseAttributeBoolVector(QDomElement element, const std::string &attributeName, std::vector<bool> *result);
-//template <typename T>
-//bool assignIfMatching(std::string element, T& enumeration, std::string match, T value);
+bool ParseType(const std::string &element, RoadElementOrientation &orientation);
+bool ParseType(const std::string &element, RoadObjectType &objectType);
/*!
* \brief Parses the value of an XML attribute into the provided container.
@@ -86,7 +82,7 @@ bool ParseType(const std::string& element, RoadObjectType& objectType);
* \return True on successful parsing, false otherwise.
*/
template <typename T>
-bool ParseAttribute(QDomElement element, const std::string &attributeName, T& result);
+bool ParseAttribute(QDomElement element, const std::string &attributeName, T &result);
//! Returns true if the given element has an attribute of the given name
@@ -95,13 +91,13 @@ bool HasAttribute(QDomElement element, const std::string &attributeName);
template <typename T>
bool ParseAttributeType(QDomElement element, const std::string &attributeName, T &result)
{
- if(!element.hasAttribute(QString::fromStdString(attributeName)))
+ if (!element.hasAttribute(QString::fromStdString(attributeName)))
{
return false;
}
QDomAttr attribute = element.attributeNode(QString::fromStdString(attributeName));
- if(attribute.isNull())
+ if (attribute.isNull())
{
return false;
}
@@ -110,9 +106,10 @@ bool ParseAttributeType(QDomElement element, const std::string &attributeName, T
}
template <typename T>
-bool assignIfMatching(const std::string& element, T& enumeration, const std::string& match, const T& value)
+bool assignIfMatching(const std::string &element, T &enumeration, const std::string &match, const T &value)
{
- if(element == match){
+ if (element == match)
+ {
enumeration = value;
return true;
}
@@ -143,24 +140,24 @@ bool ImportProbabilityMap(QDomElement parentElement,
double probabilitySum = 0.0;
QDomElement childElement;
- if(!GetFirstChildElement(parentElement, tag.toStdString(), childElement))
+ if (!GetFirstChildElement(parentElement, tag.toStdString(), childElement))
{
LOG_INTERN(LogLevel::Error) << "At least one element is required.";
return false;
}
- while(!childElement.isNull())
+ while (!childElement.isNull())
{
T keyValue;
double probability;
- if(!ParseAttribute<T>(childElement, key, keyValue))
+ if (!ParseAttribute<T>(childElement, key, keyValue))
{
LOG_INTERN(LogLevel::Error) << "Key is invalid.";
return false;
}
- if(!ParseAttributeDouble(childElement, "Probability", probability))
+ if (!ParseAttributeDouble(childElement, "Probability", probability))
{
LOG_INTERN(LogLevel::Error) << "Probability is invalid.";
return false;
@@ -174,13 +171,13 @@ bool ImportProbabilityMap(QDomElement parentElement,
}
//Checks probabilities
- if(mustAddUpToOne && std::abs(probabilitySum - 1.0) > 1e-6)
+ if (mustAddUpToOne && std::abs(probabilitySum - 1.0) > 1e-6)
{
LOG_INTERN(LogLevel::Error) << "Probabilities do not add up to 1.0.";
return false;
}
- if(probabilitySum > 1.0 + 1e-6)
+ if (probabilitySum > 1.0 + 1e-6)
{
LOG_INTERN(LogLevel::Error) << "Probabilities add up to more than 1.0.";
return false;
@@ -189,16 +186,15 @@ bool ImportProbabilityMap(QDomElement parentElement,
return true;
}
-
} // namespace SimulationCommon
[[maybe_unused]] static void ThrowIfFalse(bool success, const QDomElement element, const std::string &message)
{
if (!success)
{
- LogErrorAndThrow("Could not import element " + element.tagName().toStdString()
- + " (line " + std::to_string(element.lineNumber())
- + ", column " + std::to_string(element.columnNumber())
- + "): " + message);
+ LogErrorAndThrow("Could not import element " + element.tagName().toStdString() +
+ " (line " + std::to_string(element.lineNumber()) +
+ ", column " + std::to_string(element.columnNumber()) + "): " +
+ message);
}
}
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassMaster/OpenPassMaster.pro b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassMaster/OpenPassMaster.pro
index cfec0555844acff92a42907c4c3bd6c3ba0f8558..27a9b43a13deb0eaf514236d94f2a3d5abc2d36e 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassMaster/OpenPassMaster.pro
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassMaster/OpenPassMaster.pro
@@ -35,6 +35,7 @@ INCLUDEPATH += \
SOURCES += \
$$SRC_CORESHARE \
+ ../../Common/vector2d.cpp \
framework/main.cpp \
framework/processManager.cpp \
importer/masterConfigImporter.cpp
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/OpenPassSlave.pro b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/OpenPassSlave.pro
index 4738cd1bacfcbd07e6bc91aa8c5b32a4f7d21a61..1fcd91fd2810ff10ebd66fc4b0f9a3f61e85e152 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/OpenPassSlave.pro
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/OpenPassSlave.pro
@@ -41,13 +41,14 @@ defineReplace(getFiles) {
}
SUBDIRS += \
- observationInterface \
framework \
importer \
importer/road \
modelElements \
modelInterface \
scheduler \
+ dataStoreInterface \
+ observationInterface \
spawnPointInterface \
stochasticsInterface \
worldInterface \
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStore.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStore.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a0e360d6a0a2190cfadf40a475cc9cec951a271c
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStore.cpp
@@ -0,0 +1,79 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#include "dataStoreInterface/dataStore.h"
+
+namespace SimulationSlave {
+
+using namespace openpass::type;
+
+bool DataStore::Instantiate()
+{
+ if (!dataStoreBinding)
+ {
+ return false;
+ }
+ else if (!implementation)
+ {
+ implementation = dataStoreBinding->Instantiate();
+ if (!implementation)
+ {
+ return false;
+ }
+ }
+ return true;
+}
+
+bool DataStore::isInstantiated() const
+{
+ return implementation != nullptr;
+}
+
+void DataStore::PutCyclic(const Timestamp time, const EntityId agentId, const Key &key, const Value &value)
+{
+ return implementation->PutCyclic(time, agentId, key, value);
+}
+
+void DataStore::PutAcyclic(const Timestamp time, const EntityId agentId, const Key &key, const Acyclic &acyclic)
+{
+ return implementation->PutAcyclic(time, agentId, key, acyclic);
+}
+
+void DataStore::PutStatic(const Key &key, const Value &value, bool persist)
+{
+ return implementation->PutStatic(key, value, persist);
+}
+
+void DataStore::Clear()
+{
+ return implementation->Clear();
+}
+
+std::unique_ptr<CyclicResultInterface> DataStore::GetCyclic(const std::optional<openpass::type::Timestamp> time, const std::optional<openpass::type::EntityId> entityId, const Key &key) const
+{
+ return implementation->GetCyclic(time, entityId, key);
+}
+
+std::unique_ptr<AcyclicResultInterface> DataStore::GetAcyclic(const std::optional<openpass::type::Timestamp> time, const std::optional<openpass::type::EntityId> entityId, const Key &key) const
+{
+ return implementation->GetAcyclic(time, entityId, key);
+}
+
+Values DataStore::GetStatic(const Key &key) const
+{
+ return implementation->GetStatic(key);
+}
+
+Keys DataStore::GetKeys(const Key &key) const
+{
+ return implementation->GetKeys(key);
+}
+
+} // namespace SimulationSlave
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStore.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStore.h
new file mode 100644
index 0000000000000000000000000000000000000000..032c718d5848e4b0eacd673386540a8974bd7ee6
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStore.h
@@ -0,0 +1,56 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+//! @file dataStore.h
+//! @brief This file provides the interface to a data store implementation
+//-----------------------------------------------------------------------------
+
+#pragma once
+
+#include "Interfaces/dataStoreInterface.h"
+#include "dataStoreBinding.h"
+
+namespace SimulationSlave {
+
+class DataStore : public DataStoreInterface
+{
+public:
+ DataStore(DataStoreBinding *dataStoreBinding) :
+ dataStoreBinding(dataStoreBinding)
+ {
+ }
+
+ DataStore(const DataStore &) = delete;
+ DataStore(DataStore &&) = delete;
+ DataStore &operator=(const DataStore &) = delete;
+ DataStore &operator=(DataStore &&) = delete;
+ ~DataStore() override = default;
+
+ bool Instantiate() override;
+ bool isInstantiated() const override;
+
+ void PutCyclic(const openpass::type::Timestamp time, const openpass::type::EntityId entityId, const Key &key, const Value &value) override;
+ void PutAcyclic(const openpass::type::Timestamp time, const openpass::type::EntityId entityId, const Key &key, const Acyclic &acyclic) override;
+ void PutStatic(const Key &key, const Value &value, bool persist) override;
+
+ void Clear() override;
+
+ std::unique_ptr<CyclicResultInterface> GetCyclic(const std::optional<openpass::type::Timestamp> time, const std::optional<openpass::type::EntityId> entityId, const Key &key) const override;
+ std::unique_ptr<AcyclicResultInterface> GetAcyclic(const std::optional<openpass::type::Timestamp> time, const std::optional<openpass::type::EntityId> entityId, const Key &key) const override;
+ Values GetStatic(const Key &key) const override;
+ Keys GetKeys(const Key &key) const override;
+
+private:
+ DataStoreBinding *dataStoreBinding = nullptr;
+ DataStoreInterface *implementation = nullptr;
+};
+
+} // namespace SimulationSlave
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreBinding.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreBinding.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3eb4827115f4695d62f1b45776d022646eac7498
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreBinding.cpp
@@ -0,0 +1,63 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#include "dataStoreBinding.h"
+#include "dataStoreLibrary.h"
+
+namespace SimulationSlave
+{
+
+DataStoreBinding::DataStoreBinding(std::string libraryPath,
+ const openpass::common::RuntimeInformation& runtimeInformation,
+ CallbackInterface *callbacks) :
+ libraryPath{libraryPath},
+ callbacks{callbacks},
+ runtimeInformation{runtimeInformation}
+{
+}
+
+DataStoreBinding::~DataStoreBinding()
+{
+ Unload();
+}
+
+DataStoreInterface* DataStoreBinding::Instantiate()
+{
+ if (!library)
+ {
+ library = new (std::nothrow) DataStoreLibrary(libraryPath, callbacks);
+
+ if (!library)
+ {
+ return nullptr;
+ }
+
+ if (!library->Init())
+ {
+ delete library;
+ library = nullptr;
+ return nullptr;
+ }
+ }
+
+ return library->CreateDataStore(runtimeInformation);
+}
+
+void DataStoreBinding::Unload()
+{
+ if (library)
+ {
+ library->ReleaseDataStore();
+ delete library;
+ library = nullptr;
+ }
+}
+
+} // namespace SimulationSlave
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreBinding.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreBinding.h
new file mode 100644
index 0000000000000000000000000000000000000000..f6ce38ff97974ad46e2a7f096230d0b4a5d043f8
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreBinding.h
@@ -0,0 +1,58 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+//! @file dataStoreBinding.h
+//! @brief This file contains the interface to the dataStore library.
+//-----------------------------------------------------------------------------
+
+#pragma once
+
+#include "Common/runtimeInformation.h"
+#include "Interfaces/dataStoreInterface.h"
+
+class CallbackInterface;
+
+namespace SimulationSlave {
+
+class DataStoreLibrary;
+class FrameworkConfig;
+
+class DataStoreBinding
+{
+public:
+ DataStoreBinding(std::string libraryPath, const openpass::common::RuntimeInformation& runtimeInformation, CallbackInterface* callbacks);
+ DataStoreBinding(const DataStoreBinding&) = delete;
+ DataStoreBinding(DataStoreBinding&&) = delete;
+ DataStoreBinding& operator=(const DataStoreBinding&) = delete;
+ DataStoreBinding& operator=(DataStoreBinding&&) = delete;
+ virtual ~DataStoreBinding();
+
+ //-----------------------------------------------------------------------------
+ //! Gets the dataStore instance library and stores it,
+ //! then creates a new dataStoreInterface of the library.
+ //!
+ //! @return dataStoreInterface created from the library
+ //-----------------------------------------------------------------------------
+ DataStoreInterface* Instantiate();
+
+ //-----------------------------------------------------------------------------
+ //! Unloads the stochasticsInterface binding by deleting the library.
+ //-----------------------------------------------------------------------------
+ void Unload();
+
+private:
+ const std::string libraryPath;
+ DataStoreLibrary* library = nullptr;
+ CallbackInterface* callbacks;
+ const openpass::common::RuntimeInformation& runtimeInformation;
+};
+
+} // namespace SimulationSlave
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreLibrary.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreLibrary.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bf4fbd7aeb15f830f0724d4f066c05c25eb179c3
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreLibrary.cpp
@@ -0,0 +1,167 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#include "dataStoreLibrary.h"
+
+#include "CoreFramework/CoreShare/log.h"
+#include "CoreFramework/CoreShare/parameters.h"
+#include "framework/parameterbuilder.h"
+
+
+namespace SimulationSlave
+{
+
+bool DataStoreLibrary::Init()
+{
+ library = new (std::nothrow) QLibrary(QString::fromStdString(dataStoreLibraryPath));
+
+ if (!library)
+ {
+ return false;
+ }
+
+ if (!library->load())
+ {
+ LOG_INTERN(LogLevel::Error) << library->errorString().toStdString();
+ delete library;
+ library = nullptr;
+ return false;
+ }
+
+ getVersionFunc = reinterpret_cast<DataStoreInterface_GetVersion>(library->resolve(DllGetVersionId.c_str()));
+ if (!getVersionFunc)
+ {
+ LOG_INTERN(LogLevel::Error) << "could not retrieve version information from DLL";
+ return false;
+ }
+
+ createInstanceFunc = reinterpret_cast<DataStoreInterface_CreateInstanceType>(library->resolve(DllCreateInstanceId.c_str()));
+ if (!createInstanceFunc)
+ {
+ LOG_INTERN(LogLevel::Error) << "could not create instance from DLL";
+ return false;
+ }
+
+ destroyInstanceFunc = reinterpret_cast<DataStoreInterface_DestroyInstanceType>(library->resolve(DllDestroyInstanceId.c_str()));
+ if (!destroyInstanceFunc)
+ {
+ LOG_INTERN(LogLevel::Warning) << "dataStore could not be released";
+ return false;
+ }
+
+ try
+ {
+ LOG_INTERN(LogLevel::DebugCore) << "loaded dataStore library " << library->fileName().toStdString()
+ << ", version " << getVersionFunc();
+ }
+ catch (std::runtime_error const &ex)
+ {
+ LOG_INTERN(LogLevel::Error) << "could not retrieve version information from DLL: " << ex.what();
+ return false;
+ }
+ catch (...)
+ {
+ LOG_INTERN(LogLevel::Error) << "could not retrieve version information from DLL";
+ return false;
+ }
+
+ return true;
+}
+
+DataStoreLibrary::~DataStoreLibrary()
+{
+ if (dataStoreInterface)
+ {
+ LOG_INTERN(LogLevel::Warning) << "unloading library which is still in use";
+ }
+
+ if (library)
+ {
+ if (library->isLoaded())
+ {
+ LOG_INTERN(LogLevel::DebugCore) << "unloading dataStore library ";
+ library->unload();
+ }
+
+ delete library;
+ library = nullptr;
+ }
+}
+
+bool DataStoreLibrary::ReleaseDataStore()
+{
+ if (!dataStoreInterface)
+ {
+ return true;
+ }
+
+ if (!library)
+ {
+ return false;
+ }
+
+ try
+ {
+ destroyInstanceFunc(dataStoreInterface);
+ }
+ catch (std::runtime_error const &ex)
+ {
+ LOG_INTERN(LogLevel::Error) << "dataStore could not be released: " << ex.what();
+ return false;
+ }
+ catch (...)
+ {
+ LOG_INTERN(LogLevel::Error) << "dataStore could not be released";
+ return false;
+ }
+
+ dataStoreInterface = nullptr;
+
+ return true;
+}
+
+DataStoreInterface* DataStoreLibrary::CreateDataStore(const openpass::common::RuntimeInformation& runtimeInformation)
+{
+ if (!library)
+ {
+ return nullptr;
+ }
+
+ if (!library->isLoaded())
+ {
+ if (!library->load())
+ {
+ return nullptr;
+ }
+ }
+
+ dataStoreInterface = nullptr;
+
+ try
+ {
+ dataStoreInterface = createInstanceFunc(&runtimeInformation, callbacks);
+ }
+ catch (std::runtime_error const &ex)
+ {
+ LOG_INTERN(LogLevel::Error) << "could not create stochastics instance: " << ex.what();
+ return nullptr;
+ }
+ catch (...)
+ {
+ LOG_INTERN(LogLevel::Error) << "could not create stochastics instance";
+ return nullptr;
+ }
+
+ return dataStoreInterface;
+}
+
+} // namespace SimulationSlave
+
+
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreLibrary.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreLibrary.h
new file mode 100644
index 0000000000000000000000000000000000000000..40fe45e15b1e4923fa2776e56e9255e908448227
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/dataStoreInterface/dataStoreLibrary.h
@@ -0,0 +1,95 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+//! @file dataStoreLibrary.h
+//! @brief This file contains the internal representation of the library of a
+//! dataStoreInterface.
+//-----------------------------------------------------------------------------
+
+#pragma once
+
+#include <QLibrary>
+
+#include "dataStoreBinding.h"
+
+#include "Interfaces/callbackInterface.h"
+
+namespace SimulationSlave
+{
+
+class DataStoreLibrary
+{
+public:
+ typedef const std::string &(*DataStoreInterface_GetVersion)();
+ typedef DataStoreInterface *(*DataStoreInterface_CreateInstanceType)(
+ const openpass::common::RuntimeInformation* runtimeInformation, CallbackInterface* callbacks);
+ typedef void (*DataStoreInterface_DestroyInstanceType)(DataStoreInterface *implementation);
+
+
+ DataStoreLibrary(const std::string &dataStoreLibraryPath, CallbackInterface *callbacks) :
+ dataStoreLibraryPath(dataStoreLibraryPath),
+ callbacks(callbacks)
+ {
+ }
+
+ DataStoreLibrary(const DataStoreLibrary&) = delete;
+ DataStoreLibrary(DataStoreLibrary&&) = delete;
+ DataStoreLibrary& operator=(const DataStoreLibrary&) = delete;
+ DataStoreLibrary& operator=(DataStoreLibrary&&) = delete;
+
+ //-----------------------------------------------------------------------------
+ //! Destructor, deletes the stored library (unloads it if necessary)
+ //-----------------------------------------------------------------------------
+ virtual ~DataStoreLibrary();
+
+ //-----------------------------------------------------------------------------
+ //! Creates a QLibrary based on the path from the constructor and stores function
+ //! pointer for getting the library version, creating and destroying instances
+ //! and setting the stochasticsInterface item
+ //! (see typedefs for corresponding signatures).
+ //!
+ //! @return true on successful operation, false otherwise
+ //-----------------------------------------------------------------------------
+ bool Init();
+
+ //-----------------------------------------------------------------------------
+ //! Delete the DataStoreInterface and the library
+ //!
+ //! @return Flag if the release was successful
+ //-----------------------------------------------------------------------------
+ bool ReleaseDataStore();
+
+ //-----------------------------------------------------------------------------
+ //! Make sure that the library exists and is loaded, then call the "create instance"
+ //! function pointer, which instantiates a DataStoreInterface. The created Interface
+ //! is stored.
+ //!
+ //! @param[in] runtimeInformation Reference to the simulation slave runtime information
+ //!
+ //! @return DataStoreInterface created
+ //-----------------------------------------------------------------------------
+ DataStoreInterface* CreateDataStore(const openpass::common::RuntimeInformation& runtimeInformation);
+
+private:
+ const std::string DllGetVersionId = "OpenPASS_GetVersion";
+ const std::string DllCreateInstanceId = "OpenPASS_CreateInstance";
+ const std::string DllDestroyInstanceId = "OpenPASS_DestroyInstance";
+
+ const std::string dataStoreLibraryPath;
+ DataStoreInterface* dataStoreInterface = nullptr;
+ QLibrary* library = nullptr;
+ CallbackInterface* callbacks;
+ DataStoreInterface_GetVersion getVersionFunc{nullptr};
+ DataStoreInterface_CreateInstanceType createInstanceFunc{nullptr};
+ DataStoreInterface_DestroyInstanceType destroyInstanceFunc{nullptr};
+};
+
+} // namespace SimulationSlave
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentDataPublisher.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentDataPublisher.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0cf40850b2e1fc0596480c7bd368d2d0b54f0491
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentDataPublisher.cpp
@@ -0,0 +1,27 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#include "agentDataPublisher.h"
+
+#include "../scheduler/timeKeeper.h" //TODO René/Reinhard: this is troublesome
+
+namespace openpass::publisher {
+
+void AgentDataPublisher::Publish(const openpass::datastore::Key &key, const openpass::datastore::Value &value)
+{
+ dataStore->PutCyclic(openpass::scheduling::TimeKeeper::Now(), agentId, key, value);
+}
+
+void AgentDataPublisher::Publish(const openpass::datastore::Key &key, const openpass::datastore::ComponentEvent &event)
+{
+ dataStore->PutAcyclic(openpass::scheduling::TimeKeeper::Now(), agentId, key, Acyclic(key, agentId, event.parameter));
+}
+
+} // namespace openpass::publisher
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentDataPublisher.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentDataPublisher.h
new file mode 100644
index 0000000000000000000000000000000000000000..d15af771669c671bd21d0d2004bf25f125c0cc94
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentDataPublisher.h
@@ -0,0 +1,36 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#pragma once
+
+#include "Interfaces/dataStoreInterface.h"
+#include "Interfaces/publisherInterface.h"
+
+namespace openpass::publisher {
+
+///! Interface which has to be provided by observation modules
+class AgentDataPublisher : public PublisherInterface
+{
+public:
+ AgentDataPublisher(DataStoreWriteInterface *const dataStore, const int agentId) :
+ PublisherInterface{dataStore},
+ agentId{agentId}
+ {
+ }
+
+ void Publish(const openpass::datastore::Key &key, const openpass::datastore::Value &value) override;
+
+ void Publish(const openpass::datastore::Key &key, const openpass::datastore::ComponentEvent &event) override;
+
+private:
+ const int agentId;
+};
+
+} // namespace openpass::publisher
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentFactory.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentFactory.cpp
index bd6d7b7380caa8067efa81d667af366f8c532bd6..413214d90160a8a6bfea26fafd3ee10951798207 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentFactory.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentFactory.cpp
@@ -12,20 +12,27 @@
#include <algorithm>
#include <list>
#include <sstream>
+
#include "agent.h"
#include "agentFactory.h"
#include "agentType.h"
#include "channel.h"
#include "channelBuffer.h"
-#include "Interfaces/componentInterface.h"
-#include "CoreFramework/CoreShare/log.h"
+
+#include "agentDataPublisher.h"
#include "modelBinding.h"
-#include "Interfaces/observationNetworkInterface.h"
-#include "CoreFramework/CoreShare/parameters.h"
#include "spawnPoint.h"
#include "stochastics.h"
+
+#include "CoreFramework/CoreShare/log.h"
+#include "CoreFramework/CoreShare/parameters.h"
+#include "Interfaces/componentInterface.h"
+#include "Interfaces/observationNetworkInterface.h"
#include "Interfaces/worldInterface.h"
+
+class DataStoreInterface;
+
namespace SimulationSlave
{
@@ -33,12 +40,14 @@ AgentFactory::AgentFactory(ModelBinding *modelBinding,
WorldInterface *world,
Stochastics *stochastics,
ObservationNetworkInterface *observationNetwork,
- EventNetworkInterface *eventNetwork) :
+ EventNetworkInterface *eventNetwork,
+ DataStoreWriteInterface* dataStore) :
modelBinding(modelBinding),
world(world),
stochastics(stochastics),
observationNetwork(observationNetwork),
- eventNetwork(eventNetwork)
+ eventNetwork(eventNetwork),
+ dataStore(dataStore)
{
}
@@ -50,54 +59,54 @@ void AgentFactory::Clear()
Agent* AgentFactory::AddAgent(AgentBlueprintInterface* agentBlueprint)
{
- Agent *agent = CreateAgent(lastAgentId,
- agentBlueprint);
- if(!agent)
+ auto agent = CreateAgent(lastAgentId, agentBlueprint);
+
+ PublishProperties(*agent);
+
+ if (!agent)
{
LOG_INTERN(LogLevel::Error) << "could not create agent";
return nullptr;
}
- if(!world->AddAgent(lastAgentId, agent->GetAgentAdapter()))
+ if (!world->AddAgent(lastAgentId, agent->GetAgentAdapter()))
{
LOG_INTERN(LogLevel::Error) << "could not add agent to network";
- delete agent;
return nullptr;
}
lastAgentId++;
- agentList.push_back(std::unique_ptr<Agent>(agent));
- return agent;
+ agentList.push_back(std::move(agent));
+
+ return agentList.back().get();
}
-Agent *AgentFactory::CreateAgent(int id,
- AgentBlueprintInterface* agentBlueprint)
+std::unique_ptr<Agent> AgentFactory::CreateAgent(int id, AgentBlueprintInterface* agentBlueprint)
{
LOG_INTERN(LogLevel::DebugCore) << "instantiate agent (id " << id << ")";
- Agent *agent = new (std::nothrow) Agent(id,
- world);
- if(!agent)
+ auto agent = std::make_unique<Agent>(id, world);
+
+ if (!agent)
{
return nullptr;
}
- if(!agent->Instantiate(agentBlueprint,
- modelBinding,
- stochastics,
- observationNetwork,
- eventNetwork))
+ if (!agent->Instantiate(agentBlueprint,
+ modelBinding,
+ stochastics,
+ observationNetwork,
+ eventNetwork,
+ dataStore))
{
LOG_INTERN(LogLevel::Error) << "agent could not be instantiated";
- delete agent;
return nullptr;
}
// link agent internal components
- if(!ConnectAgentLinks(agent))
+ if (!ConnectAgentLinks(agent.get()))
{
LOG_INTERN(LogLevel::Error) << "agent channels could not be created";
- delete agent;
return nullptr;
}
@@ -147,4 +156,55 @@ bool AgentFactory::ConnectAgentLinks(Agent *agent)
return true;
}
+void AgentFactory::PublishProperties(const Agent& agent)
+{
+ const auto adapter = agent.GetAgentAdapter();
+ const std::string keyPrefix = "Agents/" + std::to_string(agent.GetId()) + "/";
+ dataStore->PutStatic(keyPrefix + "AgentTypeGroupName", AgentCategoryStrings[static_cast<int>(adapter->GetAgentCategory())]);
+ dataStore->PutStatic(keyPrefix + "AgentTypeName", adapter->GetAgentTypeName());
+ dataStore->PutStatic(keyPrefix + "VehicleModelType", adapter->GetVehicleModelType());
+ dataStore->PutStatic(keyPrefix + "DriverProfileName", adapter->GetDriverProfileName());
+
+ const auto& vehicleModelParameters = adapter->GetVehicleModelParameters();
+ const double longitudinalPivotOffset = (vehicleModelParameters.length / 2.0) - vehicleModelParameters.distanceReferencePointToLeadingEdge;
+ dataStore->PutStatic(keyPrefix + "Vehicle/Width", vehicleModelParameters.width);
+ dataStore->PutStatic(keyPrefix + "Vehicle/Length", vehicleModelParameters.length);
+ dataStore->PutStatic(keyPrefix + "Vehicle/Height", vehicleModelParameters.height);
+ dataStore->PutStatic(keyPrefix + "Vehicle/LongitudinalPivotOffset", longitudinalPivotOffset);
+
+ for (const auto& sensor : adapter->GetSensorParameters())
+ {
+ const std::string sensorKeyPrefix = keyPrefix + "Vehicle/Sensors/" + std::to_string(sensor.id) + "/";
+ dataStore->PutStatic(sensorKeyPrefix + "Type", sensor.profile.type);
+ dataStore->PutStatic(sensorKeyPrefix + "Mounting/Position/Longitudinal", sensor.position.longitudinal);
+ dataStore->PutStatic(sensorKeyPrefix + "Mounting/Position/Lateral", sensor.position.lateral);
+ dataStore->PutStatic(sensorKeyPrefix + "Mounting/Position/Height", sensor.position.height);
+ dataStore->PutStatic(sensorKeyPrefix + "Mounting/Orientation/Yaw", sensor.position.yaw);
+ dataStore->PutStatic(sensorKeyPrefix + "Mounting/Orientation/Pitch", sensor.position.pitch);
+ dataStore->PutStatic(sensorKeyPrefix + "Mounting/Orientation/Roll", sensor.position.roll);
+
+ const auto& parameters = sensor.profile.parameter;
+
+ if (auto latency = openpass::parameter::Get<double>(parameters, "Latency"))
+ {
+ dataStore->PutStatic(sensorKeyPrefix + "Parameters/Latency", latency.value());
+ }
+
+ if (auto openingAngleH = openpass::parameter::Get<double>(parameters, "OpeningAngleH"))
+ {
+ dataStore->PutStatic(sensorKeyPrefix + "Parameters/OpeningAngleH", openingAngleH.value());
+ }
+
+ if (auto openingAngleV = openpass::parameter::Get<double>(parameters, "OpeningAngleV"))
+ {
+ dataStore->PutStatic(sensorKeyPrefix + "Parameters/OpeningAngleV", openingAngleV.value());
+ }
+
+ if (auto detectionRange = openpass::parameter::Get<double>(parameters, "DetectionRange"))
+ {
+ dataStore->PutStatic(sensorKeyPrefix + "Parameters/Range", detectionRange.value());
+ }
+ }
+}
+
} // namespace SimulationSlave
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentFactory.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentFactory.h
index 71bb47efc62f2faf0c502db15f0afb356bceba6e..47c2d3ef4e9c6bfed3d4bb2ada5f8d019a921f04 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentFactory.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/agentFactory.h
@@ -28,6 +28,8 @@
#include "Interfaces/eventNetworkInterface.h"
#include "Interfaces/worldInterface.h"
+class DataStoreWriteInterface;
+
namespace SimulationSlave
{
class Agent;
@@ -46,8 +48,9 @@ public:
WorldInterface *world,
Stochastics *stochastics,
ObservationNetworkInterface *observationNetwork,
- SimulationSlave::EventNetworkInterface *eventNetwork);
- virtual ~AgentFactory() = default;
+ SimulationSlave::EventNetworkInterface *eventNetwork,
+ DataStoreWriteInterface* dataStore);
+ virtual ~AgentFactory() override = default;
virtual void Clear() override;
virtual Agent *AddAgent(AgentBlueprintInterface* agentBlueprint) override;
@@ -83,17 +86,20 @@ private:
//!
//! @return The created agent
//-----------------------------------------------------------------------------
- Agent* CreateAgent(int id,
- AgentBlueprintInterface* agentBlueprint);
+ std::unique_ptr<Agent> CreateAgent(int id, AgentBlueprintInterface* agentBlueprint);
- int lastAgentId {INITIAL_AGENT_ID};
+ void PublishProperties(const Agent& agent);
+
ModelBinding *modelBinding;
WorldInterface *world;
Stochastics *stochastics;
ObservationNetworkInterface *observationNetwork;
EventNetworkInterface *eventNetwork;
+ DataStoreWriteInterface *dataStore;
std::vector<std::unique_ptr<Agent>> agentList;
+
+ int lastAgentId {INITIAL_AGENT_ID};
};
} // namespace SimulationSlave
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/coreDataPublisher.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/coreDataPublisher.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d945f19df2d9c8e9bccbff4938a5c943602662db
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/coreDataPublisher.cpp
@@ -0,0 +1,22 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#include "coreDataPublisher.h"
+
+#include "scheduler/timeKeeper.h"
+
+namespace openpass::publisher {
+
+void CoreDataPublisher::Publish(const openpass::narrator::EventBase &event)
+{
+ dataStore->PutAcyclic(openpass::scheduling::TimeKeeper::Now(), openpass::type::CoreId, event.name, Acyclic(event));
+}
+
+} // namespace openpass::publisher
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/coreDataPublisher.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/coreDataPublisher.h
new file mode 100644
index 0000000000000000000000000000000000000000..c38712bc29af9d7651bc87a800c36e2b2950f6d5
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/coreDataPublisher.h
@@ -0,0 +1,30 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#pragma once
+
+#include "Interfaces/publisherInterface.h"
+#include "framework/eventNetworkDataPublisher.h"
+
+namespace openpass::publisher {
+
+///! Interface which has to be provided by observation modules
+class CoreDataPublisher : public PublisherInterface
+{
+public:
+ CoreDataPublisher(DataStoreWriteInterface *const dataStore) :
+ PublisherInterface(dataStore)
+ {
+ }
+
+ void Publish(const openpass::narrator::EventBase &event) override;
+};
+
+} // namespace openpass::publisher
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetwork.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetwork.cpp
index e6191e599f9739f68d2c95ee5e9dfd2fef26d820..991ab6294c1d79fdcebcfb5e9c2ef034db29bd12 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetwork.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetwork.cpp
@@ -18,7 +18,7 @@ using namespace EventDefinitions;
namespace SimulationSlave {
-Events* EventNetwork::GetActiveEvents()
+Events *EventNetwork::GetActiveEvents()
{
return &activeEvents;
}
@@ -31,7 +31,7 @@ Events *EventNetwork::GetArchivedEvents()
EventContainer EventNetwork::GetActiveEventCategory(const EventCategory eventCategory)
{
auto iterator = activeEvents.find(eventCategory);
- if(iterator == activeEvents.end())
+ if (iterator == activeEvents.end())
{
return {};
}
@@ -43,28 +43,57 @@ EventContainer EventNetwork::GetActiveEventCategory(const EventCategory eventCat
void EventNetwork::RemoveOldEvents(int time)
{
- for(Events::iterator iterator = archivedEvents.begin(); iterator != archivedEvents.end(); iterator++)
+ for (Events::iterator iterator = archivedEvents.begin(); iterator != archivedEvents.end(); iterator++)
{
- while((*iterator).second.front()->GetEventTime() < time)
+ while ((*iterator).second.front()->GetEventTime() < time)
{
(*iterator).second.pop_front();
}
}
}
+// This glue logic is only an intermediate state, as we intend to remove EventInterface in the future
+void EventNetwork::Log(const std::shared_ptr<EventInterface> &event)
+{
+ openpass::narrator::Event narratorEvent(EventDefinitions::helper::GetAsString(event->GetCategory())); // USE THAT IN THE FUTURE INSTEAD OF EVENTINTERFACE
+
+ // TODO: Named type issue (assigment missing)
+ for (auto agent : event->GetTriggeringAgents())
+ {
+ narratorEvent.triggeringEntities.entities.push_back(agent);
+ }
+
+ // TODO: Named type issue (assigment missing)
+ for (auto agent : event->GetActingAgents())
+ {
+ narratorEvent.affectedEntities.entities.push_back(agent);
+ }
+
+ narratorEvent.parameter = event->GetParameter();
+
+ publisher.Publish(narratorEvent);
+}
+
void EventNetwork::InsertEvent(std::shared_ptr<EventInterface> event)
{
event->SetId(eventId);
eventId++;
activeEvents[event->GetCategory()].push_back(event);
+
+ // This filter is currently necessary, as manipulators fire events too (which shall not be logged anymore)
+ if (event->GetCategory() == EventDefinitions::EventCategory::OpenSCENARIO ||
+ event->GetCategory() == EventDefinitions::EventCategory::OpenPASS)
+ {
+ Log(event);
+ }
}
void EventNetwork::ClearActiveEvents()
{
- for(std::pair<EventCategory, std::list<std::shared_ptr<EventInterface>>> eventMapEntry : activeEvents)
+ for (std::pair<EventCategory, std::list<std::shared_ptr<EventInterface>>> eventMapEntry : activeEvents)
{
- if(archivedEvents.find(eventMapEntry.first) != archivedEvents.end())
+ if (archivedEvents.find(eventMapEntry.first) != archivedEvents.end())
{
std::list<std::shared_ptr<EventInterface>> *eventList = &(archivedEvents.at(eventMapEntry.first));
eventList->insert(eventList->end(), eventMapEntry.second.begin(), eventMapEntry.second.end());
@@ -90,7 +119,7 @@ void EventNetwork::Clear()
void EventNetwork::AddCollision(const int agentId)
{
- if(runResult != nullptr)
+ if (runResult != nullptr)
{
runResult->AddCollisionId(agentId);
}
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetwork.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetwork.h
index 6906361a8b84ae6611e8780f74901f98ab879afa..be2b640305e0a568ba6329c84215c1e16871872a 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetwork.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetwork.h
@@ -25,18 +25,17 @@
#include <map>
#include <vector>
-#include "Common/conditionalEvent.h"
-#include "Common/componentStateChangeEvent.h"
-#include "Common/componentWarningEvent.h"
#include "Common/collisionEvent.h"
+#include "Common/componentStateChangeEvent.h"
+#include "Common/conditionalEvent.h"
#include "Common/laneChangeEvent.h"
#include "Common/vehicleComponentEvent.h"
#include "Interfaces/eventNetworkInterface.h"
#include "Interfaces/runResultInterface.h"
#include "Interfaces/worldInterface.h"
+#include "eventNetworkDataPublisher.h"
-namespace SimulationSlave
-{
+namespace SimulationSlave {
using namespace EventDefinitions;
//-----------------------------------------------------------------------------
@@ -44,32 +43,34 @@ using namespace EventDefinitions;
*
* \ingroup EventNetwork */
//-----------------------------------------------------------------------------
-class EventNetwork : public EventNetworkInterface
+class EventNetwork final : public EventNetworkInterface
{
public:
- EventNetwork() = default;
- virtual ~EventNetwork() override = default;
+ EventNetwork(DataStoreWriteInterface *const dataStore) :
+ publisher{dataStore}
+ {
+ }
/*!
* \brief Returns the activeEvents.
*
* @return Map of activ events.
*/
- virtual Events *GetActiveEvents();
+ virtual Events *GetActiveEvents() override;
/*!
* \brief Returns the archivedEvents.
*
* @return Map of archived events.
*/
- virtual Events *GetArchivedEvents();
+ virtual Events *GetArchivedEvents() override;
/*!
* \brief Returns the active events of a specific category.
*
* @return List of active events.
*/
- virtual EventContainer GetActiveEventCategory(const EventCategory eventCategory);
+ virtual EventContainer GetActiveEventCategory(const EventCategory eventCategory) override;
/*!
* \brief Removes archived events which are older than a certain time stamp.
@@ -79,7 +80,7 @@ public:
*
* @param[in] time Time stamp.
*/
- virtual void RemoveOldEvents(int time);
+ virtual void RemoveOldEvents(int time) override;
/*!
* \brief Inserts an event into the activeEvents.
@@ -89,7 +90,7 @@ public:
*
* @param[in] event Shared pointer of the event.
*/
- virtual void InsertEvent(std::shared_ptr<EventInterface> event);
+ virtual void InsertEvent(std::shared_ptr<EventInterface> event) override;
/*!
* \brief Empties the active events map and stores them as archived events.
@@ -97,12 +98,12 @@ public:
* \details Empties the current active events and inserts them into the archived events.
* This method gets called once per cycle time.
*/
- virtual void ClearActiveEvents();
+ virtual void ClearActiveEvents() override;
/*!
* \brief Clears the event maps and resets pointers.
*/
- virtual void Clear();
+ virtual void Clear() override;
/*!
* \brief Adds a collision id to the RunResult
@@ -112,7 +113,7 @@ public:
*
* @param[in] agentId Id of the collision agent
*/
- virtual void AddCollision(const int agentId);
+ virtual void AddCollision(const int agentId) override;
/*!
* \brief Initalizes the EventNetwork
@@ -122,15 +123,22 @@ public:
*
* @param[in] runResult Pointer to the runResult.
*/
- void Initialize(RunResultInterface *runResult);
+ virtual void Initialize(RunResultInterface *runResult) override;
+
+ /*!
+ * \brief Publishes the event for logging
+ * \param[in] event
+ */
+ void Log(const std::shared_ptr<EventInterface> &event);
private:
+ openpass::publisher::EventNetworkDataPublisher publisher;
+
Events activeEvents;
Events archivedEvents;
- RunResultInterface *runResult {nullptr};
+ RunResultInterface *runResult{nullptr};
- int eventId {0};
+ int eventId{0};
};
} //namespace SimulationSlave
-
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetworkDataPublisher.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetworkDataPublisher.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9b1095e7263a07d4b5dc442d5d6f28a7a1aa98ee
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetworkDataPublisher.cpp
@@ -0,0 +1,22 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#include "eventNetworkDataPublisher.h"
+
+#include "scheduler/timeKeeper.h"
+
+namespace openpass::publisher {
+
+void EventNetworkDataPublisher::Publish(const openpass::narrator::EventBase &event)
+{
+ dataStore->PutAcyclic(openpass::scheduling::TimeKeeper::Now(), openpass::type::CoreId, event.name, Acyclic(event));
+}
+
+} // namespace openpass::publisher
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetworkDataPublisher.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetworkDataPublisher.h
new file mode 100644
index 0000000000000000000000000000000000000000..847102ed3ce76b87601d1cb8ec6e642f2d66d02e
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/eventNetworkDataPublisher.h
@@ -0,0 +1,52 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#pragma once
+
+#include "Interfaces/publisherInterface.h"
+
+namespace openpass::narrator {
+
+class Event : public EventBase
+{
+public:
+ Event(std::string name) :
+ EventBase(std::move(name))
+ {
+ }
+
+ explicit operator Acyclic() const noexcept override
+ {
+ return Acyclic(name, triggeringEntities, affectedEntities, parameter);
+ }
+
+ // Events shall have it's own specialized members (e.g. TrajectoryFile for TrajectoryEvents)
+ // Once we need it as acyclic, we convert it properly
+ // Right now, this is not possible, as we internally use the "old" EventInterface
+ [[deprecated("will be replaced by specializations of the type")]] openpass::datastore::Parameter parameter;
+};
+
+} // namespace openpass::narrator
+
+namespace openpass::publisher {
+
+///! Interface which has to be provided by observation modules
+class EventNetworkDataPublisher : public PublisherInterface
+{
+public:
+ EventNetworkDataPublisher(DataStoreWriteInterface *const dataStore) :
+ PublisherInterface(dataStore)
+ {
+ }
+
+ void Publish(const openpass::narrator::EventBase &event) override;
+};
+
+} // namespace openpass::publisher
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/frameworkModuleContainer.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/frameworkModuleContainer.cpp
index ed42be03ccbf024cef8a04f4797024906cfe92f0..5593637c1e05468ffb0183d09886764c6597c419 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/frameworkModuleContainer.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/frameworkModuleContainer.cpp
@@ -8,82 +8,91 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
-#include "frameworkModules.h"
#include "frameworkModuleContainer.h"
+#include "frameworkModules.h"
+
namespace SimulationSlave {
FrameworkModuleContainer::FrameworkModuleContainer(
FrameworkModules frameworkModules,
- ConfigurationContainerInterface* configurationContainer,
- const openpass::common::RuntimeInformation& runtimeInformation,
- CallbackInterface* callbacks) :
- stochasticsBinding(callbacks),
- stochastics(&stochasticsBinding),
- worldBinding(frameworkModules.worldLibrary, callbacks, &stochastics),
- world(&worldBinding),
- observationNetwork(&observationBindings),
- eventDetectorBinding(callbacks),
- eventDetectorNetwork(&eventDetectorBinding, &world),
- manipulatorBinding(callbacks),
- manipulatorNetwork(&manipulatorBinding, &world),
- modelBinding(frameworkModules.libraryDir, runtimeInformation, callbacks),
- agentFactory(&modelBinding, &world, &stochastics, &observationNetwork, &eventNetwork),
- agentBlueprintProvider(configurationContainer, stochastics),
- eventNetwork(),
- spawnPointNetwork(&spawnPointBindings, &world, runtimeInformation)
+ ConfigurationContainerInterface *configurationContainer,
+ const openpass::common::RuntimeInformation &runtimeInformation,
+ CallbackInterface *callbacks) :
+ dataStoreBinding(frameworkModules.dataStoreLibrary, runtimeInformation, callbacks),
+ dataStore(&dataStoreBinding),
+ stochasticsBinding(callbacks),
+ stochastics(&stochasticsBinding),
+ worldBinding(frameworkModules.worldLibrary, callbacks, &stochastics),
+ world(&worldBinding),
+ observationNetwork(&observationBindings),
+ eventDetectorBinding(callbacks),
+ eventDetectorNetwork(&eventDetectorBinding, &world),
+ manipulatorBinding(callbacks),
+ manipulatorNetwork(&manipulatorBinding, &world),
+ modelBinding(frameworkModules.libraryDir, runtimeInformation, callbacks),
+ agentFactory(&modelBinding, &world, &stochastics, &observationNetwork, &eventNetwork, &dataStore),
+ agentBlueprintProvider(configurationContainer, stochastics),
+ eventNetwork(&dataStore),
+ spawnPointNetwork(&spawnPointBindings, &world, runtimeInformation)
{
- for(const auto& libraryInfo : frameworkModules.spawnPointLibraries)
+ for (const auto &libraryInfo : frameworkModules.spawnPointLibraries)
{
spawnPointBindings.emplace(libraryInfo.libraryName, SpawnPointBinding(callbacks));
}
- for(const auto& libraryInfo : frameworkModules.observationLibraries)
+
+ for (const auto& libraryInfo : frameworkModules.observationLibraries)
{
observationBindings.emplace(libraryInfo.libraryName, ObservationBinding(runtimeInformation, callbacks));
}
}
-AgentFactoryInterface* FrameworkModuleContainer::GetAgentFactory()
+AgentBlueprintProviderInterface *FrameworkModuleContainer::GetAgentBlueprintProvider()
+{
+ return &agentBlueprintProvider;
+}
+
+AgentFactoryInterface *FrameworkModuleContainer::GetAgentFactory()
{
return &agentFactory;
}
-AgentBlueprintProviderInterface* FrameworkModuleContainer::GetAgentBlueprintProvider()
+DataStoreInterface *FrameworkModuleContainer::GetDataStore()
{
- return &agentBlueprintProvider;
+ return &dataStore;
}
-EventDetectorNetworkInterface* FrameworkModuleContainer::GetEventDetectorNetwork()
+EventDetectorNetworkInterface *FrameworkModuleContainer::GetEventDetectorNetwork()
{
return &eventDetectorNetwork;
}
-EventNetworkInterface* FrameworkModuleContainer::GetEventNetwork()
+EventNetworkInterface *FrameworkModuleContainer::GetEventNetwork()
{
return &eventNetwork;
}
-ManipulatorNetworkInterface* FrameworkModuleContainer::GetManipulatorNetwork()
+ManipulatorNetworkInterface *FrameworkModuleContainer::GetManipulatorNetwork()
{
return &manipulatorNetwork;
}
-ObservationNetworkInterface* FrameworkModuleContainer::GetObservationNetwork()
+ObservationNetworkInterface *FrameworkModuleContainer::GetObservationNetwork()
{
return &observationNetwork;
}
-SpawnPointNetworkInterface* FrameworkModuleContainer::GetSpawnPointNetwork()
+SpawnPointNetworkInterface *FrameworkModuleContainer::GetSpawnPointNetwork()
{
return &spawnPointNetwork;
}
-StochasticsInterface* FrameworkModuleContainer::GetStochastics()
+StochasticsInterface *FrameworkModuleContainer::GetStochastics()
{
return &stochastics;
}
-WorldInterface* FrameworkModuleContainer::GetWorld()
+WorldInterface *FrameworkModuleContainer::GetWorld()
{
return &world;
}
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/frameworkModuleContainer.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/frameworkModuleContainer.h
index b50b24b02ea56870de8029ef25d4e8fe1f6e8e53..bcae28bbc69c5dcd13be27cd33ce0af8b9a738d6 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/frameworkModuleContainer.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/frameworkModuleContainer.h
@@ -16,11 +16,13 @@
#pragma once
-#include "worldInterface/world.h"
+#include "Interfaces/agentBlueprintInterface.h"
+#include "Interfaces/configurationContainerInterface.h"
#include "Interfaces/frameworkModuleContainerInterface.h"
-
-#include "agentFactory.h"
#include "agentBlueprintProvider.h"
+#include "agentFactory.h"
+#include "dataStore.h"
+#include "dataStoreInterface/dataStoreBinding.h"
#include "directories.h"
#include "eventDetectorInterface/eventDetectorBinding.h"
#include "eventDetectorNetwork.h"
@@ -35,53 +37,40 @@
#include "spawnPointNetwork.h"
#include "stochasticsInterface/stochastics.h"
#include "stochasticsInterface/stochasticsBinding.h"
-
-#include "Interfaces/agentBlueprintInterface.h"
-#include "Interfaces/configurationContainerInterface.h"
+#include "worldInterface/world.h"
namespace SimulationSlave {
-//-----------------------------------------------------------------------------
-/** \brief This class instantiates and stores all core framework modules
-* \details
-*/
-//-----------------------------------------------------------------------------
-class FrameworkModuleContainer : public FrameworkModuleContainerInterface
+class FrameworkModuleContainer final : public FrameworkModuleContainerInterface
{
public:
FrameworkModuleContainer(FrameworkModules frameworkModules,
- ConfigurationContainerInterface* configurationContainer,
- const openpass::common::RuntimeInformation& runtimeInformation,
- CallbackInterface* callbacks);
-
- virtual ~FrameworkModuleContainer() override = default;
-
- AgentFactoryInterface* GetAgentFactory() override;
-
- EventDetectorNetworkInterface* GetEventDetectorNetwork() override;
-
- EventNetworkInterface* GetEventNetwork() override;
-
- ManipulatorNetworkInterface* GetManipulatorNetwork() override;
-
- ObservationNetworkInterface* GetObservationNetwork() override;
-
- SpawnPointNetworkInterface* GetSpawnPointNetwork() override;
-
- StochasticsInterface* GetStochastics() override;
-
- WorldInterface* GetWorld() override;
-
- AgentBlueprintProviderInterface* GetAgentBlueprintProvider() override;
+ ConfigurationContainerInterface *configurationContainer,
+ const openpass::common::RuntimeInformation &runtimeInformation,
+ CallbackInterface *callbacks);
+
+ AgentBlueprintProviderInterface *GetAgentBlueprintProvider() override;
+ AgentFactoryInterface *GetAgentFactory() override;
+ DataStoreInterface *GetDataStore() override;
+ EventDetectorNetworkInterface *GetEventDetectorNetwork() override;
+ EventNetworkInterface *GetEventNetwork() override;
+ ManipulatorNetworkInterface *GetManipulatorNetwork() override;
+ ObservationNetworkInterface *GetObservationNetwork() override;
+ SpawnPointNetworkInterface *GetSpawnPointNetwork() override;
+ StochasticsInterface *GetStochastics() override;
+ WorldInterface *GetWorld() override;
private:
+ DataStoreBinding dataStoreBinding;
+ DataStore dataStore;
+
StochasticsBinding stochasticsBinding;
Stochastics stochastics;
WorldBinding worldBinding;
World world;
- std::map<std::string, ObservationBinding> observationBindings {};
+ std::map<std::string, ObservationBinding> observationBindings;
ObservationNetwork observationNetwork;
EventDetectorBinding eventDetectorBinding;
@@ -98,7 +87,7 @@ private:
EventNetwork eventNetwork;
- std::map<std::string, SpawnPointBinding> spawnPointBindings {};
+ std::map<std::string, SpawnPointBinding> spawnPointBindings;
SpawnPointNetwork spawnPointNetwork;
};
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/main.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/main.cpp
index 36e4afcdc197eb329f3d83b90ed4de3f42f2c205..9c66427c936223f734240cf277dfb0035257785e 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/main.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/main.cpp
@@ -111,6 +111,7 @@ int main(int argc, char* argv[])
{
parsedArguments.logLevel,
directories.libraryDir,
+ libraries.at("DataStoreLibrary"),
libraries.at("EventDetectorLibrary"),
libraries.at("ManipulatorLibrary"),
configurationContainer.GetSlaveConfig()->GetObservationConfig(),
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/observationNetwork.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/observationNetwork.cpp
index 78da753fc15459a71335a3cbcb9984341987db6a..cc1a946ea439754ff11dafd0b5108c2c33cac7c4 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/observationNetwork.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/observationNetwork.cpp
@@ -42,7 +42,8 @@ bool ObservationNetwork::Instantiate(const ObservationInstanceCollection& observ
StochasticsInterface* stochastics,
WorldInterface* world,
EventNetworkInterface* eventNetwork,
- const std::string& sceneryPath)
+ const std::string& sceneryPath,
+ DataStoreReadInterface* dataStore)
{
for (auto& observationInstance : observationInstances)
{
@@ -57,13 +58,13 @@ bool ObservationNetwork::Instantiate(const ObservationInstanceCollection& observ
auto& binding = bindingIter->second;
openpass::parameter::ParameterSetLevel1 parameters{observationInstance.parameters};
- parameters.push_back({"SceneryFile", sceneryPath}); //Hotfix until sceneryPath is observable
auto module = binding.Instantiate(observationInstance.libraryName,
parameters,
stochastics,
world,
- eventNetwork);
+ eventNetwork,
+ dataStore);
modules.insert({observationInstance.id, module});
}
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/observationNetwork.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/observationNetwork.h
index d247615fc984078248b1c40919eccba46287cbdb..40f1503bfd1f54f8fe35bb867745d89336ff4a44 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/observationNetwork.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/observationNetwork.h
@@ -46,7 +46,8 @@ public:
StochasticsInterface* stochastics,
WorldInterface* world,
EventNetworkInterface* eventNetwork,
- const std::string& sceneryPath) override;
+ const std::string& sceneryPath,
+ DataStoreReadInterface* dataStore) override;
virtual const std::map<int, ObservationModule*>& GetObservationModules() override;
virtual bool InitAll() override;
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/runInstantiator.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/runInstantiator.cpp
index e3655b50fd27cf6daa26380134c6b87b053dea27..e7a7371bf69bdc9ceb29a8814de92b9c5bfa5d69 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/runInstantiator.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/runInstantiator.cpp
@@ -9,23 +9,25 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
+#include "runInstantiator.h"
+
#include <functional>
#include <sstream>
-#include "agentFactory.h"
+#include "CoreFramework/CoreShare/log.h"
#include "Interfaces/agentBlueprintProviderInterface.h"
+#include "Interfaces/observationNetworkInterface.h"
+#include "agentFactory.h"
#include "agentType.h"
#include "channel.h"
#include "component.h"
-#include "CoreFramework/CoreShare/log.h"
-#include "Interfaces/observationNetworkInterface.h"
+#include "dataStore.h"
#include "observationModule.h"
-#include "runInstantiator.h"
+#include "parameters.h"
#include "runResult.h"
#include "scheduler.h"
#include "spawnPointNetwork.h"
#include "stochastics.h"
-#include "parameters.h"
#include "parameterbuilder.h"
#include "sampler.h"
@@ -35,53 +37,64 @@ namespace SimulationSlave {
bool RunInstantiator::ExecuteRun()
{
- LOG_INTERN(LogLevel::DebugCore) << std::endl << "### execute run ###";
+ LOG_INTERN(LogLevel::DebugCore) << std::endl
+ << "### execute run ###";
stopMutex.lock();
stopped = false;
stopMutex.unlock();
- auto& scenario = *configurationContainer.GetScenario();
- auto& scenery = *configurationContainer.GetScenery();
- auto& slaveConfig = *configurationContainer.GetSlaveConfig();
- auto& experimentConfig = slaveConfig.GetExperimentConfig();
- auto& environmentConfig = slaveConfig.GetEnvironmentConfig();
+ auto &scenario = *configurationContainer.GetScenario();
+ auto &scenery = *configurationContainer.GetScenery();
+ auto &slaveConfig = *configurationContainer.GetSlaveConfig();
+ auto &experimentConfig = slaveConfig.GetExperimentConfig();
+ auto &environmentConfig = slaveConfig.GetEnvironmentConfig();
if (!InitPreRun(scenario, scenery))
{
- LOG_INTERN(LogLevel::DebugCore) << std::endl << "### initialization failed ###";
+ LOG_INTERN(LogLevel::DebugCore) << std::endl
+ << "### initialization failed ###";
return false;
}
- Scheduler scheduler(world, spawnPointNetwork, eventDetectorNetwork, manipulatorNetwork, observationNetwork);
- bool scheduler_state { false };
+ dataStore.PutStatic("SceneryFile", scenario.GetSceneryPath(), true);
+ ThrowIfFalse(observationNetwork.InitAll(), "Failed to initialize ObservationNetwork");
+
+ openpass::scheduling::Scheduler scheduler(world, spawnPointNetwork, eventDetectorNetwork, manipulatorNetwork, observationNetwork);
+ bool scheduler_state{false};
for (auto invocation = 0; invocation < experimentConfig.numberOfInvocations; invocation++)
{
RunResult runResult;
- LOG_INTERN(LogLevel::DebugCore) << std::endl << "### run number: " << invocation << " ###";
+ LOG_INTERN(LogLevel::DebugCore) << std::endl
+ << "### run number: " << invocation << " ###";
auto seed = static_cast<std::uint32_t>(experimentConfig.randomSeed + invocation);
if (!InitRun(seed, environmentConfig, runResult))
{
- LOG_INTERN(LogLevel::DebugCore) << std::endl << "### run initialization failed ###";
+ LOG_INTERN(LogLevel::DebugCore) << std::endl
+ << "### run initialization failed ###";
break;
}
- LOG_INTERN(LogLevel::DebugCore) << std::endl << "### run started ###";
+ LOG_INTERN(LogLevel::DebugCore) << std::endl
+ << "### run started ###";
scheduler_state = scheduler.Run(0, scenario.GetEndTime(), runResult, eventNetwork);
- if (scheduler_state == Scheduler::FAILURE)
+ if (scheduler_state == openpass::scheduling::Scheduler::FAILURE)
{
- LOG_INTERN(LogLevel::DebugCore) << std::endl << "### run aborted ###";
+ LOG_INTERN(LogLevel::DebugCore) << std::endl
+ << "### run aborted ###";
break;
}
- LOG_INTERN(LogLevel::DebugCore) << std::endl << "### run successful ###";
+ LOG_INTERN(LogLevel::DebugCore) << std::endl
+ << "### run successful ###";
observationNetwork.FinalizeRun(runResult);
ClearRun();
}
- LOG_INTERN(LogLevel::DebugCore) << std::endl << "### end of all runs ###";
+ LOG_INTERN(LogLevel::DebugCore) << std::endl
+ << "### end of all runs ###";
bool observations_state = observationNetwork.FinalizeAll();
return (scheduler_state && observations_state);
@@ -95,18 +108,22 @@ bool RunInstantiator::InitPreRun(ScenarioInterface& scenario, SceneryInterface&
world.CreateScenery(&scenery);
return true;
}
- catch(const std::exception& error)
+ catch (const std::exception &error)
{
- LOG_INTERN(LogLevel::Error) << std::endl << "### could not init: " << error.what() << "###";
+ LOG_INTERN(LogLevel::Error) << std::endl
+ << "### could not init: " << error.what() << "###";
return false;
}
- LOG_INTERN(LogLevel::Error) << std::endl << "### exception caught, which is not of type std::exception! ###";
+ LOG_INTERN(LogLevel::Error) << std::endl
+ << "### exception caught, which is not of type std::exception! ###";
return false;
}
void RunInstantiator::InitializeFrameworkModules(ScenarioInterface& scenario)
{
+ ThrowIfFalse(dataStore.Instantiate(),
+ "Failed to instantiate DataStore");
ThrowIfFalse(stochastics.Instantiate(frameworkModules.stochasticsLibrary),
"Failed to instantiate Stochastics");
ThrowIfFalse(world.Instantiate(),
@@ -115,10 +132,8 @@ void RunInstantiator::InitializeFrameworkModules(ScenarioInterface& scenario)
"Failed to instantiate EventDetectorNetwork");
ThrowIfFalse(manipulatorNetwork.Instantiate(frameworkModules.manipulatorLibrary, &scenario, &eventNetwork),
"Failed to instantiate ManipulatorNetwork");
- ThrowIfFalse(observationNetwork.Instantiate(frameworkModules.observationLibraries, &stochastics, &world, &eventNetwork, scenario.GetSceneryPath()),
+ ThrowIfFalse(observationNetwork.Instantiate(frameworkModules.observationLibraries, &stochastics, &world, &eventNetwork, scenario.GetSceneryPath(), &dataStore),
"Failed to instantiate ObservationNetwork");
- ThrowIfFalse(observationNetwork.InitAll(),
- "Failed to initialize ObservationNetwork");
}
void RunInstantiator::InitializeSpawnPointNetwork()
@@ -127,11 +142,12 @@ void RunInstantiator::InitializeSpawnPointNetwork()
bool existingSpawnProfiles = profileGroups.find(SPAWNER) != profileGroups.end();
ThrowIfFalse(spawnPointNetwork.Instantiate(frameworkModules.spawnPointLibraries,
- &agentFactory,
- &agentBlueprintProvider,
- &stochastics,
- configurationContainer.GetScenario(),
- existingSpawnProfiles ? std::make_optional(profileGroups.at(SPAWNER)) : std::nullopt), "Failed to instantiate SpawnPointNetwork");
+ &agentFactory,
+ &agentBlueprintProvider,
+ &stochastics,
+ configurationContainer.GetScenario(),
+ existingSpawnProfiles ? std::make_optional(profileGroups.at(SPAWNER)) : std::nullopt),
+ "Failed to instantiate SpawnPointNetwork");
}
std::unique_ptr<ParameterInterface> RunInstantiator::SampleWorldParameters(const EnvironmentConfig& environmentConfig, StochasticsInterface* stochastics, const openpass::common::RuntimeInformation& runtimeInformation)
@@ -144,8 +160,7 @@ std::unique_ptr<ParameterInterface> RunInstantiator::SampleWorldParameters(const
{ "Weather", Sampler::Sample(environmentConfig.weathers, stochastics) }}
);
}
-
-bool RunInstantiator::InitRun(std::uint32_t seed, const EnvironmentConfig& environmentConfig, RunResult& runResult)
+bool RunInstantiator::InitRun(std::uint32_t seed, const EnvironmentConfig &environmentConfig, RunResult &runResult)
{
try
{
@@ -160,13 +175,15 @@ bool RunInstantiator::InitRun(std::uint32_t seed, const EnvironmentConfig& envir
eventNetwork.Initialize(&runResult);
return true;
}
- catch(const std::exception& error)
+ catch (const std::exception &error)
{
- LOG_INTERN(LogLevel::Error) << std::endl << "### could not init run: " << error.what() << "###";
+ LOG_INTERN(LogLevel::Error) << std::endl
+ << "### could not init run: " << error.what() << "###";
return false;
}
- LOG_INTERN(LogLevel::Error) << std::endl << "### exception caught, which is not of type std::exception! ###";
+ LOG_INTERN(LogLevel::Error) << std::endl
+ << "### exception caught, which is not of type std::exception! ###";
return false;
}
@@ -177,6 +194,7 @@ void RunInstantiator::ClearRun()
spawnPointNetwork.Clear();
eventNetwork.Clear();
eventDetectorNetwork.ResetAll();
+ dataStore.Clear();
}
} // namespace SimulationSlave
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/runInstantiator.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/runInstantiator.h
index 70d0b47a75b9d3ecaf5eee6b67df7cb0125d8455..fc5ce093e4b177f6f1d4cb391e5b97020c7e87f2 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/runInstantiator.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/framework/runInstantiator.h
@@ -16,15 +16,19 @@
#pragma once
-#include <string>
-#include <map>
#include <QMutex>
+
+#include <map>
+#include <string>
+
#include "frameworkModules.h"
+
#include "Interfaces/agentFactoryInterface.h"
#include "Interfaces/configurationContainerInterface.h"
-#include "Interfaces/parameterInterface.h"
+#include "Interfaces/dataStoreInterface.h"
#include "Interfaces/frameworkModuleContainerInterface.h"
#include "Interfaces/observationNetworkInterface.h"
+#include "Interfaces/parameterInterface.h"
#include "Interfaces/stochasticsInterface.h"
namespace SimulationSlave {
@@ -45,6 +49,7 @@ public:
stochastics(*frameworkModuleContainer.GetStochastics()),
eventDetectorNetwork(*frameworkModuleContainer.GetEventDetectorNetwork()),
manipulatorNetwork(*frameworkModuleContainer.GetManipulatorNetwork()),
+ dataStore(*frameworkModuleContainer.GetDataStore()),
frameworkModules{frameworkModules}
{}
@@ -100,11 +105,10 @@ private:
StochasticsInterface& stochastics;
EventDetectorNetworkInterface& eventDetectorNetwork;
ManipulatorNetworkInterface& manipulatorNetwork;
+ DataStoreInterface& dataStore;
FrameworkModules& frameworkModules;
- std::unique_ptr<ParameterInterface> worldParameter {nullptr};
+ std::unique_ptr<ParameterInterface> worldParameter;
};
} // namespace SimulationSlave
-
-
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/eventDetectorImporter.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/eventDetectorImporter.cpp
index d2716458804ad608262cecc9e8c35049f1911ab7..85ebdadcbe98da70efeaac88378cd0a917022b03 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/eventDetectorImporter.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/eventDetectorImporter.cpp
@@ -16,39 +16,39 @@ namespace ATTRIBUTE = openpass::importer::xml::eventDetectorImporter::attribute;
namespace Importer
{
- openScenario::ConditionalEventDetectorInformation EventDetectorImporter::ImportEventDetector(QDomElement& eventElement,
- const std::string& eventName,
- const int numberOfExecutions,
- const openScenario::ActorInformation& actorInformation,
- const std::vector<ScenarioEntity>& entities,
- openScenario::Parameters& parameters)
- {
- QDomElement startConditionsElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(eventElement, TAG::startConditions, startConditionsElement),
- eventElement, "Tag " + std::string(TAG::startConditions) + " missing.");
+openScenario::ConditionalEventDetectorInformation EventDetectorImporter::ImportEventDetector(QDomElement &eventElement,
+ const std::string &eventName,
+ const int numberOfExecutions,
+ const openScenario::ActorInformation &actorInformation,
+ const std::vector<ScenarioEntity> &entities,
+ openScenario::Parameters& parameters)
+{
+ QDomElement startConditionsElement;
+ ThrowIfFalse(SimulationCommon::GetFirstChildElement(eventElement, TAG::startConditions, startConditionsElement),
+ eventElement, "Tag " + std::string(TAG::startConditions) + " missing.");
- QDomElement conditionGroupElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(startConditionsElement, TAG::conditionGroup, conditionGroupElement),
- startConditionsElement, "Tag " + std::string(TAG::conditionGroup) + " missing.");
+ QDomElement conditionGroupElement;
+ ThrowIfFalse(SimulationCommon::GetFirstChildElement(startConditionsElement, TAG::conditionGroup, conditionGroupElement),
+ startConditionsElement, "Tag " + std::string(TAG::conditionGroup) + " missing.");
- QDomElement conditionElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(conditionGroupElement, TAG::condition, conditionElement),
- conditionGroupElement, "Tag " + std::string(TAG::condition) + " missing.");
+ QDomElement conditionElement;
+ ThrowIfFalse(SimulationCommon::GetFirstChildElement(conditionGroupElement, TAG::condition, conditionElement),
+ conditionGroupElement, "Tag " + std::string(TAG::condition) + " missing.");
- openScenario::ConditionCollection conditions{};
+ openScenario::ConditionCollection conditions{};
- while (!conditionElement.isNull())
- {
- conditions.emplace_back(ImportConditionElement(conditionElement, entities, parameters));
- conditionElement = conditionElement.nextSiblingElement(TAG::condition);
- }
-
- return openScenario::ConditionalEventDetectorInformation{actorInformation,
- numberOfExecutions,
- eventName,
- conditions};
+ while (!conditionElement.isNull())
+ {
+ conditions.emplace_back(ImportConditionElement(conditionElement, entities, parameters));
+ conditionElement = conditionElement.nextSiblingElement(TAG::condition);
}
+ return openScenario::ConditionalEventDetectorInformation{actorInformation,
+ numberOfExecutions,
+ eventName,
+ conditions};
+}
+
openScenario::Condition EventDetectorImporter::ImportConditionElement(QDomElement& conditionElement,
const std::vector<ScenarioEntity>& entities,
openScenario::Parameters& parameters)
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/eventDetectorImporter.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/eventDetectorImporter.h
index 8bd7c9161e31aeaa4904db0bff9826dc31936270..5a393b625d8a79fa898352db7b656ac675897c15 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/eventDetectorImporter.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/eventDetectorImporter.h
@@ -1,4 +1,4 @@
-/*******************************************************************************
+/*******************************************************************************
* Copyright (c) 2017, 2019, 2020 in-tech GmbH
*
* This program and the accompanying materials are made
@@ -38,30 +38,30 @@ public:
* \brief ImportEventDetector parses information from an EventElement for
* instantiation of a ConditionalEventDetector.
*
- * \param[in] eventElement the element from which to parse
- * ConditionalEventDetector instantiation
- * information
- * \param[in] eventName the name of the event to which the
- * ConditionalEventDetector will belong
+ * \param[in] eventElement the element from which to parse
+ * ConditionalEventDetector instantiation
+ * information
+ * \param[in] eventName Name of the event used for identification
+ * e.g. "MyStory/MyAct/MySequence/MyManeuver/MyEvent"
* \param[in] numberOfExecutions the maximum number of times the
* ConditionalEventDetector is to emit an
* event
- * \param[in] actorInformation information detailing what entities are the
- * actors to be targeted by the
- * ConditionalEventDetector's emitted events
- * \param[in] entities the entities explicitly defined in the openScenario
- * file's Entities element
+ * \param[in] actorInformation information detailing what entities are the
+ * actors to be targeted by the
+ * ConditionalEventDetector's emitted events
+ * \param[in] entities entities defined in openScenario Entities
*
* \return a struct containing all information relevant for the
* instantiation of a ConditionalEventDetector
* ------------------------------------------------------------------------
*/
- static openScenario::ConditionalEventDetectorInformation ImportEventDetector(QDomElement& eventElement,
+ static openScenario::ConditionalEventDetectorInformation ImportEventDetector(QDomElement &eventElement,
const std::string &eventName,
const int numberOfExecutions,
- const openScenario::ActorInformation& actorInformation,
+ const openScenario::ActorInformation &actorInformation,
const std::vector<ScenarioEntity>& entities,
openScenario::Parameters& parameters);
+
private:
/*!
* \brief Imports a condition element of a OpenSCENARIO storyboard DOM
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/frameworkModules.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/frameworkModules.h
index b777f112868e1761bd1b3fa2cc957d71a70e2f7a..0bc0dc9cbd57bd7c384138279d06142262daf7b9 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/frameworkModules.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/frameworkModules.h
@@ -46,6 +46,7 @@ struct FrameworkModules
public:
FrameworkModules(const int logLevel,
const std::string& libraryDir,
+ const std::string& dataStoreLibrary,
const std::string& eventDetectorLibrary,
const std::string& manipulatorLibrary,
const ObservationInstanceCollection& observationLibraries,
@@ -54,6 +55,7 @@ public:
const SpawnPointLibraryInfoCollection& spawnPointLibraries) :
logLevel{logLevel},
libraryDir{libraryDir},
+ dataStoreLibrary{openpass::core::Directories::Concat(libraryDir, dataStoreLibrary)},
eventDetectorLibrary{openpass::core::Directories::Concat(libraryDir, eventDetectorLibrary)},
manipulatorLibrary{openpass::core::Directories::Concat(libraryDir, manipulatorLibrary)},
observationLibraries{ConcatenateObservationLibraries(libraryDir, observationLibraries)},
@@ -64,6 +66,7 @@ public:
const int logLevel;
const std::string libraryDir;
+ const std::string dataStoreLibrary;
const std::string eventDetectorLibrary;
const std::string manipulatorLibrary;
const ObservationInstanceCollection observationLibraries;
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/importerLoggingHelper.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/importerLoggingHelper.h
index 6c0d9e11f30ea65fd1971725cd7fb540446c0225..f4b3f6d4e7ff8fed71b6486d0ca46e5e2cb6ef12 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/importerLoggingHelper.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/importerLoggingHelper.h
@@ -98,6 +98,7 @@ namespace openpass::importer::xml::parameterImporter::tag
constexpr char Int[] {"Int"};
constexpr char IntVector[] {"IntVector"};
constexpr char String[] {"String"};
+ constexpr char StringVector[] {"StringVector"};
constexpr char NormalDistribution[] {"NormalDistribution"};
constexpr char LogNormalDistribution[] {"LogNormalDistribution"};
@@ -354,33 +355,24 @@ namespace openpass::importer::xml::sceneryImporter::attribute
namespace openpass::importer::xml::slaveConfigImporter::tag
{
- constexpr char agentProfile[] {"AgentProfile"};
- constexpr char environmentConfig[] {"EnvironmentConfig"};
- constexpr char experimentConfig[] {"ExperimentConfig"};
+ constexpr char environment[] {"Environment"};
+ constexpr char experiment[] {"Experiment"};
constexpr char friction[] {"Friction"};
constexpr char frictions[] {"Frictions"};
constexpr char homogenities[] {"Homogenities"};
constexpr char homogenity[] {"Homogenity"};
constexpr char libraries[] {"Libraries"};
constexpr char library[] {"Library"};
- constexpr char loggingGroup[] {"LoggingGroup"};
- constexpr char loggingGroups[] {"LoggingGroups"};
- constexpr char platoonRate[] {"PlatoonRate"};
- constexpr char platoonRates[] {"PlatoonRates"};
+ constexpr char observation[] {"Observation"};
+ constexpr char observations[] {"Observations"};
+ constexpr char parameters[] {"Parameters"};
constexpr char priority[] {"Priority"};
- constexpr char regularLane[] {"RegularLane"};
- constexpr char rightMostLane[] {"RightMostLane"};
- constexpr char scenarioConfig[] {"ScenarioConfig"};
- constexpr char spawnPoint[] {"SpawnPoint"};
+ constexpr char scenario[] {"Scenario"};
+ constexpr char spawner[] {"Spawner"};
+ constexpr char spawners[] {"Spawners"};
constexpr char timeOfDay[] {"TimeOfDay"};
constexpr char timeOfDays[] {"TimeOfDays"};
- constexpr char trafficConfig[] {"TrafficConfig"};
- constexpr char trafficParameter[] {"TrafficParameter"};
- constexpr char trafficVolume[] {"TrafficVolume"};
- constexpr char trafficVolumes[] {"TrafficVolumes"};
constexpr char type[] {"Type"};
- constexpr char velocities[] {"Velocities"};
- constexpr char velocity[] {"Velocity"};
constexpr char visibilityDistance[] {"VisibilityDistance"};
constexpr char visibilityDistances[] {"VisibilityDistances"};
constexpr char weather[] {"Weather"};
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/parameterImporter.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/parameterImporter.cpp
index f8772ef673926adde9d24697d8a6766aa716e651..1734f0470db61eea364e0289dacc3bf037d1086e 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/parameterImporter.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/parameterImporter.cpp
@@ -22,7 +22,7 @@ namespace openpass::parameter::internal {
using namespace SimulationCommon;
template <typename T>
-ParameterSetLevel3 ImportParameter(QDomElement& domElement, const std::string& elementName)
+ParameterSetLevel3 ImportParameter(const QDomElement& domElement, const std::string& elementName)
{
ParameterSetLevel3 param;
@@ -48,7 +48,7 @@ ParameterSetLevel3 ImportParameter(QDomElement& domElement, const std::string& e
}
template <>
-ParameterSetLevel3 ImportParameter<NormalDistribution>(QDomElement& domElement, const std::string& elementName)
+ParameterSetLevel3 ImportParameter<NormalDistribution>(const QDomElement& domElement, const std::string& elementName)
{
ParameterSetLevel3 param;
@@ -85,7 +85,7 @@ ParameterSetLevel3 ImportParameter<NormalDistribution>(QDomElement& domElement,
}
template <>
-ParameterSetLevel3 ImportParameter<LogNormalDistribution>(QDomElement& domElement, const std::string& elementName)
+ParameterSetLevel3 ImportParameter<LogNormalDistribution>(const QDomElement& domElement, const std::string& elementName)
{
ParameterSetLevel3 param;
@@ -128,7 +128,7 @@ ParameterSetLevel3 ImportParameter<LogNormalDistribution>(QDomElement& domElemen
}
template <>
-ParameterSetLevel3 ImportParameter<UniformDistribution>(QDomElement& domElement, const std::string& elementName)
+ParameterSetLevel3 ImportParameter<UniformDistribution>(const QDomElement& domElement, const std::string& elementName)
{
ParameterSetLevel3 param;
@@ -156,7 +156,7 @@ ParameterSetLevel3 ImportParameter<UniformDistribution>(QDomElement& domElement,
}
template <>
-ParameterSetLevel3 ImportParameter<ExponentialDistribution>(QDomElement& domElement, const std::string& elementName)
+ParameterSetLevel3 ImportParameter<ExponentialDistribution>(const QDomElement& domElement, const std::string& elementName)
{
ParameterSetLevel3 param;
@@ -185,7 +185,7 @@ ParameterSetLevel3 ImportParameter<ExponentialDistribution>(QDomElement& domElem
return param;
}
-std::vector<QDomElement> ImportReference(QDomElement& domElement, QDomElement& profilesElement)
+std::vector<QDomElement> ImportReference(const QDomElement& domElement, const QDomElement& profilesElement)
{
std::vector<QDomElement> references;
@@ -242,7 +242,7 @@ std::vector<QDomElement> ImportReference(QDomElement& domElement, QDomElement& p
return references;
}
-static ParameterSetLevel3 ImportParameterLevel3WithoutReferences(QDomElement& element)
+static ParameterSetLevel3 ImportParameterLevel3WithoutReferences(const QDomElement& element)
{
ParameterSetLevel3 param;
@@ -252,6 +252,7 @@ static ParameterSetLevel3 ImportParameterLevel3WithoutReferences(QDomElement& el
auto doubleParams = ImportParameter<double>(element, TAG::Double);
auto doubleVectorParams = ImportParameter<std::vector<double>>(element, TAG::DoubleVector);
auto stringParams = ImportParameter<std::string>(element, TAG::String);
+ auto stringVectorParams = ImportParameter<std::vector<std::string>>(element, TAG::StringVector);
auto normalDistributionParams = ImportParameter<openpass::parameter::NormalDistribution>(element, TAG::NormalDistribution);
auto lognormalDistributionParams = ImportParameter<openpass::parameter::LogNormalDistribution>(element, TAG::LogNormalDistribution);
auto uniformDistributionParams = ImportParameter<openpass::parameter::UniformDistribution>(element, TAG::UniformDistribution);
@@ -263,6 +264,7 @@ static ParameterSetLevel3 ImportParameterLevel3WithoutReferences(QDomElement& el
param.insert(param.end(), doubleParams.begin(), doubleParams.end());
param.insert(param.end(), doubleVectorParams.begin(), doubleVectorParams.end());
param.insert(param.end(), stringParams.begin(), stringParams.end());
+ param.insert(param.end(), stringVectorParams.begin(), stringVectorParams.end());
param.insert(param.end(), normalDistributionParams.begin(), normalDistributionParams.end());
param.insert(param.end(), lognormalDistributionParams.begin(), lognormalDistributionParams.end());
param.insert(param.end(), uniformDistributionParams.begin(), uniformDistributionParams.end());
@@ -271,7 +273,7 @@ static ParameterSetLevel3 ImportParameterLevel3WithoutReferences(QDomElement& el
return param;
}
-static ParameterSetLevel3 ImportParameterLevel3(QDomElement& domElement, QDomElement& profilesElement)
+static ParameterSetLevel3 ImportParameterLevel3(const QDomElement& domElement, const QDomElement& profilesElement)
{
ParameterSetLevel3 param;
auto elementsToCombine = ImportReference(domElement, profilesElement);
@@ -286,7 +288,7 @@ static ParameterSetLevel3 ImportParameterLevel3(QDomElement& domElement, QDomEle
return param;
}
-static ParameterSetLevel2 ImportParameterListsLevel2(QDomElement& parameterElement, QDomElement& profilesElement)
+static ParameterSetLevel2 ImportParameterListsLevel2(const QDomElement& parameterElement, const QDomElement& profilesElement)
{
QDomElement lists;
@@ -321,7 +323,7 @@ static ParameterSetLevel2 ImportParameterListsLevel2(QDomElement& parameterEleme
return param;
}
-static ParameterSetLevel2 ImportParameterSetLevel2(QDomElement& parameterElement, QDomElement& profilesElement)
+static ParameterSetLevel2 ImportParameterSetLevel2(const QDomElement& parameterElement, const QDomElement& profilesElement)
{
ParameterSetLevel2 container;
@@ -340,7 +342,7 @@ static ParameterSetLevel2 ImportParameterSetLevel2(QDomElement& parameterElement
return container;
}
-static ParameterSetLevel1 ImportParameterListsLevel1(QDomElement& parameterElement, QDomElement& profilesElement)
+static ParameterSetLevel1 ImportParameterListsLevel1(const QDomElement& parameterElement, const QDomElement& profilesElement)
{
QDomElement lists;
@@ -380,7 +382,7 @@ static ParameterSetLevel1 ImportParameterListsLevel1(QDomElement& parameterEleme
namespace openpass::parameter {
-ParameterSetLevel1 Import(QDomElement& parameterElement, QDomElement& profilesElement)
+ParameterSetLevel1 Import(const QDomElement& parameterElement, const QDomElement& profilesElement)
{
openpass::parameter::ParameterSetLevel1 tempContainer;
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/parameterImporter.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/parameterImporter.h
index fef45c2072633201ba72373afa045dea9c560a49..48e27adab761cb8c69c0da8a6de12a77ac1149a7 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/parameterImporter.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/parameterImporter.h
@@ -16,6 +16,6 @@
namespace openpass::parameter
{
-ParameterSetLevel1 Import(QDomElement& parameterElement, QDomElement& profilesElement);
+ParameterSetLevel1 Import(const QDomElement& parameterElement, const QDomElement& profilesElement);
} //namespace openpass::parameter
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/profiles.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/profiles.cpp
index 1316e5a8cef7486824329044669278245a36f678..7f21f81d312f79b4cf99811706af8f4cd3f61819 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/profiles.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/profiles.cpp
@@ -8,6 +8,8 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
+#include <stdexcept>
+
#include "profiles.h"
std::unordered_map<std::string, AgentProfile>& Profiles::GetAgentProfiles()
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/scenarioImporter.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/scenarioImporter.cpp
index 2e0d411ddd7dd85418b1c70516608722dc823398..974101465c73021fd38ed0180066eccbd557267d 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/scenarioImporter.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/scenarioImporter.cpp
@@ -24,6 +24,7 @@
#include "xmlParser.h"
#include "CoreFramework/CoreShare/log.h"
#include "CoreFramework/OpenPassSlave/framework/directories.h"
+#include "Common/openPassUtils.h"
namespace TAG = openpass::importer::xml::scenarioImporter::tag;
namespace ATTRIBUTE = openpass::importer::xml::scenarioImporter::attribute;
@@ -155,8 +156,8 @@ void ScenarioImporter::ImportStoryboard(QDomElement& documentRoot, std::vector<S
ImportEndConditionsFromStoryboard(storyboardElement, scenario, parameters);
}
-void ScenarioImporter::ImportStoryElement(QDomElement& storyElement,
- const std::vector<ScenarioEntity>& entities,
+void ScenarioImporter::ImportStoryElement(QDomElement &storyElement,
+ const std::vector<ScenarioEntity> &entities,
ScenarioInterface* scenario,
openScenario::Parameters& parameters)
{
@@ -164,11 +165,25 @@ void ScenarioImporter::ImportStoryElement(QDomElement& storyElement,
QDomElement actElement;
if (SimulationCommon::GetFirstChildElement(storyElement, TAG::act, actElement))
{
+ // Story name is mandatory unless story is empty tag
+ std::string storyName{};
+ ThrowIfFalse(SimulationCommon::ParseAttribute(storyElement, ATTRIBUTE::name, storyName),
+ storyElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
+
while (!actElement.isNull())
{
+ // Act name is mandatory
+ std::string actName;
+ ThrowIfFalse(SimulationCommon::ParseAttribute(actElement, ATTRIBUTE::name, actName),
+ actElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
+
QDomElement seqElement;
if (SimulationCommon::GetFirstChildElement(actElement, TAG::sequence, seqElement))
{
+ [[deprecated("Will be replaced in openSCENARIO 1-0-0 by ManeuverGroup")]] std::string sequenceName;
+ ThrowIfFalse(SimulationCommon::ParseAttribute(seqElement, ATTRIBUTE::name, sequenceName),
+ seqElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
+
while (!seqElement.isNull())
{
int numberOfExecutions;
@@ -184,7 +199,9 @@ void ScenarioImporter::ImportStoryElement(QDomElement& storyElement,
QDomElement maneuverElement;
if (SimulationCommon::GetFirstChildElement(seqElement, TAG::maneuver, maneuverElement)) // just one maneuver per sequence
{
- ImportManeuverElement(maneuverElement, entities, scenario, actorInformation, numberOfExecutions, parameters);
+ ImportManeuverElement(maneuverElement, entities, scenario, actorInformation,
+ {storyName, actName, sequenceName},
+ numberOfExecutions, parameters);
}
seqElement = seqElement.nextSiblingElement(TAG::sequence);
@@ -195,7 +212,7 @@ void ScenarioImporter::ImportStoryElement(QDomElement& storyElement,
}
}
-openScenario::ActorInformation ScenarioImporter::ImportActors(QDomElement& actorsElement,
+openScenario::ActorInformation ScenarioImporter::ImportActors(QDomElement &actorsElement,
const std::vector<ScenarioEntity>& entities,
openScenario::Parameters& parameters)
{
@@ -225,25 +242,29 @@ openScenario::ActorInformation ScenarioImporter::ImportActors(QDomElement& actor
QDomElement byConditionElement;
SimulationCommon::GetFirstChildElement(actorsElement, TAG::byCondition, byConditionElement);
- if(!byConditionElement.isNull())
+ if (!byConditionElement.isNull())
{
std::string actor = ParseAttribute<std::string>(byConditionElement, ATTRIBUTE::actor, parameters);
- if(actor == "triggeringEntity")
- {
- actorInformation.triggeringAgentsAsActors.emplace(true);
- }
+
+ actorInformation.actorIsTriggeringEntity = (actor == "triggeringEntity");
}
return actorInformation;
}
-void ScenarioImporter::ImportManeuverElement(QDomElement& maneuverElement,
- const std::vector<ScenarioEntity>& entities,
- ScenarioInterface* scenario,
+
+void ScenarioImporter::ImportManeuverElement(QDomElement &maneuverElement,
+ const std::vector<ScenarioEntity> &entities,
+ ScenarioInterface *scenario,
const openScenario::ActorInformation &actorInformation,
+ const std::vector<std::string> &nameStack,
const int numberOfExecutions,
openScenario::Parameters& parameters)
{
+ std::string maneuverName;
+ ThrowIfFalse(SimulationCommon::ParseAttribute(maneuverElement, ATTRIBUTE::name, maneuverName),
+ maneuverElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
+
// handle parameterdeclaration element(s) for event(s)
QDomElement parameterDeclarationElement;
SimulationCommon::GetFirstChildElement(maneuverElement, TAG::parameterDeclaration, parameterDeclarationElement);
@@ -256,19 +277,16 @@ void ScenarioImporter::ImportManeuverElement(QDomElement& maneuverElement,
{
std::string eventName = ParseAttribute<std::string>(eventElement, ATTRIBUTE::name, parameters);
- openScenario::ConditionalEventDetectorInformation conditionalEventDetectorInformation = EventDetectorImporter::ImportEventDetector(eventElement,
- eventName,
- numberOfExecutions,
- actorInformation,
- entities,
- parameters);
+ std::vector<std::string> eventNameStack{nameStack};
+ eventNameStack.emplace_back(maneuverName);
+ eventNameStack.emplace_back(eventName);
+
+ const auto stackedEventName = openpass::utils::vector::to_string(eventNameStack, "/");
- scenario->AddConditionalEventDetector(conditionalEventDetectorInformation);
+ auto metaInfo = EventDetectorImporter::ImportEventDetector(eventElement, stackedEventName, numberOfExecutions, actorInformation, entities, parameters);
+ scenario->AddConditionalEventDetector(metaInfo);
- std::shared_ptr<ScenarioActionInterface> action = ManipulatorImporter::ImportManipulator(eventElement,
- eventName,
- scenario->GetTrajectoryCatalogPath(),
- parameters);
+ auto action = ManipulatorImporter::ImportManipulator(eventElement, stackedEventName, scenario->GetTrajectoryCatalogPath(), parameters);
scenario->AddAction(action);
eventElement = eventElement.nextSiblingElement(TAG::event);
@@ -735,10 +753,9 @@ bool ScenarioImporter::ContainsEntity(const std::vector<ScenarioEntity>& entitie
{
auto entitiesFound = std::find_if(entities.cbegin(),
entities.cend(),
- [entityName](const ScenarioEntity& elem)
- {
- return elem.name == entityName;
- });
+ [entityName](const ScenarioEntity &elem) {
+ return elem.name == entityName;
+ });
return entitiesFound != entities.cend();
}
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/scenarioImporter.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/scenarioImporter.h
index f52a06e66e93363b240c1b7eb60354410b3e89d0..bd0ff7960ca0f4ac96bd6b9211ba1eed708b360b 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/scenarioImporter.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/scenarioImporter.h
@@ -224,12 +224,23 @@ private:
* \param[in] entities Objects from 'Entities' tag
* \param[out] scenario The maneuver data is imported into this scenario
* \param[out] actors Actors from the maneuver are imported into this container
- * \param[in] parameters declared parameters
+ * \param[in] parameters declared parameters
+ */
+
+ /*!
+ * \brief ImportManeuverElement
+ * \param maneuverElement The DOM root of the maneuver element
+ * \param entities Objects from 'Entities' tag
+ * \param scenario The maneuver data is imported into this scenario
+ * \param actorInformation Information of actors from the maneuver
+ * \param nameStack List of names from tree structure e.g. {"myStory", "myAct", "myManeuver"}
+ * \param numberOfExecutions Number of executions
*/
static void ImportManeuverElement(QDomElement& maneuverElement,
const std::vector<ScenarioEntity>& entities,
ScenarioInterface *scenario,
const openScenario::ActorInformation &actorInformation,
+ const std::vector<std::string> &nameStack,
const int numberOfExecutions,
openScenario::Parameters& parameters);
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/slaveConfigImporter.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/slaveConfigImporter.cpp
index 7a9bea833b87d7ee1608fecab4cdf880bfc44db7..a4408baf05c91f59f322dec3371a7d2552f22337 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/slaveConfigImporter.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/slaveConfigImporter.cpp
@@ -25,7 +25,7 @@ namespace ATTRIBUTE = openpass::importer::xml::slaveConfigImporter::attribute;
using namespace Importer;
using namespace SimulationCommon;
-std::string SlaveConfigImporter::GetLibrary(const QDomElement& root, std::string tag, std::string defaultValue)
+std::string SlaveConfigImporter::GetLibrary(const QDomElement& root, const std::string& tag, const std::string& defaultValue)
{
std::string parsedName;
if (!Parse(root, tag, parsedName))
@@ -46,114 +46,80 @@ ExperimentConfig::Libraries SlaveConfigImporter::ImportLibraries(QDomElement roo
}
ExperimentConfig::Libraries libs;
- for (auto [tagName, defaultValue] : defaultLibraryMapping)
+ for (const auto& [tagName, defaultValue] : defaultLibraryMapping)
{
libs.try_emplace(tagName, SlaveConfigImporter::GetLibrary(libsRoot, tagName, defaultValue));
}
return libs;
}
-void SlaveConfigImporter::ImportLoggingGroups(QDomElement loggingGroupsElement,
- std::vector<std::string>& loggingGroups)
-{
- const auto& loggingGroupElements = loggingGroupsElement.elementsByTagName(TAG::loggingGroup);
-
- for (auto i = loggingGroupElements.length() - 1; i >= 0; --i)
- {
- const auto& loggingGroupElement = loggingGroupElements.at(i).toElement();
-
- ThrowIfFalse(!loggingGroupElement.isNull(), "Error parsing LoggingGroup elements");
-
- std::string groupName = loggingGroupElement.text().toStdString();
-
- ThrowIfFalse(groupName.length() != 0, loggingGroupElement, "Invalid LoggingGroup name (empty string)");
-
- loggingGroups.push_back(groupName);
- }
-}
-
-void SlaveConfigImporter::ImportExperimentConfig(QDomElement experimentConfigElement,
+void SlaveConfigImporter::ImportExperiment(QDomElement experimentElement,
ExperimentConfig& experimentConfig)
{
- ThrowIfFalse(ParseInt(experimentConfigElement, "ExperimentID", experimentConfig.experimentId),
- experimentConfigElement, "ExperimentID not valid.");
+ ThrowIfFalse(ParseInt(experimentElement, "ExperimentID", experimentConfig.experimentId),
+ experimentElement, "ExperimentID not valid.");
- ThrowIfFalse(ParseInt(experimentConfigElement, "NumberOfInvocations", experimentConfig.numberOfInvocations),
- experimentConfigElement, "NumberOfInvocations not valid.");
+ ThrowIfFalse(ParseInt(experimentElement, "NumberOfInvocations", experimentConfig.numberOfInvocations),
+ experimentElement, "NumberOfInvocations not valid.");
unsigned long randomSeed;
- ThrowIfFalse(ParseULong(experimentConfigElement, "RandomSeed", randomSeed),
- experimentConfigElement, "RandomSeed not valid.");
+ ThrowIfFalse(ParseULong(experimentElement, "RandomSeed", randomSeed),
+ experimentElement, "RandomSeed not valid.");
experimentConfig.randomSeed = static_cast<std::uint32_t>(randomSeed);
- bool logCyclicsToCsv;
- if (!ParseBool(experimentConfigElement, "LoggingCyclicsToCsv", logCyclicsToCsv))
- {
- LOG_INTERN(LogLevel::Info) << "Tag LogCyclicsToCsv undefined, falling back to default value false.";
- logCyclicsToCsv = false;
- }
- experimentConfig.logCyclicsToCsv = logCyclicsToCsv;
-
- // Logging groups
- QDomElement loggingGroupsElement;
- ThrowIfFalse(GetFirstChildElement(experimentConfigElement, TAG::loggingGroups, loggingGroupsElement),
- experimentConfigElement, "Tag " + std::string(TAG::loggingGroups) + " is missing.");
-
- ImportLoggingGroups(loggingGroupsElement, experimentConfig.loggingGroups);
-
- experimentConfig.libraries = ImportLibraries(experimentConfigElement);
+ experimentConfig.libraries = ImportLibraries(experimentElement);
}
-void SlaveConfigImporter::ImportScenarioConfig(QDomElement scenarioConfigElement,
+void SlaveConfigImporter::ImportScenario(QDomElement scenarioElement,
const std::string configurationDir,
ScenarioConfig& scenarioConfig)
{
std::string scenarioFilename;
- ThrowIfFalse(ParseString(scenarioConfigElement, "OpenScenarioFile", scenarioFilename),
- scenarioConfigElement, "OpenScenarioFile not valid.");
+ ThrowIfFalse(ParseString(scenarioElement, "OpenScenarioFile", scenarioFilename),
+ scenarioElement, "OpenScenarioFile not valid.");
scenarioConfig.scenarioPath = openpass::core::Directories::Concat(configurationDir, scenarioFilename);
}
-void SlaveConfigImporter::ImportEnvironmentConfig(QDomElement environmentConfigElement,
+void SlaveConfigImporter::ImportEnvironment(QDomElement environmentElement,
EnvironmentConfig& environmentConfig)
{
//Parse all time of days
QDomElement timeOfDaysElement;
- ThrowIfFalse(GetFirstChildElement(environmentConfigElement, TAG::timeOfDays, timeOfDaysElement),
- environmentConfigElement, "Tag " + std::string(TAG::timeOfDays) + " is missing.");
+ ThrowIfFalse(GetFirstChildElement(environmentElement, TAG::timeOfDays, timeOfDaysElement),
+ environmentElement, "Tag " + std::string(TAG::timeOfDays) + " is missing.");
ThrowIfFalse(ImportProbabilityMap(timeOfDaysElement, "Value", TAG::timeOfDay, environmentConfig.timeOfDays),
timeOfDaysElement, "Could not import Probabilities.");
//Parse all visibility distances
QDomElement visibilityDistancesElement;
- ThrowIfFalse(GetFirstChildElement(environmentConfigElement, TAG::visibilityDistances, visibilityDistancesElement),
- environmentConfigElement, "Tag " + std::string(TAG::visibilityDistances) + " is missing.");
+ ThrowIfFalse(GetFirstChildElement(environmentElement, TAG::visibilityDistances, visibilityDistancesElement),
+ environmentElement, "Tag " + std::string(TAG::visibilityDistances) + " is missing.");
ThrowIfFalse(ImportProbabilityMap(visibilityDistancesElement, "Value", TAG::visibilityDistance, environmentConfig.visibilityDistances),
visibilityDistancesElement, "Could not import Probabilities.");
//Parse all frictions
QDomElement frictionsElement;
- ThrowIfFalse(GetFirstChildElement(environmentConfigElement, TAG::frictions, frictionsElement),
- environmentConfigElement, "Tag " + std::string(TAG::frictions) + " is missing.");
+ ThrowIfFalse(GetFirstChildElement(environmentElement, TAG::frictions, frictionsElement),
+ environmentElement, "Tag " + std::string(TAG::frictions) + " is missing.");
ThrowIfFalse(ImportProbabilityMap(frictionsElement, "Value", TAG::friction, environmentConfig.frictions),
frictionsElement, "Could not import Probabilities.");
//Parse all weathers
QDomElement weathersElement;
- ThrowIfFalse(GetFirstChildElement(environmentConfigElement, TAG::weathers, weathersElement),
- environmentConfigElement, "Tag " + std::string(TAG::weathers) + " is missing.");
+ ThrowIfFalse(GetFirstChildElement(environmentElement, TAG::weathers, weathersElement),
+ environmentElement, "Tag " + std::string(TAG::weathers) + " is missing.");
ThrowIfFalse(ImportProbabilityMap(weathersElement, "Value", TAG::weather, environmentConfig.weathers),
weathersElement, "Could not import Probabilities.");
}
-void SlaveConfigImporter::ImportSpawnPointsConfig(const QDomElement &spawnPointsConfigElement,
+void SlaveConfigImporter::ImportSpawners(const QDomElement &spawnersElement,
SpawnPointLibraryInfoCollection& spawnPointsInfo)
{
QDomElement spawnPointElement;
- ThrowIfFalse(GetFirstChildElement(spawnPointsConfigElement, TAG::spawnPoint, spawnPointElement),
- spawnPointsConfigElement, "Tag " + std::string(TAG::spawnPoint) + " is missing.");
+ ThrowIfFalse(GetFirstChildElement(spawnersElement, TAG::spawner, spawnPointElement),
+ spawnersElement, "Tag " + std::string(TAG::spawner) + " is missing.");
while (!spawnPointElement.isNull())
{
@@ -186,20 +152,32 @@ void SlaveConfigImporter::ImportSpawnPointsConfig(const QDomElement &spawnPoints
spawnPointsInfo.emplace_back(spawnPointInfo);
- spawnPointElement = spawnPointElement.nextSiblingElement("SpawnPoint");
+ spawnPointElement = spawnPointElement.nextSiblingElement(TAG::spawner);
}
}
-void SlaveConfigImporter::ImportObservationConfig(const QDomElement& librariesElement, std::vector<std::string>& loggingGroups, bool logCyclicsToCsv, ObservationInstanceCollection& observationConfig)
+void SlaveConfigImporter::ImportObservations(const QDomElement& observationsElement, ObservationInstanceCollection& observations)
{
- auto observationLibrary = SlaveConfigImporter::GetLibrary(librariesElement, "ObservationLibrary", "Observation");
- openpass::parameter::ParameterSetLevel1 observationParameters
+ QDomElement observationElement;
+ ThrowIfFalse(GetFirstChildElement(observationsElement, TAG::observation, observationElement),
+ observationsElement, "Tag " + std::string(TAG::observation) + " is missing.");
+
+ while (!observationElement.isNull())
{
- { "LoggingCyclicsToCsv", logCyclicsToCsv},
- { "LoggingGroups", loggingGroups }
- };
- ObservationInstance observationInstance{0, observationLibrary, observationParameters};
- observationConfig.push_back(observationInstance);
+ ObservationInstance observationInstance;
+
+ ThrowIfFalse(ParseString(observationElement, TAG::library, observationInstance.libraryName),
+ observationElement, "Tag " + std::string(TAG::library) + " is missing.");
+
+ QDomElement parametersElement;
+ ThrowIfFalse(GetFirstChildElement(observationElement, TAG::parameters, parametersElement),
+ observationsElement, "Tag " + std::string(TAG::parameters) + " is missing.");
+ observationInstance.parameters = openpass::parameter::Import(parametersElement, observationsElement);
+
+ observations.emplace_back(observationInstance);
+
+ observationElement = observationElement.nextSiblingElement(TAG::observation);
+ }
}
bool SlaveConfigImporter::Import(const std::string& configurationDir,
@@ -227,44 +205,37 @@ bool SlaveConfigImporter::Import(const std::string& configurationDir,
ParseAttributeString(documentRoot, ATTRIBUTE::schemaVersion, configVersion);
ThrowIfFalse(configVersion.compare(supportedConfigVersion) == 0, "SlaveConfig version not suppored. Supported version is " + std::string(supportedConfigVersion));
- //Import profiles catalog
std::string profilesCatalog;
ThrowIfFalse(ParseString(documentRoot, "ProfilesCatalog", profilesCatalog), "Could not import Proifles Catalog.");
slaveConfig.SetProfilesCatalog(openpass::core::Directories::Concat(configurationDir, profilesCatalog));
- //Import experiment config
auto& experimentConfig = slaveConfig.GetExperimentConfig();
QDomElement experimentConfigElement;
- ThrowIfFalse(GetFirstChildElement(documentRoot, TAG::experimentConfig, experimentConfigElement),
- "Could not import ExperimentConfig.");
+ ThrowIfFalse(GetFirstChildElement(documentRoot, TAG::experiment, experimentConfigElement),
+ "Tag " + std::string(TAG::experiment) + " is missing.");
+ ImportExperiment(experimentConfigElement, experimentConfig);
- ImportExperimentConfig(experimentConfigElement, experimentConfig);
-
- //Import scenario config
QDomElement scenarioConfigElement;
- ThrowIfFalse(GetFirstChildElement(documentRoot, TAG::scenarioConfig, scenarioConfigElement),
- "Could not import ScenarioConfig.");
-
- ImportScenarioConfig(scenarioConfigElement, configurationDir, slaveConfig.GetScenarioConfig());
+ ThrowIfFalse(GetFirstChildElement(documentRoot, TAG::scenario, scenarioConfigElement),
+ "Tag " + std::string(TAG::scenario) + " is missing.");
+ ImportScenario(scenarioConfigElement, configurationDir, slaveConfig.GetScenarioConfig());
- //Import environment config
QDomElement environmentConfigElement;
- ThrowIfFalse(GetFirstChildElement(documentRoot, TAG::environmentConfig, environmentConfigElement),
- "Could not import EnvironmentConfig.");
-
- ImportEnvironmentConfig(environmentConfigElement, slaveConfig.GetEnvironmentConfig());
+ ThrowIfFalse(GetFirstChildElement(documentRoot, TAG::environment, environmentConfigElement),
+ "Tag " + std::string(TAG::environment) + " is missing.");
+ ImportEnvironment(environmentConfigElement, slaveConfig.GetEnvironmentConfig());
- QDomElement librariesElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(experimentConfigElement, TAG::libraries, librariesElement), experimentConfigElement, "Missing libraries");
- ImportObservationConfig(librariesElement, experimentConfig.loggingGroups, experimentConfig.logCyclicsToCsv, slaveConfig.GetObservationConfig());
+ QDomElement observationConfigElement;
+ ThrowIfFalse(GetFirstChildElement(documentRoot, TAG::observations, observationConfigElement),
+ "Tag " + std::string(TAG::observations) + " is missing.");
+ ImportObservations(observationConfigElement, slaveConfig.GetObservationConfig());
- //Import spawnpoints config
QDomElement spawnPointsConfigElement;
- ThrowIfFalse(GetFirstChildElement(documentRoot, "SpawnPointsConfig", spawnPointsConfigElement),
- "Could not import SpawnPointsConfig.");
- ImportSpawnPointsConfig(spawnPointsConfigElement, slaveConfig.GetSpawnPointsConfig());
+ ThrowIfFalse(GetFirstChildElement(documentRoot, TAG::spawners, spawnPointsConfigElement),
+ "Tag " + std::string(TAG::spawners) + " is missing.");
+ ImportSpawners(spawnPointsConfigElement, slaveConfig.GetSpawnPointsConfig());
return true;
}
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/slaveConfigImporter.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/slaveConfigImporter.h
index c99a8fa16970b32b0dc946604b77d3905dc1d406..ac2e2cf3e60ab1d854ebaa86fb6e9935e8468671 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/slaveConfigImporter.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/importer/slaveConfigImporter.h
@@ -36,14 +36,6 @@ namespace Importer {
class SlaveConfigImporter
{
public:
- /*!
- * \brief Imports the logging groups for the observer
- *
- * @param[in] loggingGroupsElement Element containing the logging groups information
- * @param[out] loggingGroups Vector where the logging groups get saved
- */
- static void ImportLoggingGroups(QDomElement loggingGroupsElement, std::vector<std::string>& loggingGroups);
-
/*!
* \brief Imports the libraries used by the simulator
*
@@ -60,7 +52,7 @@ public:
* @param[in] experimentConfigElement Element containing the information
* @param[out] experimentConfig Struct into which the values get saved
*/
- static void ImportExperimentConfig(QDomElement experimentConfigElement,
+ static void ImportExperiment(QDomElement experimentElement,
ExperimentConfig& experimentConfig);
/*!
@@ -69,7 +61,7 @@ public:
* @param[in] scenarioConfigElement Element containing the information
* @param[out] scenarioConfig Struct into which the values get saved
*/
- static void ImportScenarioConfig(QDomElement scenarioConfigElement,
+ static void ImportScenario(QDomElement scenarioElement,
const std::string configurationDir,
ScenarioConfig& scenarioConfig);
@@ -79,7 +71,7 @@ public:
* @param[in] environmentConfigElement Element containing the information
* @param[out] environmentConfig Struct into which the values get saved
*/
- static void ImportEnvironmentConfig(QDomElement environmentConfigElement,
+ static void ImportEnvironment(QDomElement environmentElement,
EnvironmentConfig& environmentConfig);
/*!
@@ -88,13 +80,11 @@ public:
* \param spawnPointsInfo struct into which the values get saved
* \return
*/
- static void ImportSpawnPointsConfig(const QDomElement& spawnPointsConfigElement,
+ static void ImportSpawners(const QDomElement& spawnersElement,
SpawnPointLibraryInfoCollection& spawnPointsInfo);
- static void ImportObservationConfig(const QDomElement& librariesElement,
- std::vector<std::string>& loggingGroups,
- bool logCyclicsToCsv,
- ObservationInstanceCollection& observationConfig);
+ static void ImportObservations(const QDomElement& observationsElement,
+ ObservationInstanceCollection& observations);
//Overall import function
/*!
@@ -111,13 +101,14 @@ public:
Configuration::SlaveConfig& slaveConfig);
private:
- static std::string GetLibrary(const QDomElement& root, std::string key, std::string tag);
- static constexpr auto supportedConfigVersion = "0.7.0";
+ static std::string GetLibrary(const QDomElement& root, const std::string& key, const std::string& tag);
+ static constexpr auto supportedConfigVersion = "0.8.0";
//! \brief Identifier with correspondiong default values for mandatory libraries
//! \note: The identifier is identical to the XML tag
inline static const ExperimentConfig::Libraries defaultLibraryMapping =
{
+ {"DataStoreLibrary", "BasicDataStore"},
{"EventDetectorLibrary", "EventDetector"},
{"ManipulatorLibrary", "Manipulator"},
{"WorldLibrary", "World"},
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/agent.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/agent.cpp
index cdd8b419b8602a900b5ef37764f077050bafca52..ecbcd2b9003efe15014f467f358fbceb913dbc46 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/agent.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/agent.cpp
@@ -9,29 +9,32 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
+#include "agent.h"
+
#include <algorithm>
+#include <iostream>
#include <map>
#include <vector>
-#include <iostream>
+
#include <QDomDocument>
#include <QFile>
-#include "agent.h"
+#include "CoreFramework/CoreShare/log.h"
+#include "CoreFramework/CoreShare/parameters.h"
+#include "Interfaces/observationNetworkInterface.h"
+#include "agentDataPublisher.h"
#include "agentType.h"
#include "channel.h"
-#include "componentType.h"
#include "component.h"
-#include "CoreFramework/CoreShare/log.h"
+#include "componentType.h"
#include "modelBinding.h"
-#include "Interfaces/observationNetworkInterface.h"
-#include "CoreFramework/CoreShare/parameters.h"
#include "spawnPoint.h"
-namespace SimulationSlave
-{
+class DataStoreWriteInterface;
+
+namespace SimulationSlave {
-Agent::Agent(int id,
- WorldInterface *world):
+Agent::Agent(int id, WorldInterface *world) :
id(id),
world(world)
{
@@ -42,11 +45,11 @@ Agent::~Agent()
{
LOG_INTERN(LogLevel::DebugCore) << "deleting agent " << id;
- for(std::pair<const std::string, ComponentInterface*> &item : components)
+ for (std::pair<const std::string, ComponentInterface *> &item : components)
{
ComponentInterface *component = item.second;
- if(!component->ReleaseFromLibrary())
+ if (!component->ReleaseFromLibrary())
{
LOG_INTERN(LogLevel::Error) << "component could not be released by agent " << id;
}
@@ -55,7 +58,7 @@ Agent::~Agent()
}
components.clear();
- for(std::pair<const int, Channel*> &item : channels)
+ for (std::pair<const int, Channel *> &item : channels)
{
Channel *channel = item.second;
delete channel;
@@ -63,26 +66,28 @@ Agent::~Agent()
channels.clear();
}
-bool Agent::Instantiate(AgentBlueprintInterface* agentBlueprint,
+bool Agent::Instantiate(AgentBlueprintInterface *agentBlueprint,
ModelBinding *modelBinding,
StochasticsInterface *stochastics,
ObservationNetworkInterface *observationNetwork,
- EventNetworkInterface *eventNetwork)
+ EventNetworkInterface *eventNetwork,
+ DataStoreWriteInterface *dataStore)
{
+ publisher = std::make_unique<openpass::publisher::AgentDataPublisher>(dataStore, id);
+
// setup
- if(!agentInterface->InitAgentParameter(id,
- agentBlueprint))
+ if (!agentInterface->InitAgentParameter(id, agentBlueprint))
{
return false;
}
// instantiate channels
- for(int channelId : agentBlueprint->GetAgentType().GetChannels())
+ for (int channelId : agentBlueprint->GetAgentType().GetChannels())
{
LOG_INTERN(LogLevel::DebugCore) << "- instantiate channel " << channelId;
Channel *channel = new (std::nothrow) Channel(channelId);
- if(!channel)
+ if (!channel)
{
LOG_INTERN(LogLevel::Error) << "agent could not be instantiated";
return false;
@@ -90,17 +95,16 @@ bool Agent::Instantiate(AgentBlueprintInterface* agentBlueprint,
channel->SetAgent(this);
- if(!AddChannel(channelId, channel))
+ if (!AddChannel(channelId, channel))
{
LOG_INTERN(LogLevel::Error) << "agent could not be instantiated";
delete channel;
return false;
}
-
}
// instantiate components
- for(const std::pair<const std::string, std::shared_ptr<ComponentType>> &itemComponentType : agentBlueprint->GetAgentType().GetComponents())
+ for (const std::pair<const std::string, std::shared_ptr<ComponentType>> &itemComponentType : agentBlueprint->GetAgentType().GetComponents())
{
std::string componentName = itemComponentType.first;
std::shared_ptr<ComponentType> componentType = itemComponentType.second;
@@ -108,19 +112,20 @@ bool Agent::Instantiate(AgentBlueprintInterface* agentBlueprint,
LOG_INTERN(LogLevel::DebugCore) << "- instantiate component " << componentName;
ComponentInterface *component = modelBinding->Instantiate(componentType,
- componentName,
- stochastics,
- world,
- observationNetwork,
- this,
- eventNetwork);
- if(!component)
+ componentName,
+ stochastics,
+ world,
+ observationNetwork,
+ this,
+ eventNetwork,
+ publisher.get());
+ if (!component)
{
LOG_INTERN(LogLevel::Error) << "agent could not be instantiated";
return false;
}
- if(!AddComponent(componentName, component))
+ if (!AddComponent(componentName, component))
{
LOG_INTERN(LogLevel::Error) << "agent could not be instantiated";
delete component;
@@ -130,7 +135,7 @@ bool Agent::Instantiate(AgentBlueprintInterface* agentBlueprint,
// from here component will be deleted implicitely by agent destructor since it is linked into its container
// instantiate inputs
- for(const std::pair<const int, int> &item : componentType->GetInputLinks())
+ for (const std::pair<const int, int> &item : componentType->GetInputLinks())
{
int linkId = item.first;
int channelRef = item.second;
@@ -138,24 +143,24 @@ bool Agent::Instantiate(AgentBlueprintInterface* agentBlueprint,
LOG_INTERN(LogLevel::DebugCore) << " * instantiate input channel " << channelRef << " (linkId " << linkId << ")";
Channel *channel = GetChannel(channelRef);
- if(!channel)
+ if (!channel)
{
continue;
}
- if(!component->AddInputLink(channel, linkId))
+ if (!component->AddInputLink(channel, linkId))
{
return false;
}
- if(!channel->AddTarget(component, linkId))
+ if (!channel->AddTarget(component, linkId))
{
return false;
}
}
// instantiate outputs
- for(const std::pair<const int, int> &item : componentType->GetOutputLinks())
+ for (const std::pair<const int, int> &item : componentType->GetOutputLinks())
{
int linkId = item.first;
int channelRef = item.second;
@@ -163,17 +168,17 @@ bool Agent::Instantiate(AgentBlueprintInterface* agentBlueprint,
LOG_INTERN(LogLevel::DebugCore) << " * instantiate output channel " << channelRef << " (linkId " << linkId << ")";
Channel *channel = GetChannel(channelRef);
- if(!channel)
+ if (!channel)
{
return false;
}
- if(!component->AddOutputLink(channel, linkId))
+ if (!component->AddOutputLink(channel, linkId))
{
return false;
}
- if(!channel->SetSource(component, linkId))
+ if (!channel->SetSource(component, linkId))
{
return false;
}
@@ -195,7 +200,7 @@ void Agent::SetAgentAdapter(AgentInterface *agentAdapt)
bool Agent::AddComponent(std::string name, ComponentInterface *component)
{
- if(!components.insert(std::make_pair<std::string&, ComponentInterface*&>(name, component)).second)
+ if (!components.insert(std::make_pair<std::string &, ComponentInterface *&>(name, component)).second)
{
LOG_INTERN(LogLevel::Warning) << "components must be unique";
return false;
@@ -206,7 +211,7 @@ bool Agent::AddComponent(std::string name, ComponentInterface *component)
bool Agent::AddChannel(int id, Channel *channel)
{
- if(!channels.insert({id, channel}).second)
+ if (!channels.insert({id, channel}).second)
{
LOG_INTERN(LogLevel::Warning) << "channels must be unique";
return false;
@@ -223,7 +228,7 @@ Channel *Agent::GetChannel(int id) const
{
channel = channels.at(id);
}
- catch(const std::out_of_range&)
+ catch (const std::out_of_range &)
{
channel = nullptr;
}
@@ -239,7 +244,7 @@ ComponentInterface *Agent::GetComponent(std::string name) const
{
component = components.at(name);
}
- catch(const std::out_of_range&)
+ catch (const std::out_of_range &)
{
component = nullptr;
}
@@ -247,9 +252,14 @@ ComponentInterface *Agent::GetComponent(std::string name) const
return component;
}
-const std::map<std::string, ComponentInterface*> &Agent::GetComponents() const
+const std::map<std::string, ComponentInterface *> &Agent::GetComponents() const
{
return components;
}
+void Agent::LinkSchedulerTime(int *const schedulerTime)
+{
+ currentTime = schedulerTime;
+}
+
} // namespace SimulationSlave
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/agent.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/agent.h
index 8248a9d6d43038b65b04e25eda2e41bcc7e17c6b..aa9636d04b7beec2d756fbb2cc2809bbea5c40c7 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/agent.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/agent.h
@@ -29,6 +29,8 @@
#include "Interfaces/agentInterface.h"
#include "Interfaces/componentInterface.h"
+class DataStoreWriteInterface;
+
namespace SimulationSlave
{
@@ -42,8 +44,7 @@ class SpawnItemParameter;
class Agent
{
public:
- Agent(int id,
- WorldInterface *world);
+ Agent(int id, WorldInterface* world);
Agent(const Agent&) = delete;
Agent(Agent&&) = delete;
Agent& operator=(const Agent&) = delete;
@@ -55,6 +56,7 @@ public:
Channel *GetChannel(int id) const;
ComponentInterface *GetComponent(std::string name) const;
const std::map<std::string, ComponentInterface*> &GetComponents() const;
+
int GetId() const
{
return id;
@@ -64,17 +66,20 @@ public:
ModelBinding *modelBinding,
StochasticsInterface *stochastics,
SimulationSlave::ObservationNetworkInterface *observationNetwork,
- EventNetworkInterface *eventNetwork);
+ EventNetworkInterface *eventNetwork,
+ DataStoreWriteInterface* dataStore);
bool IsValid() const
{
return agentInterface->IsValid();
}
- AgentInterface *GetAgentAdapter() const;
+ AgentInterface* GetAgentAdapter() const;
void SetAgentAdapter(AgentInterface *agentAdapt);
+ void LinkSchedulerTime(int* const schedulerTime);
+
private:
// framework parameters
std::vector<int> idsCollisionPartners;
@@ -83,7 +88,10 @@ private:
std::map<int, Channel*> channels;
std::map<std::string, ComponentInterface*> components;
- AgentInterface *agentInterface = nullptr;
+ AgentInterface* agentInterface = nullptr;
+ std::unique_ptr<PublisherInterface> publisher;
+
+ int* currentTime = nullptr;
};
} // namespace SimulationSlave
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/component.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/component.cpp
index 5e4e7b2dcc9cb44139b4113306a70a2ae2225ef8..7296ccf35330942a583918bfbfd8e371429a34c7 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/component.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/component.cpp
@@ -279,7 +279,7 @@ ChannelBuffer* Component::CreateOutputBuffer(int linkId)
return nullptr;
}
- return (ChannelBuffer*)buffer;
+ return buffer;
}
bool Component::SetInputBuffer(int linkId, ChannelBuffer* buffer)
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/component.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/component.h
index 4229cf628595a4337f858da7102e3d3f50ede76f..7e304aab65743c2962daaef872611dfd2d90c591 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/component.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelElements/component.h
@@ -21,6 +21,7 @@
#include "Interfaces/componentInterface.h"
#include "Interfaces/modelInterface.h"
#include "Interfaces/observationInterface.h"
+#include "Interfaces/publisherInterface.h"
namespace SimulationSlave {
@@ -48,7 +49,7 @@ public:
//-----------------------------------------------------------------------------
//! Destructor, deletes all saved output channel buffers.
//-----------------------------------------------------------------------------
- virtual ~Component();
+ virtual ~Component() override;
//-----------------------------------------------------------------------------
@@ -56,8 +57,7 @@ public:
//!
//! @param[in] implementation Model interface implementation to set
//-----------------------------------------------------------------------------
- void SetImplementation(ModelInterface* implementation);
-
+ void SetImplementation(ModelInterface* implementation) override;
void SetParameter(std::unique_ptr<ParameterInterface> parameter) override
{
@@ -69,7 +69,7 @@ public:
//!
//! @return Stored agent
//-----------------------------------------------------------------------------
- Agent* GetAgent() const;
+ Agent* GetAgent() const override;
//-----------------------------------------------------------------------------
//! Adds the provided channel with the provided ID to the stored list of input
@@ -79,7 +79,7 @@ public:
//! @param[in] linkId ID of the channel to add
//! @return Flag if adding the channel was successful
//-----------------------------------------------------------------------------
- bool AddInputLink(Channel* input, int linkId);
+ bool AddInputLink(Channel* input, int linkId) override;
//-----------------------------------------------------------------------------
//! Adds the provided channel with the provided ID to the stored list of output
@@ -89,7 +89,7 @@ public:
//! @param[in] linkId ID of the channel to add
//! @return Flag if adding the channel was successful
//-----------------------------------------------------------------------------
- bool AddOutputLink(Channel* output, int linkId);
+ bool AddOutputLink(Channel* output, int linkId) override;
//-----------------------------------------------------------------------------
//! Sets the observation modules map of the component
@@ -103,21 +103,21 @@ public:
//!
//! @return Map of IDs to stored input channels
//-----------------------------------------------------------------------------
- std::map<int, Channel*>& GetInputLinks();
+ std::map<int, Channel*>& GetInputLinks() override;
//-----------------------------------------------------------------------------
//! Returns the map of IDs to stored output channels.
//!
//! @return Map of IDs to stored output channels
//-----------------------------------------------------------------------------
- std::map<int, Channel*>& GetOutputLinks();
+ std::map<int, Channel*>& GetOutputLinks() override;
//-----------------------------------------------------------------------------
//! Returns the map of IDs to stored observation modules.
//!
//! @return Map of IDs to stored observation modules
//-----------------------------------------------------------------------------
- const std::map<int, ObservationInterface*>& GetObservations() const;
+ const std::map<int, ObservationInterface*>& GetObservations() const override;
//-----------------------------------------------------------------------------
//! Calls the Trigger method on the stored model library with the stored model
@@ -126,7 +126,7 @@ public:
//! @param[in] time Observation module (as interface)to add
//! @return False if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- bool TriggerCycle(int time);
+ bool TriggerCycle(int time) override;
//-----------------------------------------------------------------------------
//! Gets the data on the channel with the provided ID by updating the output
@@ -138,7 +138,7 @@ public:
//! @param[in] time Time stamp for the output
//! @return False if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- bool AcquireOutputData(int linkId, int time);
+ bool AcquireOutputData(int linkId, int time) override;
//-----------------------------------------------------------------------------
//! Releases the data on the channel with the provided ID.
@@ -146,7 +146,7 @@ public:
//! @param[in] linkId ID of the output channel
//! @return False if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- bool ReleaseOutputData(int linkId);
+ bool ReleaseOutputData(int linkId) override;
//-----------------------------------------------------------------------------
//! Updates the input data on the input channelwith the provided ID by updating
@@ -157,7 +157,7 @@ public:
//! @param[in] time Time stamp for the output
//! @return False if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- bool UpdateInputData(int linkId, int time);
+ bool UpdateInputData(int linkId, int time) override;
//-----------------------------------------------------------------------------
//! Creates a new channel buffer with the provided ID, store it in the stored
@@ -166,7 +166,7 @@ public:
//! @param[in] linkId ID of the channel output buffer to create
//! @return Created output channel buffer
//-----------------------------------------------------------------------------
- ChannelBuffer* CreateOutputBuffer(int linkId);
+ ChannelBuffer* CreateOutputBuffer(int linkId) override;
//-----------------------------------------------------------------------------
//! Insert the provided channel buffer with the provided ID in the list of stored
@@ -176,7 +176,7 @@ public:
//! @param[in] buffer Channel input bufer to set
//! @return False if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- bool SetInputBuffer(int linkId, ChannelBuffer* buffer);
+ bool SetInputBuffer(int linkId, ChannelBuffer* buffer) override;
//-----------------------------------------------------------------------------
//! Returns if the stored model interface implementation is defined as init module.
@@ -185,7 +185,7 @@ public:
//! the flag if stored model interface
//! implementation is defined as init module
//-----------------------------------------------------------------------------
- bool GetInit() const;
+ bool GetInit() const override;
//-----------------------------------------------------------------------------
//! Returns the priority of the stored model interface implementation.
@@ -194,7 +194,7 @@ public:
//! if error occured, otherwise the priority
//! of the stored model interface implementation
//-----------------------------------------------------------------------------
- int GetPriority() const;
+ int GetPriority() const override;
//-----------------------------------------------------------------------------
//! Returns the offset time of the stored model interface implementation, i.e.
@@ -204,7 +204,7 @@ public:
//! the offset time of the stored model
//! interface implementation
//-----------------------------------------------------------------------------
- int GetOffsetTime() const;
+ int GetOffsetTime() const override;
//-----------------------------------------------------------------------------
//! Returns the response time of the stored model interface implementation.
@@ -213,7 +213,7 @@ public:
//! the respone time of the stored model
//! interface implementation
//-----------------------------------------------------------------------------
- int GetResponseTime() const;
+ int GetResponseTime() const override;
//-----------------------------------------------------------------------------
//! Returns the cycle time of the stored model interface implementation, i.e.
@@ -223,7 +223,7 @@ public:
//! the cycle time of the stored model
//! interface implementation
//-----------------------------------------------------------------------------
- int GetCycleTime() const;
+ int GetCycleTime() const override;
//-----------------------------------------------------------------------------
//! Set the provided model library as library to store.
@@ -232,28 +232,28 @@ public:
//! @return False if library is already set, true
//! otherwise
//-----------------------------------------------------------------------------
- bool SetModelLibrary(ModelLibrary* modelLibrary);
+ bool SetModelLibrary(ModelLibrary* modelLibrary) override;
//-----------------------------------------------------------------------------
//! Releases this component from the stored library.
//!
//! @return Result of releasing this component
//-----------------------------------------------------------------------------
- bool ReleaseFromLibrary();
+ bool ReleaseFromLibrary() override;
//-----------------------------------------------------------------------------
//! Returns the stored model interface instance.
//!
//! @return Stored model interface instance
//-----------------------------------------------------------------------------
- ModelInterface* GetImplementation() const;
+ ModelInterface* GetImplementation() const override;
//-----------------------------------------------------------------------------
//! Returns the stored ID.
//!
//! @return Stored ID
//-----------------------------------------------------------------------------
- std::string GetName() const;
+ std::string GetName() const override;
private:
Agent* agent;
@@ -264,6 +264,7 @@ private:
ModelLibrary* modelLibrary;
ModelInterface* implementation;
std::unique_ptr<ParameterInterface> parameter;
+ std::unique_ptr<PublisherInterface> publisher;
std::map<int, ChannelBuffer*> inputChannelBuffers;
std::map<int, ChannelBuffer*> outputChannelBuffers;
};
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelBinding.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelBinding.cpp
index 33d20a37f3520e73418267ead3de6e15b2fa6066..3b006eea9d55709265362f02ae5a8beb6cdc7088 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelBinding.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelBinding.cpp
@@ -32,13 +32,14 @@ ModelBinding::~ModelBinding()
Unload();
}
-ComponentInterface *ModelBinding::Instantiate(std::shared_ptr<ComponentType>componentType,
- std::string componentName,
- StochasticsInterface *stochastics,
- WorldInterface *world,
- ObservationNetworkInterface *observationNetwork,
- Agent *agent,
- EventNetworkInterface *eventNetwork)
+ComponentInterface *ModelBinding::Instantiate(std::shared_ptr<ComponentType> componentType,
+ std::string componentName,
+ StochasticsInterface *stochastics,
+ WorldInterface *world,
+ ObservationNetworkInterface *observationNetwork,
+ Agent *agent,
+ EventNetworkInterface *eventNetwork,
+ PublisherInterface *publisher)
{
const std::string name = componentType->GetModelLibrary();
@@ -82,7 +83,8 @@ ComponentInterface *ModelBinding::Instantiate(std::shared_ptr<ComponentType>comp
world,
observationNetwork,
agent,
- eventNetwork);
+ eventNetwork,
+ publisher);
}
void ModelBinding::Unload()
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelBinding.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelBinding.h
index 9818518dc7ce0c026a45260c8c4385957102632c..eb40bae63eb63c2f6e3e0f7dab5d32201c4d29e2 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelBinding.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelBinding.h
@@ -18,11 +18,15 @@
#include <map>
#include <string>
+
#include "Interfaces/modelInterface.h"
#include "Interfaces/componentInterface.h"
+
+#include "Common/runtimeInformation.h"
#include "CoreFramework/CoreShare/callbacks.h"
#include "CoreFramework/CoreShare/log.h"
-#include "Common/runtimeInformation.h"
+
+class PublisherInterface;
namespace SimulationSlave
{
@@ -53,21 +57,24 @@ public:
//! parameters using this library.
//!
//! @param[in] componentType Type of the component to instantiate
- //! @param[in] componentId ID of the component to instantiate
+ //! @param[in] componentName Name of the component to instantiate
//! @param[in] stochastics Stochastics interface
//! @param[in] world World representation
//! @param[in] observationNetwork Network of the observation modules
//! @param[in] agent Agent that the component type is a part of
+ //! @param[in] eventNetwork Instance of the internal event logic
+ //! @param[in] publisher Publisher instance
//!
//! @return The instantiated component
//-----------------------------------------------------------------------------
ComponentInterface *Instantiate(std::shared_ptr<ComponentType> componentType,
- std::string componentName,
- StochasticsInterface *stochastics,
- WorldInterface *world,
- ObservationNetworkInterface *observationNetwork,
- Agent *agent,
- EventNetworkInterface *eventNetwork);
+ std::string componentName,
+ StochasticsInterface *stochastics,
+ WorldInterface *world,
+ ObservationNetworkInterface *observationNetwork,
+ Agent *agent,
+ EventNetworkInterface *eventNetwork,
+ PublisherInterface *publisher);
//-----------------------------------------------------------------------------
//! Unloads the model library by deleting the stored libraries
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelLibrary.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelLibrary.cpp
index aef91ef9eaacba919cf0f5d63123c385980786ea..8fd15fdcad9b7aa68d51a199585f18aba971e5da 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelLibrary.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelLibrary.cpp
@@ -16,6 +16,7 @@
#include <QLibrary>
#include "agent.h"
+#include "agentDataPublisher.h"
#include "component.h"
#include "componentType.h"
#include "CoreFramework/CoreShare/log.h"
@@ -52,49 +53,42 @@ bool ModelLibrary::Init()
return false;
}
- getVersionFunc = (ModelInterface_GetVersion)library->resolve(DllGetVersionId.c_str());
+ getVersionFunc = reinterpret_cast<ModelInterface_GetVersion>(library->resolve(DllGetVersionId.c_str()));
if (!getVersionFunc)
{
LOG_INTERN(LogLevel::Error) << "could not resolve " << DllGetVersionId.c_str() << " from DLL";
return false;
}
- createInstanceFunc = (ModelInterface_CreateInstanceType)library->resolve(DllCreateInstanceId.c_str());
+ createInstanceFunc = reinterpret_cast<ModelInterface_CreateInstanceType>(library->resolve(DllCreateInstanceId.c_str()));
if (!createInstanceFunc)
{
LOG_INTERN(LogLevel::Error) << "could not resolve " << DllCreateInstanceId.c_str() << " from DLL";
return false;
}
- createEventInstanceFunc = (UnrestrictedEventModelInterface_CreateInstanceType)library->resolve(DllCreateInstanceId.c_str());
- if(!createEventInstanceFunc)
- {
- LOG_INTERN(LogLevel::Error) << "could not resolve " << DllCreateInstanceId.c_str() << " from DLL";
- return false;
- }
-
- destroyInstanceFunc = (ModelInterface_DestroyInstanceType)library->resolve(DllDestroyInstanceId.c_str());
+ destroyInstanceFunc = reinterpret_cast<ModelInterface_DestroyInstanceType>(library->resolve(DllDestroyInstanceId.c_str()));
if (!destroyInstanceFunc)
{
LOG_INTERN(LogLevel::Error) << "could not resolve " << DllDestroyInstanceId.c_str() << " from DLL";
return false;
}
- updateInputFunc = (ModelInterface_UpdateInputType)library->resolve(DllUpdateInputId.c_str());
+ updateInputFunc = reinterpret_cast<ModelInterface_UpdateInputType>(library->resolve(DllUpdateInputId.c_str()));
if (!updateInputFunc)
{
LOG_INTERN(LogLevel::Error) << "could not resolve " << DllUpdateInputId.c_str() << " from DLL";
return false;
}
- updateOutputFunc = (ModelInterface_UpdateOutputType)library->resolve(DllUpdateOutputId.c_str());
+ updateOutputFunc = reinterpret_cast<ModelInterface_UpdateOutputType>(library->resolve(DllUpdateOutputId.c_str()));
if (!updateOutputFunc)
{
LOG_INTERN(LogLevel::Error) << "could not resolve " << DllUpdateOutputId.c_str() << " from DLL";
return false;
}
- triggerFunc = (ModelInterface_TriggerType)library->resolve(DllTriggerId.c_str());
+ triggerFunc = reinterpret_cast<ModelInterface_TriggerType>(library->resolve(DllTriggerId.c_str()));
if (!triggerFunc)
{
LOG_INTERN(LogLevel::Error) << "could not resolve " << DllTriggerId.c_str() << " from DLL";
@@ -183,7 +177,8 @@ ComponentInterface* ModelLibrary::CreateComponent(std::shared_ptr<ComponentType>
WorldInterface* world,
ObservationNetworkInterface* observationNetwork,
Agent* agent,
- EventNetworkInterface* eventNetwork)
+ EventNetworkInterface* eventNetwork,
+ PublisherInterface* publisher)
{
if (!library)
{
@@ -216,36 +211,73 @@ ComponentInterface* ModelLibrary::CreateComponent(std::shared_ptr<ComponentType>
{
const auto &version = getVersionFunc();
- if (version == "0.1.0")
+ /*if (version == "0.3.0")
+ {
+ implementation = reinterpret_cast<UnrestrictedEventPublishModelInterface_CreateInstanceType>(createInstanceFunc)(
+ componentName,
+ componentType->GetInit(),
+ componentType->GetPriority(),
+ componentType->GetOffsetTime(),
+ componentType->GetResponseTime(),
+ componentType->GetCycleTime(),
+ stochastics,
+ world,
+ parameter.get(),
+ &component->GetObservations(),
+ agent->GetAgentAdapter(),
+ callbacks,
+ eventNetwork,
+ publisher);
+ }
+ if (version == "0.2.0")
+ {
+ implementation = reinterpret_cast<UnrestrictedPublishModelInterface_CreateInstanceType>(createInstanceFunc)(
+ componentName,
+ componentType->GetInit(),
+ componentType->GetPriority(),
+ componentType->GetOffsetTime(),
+ componentType->GetResponseTime(),
+ componentType->GetCycleTime(),
+ stochastics,
+ world,
+ parameter.get(),
+ &component->GetObservations(),
+ agent->GetAgentAdapter(),
+ callbacks,
+ publisher);
+ }
+ else*/ if (version == "0.1.0")
{
- implementation = createEventInstanceFunc(componentName,
- componentType->GetInit(),
- componentType->GetPriority(),
- componentType->GetOffsetTime(),
- componentType->GetResponseTime(),
- componentType->GetCycleTime(),
- stochastics,
- world,
- parameter.get(),
- &component->GetObservations(),
- agent->GetAgentAdapter(),
- callbacks,
- eventNetwork);
+ implementation = reinterpret_cast<UnrestrictedEventModelInterface_CreateInstanceType>(createInstanceFunc)(
+ componentName,
+ componentType->GetInit(),
+ componentType->GetPriority(),
+ componentType->GetOffsetTime(),
+ componentType->GetResponseTime(),
+ componentType->GetCycleTime(),
+ stochastics,
+ world,
+ parameter.get(),
+ publisher,
+ agent->GetAgentAdapter(),
+ callbacks,
+ eventNetwork);
}
else
{
- implementation = createInstanceFunc(componentName,
- componentType->GetInit(),
- componentType->GetPriority(),
- componentType->GetOffsetTime(),
- componentType->GetResponseTime(),
- componentType->GetCycleTime(),
- stochastics,
- world,
- parameter.get(),
- &component->GetObservations(),
- agent->GetAgentAdapter(),
- callbacks);
+ implementation = createInstanceFunc(
+ componentName,
+ componentType->GetInit(),
+ componentType->GetPriority(),
+ componentType->GetOffsetTime(),
+ componentType->GetResponseTime(),
+ componentType->GetCycleTime(),
+ stochastics,
+ world,
+ parameter.get(),
+ publisher,
+ agent->GetAgentAdapter(),
+ callbacks);
}
}
catch (std::runtime_error const& ex)
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelLibrary.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelLibrary.h
index e44324962f30c0164b7d5069bf12957631b03305..126653c39282868dd1e2f91ca509f805d55e3403 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelLibrary.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/modelInterface/modelLibrary.h
@@ -25,6 +25,8 @@
#include "Interfaces/componentInterface.h"
#include "Interfaces/observationNetworkInterface.h"
+class PublisherInterface;
+
namespace SimulationSlave
{
@@ -44,22 +46,22 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observationLinks,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks);
typedef ModelInterface *(*UnrestrictedEventModelInterface_CreateInstanceType)(std::string componentName,
- bool isInit,
- int priority,
- int offsetTime,
- int responseTime,
- int cycleTime,
- StochasticsInterface *stochastics,
- WorldInterface *world,
- const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observationLinks,
- AgentInterface *agent,
- const CallbackInterface *callbacks,
- const SimulationSlave::EventNetworkInterface *eventNetwork);
+ bool isInit,
+ int priority,
+ int offsetTime,
+ int responseTime,
+ int cycleTime,
+ StochasticsInterface *stochastics,
+ WorldInterface *world,
+ const ParameterInterface *parameters,
+ PublisherInterface * const publisher,
+ AgentInterface *agent,
+ const CallbackInterface *callbacks,
+ const SimulationSlave::EventNetworkInterface *eventNetwork);
typedef void (*ModelInterface_DestroyInstanceType)(ModelInterface *implementation);
typedef bool (*ModelInterface_UpdateInputType)(ModelInterface *implementation,
int localLinkId,
@@ -118,16 +120,18 @@ public:
//! @param[in] observationNetwork Network of the observation modules
//! @param[in] agent Agent instance
//! @param[in] eventNetwork Instance of the internal event logic
+ //! @param[in] publisher Publisher instance
//! @return
//-----------------------------------------------------------------------------
ComponentInterface *CreateComponent(std::shared_ptr<ComponentType> componentType,
- std::string componentName,
- const openpass::common::RuntimeInformation& runtimeInformation,
- StochasticsInterface *stochastics,
- WorldInterface *world,
- ObservationNetworkInterface *observationNetwork,
- Agent *agent,
- EventNetworkInterface *eventNetwork);
+ std::string componentName,
+ const openpass::common::RuntimeInformation& runtimeInformation,
+ StochasticsInterface *stochastics,
+ WorldInterface *world,
+ ObservationNetworkInterface *observationNetwork,
+ Agent *agent,
+ EventNetworkInterface *eventNetwork,
+ PublisherInterface *publisher);
//-----------------------------------------------------------------------------
//! Calls the "update input" function pointer with the provided parameters and
@@ -195,7 +199,6 @@ private:
QLibrary *library = nullptr;
ModelInterface_GetVersion getVersionFunc{nullptr};
ModelInterface_CreateInstanceType createInstanceFunc{nullptr};
- UnrestrictedEventModelInterface_CreateInstanceType createEventInstanceFunc{nullptr};
ModelInterface_DestroyInstanceType destroyInstanceFunc{nullptr};
ModelInterface_UpdateInputType updateInputFunc{nullptr};
ModelInterface_UpdateOutputType updateOutputFunc{nullptr};
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationBinding.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationBinding.cpp
index c574e39d6b93191c36ec396b9b06b80be06acc31..f9805048be39c93b1c0162517064c3415334464f 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationBinding.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationBinding.cpp
@@ -30,12 +30,12 @@ ObservationModule* ObservationBinding::Instantiate(const std::string& libraryPat
const openpass::parameter::ParameterSetLevel1 ¶meter,
StochasticsInterface* stochastics,
WorldInterface* world,
- EventNetworkInterface* eventNetwork)
+ EventNetworkInterface* eventNetwork,
+ DataStoreReadInterface* const dataStore)
{
if (!library)
{
- library = new (std::nothrow) ObservationLibrary(libraryPath,
- callbacks);
+ library = new (std::nothrow) ObservationLibrary(libraryPath, callbacks);
if (!library)
{
return nullptr;
@@ -52,7 +52,8 @@ ObservationModule* ObservationBinding::Instantiate(const std::string& libraryPat
parameter,
stochastics,
world,
- eventNetwork);
+ eventNetwork,
+ dataStore);
}
void ObservationBinding::Unload()
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationBinding.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationBinding.h
index ca20e21a9b64fe033749e604195016cc47445ff6..0df7b0c6aef65a9df17e52dd09a59126b0b72d2e 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationBinding.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationBinding.h
@@ -57,7 +57,8 @@ public:
const openpass::parameter::ParameterSetLevel1& parameter,
StochasticsInterface* stochastics,
WorldInterface* world,
- SimulationSlave::EventNetworkInterface* eventNetwork);
+ SimulationSlave::EventNetworkInterface* eventNetwork,
+ DataStoreReadInterface* dataStore);
//-----------------------------------------------------------------------------
//! Deletes the library mapping and all referenced observation library objects
//-----------------------------------------------------------------------------
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationLibrary.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationLibrary.cpp
index 83af3e7e17edf2dc45fcf8cedfcfded06c0d3186..22db70f0381cb9fd203b04d8745adf4a8b88faeb 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationLibrary.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationLibrary.cpp
@@ -187,7 +187,8 @@ ObservationModule* ObservationLibrary::CreateObservationModule(
const openpass::parameter::ParameterSetLevel1& parameters,
StochasticsInterface* stochastics,
WorldInterface* world,
- EventNetworkInterface* eventNetwork)
+ EventNetworkInterface* eventNetwork,
+ DataStoreReadInterface* const dataStore)
{
if (!library)
{
@@ -211,7 +212,8 @@ ObservationModule* ObservationLibrary::CreateObservationModule(
world,
eventNetwork,
module_parameters.get(),
- callbacks);
+ callbacks,
+ dataStore);
}
catch (std::runtime_error const& ex)
{
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationLibrary.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationLibrary.h
index 07bf8c39edc04760d365133617328861279be308..edc44033e6ab3e0b0278bd2e5936c2f41417c47f 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationLibrary.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/observationInterface/observationLibrary.h
@@ -38,7 +38,8 @@ public:
WorldInterface* world,
EventNetworkInterface* eventNetwork,
const ParameterInterface* parameters,
- const CallbackInterface* callbacks);
+ const CallbackInterface* callbacks,
+ DataStoreReadInterface* const dataStore);
typedef void (*ObservationInterface_DestroyInstanceType)(ObservationInterface* implementation);
typedef bool (*ObservationInterface_MasterPreHook)(ObservationInterface* implementation);
typedef bool (*ObservationInterface_MasterPostHook)(ObservationInterface* implementation,
@@ -96,7 +97,8 @@ public:
const openpass::parameter::ParameterSetLevel1 ¶meters,
StochasticsInterface* stochastics,
WorldInterface* world,
- EventNetworkInterface* eventNetwork);
+ EventNetworkInterface* eventNetwork,
+ DataStoreReadInterface* const dataStore);
bool SlavePreHook(ObservationInterface* implementation)
{
@@ -149,6 +151,7 @@ private:
std::list<ObservationModule*> observationModules;
QLibrary* library = nullptr;
CallbackInterface* callbacks;
+
ObservationInterface_GetVersion getVersionFunc{nullptr};
ObservationInterface_CreateInstanceType createInstanceFunc{nullptr};
ObservationInterface_DestroyInstanceType destroyInstanceFunc{nullptr};
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/agentParser.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/agentParser.cpp
index 291b031e7f615e5ec5fdf1b258517f8e8fc87ea1..c9d51bf093e59421a65e031a5ef0c7f7e32e8cdd 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/agentParser.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/agentParser.cpp
@@ -8,24 +8,25 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
-//-----------------------------------------------------------------------------
-/** \file AgentParser.cpp */
-//-----------------------------------------------------------------------------
-
#include "agentParser.h"
+
#include "Interfaces/componentInterface.h"
+#include "Interfaces/publisherInterface.h"
#include "channel.h"
+#include "tasks.h"
+namespace openpass::scheduling {
-namespace SimulationSlave {
-namespace Scheduling {
+using namespace SimulationSlave;
-AgentParser::AgentParser(const int ¤tTime) : currentTime{currentTime}
-{}
+AgentParser::AgentParser(const int ¤tTime) :
+ currentTime{currentTime}
+{
+}
void AgentParser::Parse(const Agent &agent)
{
- for(const auto &componentMap : agent.GetComponents())
+ for (const auto &componentMap : agent.GetComponents())
{
std::list<TaskItem> taskItems;
@@ -39,40 +40,35 @@ void AgentParser::Parse(const Agent &agent)
std::function<bool()> triggerFunc = std::bind(&ComponentInterface::TriggerCycle, component, std::ref(currentTime));
taskItems.push_back(
- {
- TriggerTaskItem(agentId, priority, cycleTime, triggerDelay, triggerFunc)
- });
-// std::cout << "Trigger Task: AgentId: " << agentId << " prio: " << priority <<
-// " cycleTime: " << cycleTime << " delay: " << triggerDelay << std::endl;
+ {TriggerTaskItem(agentId, priority, cycleTime, triggerDelay, triggerFunc)});
+ // std::cout << "Trigger Task: AgentId: " << agentId << " prio: " << priority <<
+ // " cycleTime: " << cycleTime << " delay: " << triggerDelay << std::endl;
- for(auto& channel : component->GetOutputLinks())
+ for (auto &channel : component->GetOutputLinks())
{
int outputLinkId = channel.first;
std::function<bool()> updateFunc = std::bind(&ComponentInterface::AcquireOutputData, component, outputLinkId, std::ref(currentTime));
taskItems.push_back(
- {
- UpdateTaskItem(agentId, priority, cycleTime, updateDelay, updateFunc)
- });
-// std::cout << "UpdateOUT Task: AgentId: " << agentId << " prio: " << priority <<
-// " cycleTime: " << cycleTime << " delay: " << updateDelay << std::endl;
+ {UpdateTaskItem(agentId, priority, cycleTime, updateDelay, updateFunc)});
+ // std::cout << "UpdateOUT Task: AgentId: " << agentId << " prio: " << priority <<
+ // " cycleTime: " << cycleTime << " delay: " << updateDelay << std::endl;
- for(auto& target : channel.second->GetTargets())
+ for (auto &target : channel.second->GetTargets())
{
int targetLinkId = std::get<static_cast<size_t>(Channel::TargetLinkType::LinkId)>(target);
ComponentInterface *targetComponent = std::get<static_cast<size_t>(Channel::TargetLinkType::Component)>(target);
std::function<bool()> updateInFunc = std::bind(&ComponentInterface::UpdateInputData, targetComponent, targetLinkId, std::ref(currentTime));
taskItems.push_back(
- {
- UpdateTaskItem(agentId, priority, cycleTime, updateDelay, updateInFunc)
- });
-// std::cout << "UpdateIN Task: AgentId: " << agentId << " prio: " << priority <<
-// " cycleTime: " << cycleTime << " delay: " << updateDelay << std::endl;
+ {UpdateTaskItem(agentId, priority, cycleTime, updateDelay, updateInFunc)});
+ // std::cout << "UpdateIN Task: AgentId: " << agentId << " prio: " << priority <<
+ // " cycleTime: " << cycleTime << " delay: " << updateDelay << std::endl;
}
}
- if(component->GetInit()) {
+ if (component->GetInit())
+ {
nonRecurringTasks.insert(nonRecurringTasks.end(),
std::make_move_iterator(taskItems.begin()),
std::make_move_iterator(taskItems.end()));
@@ -96,5 +92,4 @@ std::list<TaskItem> AgentParser::GetRecurringTasks()
return recurringTasks;
}
-} //namespace Scheduler
-} //namespace SimulationSlave
+} // namespace openpass::scheduling
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/agentParser.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/agentParser.h
index 5906e1f633ae88208833d0b9468b2eb760e312d7..1faa82f5becccae78ba1419eb499162315147818 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/agentParser.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/agentParser.h
@@ -19,14 +19,13 @@
#pragma once
-#include <list>
#include <functional>
+#include <list>
-#include "tasks.h"
#include "agent.h"
+#include "tasks.h"
-namespace SimulationSlave {
-namespace Scheduling {
+namespace openpass::scheduling {
//-----------------------------------------------------------------------------
/** \brief convert agent to taskItems for Scheduling
@@ -54,11 +53,10 @@ public:
*
* @param[in] Agent new agent
*/
- void Parse(const Agent &agent);
+ void Parse(const SimulationSlave::Agent &agent);
std::list<TaskItem> GetNonRecurringTasks();
std::list<TaskItem> GetRecurringTasks();
};
-} //namespace Scheduler
-} //namespace SimulationSlave
+} // namespace openpass::scheduling
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/scheduler.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/scheduler.cpp
index edaa9fd746d9d3cf83fa591d48d94f256ec4bf26..cd96329c424b602588ed612e9797ba50a6271444 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/scheduler.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/scheduler.cpp
@@ -9,23 +9,23 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
+#include "scheduler.h"
+
+#include "CoreFramework/CoreShare/log.h"
#include "agent.h"
#include "agentParser.h"
#include "eventNetwork.h"
-#include "CoreFramework/CoreShare/log.h"
#include "runResult.h"
-#include "scheduler.h"
-//-----------------------------------------------------------------------------
-/** \file Scheduler.cpp */
-//-----------------------------------------------------------------------------
-namespace SimulationSlave {
+namespace openpass::scheduling {
+
+using namespace SimulationSlave;
-Scheduler::Scheduler(WorldInterface& world,
- SpawnPointNetworkInterface& spawnPointNetwork,
- EventDetectorNetworkInterface& eventDetectorNetwork,
- ManipulatorNetworkInterface& manipulatorNetwork,
- ObservationNetworkInterface& observationNetwork) :
+Scheduler::Scheduler(WorldInterface &world,
+ SpawnPointNetworkInterface &spawnPointNetwork,
+ EventDetectorNetworkInterface &eventDetectorNetwork,
+ ManipulatorNetworkInterface &manipulatorNetwork,
+ ObservationNetworkInterface &observationNetwork) :
world(world),
spawnPointNetwork(spawnPointNetwork),
eventDetectorNetwork(eventDetectorNetwork),
@@ -37,8 +37,8 @@ Scheduler::Scheduler(WorldInterface& world,
bool Scheduler::Run(
int startTime,
int endTime,
- RunResult& runResult,
- EventNetworkInterface& eventNetwork)
+ RunResult &runResult,
+ EventNetworkInterface &eventNetwork)
{
if (startTime > endTime)
{
@@ -63,11 +63,11 @@ bool Scheduler::Run(
auto finalizeTasks = taskBuilder.CreateFinalizeTasks();
auto taskList = SchedulerTasks(
- bootstrapTasks,
- commonTasks,
- finalizeRecurringTasks,
- finalizeTasks,
- FRAMEWORK_UPDATE_RATE);
+ bootstrapTasks,
+ commonTasks,
+ finalizeRecurringTasks,
+ finalizeTasks,
+ FRAMEWORK_UPDATE_RATE);
if (ExecuteTasks(taskList.GetBootstrapTasks()) == false)
{
@@ -113,10 +113,10 @@ bool Scheduler::Run(
return Scheduler::SUCCESS;
}
-template<typename T>
+template <typename T>
bool Scheduler::ExecuteTasks(T tasks)
{
- for (const auto& task : tasks)
+ for (const auto &task : tasks)
{
if (task.func() == false)
{
@@ -126,17 +126,18 @@ bool Scheduler::ExecuteTasks(T tasks)
return true;
}
-void Scheduler::UpdateAgents(SchedulerTasks& taskList, WorldInterface& world)
+void Scheduler::UpdateAgents(SchedulerTasks &taskList, WorldInterface &world)
{
- for (const auto& agent : spawnPointNetwork.ConsumeNewAgents())
+ for (const auto &agent : spawnPointNetwork.ConsumeNewAgents())
{
+ agent->LinkSchedulerTime(¤tTime);
ScheduleAgentTasks(taskList, *agent);
}
std::list<int> removedAgents;
- for (const auto& agentMap : world.GetAgents())
+ for (const auto &agentMap : world.GetAgents())
{
- AgentInterface* agent = agentMap.second;
+ AgentInterface *agent = agentMap.second;
if (!agent->IsValid())
{
removedAgents.push_back(agent->GetId());
@@ -146,7 +147,7 @@ void Scheduler::UpdateAgents(SchedulerTasks& taskList, WorldInterface& world)
taskList.DeleteAgentTasks(removedAgents);
}
-void Scheduler::ScheduleAgentTasks(SchedulerTasks& taskList, const Agent& agent)
+void Scheduler::ScheduleAgentTasks(SchedulerTasks &taskList, const Agent &agent)
{
AgentParser agentParser(currentTime);
agentParser.Parse(agent);
@@ -155,4 +156,4 @@ void Scheduler::ScheduleAgentTasks(SchedulerTasks& taskList, const Agent& agent)
taskList.ScheduleNewNonRecurringTasks(agentParser.GetNonRecurringTasks());
}
-} // namespace SimulationSlave
+} // namespace openpass::scheduling
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/scheduler.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/scheduler.h
index 54e6c0881b5e4f9492958862400924b69a78f2b6..dd9dc1c598cda283a7165fff7edeba901cdfc1de 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/scheduler.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/scheduler.h
@@ -9,26 +9,24 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
-//-----------------------------------------------------------------------------
-//! @file Scheduler.h
-//! @brief This file contains the generic schedule managing component
-//-----------------------------------------------------------------------------
-
#pragma once
#include <functional>
#include <memory>
+
#include "Interfaces/worldInterface.h"
-#include "taskBuilder.h"
#include "schedulerTasks.h"
+#include "taskBuilder.h"
+#include "timeKeeper.h"
-namespace SimulationSlave
-{
-
+namespace SimulationSlave {
class RunResult;
class EventNetworkInterface;
class SchedulePolicy;
class SpawnPointNetworkInterface;
+} // namespace SimulationSlave
+
+namespace openpass::scheduling {
//-----------------------------------------------------------------------------
/** \brief execute all tasks for an simulation run
@@ -42,15 +40,15 @@ class SpawnPointNetworkInterface;
class Scheduler
{
public:
- static constexpr bool FAILURE { false };
- static constexpr bool SUCCESS { true };
- static constexpr int FRAMEWORK_UPDATE_RATE { 100 };
+ static constexpr bool FAILURE{false};
+ static constexpr bool SUCCESS{true};
+ static constexpr int FRAMEWORK_UPDATE_RATE{100};
Scheduler(WorldInterface &world,
- SpawnPointNetworkInterface &spawnPointNetwork,
- EventDetectorNetworkInterface &eventDetectorNetwork,
- ManipulatorNetworkInterface &manipulatorNetwork,
- ObservationNetworkInterface &observationNetwork);
+ SimulationSlave::SpawnPointNetworkInterface &spawnPointNetwork,
+ SimulationSlave::EventDetectorNetworkInterface &eventDetectorNetwork,
+ SimulationSlave::ManipulatorNetworkInterface &manipulatorNetwork,
+ SimulationSlave::ObservationNetworkInterface &observationNetwork);
/*!
* \brief Run
@@ -65,7 +63,7 @@ public:
*/
bool Run(int startTime,
int endTime,
- RunResult &runResult,
+ SimulationSlave::RunResult &runResult,
SimulationSlave::EventNetworkInterface &eventNetwork);
/*!
@@ -77,16 +75,16 @@ public:
* @param[in] taskList current task list
* @param[in] Agent new agent
*/
- void ScheduleAgentTasks(SchedulerTasks& taskList, const Agent& agent);
+ void ScheduleAgentTasks(SchedulerTasks &taskList, const SimulationSlave::Agent &agent);
-private:
+private:
WorldInterface &world;
- SpawnPointNetworkInterface &spawnPointNetwork;
- EventDetectorNetworkInterface &eventDetectorNetwork;
- ManipulatorNetworkInterface &manipulatorNetwork;
- ObservationNetworkInterface &observationNetwork;
+ SimulationSlave::SpawnPointNetworkInterface &spawnPointNetwork;
+ SimulationSlave::EventDetectorNetworkInterface &eventDetectorNetwork;
+ SimulationSlave::ManipulatorNetworkInterface &manipulatorNetwork;
+ SimulationSlave::ObservationNetworkInterface &observationNetwork;
- int currentTime {0};
+ int ¤tTime{openpass::scheduling::TimeKeeper::time};
/*!
* \brief UpdateAgents
@@ -107,10 +105,8 @@ private:
* @param[in] tasks execute function of given tasks
* @return false, if a task reports error
*/
- template<typename T>
+ template <typename T>
bool ExecuteTasks(T tasks);
};
-} // namespace SimulationSlave
-
-
+} // namespace openpass::scheduling
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/schedulerTasks.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/schedulerTasks.cpp
index 996768860f588454b8c597b513473388af006c4b..6312742c942f48fd1442e587b41c40212096bbf9 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/schedulerTasks.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/schedulerTasks.cpp
@@ -8,17 +8,17 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
+#include "schedulerTasks.h"
+
#include <algorithm>
+#include <stdexcept>
#include <utility>
-#include "schedulerTasks.h"
-
//-----------------------------------------------------------------------------
/** \file SchedulerTasks.cpp */
//-----------------------------------------------------------------------------
-namespace SimulationSlave {
-namespace Scheduling {
+namespace openpass::scheduling {
SchedulerTasks::SchedulerTasks(std::list<TaskItem> bootstrapTasks,
std::list<TaskItem> commonTasks,
@@ -29,7 +29,7 @@ SchedulerTasks::SchedulerTasks(std::list<TaskItem> bootstrapTasks,
this->bootstrapTasks.tasks = std::multiset<TaskItem>(bootstrapTasks.begin(), bootstrapTasks.end());
this->commonTasks.tasks = std::multiset<TaskItem>(commonTasks.begin(), commonTasks.end());
this->finalizeRecurringTasks.tasks = std::multiset<TaskItem>(finalizeRecurringTasks.begin(),
- finalizeRecurringTasks.end());
+ finalizeRecurringTasks.end());
this->finalizeTasks.tasks = std::multiset<TaskItem>(finalizeTasks.begin(), finalizeTasks.end());
this->scheduledTimestampsInterval = scheduledTimestampsInterval;
@@ -48,9 +48,9 @@ void SchedulerTasks::ScheduleNewNonRecurringTasks(std::list<TaskItem> newTasks)
ScheduleNewTasks(nonRecurringTasks, newTasks);
}
-void SchedulerTasks::ScheduleNewTasks(Tasks& tasks, std::list<TaskItem> newTasks)
+void SchedulerTasks::ScheduleNewTasks(Tasks &tasks, std::list<TaskItem> newTasks)
{
- for (const auto& newTask : newTasks)
+ for (const auto &newTask : newTasks)
{
tasks.AddTask(newTask);
UpdateScheduledTimestamps(newTask.cycletime, newTask.delay);
@@ -72,8 +72,8 @@ void SchedulerTasks::UpdateScheduledTimestamps(int cycleTime, int delay)
int currentScheduleTime = cycleTime + delay;
int numberOfSkippedTimestamps = std::max(0,
- (lowerBoundOfScheduledTimestamps - currentScheduleTime + cycleTime - 1) /
- cycleTime); //We add cycletime -1 because we want to round up
+ (lowerBoundOfScheduledTimestamps - currentScheduleTime + cycleTime - 1) /
+ cycleTime); //We add cycletime -1 because we want to round up
currentScheduleTime += cycleTime * numberOfSkippedTimestamps;
if (currentScheduleTime <= upperBoundOfScheduledTimestamps)
@@ -87,9 +87,9 @@ void SchedulerTasks::UpdateScheduledTimestamps(int cycleTime, int delay)
// scheduledTimesteps higher than horizon will be considered on next timestamp
}
-void SchedulerTasks::UpdateScheduledTimestamps(std::multiset<TaskItem>& tasks)
+void SchedulerTasks::UpdateScheduledTimestamps(std::multiset<TaskItem> &tasks)
{
- for (const auto& task : tasks)
+ for (const auto &task : tasks)
{
UpdateScheduledTimestamps(task.cycletime, task.delay);
}
@@ -110,7 +110,7 @@ int SchedulerTasks::GetNextTimestamp(int timestamp)
{
ExpandUpperBoundary(timestamp);
- for (const auto& scheduledTimestamp : scheduledTimestamps)
+ for (const auto &scheduledTimestamp : scheduledTimestamps)
{
if (scheduledTimestamp > timestamp)
{
@@ -132,9 +132,9 @@ void SchedulerTasks::ExpandUpperBoundary(int timestamp)
// we are not time travelling.. backwards is illogical
}
-void SchedulerTasks::GetTasks(int timestamp, std::multiset<TaskItem>& tasks, std::list<TaskItem>& currentTasks)
+void SchedulerTasks::GetTasks(int timestamp, std::multiset<TaskItem> &tasks, std::list<TaskItem> ¤tTasks)
{
- for (const auto& task : tasks)
+ for (const auto &task : tasks)
{
if (task.cycletime == 0)
{
@@ -189,7 +189,7 @@ std::list<TaskItem> SchedulerTasks::GetRecurringTasks(int timestamp)
return currentTasks;
}
-void SchedulerTasks::PullNonRecurringTasks(int timestamp, std::list<TaskItem>& currentTasks)
+void SchedulerTasks::PullNonRecurringTasks(int timestamp, std::list<TaskItem> ¤tTasks)
{
GetTasks(timestamp, nonRecurringTasks.tasks, currentTasks);
ClearNonrecurringTasks();
@@ -216,9 +216,9 @@ void SchedulerTasks::DeleteAgentTasks(int agentId)
DeleteAgentTasks(agentIds);
}
-void SchedulerTasks::DeleteAgentTasks(std::list<int>& agentIds)
+void SchedulerTasks::DeleteAgentTasks(std::list<int> &agentIds)
{
- for (const auto& agentId : agentIds)
+ for (const auto &agentId : agentIds)
{
recurringTasks.DeleteTasks(agentId);
nonRecurringTasks.DeleteTasks(agentId); //if agent immediately will be removed after spawning
@@ -230,5 +230,4 @@ void SchedulerTasks::DeleteAgentTasks(std::list<int>& agentIds)
}
}
-} // namespace Scheduling
-} // namespace SimulationSlave
+} // namespace openpass::scheduling
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/schedulerTasks.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/schedulerTasks.h
index 2225010a1ac31dc362e164003f7a3536cbb0f315..52b6c69262431aeb51f84f6cde46455d9f8c7129 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/schedulerTasks.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/schedulerTasks.h
@@ -15,13 +15,12 @@
#pragma once
-#include <set>
#include <list>
+#include <set>
#include "tasks.h"
-namespace SimulationSlave {
-namespace Scheduling {
+namespace openpass::scheduling {
//-----------------------------------------------------------------------------
/** \brief managing timing of all given tasks
@@ -172,7 +171,7 @@ private:
* @param[in] tasks tasks to filter by current timestamp
* @param[out] list of TaskItems filtered tasks
*/
- void GetTasks(int timestamp, std::multiset<TaskItem>& tasks, std::list<TaskItem> ¤tTasks);
+ void GetTasks(int timestamp, std::multiset<TaskItem> &tasks, std::list<TaskItem> ¤tTasks);
/*!
* \brief UpdateScheduledTimestamps
@@ -224,6 +223,4 @@ private:
int lowerBoundOfScheduledTimestamps;
};
-
-} // namespace Scheduling
-} // namespace SimulationSlave
+} // namespace openpass::scheduling
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/taskBuilder.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/taskBuilder.cpp
index 02a047f3ecd526cf2543a5db264879d01fbf0ceb..e4173ccbd70b4f730acf67c3cd63796432b0d848 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/taskBuilder.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/taskBuilder.cpp
@@ -12,24 +12,25 @@
/** \file TaskBuilder.cpp */
//-----------------------------------------------------------------------------
+#include "taskBuilder.h"
+#include <algorithm>
#include <functional>
-#include "taskBuilder.h"
+
#include "eventDetector.h"
#include "manipulator.h"
-#include <algorithm>
using namespace SimulationSlave;
-using namespace SimulationSlave::Scheduling;
+namespace openpass::scheduling {
-TaskBuilder::TaskBuilder(const int& currentTime,
- RunResult& runResult,
+TaskBuilder::TaskBuilder(const int ¤tTime,
+ RunResult &runResult,
const int frameworkUpdateRate,
- WorldInterface* const world,
- SpawnPointNetworkInterface* const spawnPointNetwork,
- ObservationNetworkInterface* const observationNetwork,
- EventDetectorNetworkInterface* const eventDetectorNetwork,
- ManipulatorNetworkInterface* const manipulatorNetwork) :
+ WorldInterface *const world,
+ SpawnPointNetworkInterface *const spawnPointNetwork,
+ ObservationNetworkInterface *const observationNetwork,
+ EventDetectorNetworkInterface *const eventDetectorNetwork,
+ ManipulatorNetworkInterface *const manipulatorNetwork) :
currentTime{currentTime},
runResult{runResult},
frameworkUpdateRate{frameworkUpdateRate},
@@ -48,8 +49,8 @@ std::list<TaskItem> TaskBuilder::CreateBootstrapTasks()
std::list<TaskItem> items;
items.emplace_back(ObservationTaskItem(frameworkUpdateRate,
- std::bind(&ObservationNetworkInterface::UpdateTimeStep,
- observationNetwork, std::ref(currentTime), std::ref(runResult))));
+ std::bind(&ObservationNetworkInterface::UpdateTimeStep,
+ observationNetwork, std::ref(currentTime), std::ref(runResult))));
items.emplace_back(SpawningTaskItem(frameworkUpdateRate,
std::bind(&SpawnPointNetworkInterface::TriggerPreRunSpawnPoints,
@@ -60,7 +61,7 @@ std::list<TaskItem> TaskBuilder::CreateBootstrapTasks()
std::list<TaskItem> TaskBuilder::CreateCommonTasks()
{
- std::list<TaskItem> items {};
+ std::list<TaskItem> items{};
items.emplace_back(SpawningTaskItem(frameworkUpdateRate,
std::bind(&SpawnPointNetworkInterface::TriggerRuntimeSpawnPoints,
spawnPointNetwork,
@@ -70,61 +71,58 @@ std::list<TaskItem> TaskBuilder::CreateCommonTasks()
std::copy(std::begin(manipulatorTasks), std::end(manipulatorTasks), std::back_inserter(items));
items.emplace_back(ObservationTaskItem(frameworkUpdateRate, std::bind(
- &ObservationNetworkInterface::UpdateTimeStep,
- observationNetwork,
- std::ref(currentTime), std::ref(runResult))));
+ &ObservationNetworkInterface::UpdateTimeStep,
+ observationNetwork,
+ std::ref(currentTime), std::ref(runResult))));
return items;
}
std::list<TaskItem> TaskBuilder::CreateFinalizeRecurringTasks()
{
- return std::list<TaskItem>
- {
- SyncWorldTaskItem(ScheduleAtEachCycle, std::bind(&WorldInterface::SyncGlobalData, world))
- };
+ return std::list<TaskItem>{
+ SyncWorldTaskItem(ScheduleAtEachCycle, std::bind(&WorldInterface::SyncGlobalData, world))};
}
std::list<TaskItem> TaskBuilder::CreateFinalizeTasks()
{
- std::list<TaskItem> items {};
+ std::list<TaskItem> items{};
std::copy(std::begin(eventDetectorTasks), std::end(eventDetectorTasks), std::back_inserter(items));
std::copy(std::begin(manipulatorTasks), std::end(manipulatorTasks), std::back_inserter(items));
items.emplace_back(ObservationTaskItem(frameworkUpdateRate, std::bind(
- &ObservationNetworkInterface::UpdateTimeStep,
- observationNetwork,
- std::ref(currentTime),
- std::ref(runResult))));
+ &ObservationNetworkInterface::UpdateTimeStep,
+ observationNetwork,
+ std::ref(currentTime),
+ std::ref(runResult))));
return items;
}
void TaskBuilder::BuildEventDetectorTasks()
{
- const auto& eventDetectors = eventDetectorNetwork->GetEventDetectors();
+ const auto &eventDetectors = eventDetectorNetwork->GetEventDetectors();
std::transform(std::begin(eventDetectors), std::end(eventDetectors),
std::back_inserter(eventDetectorTasks),
- [&](auto eventDetector)
- {
- return EventDetectorTaskItem(frameworkUpdateRate, std::bind(
- &EventDetectorInterface::Trigger,
- eventDetector->GetImplementation(),
- std::ref(currentTime)));
- });
+ [&](auto eventDetector) {
+ return EventDetectorTaskItem(frameworkUpdateRate, std::bind(
+ &EventDetectorInterface::Trigger,
+ eventDetector->GetImplementation(),
+ std::ref(currentTime)));
+ });
}
void TaskBuilder::BuildManipulatorTasks()
{
- const auto& manipulators = manipulatorNetwork->GetManipulators();
+ const auto &manipulators = manipulatorNetwork->GetManipulators();
std::transform(std::begin(manipulators), std::end(manipulators),
std::back_inserter(manipulatorTasks),
- [&](auto manipulator)
- {
- return EventDetectorTaskItem(frameworkUpdateRate, std::bind(
- &ManipulatorInterface::Trigger,
- manipulator->GetImplementation(),
- std::ref(currentTime)));
- });
+ [&](auto manipulator) {
+ return EventDetectorTaskItem(frameworkUpdateRate, std::bind(
+ &ManipulatorInterface::Trigger,
+ manipulator->GetImplementation(),
+ std::ref(currentTime)));
+ });
}
+} // namespace openpass::scheduling
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/taskBuilder.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/taskBuilder.h
index cac019ff6de432a214c347fc17c0568c9137f0da..8c9a56ced4288013c8d674e42705137e579eca22 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/taskBuilder.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/taskBuilder.h
@@ -17,20 +17,18 @@
//-----------------------------------------------------------------------------
#include <functional>
-#include <vector>
#include <list>
+#include <vector>
-#include "tasks.h"
#include "Interfaces/spawnPointNetworkInterface.h"
#include "Interfaces/worldInterface.h"
-#include "runResult.h"
-#include "observationNetwork.h"
#include "eventDetectorNetwork.h"
#include "manipulatorNetwork.h"
+#include "observationNetwork.h"
+#include "runResult.h"
+#include "tasks.h"
-using namespace SimulationSlave;
-using namespace Scheduling;
-
+namespace openpass::scheduling {
//-----------------------------------------------------------------------------
/** \brief interface of taskBuilder
*
@@ -41,10 +39,10 @@ using namespace Scheduling;
class TaskBuilderInterface
{
public:
- virtual std::list<TaskItem> CreateBootstrapTasks()= 0;
+ virtual std::list<TaskItem> CreateBootstrapTasks() = 0;
virtual std::list<TaskItem> CreateCommonTasks() = 0;
virtual std::list<TaskItem> CreateFinalizeRecurringTasks() = 0;
- virtual std::list<TaskItem> CreateFinalizeTasks() = 0;
+ virtual std::list<TaskItem> CreateFinalizeTasks() = 0;
};
//-----------------------------------------------------------------------------
@@ -58,16 +56,15 @@ class TaskBuilder : public TaskBuilderInterface
{
private:
const int ¤tTime;
- RunResult &runResult;
+ SimulationSlave::RunResult &runResult;
const int frameworkUpdateRate;
const int ScheduleAtEachCycle = 0;
-
- WorldInterface* const world;
- SpawnPointNetworkInterface* const spawnPointNetwork;
- ObservationNetworkInterface* const observationNetwork;
- EventDetectorNetworkInterface* const eventDetectorNetwork;
- ManipulatorNetworkInterface* const manipulatorNetwork;
+ WorldInterface *const world;
+ SimulationSlave::SpawnPointNetworkInterface *const spawnPointNetwork;
+ SimulationSlave::ObservationNetworkInterface *const observationNetwork;
+ SimulationSlave::EventDetectorNetworkInterface *const eventDetectorNetwork;
+ SimulationSlave::ManipulatorNetworkInterface *const manipulatorNetwork;
std::list<TaskItem> eventDetectorTasks;
std::list<TaskItem> manipulatorTasks;
@@ -91,13 +88,13 @@ private:
public:
TaskBuilder(const int ¤tTime,
- RunResult &runResult,
- const int frameworkUpdateRate,
- WorldInterface* const world,
- SpawnPointNetworkInterface* const spawnPointNetwork,
- ObservationNetworkInterface * const observationNetwork,
- EventDetectorNetworkInterface* const eventDetectorNetwork,
- ManipulatorNetworkInterface* const manipulatorNetwork);
+ SimulationSlave::RunResult &runResult,
+ const int frameworkUpdateRate,
+ WorldInterface *const world,
+ SimulationSlave::SpawnPointNetworkInterface *const spawnPointNetwork,
+ SimulationSlave::ObservationNetworkInterface *const observationNetwork,
+ SimulationSlave::EventDetectorNetworkInterface *const eventDetectorNetwork,
+ SimulationSlave::ManipulatorNetworkInterface *const manipulatorNetwork);
virtual ~TaskBuilder() = default;
/*!
@@ -139,5 +136,6 @@ public:
* @return tasks final tasks of finalize phase
*/
std::list<TaskItem> CreateFinalizeTasks() override;
-
};
+
+} // namespace openpass::scheduling
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/tasks.cpp b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/tasks.cpp
index b1eacfb0edc48670183aa78834fae22b3d8be1eb..2c6669e8917b1fbd63db9ec95adce474953b2085 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/tasks.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/tasks.cpp
@@ -14,10 +14,9 @@
/** \file Tasks.cpp */
//-----------------------------------------------------------------------------
-namespace SimulationSlave {
-namespace Scheduling {
+namespace openpass::scheduling {
-void Tasks::AddTask(const TaskItem& newTask)
+void Tasks::AddTask(const TaskItem &newTask)
{
tasks.insert(newTask);
}
@@ -38,13 +37,13 @@ void Tasks::DeleteTasks(int agentId)
}
}
-bool TaskItem::operator<(const TaskItem& rhs) const
+bool TaskItem::operator<(const TaskItem &rhs) const
{
return (priority > rhs.priority ||
((priority == rhs.priority) && (taskType < rhs.taskType)));
}
-bool TaskItem::operator==(const TaskItem& rhs) const
+bool TaskItem::operator==(const TaskItem &rhs) const
{
return (priority == rhs.priority &&
cycletime == rhs.cycletime &&
@@ -53,5 +52,4 @@ bool TaskItem::operator==(const TaskItem& rhs) const
taskType == rhs.taskType);
}
-} // namespace Scheduling
-} // namespace SimulationSlave
+} // namespace openpass::scheduling
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/tasks.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/tasks.h
index f04284b741c80a2237e0bf0f6e5f7a53d64ef867..a27ba44ff368bc4f09164eb3f55276c93b15c404 100644
--- a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/tasks.h
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/tasks.h
@@ -19,11 +19,10 @@
//-----------------------------------------------------------------------------
#include <exception>
-#include <set>
#include <functional>
+#include <set>
-namespace SimulationSlave {
-namespace Scheduling {
+namespace openpass::scheduling {
enum TaskType
{
@@ -61,12 +60,14 @@ public:
delay(delay),
taskType(taskType),
func(func)
- {}
+ {
+ }
virtual ~TaskItem() = default;
static constexpr int VALID_FOR_ALL_AGENTS = -1;
static constexpr int NO_DELAY = 0;
+ static constexpr int PRIORITY_PRESPAWNING = 6;
static constexpr int PRIORITY_SPAWNING = 5;
static constexpr int PRIORITY_EVENTDETECTOR = 4;
static constexpr int PRIORITY_MANIPULATOR = 3;
@@ -74,8 +75,8 @@ public:
static constexpr int PRIORITY_UPDATEGLOBALDRIVINGVIEW = 1;
static constexpr int PRIORITY_OBSERVATION = 0;
- bool operator<(const TaskItem& rhs) const;
- bool operator==(const TaskItem& rhs) const;
+ bool operator<(const TaskItem &rhs) const;
+ bool operator==(const TaskItem &rhs) const;
};
/*!
@@ -101,7 +102,9 @@ class TriggerTaskItem : public TaskItem
{
public:
TriggerTaskItem(int agentId, int priority, int cycleTime, int delay, std::function<bool()> func) :
- TaskItem(agentId, priority, cycleTime, delay, TaskType::Trigger, func) {}
+ TaskItem(agentId, priority, cycleTime, delay, TaskType::Trigger, func)
+ {
+ }
};
//-----------------------------------------------------------------------------
@@ -127,7 +130,9 @@ public:
SpawningTaskItem(int cycleTime, std::function<bool()> func) :
TaskItem(VALID_FOR_ALL_AGENTS, PRIORITY_SPAWNING, cycleTime, NO_DELAY,
TaskType::Spawning,
- func) { }
+ func)
+ {
+ }
};
//-----------------------------------------------------------------------------
@@ -140,7 +145,9 @@ public:
EventDetectorTaskItem(int cycleTime, std::function<void()> func) :
TaskItem(VALID_FOR_ALL_AGENTS, PRIORITY_EVENTDETECTOR, cycleTime, NO_DELAY,
TaskType::EventDetector,
- std::bind(&voidFunctionWrapper, func)) { }
+ std::bind(&voidFunctionWrapper, func))
+ {
+ }
};
//-----------------------------------------------------------------------------
@@ -153,7 +160,9 @@ public:
ManipulatorTaskItem(int cycleTime, std::function<void()> func) :
TaskItem(VALID_FOR_ALL_AGENTS, PRIORITY_MANIPULATOR, cycleTime, NO_DELAY,
TaskType::Manipulator,
- std::bind(&voidFunctionWrapper, func)) { }
+ std::bind(&voidFunctionWrapper, func))
+ {
+ }
};
//-----------------------------------------------------------------------------
@@ -180,7 +189,9 @@ public:
SyncWorldTaskItem(int cycleTime, std::function<void()> func) :
TaskItem(VALID_FOR_ALL_AGENTS, PRIORITY_SYNCGLOBALDATA, cycleTime, NO_DELAY,
TaskType::SyncGlobalData,
- std::bind(&voidFunctionWrapper, func)) { }
+ std::bind(&voidFunctionWrapper, func))
+ {
+ }
};
//-----------------------------------------------------------------------------
@@ -206,7 +217,6 @@ public:
class Tasks
{
-
public:
/*!
* \brief AddTask
@@ -216,7 +226,7 @@ public:
*
* @param[in] TaskItem subclass of taskItem
*/
- void AddTask(const TaskItem& newTask);
+ void AddTask(const TaskItem &newTask);
/*!
* \brief DeleteTasks
@@ -231,6 +241,4 @@ public:
std::multiset<TaskItem> tasks;
};
-
-} // namespace Scheduling
-} // namespace SimulationSlave
+} // namespace openpass::scheduling
diff --git a/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/timeKeeper.h b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/timeKeeper.h
new file mode 100644
index 0000000000000000000000000000000000000000..7e37796b5053719abfdf01797457269833548530
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreFramework/OpenPassSlave/scheduler/timeKeeper.h
@@ -0,0 +1,39 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#pragma once
+
+namespace openpass::scheduling {
+
+class Scheduler;
+
+/// \brief Allows core components to access the current schedule time without need for a direct reference
+/// \note The scheduler holds a manipulate reference to the current time provided by this instance
+///
+/// \code{.cpp}
+/// auto currentTime = openpass::scheduling::TimeKeeper::Now();
+/// \endcode
+class TimeKeeper
+{
+ friend class Scheduler;
+
+protected:
+ static inline int time{-1}; //!< Global time for the simulator
+
+public:
+ /// \brief Get the current simulation time
+ /// \return Current simulation time
+ static int Now() noexcept
+ {
+ return time;
+ }
+};
+
+} // namespace openpass::scheduling
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/BasicDataStore.pro b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/BasicDataStore.pro
new file mode 100644
index 0000000000000000000000000000000000000000..7b987fd146b014f922d22e4268ee5faa0b995bf0
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/BasicDataStore.pro
@@ -0,0 +1,31 @@
+# /*********************************************************************
+# * Copyright (c) 2020 in-tech 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
+# **********************************************************************/
+
+#-----------------------------------------------------------------------------
+# \file BasicDataStore.pro
+# \brief This file contains the information for the QtCreator-project of the
+# module BasicDataStore
+#-----------------------------------------------------------------------------/
+
+CONFIG += OPENPASS_LIBRARY
+DEFINES += BASIC_DATASTORE_LIBRARY
+
+include(../../../global.pri)
+
+INCLUDEPATH += \
+ ../../CoreFrameWork/CoreShare
+
+SOURCES += \
+ basicDataStore.cpp \
+ basicDataStoreImplementation.cpp
+
+HEADERS += \
+ basicDataStore.h \
+ basicDataStoreImplementation.h
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStore.cpp b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStore.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b0e8b4ec6a3ba37859b4c1e61b2fbd8133583ba5
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStore.cpp
@@ -0,0 +1,72 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** \file basicDataStore.cpp */
+//-----------------------------------------------------------------------------
+
+#include "basicDataStore.h"
+#include "basicDataStoreImplementation.h"
+
+const std::string Version = "1.0.0"; //!< The version of the current module - has to be incremented manually
+
+//-----------------------------------------------------------------------------
+//! dll-function to obtain the version of the current module
+//!
+//! @return Version of the current module
+//-----------------------------------------------------------------------------
+extern "C" BASIC_DATASTORE_SHARED_EXPORT const std::string& OpenPASS_GetVersion()
+{
+ return Version;
+}
+
+//-----------------------------------------------------------------------------
+//! dll-function to create an instance of the module
+//!
+//! @param[in] parameters Pointer to the parameters of the module
+//! @param[in] callbacks Pointer to the callbacks
+//!
+//! @return A pointer to the created module instance
+//-----------------------------------------------------------------------------
+extern "C" BASIC_DATASTORE_SHARED_EXPORT DataStoreInterface* OpenPASS_CreateInstance(const openpass::common::RuntimeInformation* runtimeInformation, const CallbackInterface* callbacks)
+{
+ try
+ {
+ return (DataStoreInterface*)(new (std::nothrow) BasicDataStoreImplementation(runtimeInformation, callbacks));
+ }
+ catch (const std::runtime_error& ex)
+ {
+ if (callbacks != nullptr)
+ {
+ callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
+ }
+
+ return nullptr;
+ }
+ catch (...)
+ {
+ if (callbacks != nullptr)
+ {
+ callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
+ }
+
+ return nullptr;
+ }
+}
+
+//-----------------------------------------------------------------------------
+//! dll-function to destroy/delete an instance of the module
+//!
+//! @param[in] implementation The instance that should be freed
+//-----------------------------------------------------------------------------
+extern "C" BASIC_DATASTORE_SHARED_EXPORT void OpenPASS_DestroyInstance(DataStoreInterface* implementation)
+{
+ delete implementation;
+}
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStore.h b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStore.h
new file mode 100644
index 0000000000000000000000000000000000000000..e38632774490f1e4dffacc7d41c1ecca95a4b518
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStore.h
@@ -0,0 +1,22 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file basicDataStore.h
+* @brief This file provides the exported methods.
+*
+* This file provides the exported methods which are available outside of the library.
+*/
+//-----------------------------------------------------------------------------
+
+#pragma once
+
+#include "basicDataStoreGlobal.h"
+#include "Interfaces/dataStoreInterface.h"
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStoreGlobal.h b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStoreGlobal.h
new file mode 100644
index 0000000000000000000000000000000000000000..2c76c815ab213968d7d908506c5ffb5bef6c4c12
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStoreGlobal.h
@@ -0,0 +1,26 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+/**
+ * \file basicDataStoreGlobal.h
+ * \brief This file contains DLL export declarations
+ */
+
+#pragma once
+
+#include <QtCore/qglobal.h>
+
+#if defined(BASIC_DATASTORE_LIBRARY)
+# define BASIC_DATASTORE_SHARED_EXPORT Q_DECL_EXPORT //! Export of the dll-functions
+#else
+# define BASIC_DATASTORE_SHARED_EXPORT Q_DECL_IMPORT //! Import of the dll-functions
+#endif
+
+
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStoreImplementation.cpp b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStoreImplementation.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9f15c79254e27a3b4d108f94c2870d5ace5d573f
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStoreImplementation.cpp
@@ -0,0 +1,391 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** \file basicDataStoreImplementation.cpp */
+//-----------------------------------------------------------------------------
+
+#include "basicDataStoreImplementation.h"
+
+#include <memory>
+#include <utility>
+
+#include "Common/commonTools.h"
+#include "Common/openPassUtils.h"
+#include "Interfaces/parameterInterface.h"
+#include "Interfaces/stochasticsInterface.h"
+#include "Interfaces/worldInterface.h"
+
+using namespace openpass::type;
+
+/*!
+ * \brief Tests, if two vectors of tokens have matching elements
+ *
+ * The test result will be true, if each token A in the matcher, the token B at the same position (index) in the reference are string equal.
+ * A matcher token containing \c openpass::datastore::WILDCARD ('*') will match every string in the reference.
+ * The test result will always be false, if the matcher contains more elements than the reference.
+ *
+ * \param[in] matcher Tokens to test against reference
+ * \param[out] reference A full stack of tokens to match against (i. e. a 'path' of DataStore keys in the DataStore hierarchy)
+ *
+ * \return True if the token vectores are considered to be matching, false otherwise.
+ */
+static bool TokensMatch(const Tokens& matcher, const Tokens& reference)
+{
+ if (matcher.size() > reference.size())
+ {
+ return false;
+ }
+
+ for (size_t pos = 0; pos < matcher.size(); ++pos)
+ {
+ if (matcher[pos] != WILDCARD && matcher[pos] != reference[pos])
+ {
+ return false;
+ }
+ }
+
+ return true;
+}
+
+CyclicResult::CyclicResult(const CyclicStore& store, const CyclicRowRefs& elements) :
+ store{store},
+ elements{elements}
+{
+}
+
+size_t CyclicResult::size() const
+{
+ return elements.size();
+}
+
+const CyclicRow& CyclicResult::at(const size_t index) const
+{
+ return elements.at(index);
+}
+
+CyclicRowRefs::const_iterator CyclicResult::begin() const
+{
+ return elements.cbegin();
+}
+
+CyclicRowRefs::const_iterator CyclicResult::end() const
+{
+ return elements.cend();
+}
+
+AcyclicResult::AcyclicResult(const AcyclicStore& store, const AcyclicRowRefs& elements) :
+ store{store},
+ elements{elements}
+{
+}
+
+size_t AcyclicResult::size() const
+{
+ return elements.size();
+}
+
+const AcyclicRow& AcyclicResult::at(const size_t index) const
+{
+ return elements.at(index);
+}
+
+AcyclicRowRefs::const_iterator AcyclicResult::begin() const
+{
+ return elements.cbegin();
+}
+
+AcyclicRowRefs::const_iterator AcyclicResult::end() const
+{
+ return elements.cend();
+}
+
+BasicDataStoreImplementation::BasicDataStoreImplementation(const openpass::common::RuntimeInformation *runtimeInformation, const CallbackInterface *callbacks) :
+ DataStoreInterface(runtimeInformation, callbacks)
+{
+}
+
+template <>
+std::unique_ptr<CyclicResultInterface> BasicDataStoreImplementation::GetIndexed<EntityId>([[maybe_unused]] const std::optional<Timestamp> time, const std::optional<EntityId> entityId, const Tokens &tokens) const
+{
+ CyclicRowRefs rowRefs;
+
+ auto range = entityIdIndex.equal_range(entityId.value());
+
+ for (auto it = range.first; it != range.second; ++it)
+ {
+ const auto& storeValue = cyclicStore.at(it->second);
+
+ if (TokensMatch(tokens, Tokens{storeValue.key}))
+ {
+ rowRefs.emplace_back(storeValue);
+ }
+ }
+
+ return std::make_unique<CyclicResult>(cyclicStore, rowRefs);
+}
+
+template <>
+std::unique_ptr<CyclicResultInterface> BasicDataStoreImplementation::GetIndexed<Timestamp>(const std::optional<Timestamp> time, [[maybe_unused]] const std::optional<EntityId> entityId, const Tokens &tokens) const
+{
+ CyclicRowRefs rowRefs;
+
+ auto range = timestampIndex.equal_range(time.value());
+
+ for (auto it = range.first; it != range.second; ++it)
+ {
+ const auto& storeValue = cyclicStore.at(it->second);
+
+ if (TokensMatch(tokens, CommonHelper::TokenizeString(storeValue.key, SEPARATOR[0])))
+ {
+ rowRefs.emplace_back(storeValue);
+ }
+ }
+
+ return std::make_unique<CyclicResult>(cyclicStore, rowRefs);
+}
+
+template <>
+std::unique_ptr<CyclicResultInterface> BasicDataStoreImplementation::GetIndexed<Timestamp, EntityId>(const std::optional<Timestamp> time, const std::optional<EntityId> entityId, const Tokens &tokens) const
+{
+ std::vector<size_t> filteredIndexes;
+ CyclicRowRefs rowRefs;
+
+ auto range = timeAndEntityIdIndex.equal_range(std::make_tuple(time.value(), entityId.value()));
+
+ for (auto it = range.first; it != range.second; ++it)
+ {
+ const auto& storeValue = cyclicStore.at(it->second);
+
+ if (TokensMatch(tokens, CommonHelper::TokenizeString(storeValue.key, SEPARATOR[0])))
+ {
+ rowRefs.emplace_back(storeValue);
+ }
+ }
+
+ return std::make_unique<CyclicResult>(cyclicStore, rowRefs);
+}
+
+std::unique_ptr<CyclicResultInterface> BasicDataStoreImplementation::GetCyclic(const Key& key) const
+{
+ const Tokens tokens = CommonHelper::TokenizeString(key, SEPARATOR[0]);
+ CyclicRowRefs rowRefs;
+
+ for (const auto& storeValue : cyclicStore)
+ {
+ if (TokensMatch(tokens, CommonHelper::TokenizeString(storeValue.key, SEPARATOR[0])))
+ {
+ rowRefs.emplace_back(storeValue);
+ }
+ }
+
+ return std::make_unique<CyclicResult>(cyclicStore, rowRefs);
+}
+
+std::unique_ptr<CyclicResultInterface> BasicDataStoreImplementation::GetCyclic(const std::optional<Timestamp> time, const std::optional<EntityId> entityId, const Key &key) const
+{
+ const Tokens tokens = CommonHelper::TokenizeString(key, SEPARATOR[0]);
+
+ if (!time.has_value() && entityId.has_value())
+ {
+ return GetIndexed<EntityId>(time, entityId, tokens);
+ }
+ else if (time.has_value() && !entityId.has_value())
+ {
+ return GetIndexed<Timestamp>(time, entityId, tokens);
+ }
+ else if (time.has_value() && entityId.has_value())
+ {
+ return GetIndexed<Timestamp, EntityId>(time, entityId, tokens);
+ }
+ else
+ {
+ return GetCyclic(key);
+ }
+}
+
+void BasicDataStoreImplementation::PutCyclic(const Timestamp time, const EntityId agentId, const Key &key, const Value &value)
+{
+ cyclicStore.emplace_back(time, agentId, key, value);
+
+ size_t newValueIndex = cyclicStore.size() - 1;
+ timestampIndex.emplace(time, newValueIndex);
+ entityIdIndex.emplace(agentId, newValueIndex);
+ timeAndEntityIdIndex.emplace(std::tuple(time, agentId), newValueIndex);
+}
+
+void BasicDataStoreImplementation::PutAcyclic(const Timestamp time, const EntityId entityId, const Key &key, const openpass::datastore::Acyclic&acyclic)
+{
+ acyclicStore.emplace_back(time, entityId, key, acyclic);
+}
+
+void BasicDataStoreImplementation::PutStatic(const Key &key, const Value &value, bool persist)
+{
+ if (staticStore.find(key) == staticStore.end())
+ {
+ staticStore[key] = {value, persist};
+ }
+}
+
+void BasicDataStoreImplementation::Clear()
+{
+ cyclicStore.clear();
+ entityIdIndex.clear();
+ timestampIndex.clear();
+ timeAndEntityIdIndex.clear();
+
+ acyclicStore.clear();
+
+ auto it = staticStore.begin();
+
+ while (it != staticStore.end())
+ {
+ if (std::get<Persistence>(it->second) == false)
+ {
+ it = staticStore.erase(it);
+ }
+ else
+ {
+ ++it;
+ }
+ }
+}
+
+std::unique_ptr<AcyclicResultInterface> BasicDataStoreImplementation::GetAcyclic(const Key& key) const
+{
+ const Tokens tokens = CommonHelper::TokenizeString(key, SEPARATOR[0]);
+
+ AcyclicRowRefs rowRefs;
+
+ for (const auto& storeValue : acyclicStore)
+ {
+ if (TokensMatch(tokens, CommonHelper::TokenizeString(storeValue.key, SEPARATOR[0])))
+ {
+ rowRefs.emplace_back(storeValue);
+ }
+ }
+
+ return std::make_unique<AcyclicResult>(acyclicStore, rowRefs);
+}
+
+std::unique_ptr<AcyclicResultInterface> BasicDataStoreImplementation::GetAcyclic([[maybe_unused]] const std::optional<Timestamp> time, [[maybe_unused]] const std::optional<EntityId> entityId, const Key &key) const
+{
+ if (key == WILDCARD)
+ {
+ AcyclicRowRefs rowRefs;
+
+ for (const auto& storeValue : acyclicStore)
+ {
+ rowRefs.emplace_back(storeValue);
+ }
+
+ return std::make_unique<AcyclicResult>(acyclicStore, rowRefs);
+ }
+ else
+ {
+ return GetAcyclic(key);
+ }
+}
+
+Values BasicDataStoreImplementation::GetStatic(const Key &key) const
+{
+ try
+ {
+ // currently, the result is always a vector containing only one element
+ return {std::get<Value>(staticStore.at(key))};
+ }
+ catch (const std::out_of_range&)
+ {
+ return {};
+ }
+}
+
+Keys BasicDataStoreImplementation::GetKeys(const Key &key) const
+{
+ const Tokens tokens = CommonHelper::TokenizeString(key, SEPARATOR[0]);
+
+ if (tokens.at(0) == "Cyclics")
+ {
+ if (tokens.size() == 1)
+ {
+ Keys keys;
+ Timestamp lastTimestamp{-1};
+
+ auto it = timestampIndex.cbegin();
+
+ while (it != timestampIndex.cend())
+ {
+ lastTimestamp = std::get<0>(it->first);
+ keys.push_back(std::to_string(lastTimestamp));
+ it = timestampIndex.upper_bound(lastTimestamp);
+ }
+
+ return keys;
+ }
+ else if (tokens.size() >= 3)
+ {
+ std::set<Key> result;
+ Tokens searchKeyTokens{tokens.cbegin() + 3, tokens.cend()};
+
+ const auto entries = GetIndexed<Timestamp, EntityId>(std::stod(tokens.at(1)), std::stod(tokens.at(2)), searchKeyTokens);
+
+ for (const auto& entry : *entries)
+ {
+ const auto& row = entry.get();
+ const Tokens storedKeyTokens = CommonHelper::TokenizeString(row.key, SEPARATOR[0]);
+
+ size_t tokenCount = searchKeyTokens.size();
+
+ if (searchKeyTokens == Tokens{storedKeyTokens.cbegin(), std::next(storedKeyTokens.cbegin(), static_cast<ssize_t>(tokenCount))}) // match given tokens against currently processed store entry
+ {
+ // retrieve the token following the last matched one
+ result.insert(storedKeyTokens.at(searchKeyTokens.size()));
+ }
+ }
+
+ return {result.cbegin(), result.cend()};
+ }
+ }
+ else if (tokens.at(0) == "Statics")
+ {
+ return GetStaticKeys(tokens);
+ }
+
+ LOG(CbkLogLevel::Warning, "Using unsupported key format for GetKeys() on datastore: '" + key + "'");
+ return {};
+}
+
+Keys BasicDataStoreImplementation::GetStaticKeys(const Tokens &tokens) const
+{
+ const Tokens searchKeyTokens{tokens.cbegin() + 1, tokens.cend()};
+ std::set<Key> result; // keys in result shall be unique
+
+ for (const auto& [storedKey, storedValue] : staticStore)
+ {
+ const auto storedKeyTokens = CommonHelper::TokenizeString(storedKey, SEPARATOR[0]);
+ size_t tokenCount = searchKeyTokens.size();
+
+ if (tokenCount == 0) // all keys at top level are requested
+ {
+ result.insert(storedKeyTokens.front());
+ }
+ else if (tokenCount >= storedKeyTokens.size())
+ {
+ // key can't match (search key has more elements than currently processed store entry)
+ }
+ else if (searchKeyTokens == Tokens{storedKeyTokens.cbegin(), std::next(storedKeyTokens.cbegin(), static_cast<ssize_t>(tokenCount))}) // match given tokens agains currently processed store entry
+ {
+ // retrieve the token following the last matched one
+ result.insert(storedKeyTokens.at(searchKeyTokens.size()));
+ }
+ }
+
+ return {result.cbegin(), result.cend()};
+}
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStoreImplementation.h b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStoreImplementation.h
new file mode 100644
index 0000000000000000000000000000000000000000..2c0b58eb15358d1e62b8e0454c659f8df859066e
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/CoreModules/BasicDataStore/basicDataStoreImplementation.h
@@ -0,0 +1,123 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+/*!
+* \file basicDataStoreImplementation.h
+*
+* \brief Stores data sent by publishers and provides acces to this data for observers
+*/
+
+#pragma once
+
+#include <map>
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include "Common/commonTools.h"
+#include "Common/runtimeInformation.h"
+#include "Interfaces/dataStoreInterface.h"
+
+using namespace openpass::datastore;
+
+using Persistence = bool;
+using StaticStore = std::unordered_map<Key, std::tuple<Value, Persistence>>;
+using CyclicStore = std::vector<CyclicRow>;
+using AcyclicStore = std::vector<AcyclicRow>;
+
+template <typename... Ts>
+using StoreIndex = std::multimap<std::tuple<Ts...>, size_t>;
+
+using Tokens = std::vector<std::string>;
+
+class CyclicResult : public CyclicResultInterface
+{
+public:
+ CyclicResult(const CyclicStore& store, const CyclicRowRefs& elements);
+ virtual ~CyclicResult() override = default;
+
+ size_t size() const override;
+ const CyclicRow& at(const size_t index) const override;
+ CyclicRowRefs::const_iterator begin() const override;
+ CyclicRowRefs::const_iterator end() const override;
+
+private:
+ const CyclicStore& store; //!< Reference to the cyclic datastore associated with the result set
+ const CyclicRowRefs elements; //!< The result set (referencing elements in a datastore)
+};
+
+class AcyclicResult : public AcyclicResultInterface
+{
+public:
+ AcyclicResult(const AcyclicStore& store, const AcyclicRowRefs& elements);
+ virtual ~AcyclicResult() override = default;
+
+ size_t size() const override;
+ const AcyclicRow& at(const size_t index) const override;
+ AcyclicRowRefs::const_iterator begin() const override;
+ AcyclicRowRefs::const_iterator end() const override;
+
+private:
+ const AcyclicStore& store; //!< Reference to the acyclic datastore associated with the result set
+ const AcyclicRowRefs elements; //!< The result set (referencing elements in a datastore)
+};
+
+/*!
+ * \brief This class implements a basic version of a data store
+ *
+ * Data is stored in a simple mapping usign the timestamp and agent id as keys,
+ * values are stored as key/value pairs.
+ */
+class BasicDataStoreImplementation : public DataStoreInterface
+{
+public:
+ const std::string COMPONENTNAME = "BasicDataStore";
+
+ BasicDataStoreImplementation(const openpass::common::RuntimeInformation *runtimeInformation, const CallbackInterface *callbacks);
+ BasicDataStoreImplementation(const BasicDataStoreImplementation &) = delete;
+ BasicDataStoreImplementation(BasicDataStoreImplementation &&) = delete;
+ BasicDataStoreImplementation &operator=(const BasicDataStoreImplementation &) = delete;
+ BasicDataStoreImplementation &operator=(BasicDataStoreImplementation &&) = delete;
+ virtual ~BasicDataStoreImplementation() override = default;
+
+ void PutCyclic(const openpass::type::Timestamp time, const openpass::type::EntityId entityId, const Key &key, const Value &value) override;
+
+ void PutAcyclic(const openpass::type::Timestamp time, const openpass::type::EntityId entityId, const Key &key, const openpass::datastore::Acyclic &acyclic) override;
+
+ void PutStatic(const Key &key, const Value &value, bool persist = false) override;
+
+ void Clear() override;
+
+ std::unique_ptr<CyclicResultInterface> GetCyclic(const std::optional<openpass::type::Timestamp> time, const std::optional<openpass::type::EntityId> entityId, const Key &key) const override;
+
+ std::unique_ptr<AcyclicResultInterface> GetAcyclic(const std::optional<openpass::type::Timestamp> time, const std::optional<openpass::type::EntityId> entityId, const Key &key) const override;
+
+ Values GetStatic(const Key &key) const override;
+
+ Keys GetKeys(const Key &key) const override;
+
+protected:
+ StaticStore staticStore; //!< Container for DataStore static values
+ CyclicStore cyclicStore; //!< Container for DataStore cyclic values
+ AcyclicStore acyclicStore; //!< Container for DataStore acyclic values
+
+ StoreIndex<openpass::type::Timestamp> timestampIndex; //!< Index for timestamp based cyclics access
+ StoreIndex<openpass::type::EntityId> entityIdIndex; //!< Index for entity id based cyclics access
+ StoreIndex<openpass::type::Timestamp, openpass::type::EntityId> timeAndEntityIdIndex; //!< Index for (time, entity) based cyclics access
+
+private:
+ template <typename... Ts>
+ std::unique_ptr<CyclicResultInterface> GetIndexed(const std::optional<openpass::type::Timestamp> time, const std::optional<openpass::type::EntityId> entityId, const Tokens &tokens) const;
+
+ std::unique_ptr<CyclicResultInterface> GetCyclic(const Key& key) const;
+ std::unique_ptr<AcyclicResultInterface> GetAcyclic(const Key& key) const;
+ CyclicRows GetStatic(const Tokens &tokens) const;
+ Keys GetStaticKeys(const Tokens &tokens) const;
+};
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/CollisionDetector.cpp b/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/CollisionDetector.cpp
index 4693a93df110fa7b8a3ffb43120410e3c0f6eb63..047f1dba55f30d7075dccd576fb715c359437822 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/CollisionDetector.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/CollisionDetector.cpp
@@ -22,7 +22,7 @@
CollisionDetector::CollisionDetector(WorldInterface *world,
SimulationSlave::EventNetworkInterface *eventNetwork,
const CallbackInterface *callbacks,
- StochasticsInterface *stochastics):
+ StochasticsInterface *stochastics) :
EventDetectorCommonBase(
world,
eventNetwork,
@@ -62,14 +62,14 @@ void CollisionDetector::CalculateWorldObjectGeometry(const WorldObjectInterface
resultCorners[LowerLeft].y = -agentWidthHalf;
// transform corners
- for(int i = 0; i < NumberCorners; ++i)
+ for (size_t i = 0; i < NumberCorners; ++i)
{
resultCorners[i].Rotate(agentAngle);
resultCorners[i].Translate(position.x, position.y);
}
resultNormals[Right] = resultCorners[LowerRight] - resultCorners[LowerLeft]; // pointing right if angle == 0
- resultNormals[Up] = resultCorners[UpperLeft] - resultCorners[LowerLeft]; // pointing up if angle == 0
+ resultNormals[Up] = resultCorners[UpperLeft] - resultCorners[LowerLeft]; // pointing up if angle == 0
}
void CollisionDetector::GetWorldObjectGeometry(const WorldObjectInterface *worldObject,
@@ -87,14 +87,14 @@ void CollisionDetector::GetMinMax4(std::array<double, 4> &input,
maxValue = input[0];
minValue = input[0];
- for(size_t index = 1; index < 4; ++index)
+ for (size_t index = 1; index < 4; ++index)
{
- if(input[index] > maxValue)
+ if (input[index] > maxValue)
{
maxValue = input[index];
}
- if(input[index] < minValue)
+ if (input[index] < minValue)
{
minValue = input[index];
}
@@ -109,14 +109,14 @@ void CollisionDetector::GetMinMax2(std::array<double, 2> &input,
minValue = std::min(input[0], input[1]);
}
-bool CollisionDetector::CalculateDistOnBorder(const WorldObjectInterface* worldObject,
+bool CollisionDetector::CalculateDistOnBorder(const WorldObjectInterface *worldObject,
int corner,
double cornerDistance,
double &result)
{
double distance = 0;
- if(UpperLeft < corner)
+ if (UpperLeft < corner)
{
distance += worldObject->GetLength();
}
@@ -127,7 +127,7 @@ bool CollisionDetector::CalculateDistOnBorder(const WorldObjectInterface* worldO
return true;
}
- if(UpperRight < corner)
+ if (UpperRight < corner)
{
distance += worldObject->GetWidth();
}
@@ -138,7 +138,7 @@ bool CollisionDetector::CalculateDistOnBorder(const WorldObjectInterface* worldO
return true;
}
- if(LowerRight < corner)
+ if (LowerRight < corner)
{
distance += worldObject->GetLength();
}
@@ -158,7 +158,7 @@ bool CollisionDetector::CalculateDistOnBorder(const WorldObjectInterface* worldO
// intersectionPoints tuple elements: intersection occurred on edge, scaled distance from previous corner, edge direction, distance from initial position to intersection
bool CollisionDetector::CalculateIntersectionPoints(const WorldObjectInterface *agent,
- const WorldObjectInterface* other,
+ const WorldObjectInterface *other,
bool &intersected,
Common::Vector2d &intersectionPoint,
double &otherDistanceFromCorner,
@@ -166,7 +166,7 @@ bool CollisionDetector::CalculateIntersectionPoints(const WorldObjectInterface *
double &agentDistanceFromInitial,
Common::Vector2d &agentReferencePoint,
Common::Vector2d &otherReferencePoint,
- int &agentPenetratingCorner)
+ size_t &agentPenetratingCorner)
{
// reduce problem of two moving agents into problem of one moving agent:
// add translation of other agent relative to translation of first agent
@@ -186,18 +186,19 @@ bool CollisionDetector::CalculateIntersectionPoints(const WorldObjectInterface *
Common::Vector2d agentVelocity = agentVelocityLongitudinal + agentVelocityLateral;
Common::Vector2d agentRelativeVelocity = agentVelocity;
- if(0 == otherVelocity.x && 0 == otherVelocity.y && 0 == agentRelativeVelocity.x && 0 == agentRelativeVelocity.y)
+ if (0 == otherVelocity.x && 0 == otherVelocity.y && 0 == agentRelativeVelocity.x && 0 == agentRelativeVelocity.y)
{
- LOG(CbkLogLevel::Warning, + "calculation of point of contact not possible since velocities of both agents are 0"
- " (this could happen for example if agents are spawned with overlaps)");
+ LOG(CbkLogLevel::Warning, +"calculation of point of contact not possible since velocities of both agents are 0"
+ " (this could happen for example if agents are spawned with overlaps)");
return false;
}
agentRelativeVelocity.Sub(otherVelocity);
- if(agentRelativeVelocity.Length() == 0){
- LOG(CbkLogLevel::Warning, + "calculation of point of contact not possible since velocities of both agents are the same"
- " (this could happen for example if agents are spawned with overlaps)");
+ if (agentRelativeVelocity.Length() == 0)
+ {
+ LOG(CbkLogLevel::Warning, +"calculation of point of contact not possible since velocities of both agents are the same"
+ " (this could happen for example if agents are spawned with overlaps)");
return false;
}
@@ -253,21 +254,23 @@ bool CollisionDetector::CalculateIntersectionPoints(const WorldObjectInterface *
intersected = false;
agentDistanceFromInitial = std::numeric_limits<double>::max();
- for(int corner = 0; corner < NumberCorners; ++corner) // for each corner in agentInitialCorners[]
+ for (size_t corner = 0; corner < NumberCorners; ++corner) // for each corner in agentInitialCorners[]
{
// intersection point with upper edge
otherEdgeDirection = otherInitialCorners[UpperRight] - otherInitialCorners[UpperLeft];
det = otherEdgeDirection.x * agentDirection.y - otherEdgeDirection.y * agentDirection.x;
- if(0 != det)
+ if (0 != det)
{
double s = ((otherInitialCorners[UpperLeft].y - agentInitialCorners[corner].y) * otherEdgeDirection.x -
- (otherInitialCorners[UpperLeft].x - agentInitialCorners[corner].x) * otherEdgeDirection.y) / det;
+ (otherInitialCorners[UpperLeft].x - agentInitialCorners[corner].x) * otherEdgeDirection.y) /
+ det;
double t = ((otherInitialCorners[UpperLeft].y - agentInitialCorners[corner].y) * agentDirection.x -
- (otherInitialCorners[UpperLeft].x - agentInitialCorners[corner].x) * agentDirection.y) / det;
- if(0.0 <= s && 1.0 >= s && 0.0 <= t && 1.0 >= t) // within bounds of edge
+ (otherInitialCorners[UpperLeft].x - agentInitialCorners[corner].x) * agentDirection.y) /
+ det;
+ if (0.0 <= s && 1.0 >= s && 0.0 <= t && 1.0 >= t) // within bounds of edge
{
double tmpDistance = (agentDirection * s).Length();
- if(agentDistanceFromInitial > tmpDistance)
+ if (agentDistanceFromInitial > tmpDistance)
{
intersected = true;
agentDistanceFromInitial = tmpDistance;
@@ -292,16 +295,18 @@ bool CollisionDetector::CalculateIntersectionPoints(const WorldObjectInterface *
// intersection point with right edge
otherEdgeDirection = otherInitialCorners[LowerRight] - otherInitialCorners[UpperRight];
det = otherEdgeDirection.x * agentDirection.y - otherEdgeDirection.y * agentDirection.x;
- if(0 != det)
+ if (0 != det)
{
double s = ((otherInitialCorners[UpperRight].y - agentInitialCorners[corner].y) * otherEdgeDirection.x -
- (otherInitialCorners[UpperRight].x - agentInitialCorners[corner].x) * otherEdgeDirection.y) / det;
+ (otherInitialCorners[UpperRight].x - agentInitialCorners[corner].x) * otherEdgeDirection.y) /
+ det;
double t = ((otherInitialCorners[UpperRight].y - agentInitialCorners[corner].y) * agentDirection.x -
- (otherInitialCorners[UpperRight].x - agentInitialCorners[corner].x) * agentDirection.y) / det;
- if(0.0 <= s && 1.0 >= s && 0.0 <= t && 1.0 >= t) // within bounds of edge
+ (otherInitialCorners[UpperRight].x - agentInitialCorners[corner].x) * agentDirection.y) /
+ det;
+ if (0.0 <= s && 1.0 >= s && 0.0 <= t && 1.0 >= t) // within bounds of edge
{
double tmpDistance = (agentDirection * s).Length();
- if(agentDistanceFromInitial > tmpDistance)
+ if (agentDistanceFromInitial > tmpDistance)
{
intersected = true;
agentDistanceFromInitial = tmpDistance;
@@ -326,16 +331,18 @@ bool CollisionDetector::CalculateIntersectionPoints(const WorldObjectInterface *
// intersection point with lower edge
otherEdgeDirection = otherInitialCorners[LowerLeft] - otherInitialCorners[LowerRight];
det = otherEdgeDirection.x * agentDirection.y - otherEdgeDirection.y * agentDirection.x;
- if(0 != det)
+ if (0 != det)
{
double s = ((otherInitialCorners[LowerRight].y - agentInitialCorners[corner].y) * otherEdgeDirection.x -
- (otherInitialCorners[LowerRight].x - agentInitialCorners[corner].x) * otherEdgeDirection.y) / det;
+ (otherInitialCorners[LowerRight].x - agentInitialCorners[corner].x) * otherEdgeDirection.y) /
+ det;
double t = ((otherInitialCorners[LowerRight].y - agentInitialCorners[corner].y) * agentDirection.x -
- (otherInitialCorners[LowerRight].x - agentInitialCorners[corner].x) * agentDirection.y) / det;
- if(0.0 <= s && 1.0 >= s && 0.0 <= t && 1.0 >= t) // within bounds of edge
+ (otherInitialCorners[LowerRight].x - agentInitialCorners[corner].x) * agentDirection.y) /
+ det;
+ if (0.0 <= s && 1.0 >= s && 0.0 <= t && 1.0 >= t) // within bounds of edge
{
double tmpDistance = (agentDirection * s).Length();
- if(agentDistanceFromInitial > tmpDistance)
+ if (agentDistanceFromInitial > tmpDistance)
{
intersected = true;
agentDistanceFromInitial = tmpDistance;
@@ -360,16 +367,18 @@ bool CollisionDetector::CalculateIntersectionPoints(const WorldObjectInterface *
// intersection point with left edge
otherEdgeDirection = otherInitialCorners[UpperLeft] - otherInitialCorners[LowerLeft];
det = otherEdgeDirection.x * agentDirection.y - otherEdgeDirection.y * agentDirection.x;
- if(0 != det)
+ if (0 != det)
{
double s = ((otherInitialCorners[LowerLeft].y - agentInitialCorners[corner].y) * otherEdgeDirection.x -
- (otherInitialCorners[LowerLeft].x - agentInitialCorners[corner].x) * otherEdgeDirection.y) / det;
+ (otherInitialCorners[LowerLeft].x - agentInitialCorners[corner].x) * otherEdgeDirection.y) /
+ det;
double t = ((otherInitialCorners[LowerLeft].y - agentInitialCorners[corner].y) * agentDirection.x -
- (otherInitialCorners[LowerLeft].x - agentInitialCorners[corner].x) * agentDirection.y) / det;
- if(0.0 <= s && 1.0 >= s && 0.0 <= t && 1.0 >= t) // within bounds of edge
+ (otherInitialCorners[LowerLeft].x - agentInitialCorners[corner].x) * agentDirection.y) /
+ det;
+ if (0.0 <= s && 1.0 >= s && 0.0 <= t && 1.0 >= t) // within bounds of edge
{
double tmpDistance = (agentDirection * s).Length();
- if(agentDistanceFromInitial > tmpDistance)
+ if (agentDistanceFromInitial > tmpDistance)
{
intersected = true;
agentDistanceFromInitial = tmpDistance;
@@ -396,31 +405,31 @@ bool CollisionDetector::CalculateIntersectionPoints(const WorldObjectInterface *
}
bool CollisionDetector::CalculatePointOfContact(AgentInterface *agent,
- const WorldObjectInterface* other,
+ const WorldObjectInterface *other,
double &resultAgentDistOnBorder,
double &resultOtherDistOnBorder,
Common::Vector2d &resultAgentReferencePoint,
Common::Vector2d &resultOtherReferencePoint)
{
- bool agentIntersected; // is agent intersected at all
- Common::Vector2d agentIntersectionPoint; // coordinates of intersection point
- double agentDistanceFromCorner; // distance from previous corner of intersected edge
- int agentFromCorner; // starting corner for measuring distance on edge
- double otherDistanceFromInitial; // distance of other moving agent from it's non-colliding start position
- int otherPenetratingCorner; // corner of other agent which penetrated first
- Common::Vector2d movingOtherReferencePoint; // ReferencePoint of agent at point of collision
+ bool agentIntersected; // is agent intersected at all
+ Common::Vector2d agentIntersectionPoint; // coordinates of intersection point
+ double agentDistanceFromCorner; // distance from previous corner of intersected edge
+ int agentFromCorner; // starting corner for measuring distance on edge
+ double otherDistanceFromInitial; // distance of other moving agent from it's non-colliding start position
+ size_t otherPenetratingCorner; // corner of other agent which penetrated first
+ Common::Vector2d movingOtherReferencePoint; // ReferencePoint of agent at point of collision
Common::Vector2d penetratedAgentReferencePoint; // ReferencePoint of other at point of collision
- if(!CalculateIntersectionPoints(other,
- agent,
- agentIntersected,
- agentIntersectionPoint,
- agentDistanceFromCorner,
- agentFromCorner,
- otherDistanceFromInitial,
- movingOtherReferencePoint,
- penetratedAgentReferencePoint,
- otherPenetratingCorner))
+ if (!CalculateIntersectionPoints(other,
+ agent,
+ agentIntersected,
+ agentIntersectionPoint,
+ agentDistanceFromCorner,
+ agentFromCorner,
+ otherDistanceFromInitial,
+ movingOtherReferencePoint,
+ penetratedAgentReferencePoint,
+ otherPenetratingCorner))
{
return false;
}
@@ -430,36 +439,37 @@ bool CollisionDetector::CalculatePointOfContact(AgentInterface *agent,
double otherDistanceFromCorner;
int otherFromCorner;
double agentDistanceFromInitial;
- int agentPenetratingCorner;
+ size_t agentPenetratingCorner;
Common::Vector2d movingAgentReferencePoint;
Common::Vector2d penetratedOtherReferencePoint;
- if(!CalculateIntersectionPoints(agent,
- other,
- otherIntersected,
- otherIntersectionPoint,
- otherDistanceFromCorner,
- otherFromCorner,
- agentDistanceFromInitial,
- movingAgentReferencePoint,
- penetratedOtherReferencePoint,
- agentPenetratingCorner))
+ if (!CalculateIntersectionPoints(agent,
+ other,
+ otherIntersected,
+ otherIntersectionPoint,
+ otherDistanceFromCorner,
+ otherFromCorner,
+ agentDistanceFromInitial,
+ movingAgentReferencePoint,
+ penetratedOtherReferencePoint,
+ agentPenetratingCorner))
{
return false;
}
- if(agentIntersected==0 && otherIntersected==0){
+ if (agentIntersected == 0 && otherIntersected == 0)
+ {
assert(agentIntersected || otherIntersected);
}
- if(agentIntersected && !otherIntersected)
+ if (agentIntersected && !otherIntersected)
{
- if(!CalculateDistOnBorder(agent, agentFromCorner, agentDistanceFromCorner, resultAgentDistOnBorder))
+ if (!CalculateDistOnBorder(agent, agentFromCorner, agentDistanceFromCorner, resultAgentDistOnBorder))
{
return false;
}
- if(!CalculateDistOnBorder(other, otherPenetratingCorner, 0, resultOtherDistOnBorder))
+ if (!CalculateDistOnBorder(other, otherPenetratingCorner, 0, resultOtherDistOnBorder))
{
return false;
}
@@ -467,14 +477,14 @@ bool CollisionDetector::CalculatePointOfContact(AgentInterface *agent,
resultAgentReferencePoint = penetratedAgentReferencePoint;
resultOtherReferencePoint = movingOtherReferencePoint;
}
- else if(!agentIntersected && otherIntersected)
+ else if (!agentIntersected && otherIntersected)
{
- if(!CalculateDistOnBorder(agent, agentPenetratingCorner, 0, resultAgentDistOnBorder))
+ if (!CalculateDistOnBorder(agent, agentPenetratingCorner, 0, resultAgentDistOnBorder))
{
return false;
}
- if(!CalculateDistOnBorder(other, otherFromCorner, otherDistanceFromCorner, resultOtherDistOnBorder))
+ if (!CalculateDistOnBorder(other, otherFromCorner, otherDistanceFromCorner, resultOtherDistOnBorder))
{
return false;
}
@@ -485,15 +495,15 @@ bool CollisionDetector::CalculatePointOfContact(AgentInterface *agent,
else
{
// decide which agent entered first into body of other agent
- if(agentDistanceFromInitial < otherDistanceFromInitial)
+ if (agentDistanceFromInitial < otherDistanceFromInitial)
{
// agent corner penetrated first into body of other
- if(!CalculateDistOnBorder(agent, agentPenetratingCorner, 0, resultAgentDistOnBorder))
+ if (!CalculateDistOnBorder(agent, agentPenetratingCorner, 0, resultAgentDistOnBorder))
{
return false;
}
- if(!CalculateDistOnBorder(other, otherFromCorner, otherDistanceFromCorner, resultOtherDistOnBorder))
+ if (!CalculateDistOnBorder(other, otherFromCorner, otherDistanceFromCorner, resultOtherDistOnBorder))
{
return false;
}
@@ -504,12 +514,12 @@ bool CollisionDetector::CalculatePointOfContact(AgentInterface *agent,
else
{
// other corner penetrated first into body of agent
- if(!CalculateDistOnBorder(agent, agentFromCorner, agentDistanceFromCorner, resultAgentDistOnBorder))
+ if (!CalculateDistOnBorder(agent, agentFromCorner, agentDistanceFromCorner, resultAgentDistOnBorder))
{
return false;
}
- if(!CalculateDistOnBorder(other, otherPenetratingCorner, 0, resultOtherDistOnBorder))
+ if (!CalculateDistOnBorder(other, otherPenetratingCorner, 0, resultOtherDistOnBorder))
{
return false;
}
@@ -525,7 +535,7 @@ bool CollisionDetector::CalculatePointOfContact(AgentInterface *agent,
void CollisionDetector::Trigger(int time)
{
// accumulate collisions
- for(auto it = agents->cbegin(); it != agents->cend(); ++it)
+ for (auto it = agents->cbegin(); it != agents->cend(); ++it)
{
AgentInterface *agent = it->second;
assert(agent != nullptr);
@@ -535,10 +545,10 @@ void CollisionDetector::Trigger(int time)
std::array<Common::Vector2d, NumberNormals> agentNormals;
GetWorldObjectGeometry(agent, agentCorners, agentNormals);
- for(auto otherIt = std::next(it); otherIt != agents->cend(); ++otherIt)
+ for (auto otherIt = std::next(it); otherIt != agents->cend(); ++otherIt)
{
AgentInterface *other = otherIt->second;
- if(!DetectCollision(other, agent, agentCorners, agentNormals))
+ if (!DetectCollision(other, agent, agentCorners, agentNormals))
{
continue;
}
@@ -550,15 +560,15 @@ void CollisionDetector::Trigger(int time)
}
// second loop to avoid comparing traffic objects with traffic objects
- for(auto trafficObjectIt = trafficObjects->begin(); trafficObjectIt != trafficObjects->end(); ++trafficObjectIt)
+ for (auto trafficObjectIt = trafficObjects->begin(); trafficObjectIt != trafficObjects->end(); ++trafficObjectIt)
{
- const TrafficObjectInterface* otherObject = *trafficObjectIt;
- if(!otherObject)
+ const TrafficObjectInterface *otherObject = *trafficObjectIt;
+ if (!otherObject)
{
LOG(CbkLogLevel::Warning, "collision detection aborted");
throw std::runtime_error("Invalid other worldObject. Collision detection cancled.");
}
- if(!DetectCollision(otherObject, agent, agentCorners, agentNormals))
+ if (!DetectCollision(otherObject, agent, agentCorners, agentNormals))
{
continue;
}
@@ -571,19 +581,21 @@ void CollisionDetector::Trigger(int time)
}
template <typename T>
-bool IsInVector(const std::vector<T>& v, T element)
+bool IsInVector(const std::vector<T> &v, T element)
{
return std::find(v.begin(), v.end(), element) != v.end();
}
bool CollisionDetector::DetectCollision(const WorldObjectInterface *other,
- AgentInterface *agent,
- std::array<Common::Vector2d,
- NumberCorners> agentCorners,
- std::array<Common::Vector2d,
- NumberNormals> agentNormals)
+ AgentInterface *agent,
+ std::array<Common::Vector2d,
+ NumberCorners>
+ agentCorners,
+ std::array<Common::Vector2d,
+ NumberNormals>
+ agentNormals)
{
- if( IsInVector(agent->GetCollisionPartners(), std::make_pair(other->GetType(), other->GetId())) )
+ if (IsInVector(agent->GetCollisionPartners(), std::make_pair(other->GetType(), other->GetId())))
{
return false;
}
@@ -595,8 +607,8 @@ bool CollisionDetector::DetectCollision(const WorldObjectInterface *other,
// quick check
double quickDistance = agent->GetLength() + agent->GetWidth() + other->GetLength() + other->GetWidth();
- if(fabs(agentCorners[UpperLeft].x - otherCorners[UpperLeft].x) > quickDistance ||
- fabs(agentCorners[UpperLeft].y - otherCorners[UpperLeft].y) > quickDistance)
+ if (fabs(agentCorners[UpperLeft].x - otherCorners[UpperLeft].x) > quickDistance ||
+ fabs(agentCorners[UpperLeft].y - otherCorners[UpperLeft].y) > quickDistance)
{
return false;
}
@@ -611,11 +623,11 @@ bool CollisionDetector::DetectIntersectionOfTwoWorldObjects(const WorldObjectInt
std::array<Common::Vector2d, NumberNormals> otherNormals,
std::array<Common::Vector2d, NumberCorners> otherCorners)
{
- double agentNormal1_agentCornerProjectedMinValue;
- double agentNormal1_agentCornerProjectedMaxValue;
+ double agentNormal1_agentCornerProjectedMinValue{};
+ double agentNormal1_agentCornerProjectedMaxValue{};
- double agentNormal0_agentCornerProjectedMinValue;
- double agentNormal0_agentCornerProjectedMaxValue;
+ double agentNormal0_agentCornerProjectedMinValue{};
+ double agentNormal0_agentCornerProjectedMaxValue{};
// only two points need to be projected on own normals since they are aligned
std::array<double, NumberProjectedOwnAxis> agentNormal0_agentCornerProjected;
@@ -625,7 +637,7 @@ bool CollisionDetector::DetectIntersectionOfTwoWorldObjects(const WorldObjectInt
bool calculatedNormal1 = false;
// project agent corners on agent normal0 (take origin as reference, unnormalized since only comparision result is significant)
- if(!calculatedNormal0)
+ if (!calculatedNormal0)
{
agentNormal0_agentCornerProjected[ProjectedFirst] = agentCorners[LowerLeft].Dot(agentNormals[Right]);
agentNormal0_agentCornerProjected[ProjectedSecond] = agentCorners[LowerRight].Dot(agentNormals[Right]); // right normal
@@ -637,7 +649,7 @@ bool CollisionDetector::DetectIntersectionOfTwoWorldObjects(const WorldObjectInt
// project other corners on agent normal0 (take origin as reference, unnormalized since only comparision result is significant)
std::array<double, NumberProjectedOpponentAxis> agentNormal0_otherCornerProjected;
- for(int i = 0; i < NumberProjectedOpponentAxis; ++i)
+ for (size_t i = 0; i < NumberProjectedOpponentAxis; ++i)
{
agentNormal0_otherCornerProjected[i] = otherCorners[i].Dot(agentNormals[Right]);
}
@@ -649,15 +661,15 @@ bool CollisionDetector::DetectIntersectionOfTwoWorldObjects(const WorldObjectInt
agentNormal0_otherCornerProjectedMinValue);
// check for collision on agent normal 0
- if(agentNormal0_agentCornerProjectedMaxValue < agentNormal0_otherCornerProjectedMinValue ||
- agentNormal0_otherCornerProjectedMaxValue < agentNormal0_agentCornerProjectedMinValue)
+ if (agentNormal0_agentCornerProjectedMaxValue < agentNormal0_otherCornerProjectedMinValue ||
+ agentNormal0_otherCornerProjectedMaxValue < agentNormal0_agentCornerProjectedMinValue)
{
// agents separated on agent normal 0 axis
return false;
}
// project agent corners on agent normal1 (take origin as reference, unnormalized since only comparision result is significant)
- if(!calculatedNormal1)
+ if (!calculatedNormal1)
{
agentNormal1_agentCornerProjected[ProjectedFirst] = agentCorners[LowerLeft].Dot(agentNormals[Up]);
agentNormal1_agentCornerProjected[ProjectedSecond] = agentCorners[UpperLeft].Dot(agentNormals[Up]); // up normal
@@ -669,7 +681,7 @@ bool CollisionDetector::DetectIntersectionOfTwoWorldObjects(const WorldObjectInt
// project other corners on agent normal1 (take origin as reference, unnormalized since only comparision result is significant)
std::array<double, NumberProjectedOpponentAxis> agentNormal1_otherCornerProjected;
- for(int i = 0; i < NumberProjectedOpponentAxis; ++i)
+ for (size_t i = 0; i < NumberProjectedOpponentAxis; ++i)
{
agentNormal1_otherCornerProjected[i] = otherCorners[i].Dot(agentNormals[Up]);
}
@@ -681,107 +693,92 @@ bool CollisionDetector::DetectIntersectionOfTwoWorldObjects(const WorldObjectInt
agentNormal1_otherCornerProjectedMinValue);
// check for collision on agent normal 1
- if(agentNormal1_agentCornerProjectedMaxValue < agentNormal1_otherCornerProjectedMinValue ||
- agentNormal1_otherCornerProjectedMaxValue < agentNormal1_agentCornerProjectedMinValue)
+ if (agentNormal1_agentCornerProjectedMaxValue < agentNormal1_otherCornerProjectedMinValue ||
+ agentNormal1_otherCornerProjectedMaxValue < agentNormal1_agentCornerProjectedMinValue)
{
// agents separated on agent normal 1 axis
return false;
}
// skip check for other normals if agents are approximately aligned to same axes
- if(fabs(fmod(fabs(agent->GetYaw()), 90.0) - fmod(fabs(other->GetYaw()), 90.0)) > ROTATION_EPS)
+ if (fabs(fmod(fabs(agent->GetYaw()), 90.0) - fmod(fabs(other->GetYaw()), 90.0)) <= ROTATION_EPS)
{
- // project agent corners on other normal0 (take origin as reference, unnormalized since only comparision result is significant)
- std::array<double, NumberProjectedOpponentAxis> otherNormal0_agentCornerProjected;
- for(int i = 0; i < NumberProjectedOpponentAxis; ++i)
- {
- otherNormal0_agentCornerProjected[i] = agentCorners[i].Dot(otherNormals[Right]);
- }
-
- double otherNormal0_agentCornerProjectedMaxValue;
- double otherNormal0_agentCornerProjectedMinValue;
- GetMinMax4(otherNormal0_agentCornerProjected,
- otherNormal0_agentCornerProjectedMaxValue,
- otherNormal0_agentCornerProjectedMinValue);
-
- // project other corners on other normal0 (take origin as reference, unnormalized since only comparision result is significant)
- std::array<double, NumberProjectedOwnAxis> otherNormal0_otherCornerProjected; // only two points need to be projected on own normals since they are aligned
- otherNormal0_otherCornerProjected[ProjectedFirst] = otherCorners[LowerLeft].Dot(otherNormals[Right]); // right normal
- otherNormal0_otherCornerProjected[ProjectedSecond] = otherCorners[LowerRight].Dot(otherNormals[Right]);
-
- double otherNormal0_otherCornerProjectedMaxValue;
- double otherNormal0_otherCornerProjectedMinValue;
- GetMinMax2(otherNormal0_otherCornerProjected,
- otherNormal0_otherCornerProjectedMaxValue,
- otherNormal0_otherCornerProjectedMinValue);
-
- // check for collision on other normal 0
- if(otherNormal0_agentCornerProjectedMaxValue < otherNormal0_otherCornerProjectedMinValue ||
- otherNormal0_otherCornerProjectedMaxValue < otherNormal0_agentCornerProjectedMinValue)
- {
- // agents separated on other normal 0 axis
- return false;
- }
+ return true;
+ }
- // project agent corners on other normal1 (take origin as reference, unnormalized since only comparision result is significant)
- std::array<double, NumberProjectedOpponentAxis> otherNormal1_agentCornerProjected;
- for(int i = 0; i < NumberProjectedOpponentAxis; ++i)
- {
- otherNormal1_agentCornerProjected[i] = agentCorners[i].Dot(otherNormals[Up]);
- }
+ // project agent corners on other normal0 (take origin as reference, unnormalized since only comparision result is significant)
+ std::array<double, NumberProjectedOpponentAxis> otherNormal0_agentCornerProjected;
+ for (size_t i = 0; i < NumberProjectedOpponentAxis; ++i)
+ {
+ otherNormal0_agentCornerProjected[i] = agentCorners[i].Dot(otherNormals[Right]);
+ }
- double otherNormal1_agentCornerProjectedMaxValue;
- double otherNormal1_agentCornerProjectedMinValue;
- GetMinMax4(otherNormal1_agentCornerProjected,
- otherNormal1_agentCornerProjectedMaxValue,
- otherNormal1_agentCornerProjectedMinValue);
-
- // project other corners on other normal1 (take origin as reference, unnormalized since only comparision result is significant)
- std::array<double, NumberProjectedOwnAxis> otherNormal1_otherCornerProjected; // only two points need to be projected on own normals since they are aligned
- otherNormal1_otherCornerProjected[ProjectedFirst] = otherCorners[LowerLeft].Dot(otherNormals[Up]); // up normal
- otherNormal1_otherCornerProjected[ProjectedSecond] = otherCorners[UpperLeft].Dot(otherNormals[Up]);
-
- double otherNormal1_otherCornerProjectedMaxValue;
- double otherNormal1_otherCornerProjectedMinValue;
- GetMinMax2(otherNormal1_otherCornerProjected,
- otherNormal1_otherCornerProjectedMaxValue,
- otherNormal1_otherCornerProjectedMinValue);
-
- // check for collision on other normal 1
- if(otherNormal1_agentCornerProjectedMaxValue < otherNormal1_otherCornerProjectedMinValue ||
- otherNormal1_otherCornerProjectedMaxValue < otherNormal1_agentCornerProjectedMinValue)
- {
- // agents separated on other normal 1 axis
- return false;
- }
+ double otherNormal0_agentCornerProjectedMaxValue;
+ double otherNormal0_agentCornerProjectedMinValue;
+ GetMinMax4(otherNormal0_agentCornerProjected,
+ otherNormal0_agentCornerProjectedMaxValue,
+ otherNormal0_agentCornerProjectedMinValue);
+
+ // project other corners on other normal0 (take origin as reference, unnormalized since only comparision result is significant)
+ std::array<double, NumberProjectedOwnAxis> otherNormal0_otherCornerProjected; // only two points need to be projected on own normals since they are aligned
+ otherNormal0_otherCornerProjected[ProjectedFirst] = otherCorners[LowerLeft].Dot(otherNormals[Right]); // right normal
+ otherNormal0_otherCornerProjected[ProjectedSecond] = otherCorners[LowerRight].Dot(otherNormals[Right]);
+
+ double otherNormal0_otherCornerProjectedMaxValue;
+ double otherNormal0_otherCornerProjectedMinValue;
+ GetMinMax2(otherNormal0_otherCornerProjected,
+ otherNormal0_otherCornerProjectedMaxValue,
+ otherNormal0_otherCornerProjectedMinValue);
+
+ // check for collision on other normal 0
+ if (otherNormal0_agentCornerProjectedMaxValue < otherNormal0_otherCornerProjectedMinValue ||
+ otherNormal0_otherCornerProjectedMaxValue < otherNormal0_agentCornerProjectedMinValue)
+ {
+ // agents separated on other normal 0 axis
+ return false;
+ }
- return true;
+ // project agent corners on other normal1 (take origin as reference, unnormalized since only comparision result is significant)
+ std::array<double, NumberProjectedOpponentAxis> otherNormal1_agentCornerProjected;
+ for (size_t i = 0; i < NumberProjectedOpponentAxis; ++i)
+ {
+ otherNormal1_agentCornerProjected[i] = agentCorners[i].Dot(otherNormals[Up]);
}
- else
+
+ double otherNormal1_agentCornerProjectedMaxValue;
+ double otherNormal1_agentCornerProjectedMinValue;
+ GetMinMax4(otherNormal1_agentCornerProjected,
+ otherNormal1_agentCornerProjectedMaxValue,
+ otherNormal1_agentCornerProjectedMinValue);
+
+ // project other corners on other normal1 (take origin as reference, unnormalized since only comparision result is significant)
+ std::array<double, NumberProjectedOwnAxis> otherNormal1_otherCornerProjected; // only two points need to be projected on own normals since they are aligned
+ otherNormal1_otherCornerProjected[ProjectedFirst] = otherCorners[LowerLeft].Dot(otherNormals[Up]); // up normal
+ otherNormal1_otherCornerProjected[ProjectedSecond] = otherCorners[UpperLeft].Dot(otherNormals[Up]);
+
+ double otherNormal1_otherCornerProjectedMaxValue;
+ double otherNormal1_otherCornerProjectedMinValue;
+ GetMinMax2(otherNormal1_otherCornerProjected,
+ otherNormal1_otherCornerProjectedMaxValue,
+ otherNormal1_otherCornerProjectedMinValue);
+
+ // check for collision on other normal 1
+ if (otherNormal1_agentCornerProjectedMaxValue < otherNormal1_otherCornerProjectedMinValue ||
+ otherNormal1_otherCornerProjectedMaxValue < otherNormal1_agentCornerProjectedMinValue)
{
- return true;
+ // agents separated on other normal 1 axis
+ return false;
}
+
+ return true;
}
void CollisionDetector::DetectedCollisionWithObject(int time, AgentInterface *agent, const WorldObjectInterface *other)
{
- auto event = std::make_shared<CollisionEvent>(time,
- COMPONENTNAME,
- false,
- agent->GetId(),
- other->GetId());
-
- eventNetwork->InsertEvent(event);
+ eventNetwork->InsertEvent(std::make_shared<CollisionEvent>(time, COMPONENTNAME, false, agent->GetId(), other->GetId()));
}
void CollisionDetector::DetectedCollisionWithAgent(int time, AgentInterface *agent, AgentInterface *other)
{
- auto event = std::make_shared<CollisionEvent>(time,
- COMPONENTNAME,
- true,
- agent->GetId(),
- other->GetId());
-
- eventNetwork->InsertEvent(event);
+ eventNetwork->InsertEvent(std::make_shared<CollisionEvent>(time, COMPONENTNAME, true, agent->GetId(), other->GetId()));
}
-
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/CollisionDetector.h b/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/CollisionDetector.h
index ab999fa62e44e2b662e65c4ced1621ccc997d79c..f13fb5bb4d0aadcd87f10046e1db6ac69b0d54e7 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/CollisionDetector.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/CollisionDetector.h
@@ -202,7 +202,7 @@ public:
double &agentDistanceFromInitial,
Common::Vector2d &agentReferencePoint,
Common::Vector2d &otherReferencePoint,
- int &agentPenetratingCorner);
+ size_t &agentPenetratingCorner);
//-----------------------------------------------------------------------------
/*! Calculates parameters of point of contact
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/ConditionalEventDetector.cpp b/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/ConditionalEventDetector.cpp
index 923434b13fa7a3655858f6dd7c619a6f3a142961..7b2e95f51a3a28d044331ccdc5fb971685083c85 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/ConditionalEventDetector.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/ConditionalEventDetector.cpp
@@ -1,5 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2019 in-tech GmbH
+* Copyright (c) 2019, 2020 in-tech GmbH
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -11,16 +11,17 @@
#include "ConditionalEventDetector.h"
ConditionalEventDetector::ConditionalEventDetector(WorldInterface *world,
- const openScenario::ConditionalEventDetectorInformation& eventDetectorInformation,
+ const openScenario::ConditionalEventDetectorInformation &eventDetectorInformation,
SimulationSlave::EventNetworkInterface *eventNetwork,
const CallbackInterface *callbacks,
StochasticsInterface *stochastics) :
- EventDetectorCommonBase(world,
- eventNetwork,
- callbacks,
- stochastics),
- eventDetectorInformation(eventDetectorInformation)
-{}
+ EventDetectorCommonBase(world,
+ eventNetwork,
+ callbacks,
+ stochastics),
+ eventDetectorInformation(eventDetectorInformation)
+{
+}
void ConditionalEventDetector::Reset()
{
@@ -31,12 +32,7 @@ void ConditionalEventDetector::Trigger(int time)
{
if (IsBelowMaximumNumberOfExecutions())
{
- // this collection contains all of the agents who are defined as "TriggeringEntities" and who meet their conditions
- std::vector<const AgentInterface *> triggeringAgents {};
- bool allConditionsMet = EvaluateConditionsAtTime(time,
- triggeringAgents);
-
- if (allConditionsMet)
+ if (const auto [allConditionsMet, triggeringAgents] = EvaluateConditions(time); allConditionsMet == true)
{
TriggerEventInsertion(time, triggeringAgents);
}
@@ -45,27 +41,20 @@ void ConditionalEventDetector::Trigger(int time)
void ConditionalEventDetector::TriggerEventInsertion(int time, const std::vector<const AgentInterface *> triggeringAgents)
{
- const auto actors = GetActors(triggeringAgents);
-
std::vector<int> triggeringAgentIds{};
- for(const auto triggeringAgent : triggeringAgents)
+ for (const auto triggeringAgent : triggeringAgents)
{
triggeringAgentIds.push_back(triggeringAgent->GetId());
}
+ const auto actors = GetActors(triggeringAgents);
std::vector<int> actingAgentIds{};
- for(const auto actingAgent : actors)
+ for (const auto actingAgent : actors)
{
actingAgentIds.push_back(actingAgent->GetId());
}
- auto event = std::make_shared<ConditionalEvent>(time,
- eventDetectorInformation.eventName,
- COMPONENTNAME,
- triggeringAgentIds,
- actingAgentIds);
-
- eventNetwork->InsertEvent(event);
+ eventNetwork->InsertEvent(std::make_shared<ConditionalEvent>(time, eventDetectorInformation.eventName, COMPONENTNAME, triggeringAgentIds, actingAgentIds));
executionCounter++;
}
@@ -78,17 +67,17 @@ bool ConditionalEventDetector::IsBelowMaximumNumberOfExecutions()
std::vector<const AgentInterface *> ConditionalEventDetector::GetActors(const std::vector<const AgentInterface *> triggeringAgents)
{
std::vector<const AgentInterface *> actors{};
- if (eventDetectorInformation.actorInformation.triggeringAgentsAsActors.value_or(false))
+ if (eventDetectorInformation.actorInformation.actorIsTriggeringEntity)
{
actors = triggeringAgents;
}
- if(eventDetectorInformation.actorInformation.actors.has_value())
+ if (eventDetectorInformation.actorInformation.actors)
{
- for (const auto &agentName : eventDetectorInformation.actorInformation.actors.value())
+ for (const auto &agentName : *eventDetectorInformation.actorInformation.actors)
{
AgentInterface *agent = world->GetAgentByName(agentName);
- if(agent != nullptr && std::find(actors.begin(), actors.end(), agent) == actors.end())
+ if (agent && std::find(actors.begin(), actors.end(), agent) == actors.end())
{
actors.push_back(agent);
}
@@ -98,9 +87,10 @@ std::vector<const AgentInterface *> ConditionalEventDetector::GetActors(const st
return actors;
}
-bool ConditionalEventDetector::EvaluateConditionsAtTime(const int time,
- std::vector<const AgentInterface*>& triggeringAgents)
+std::pair<bool, std::vector<const AgentInterface *>> ConditionalEventDetector::EvaluateConditions(const int time)
{
+ std::vector<const AgentInterface *> triggeringAgents;
+
// this flag is used to ensure the first set of triggeringAgents found is correctly
// added to the triggeringAgents array (an intersection with an empty set is always empty)
bool isFirstByEntityConditionEvaluated = false;
@@ -110,24 +100,23 @@ bool ConditionalEventDetector::EvaluateConditionsAtTime(const int time,
// Evaluate if each condition is met. For some conditions, an array of Agents
// is returned containing those entities described in the openScenario file
// as "TriggeringEntities" that meet the prescribed condition.
- for (const auto& condition : eventDetectorInformation.conditions)
+ for (const auto &condition : eventDetectorInformation.conditions)
{
auto conditionEvaluation = evaluateCondition(condition);
// if a vector of AgentInterfaces is returned, it contains those TriggeringEntities who meet the condition
- std::vector<const AgentInterface*>* triggeringEntitiesWhoMeetCondition = std::get_if<std::vector<const AgentInterface*>>(&conditionEvaluation);
+ std::vector<const AgentInterface *> *triggeringEntitiesWhoMeetCondition = std::get_if<std::vector<const AgentInterface *>>(&conditionEvaluation);
// get_if resolves to nullptr if the type specified is not found
if (triggeringEntitiesWhoMeetCondition)
{
// if there are TriggeringEntities who meet the condition, add or intersect the set of
// entities for this condition into the triggeringAgents collection
- if (triggeringEntitiesWhoMeetCondition->size() > 0)
+ if (!triggeringEntitiesWhoMeetCondition->empty())
{
std::sort(triggeringEntitiesWhoMeetCondition->begin(),
triggeringEntitiesWhoMeetCondition->end(),
- [](const AgentInterface* agentA, const AgentInterface* agentB) -> bool
- {
- return agentA->GetId() < agentB->GetId();
+ [](const AgentInterface *agentA, const AgentInterface *agentB) -> bool {
+ return agentA->GetId() < agentB->GetId();
});
if (!isFirstByEntityConditionEvaluated)
{
@@ -136,7 +125,7 @@ bool ConditionalEventDetector::EvaluateConditionsAtTime(const int time,
}
else
{
- std::vector<const AgentInterface*> intersection{};
+ std::vector<const AgentInterface *> intersection{};
std::set_intersection(triggeringAgents.begin(), triggeringAgents.end(),
triggeringEntitiesWhoMeetCondition->begin(), triggeringEntitiesWhoMeetCondition->end(),
std::back_inserter(intersection));
@@ -144,7 +133,7 @@ bool ConditionalEventDetector::EvaluateConditionsAtTime(const int time,
if (intersection.empty())
{
// this condition was not met; no further condition checking needs to be done
- return false;
+ return {false, {}};
}
triggeringAgents = intersection;
}
@@ -153,18 +142,18 @@ bool ConditionalEventDetector::EvaluateConditionsAtTime(const int time,
else
{
// this condition was not met; no further condition checking needs to be done
- return false;
+ return {false, {}};
}
}
else
{
- bool* conditionIsMet = std::get_if<bool>(&conditionEvaluation);
+ bool *conditionIsMet = std::get_if<bool>(&conditionEvaluation);
if (!(conditionIsMet == nullptr))
{
if (!(*conditionIsMet))
{
// this condition was not met; no further condition checking needs to be done
- return false;
+ return {false, {}};
}
}
else
@@ -176,5 +165,5 @@ bool ConditionalEventDetector::EvaluateConditionsAtTime(const int time,
}
}
- return true;
+ return {true, triggeringAgents};
}
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/ConditionalEventDetector.h b/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/ConditionalEventDetector.h
index 6ccc65b2dce6ae9c1fe4409d97c5cdc32ff496c2..eff361f4154edeb5ea08342964615292df854f62 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/ConditionalEventDetector.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/ConditionalEventDetector.h
@@ -13,30 +13,35 @@
#include "EventDetectorCommonBase.h"
// template for overload pattern used in CheckCondition()
-template<class... Ts> struct overload : Ts... { using Ts::operator()...; };
-template<class... Ts> overload(Ts...) -> overload<Ts...>;
+template <class... Ts>
+struct overload : Ts...
+{
+ using Ts::operator()...;
+};
+template <class... Ts>
+overload(Ts...)->overload<Ts...>;
struct ConditionMetaInformation
{
- WorldInterface * const world {};
- int currentTime {};
+ WorldInterface *const world{};
+ int currentTime{};
};
-using ConditionVisitorVariant = std::variant<std::vector<const AgentInterface*>, bool>;
+using ConditionVisitorVariant = std::variant<std::vector<const AgentInterface *>, bool>;
class ConditionalEventDetector : public EventDetectorCommonBase
{
public:
ConditionalEventDetector(WorldInterface *world,
- const openScenario::ConditionalEventDetectorInformation& eventDetectorInformation,
+ const openScenario::ConditionalEventDetectorInformation &eventDetectorInformation,
SimulationSlave::EventNetworkInterface *eventNetwork,
const CallbackInterface *callbacks,
StochasticsInterface *stochastics);
ConditionalEventDetector() = delete;
- ConditionalEventDetector(const ConditionalEventDetector&) = delete;
- ConditionalEventDetector(ConditionalEventDetector&&) = delete;
- ConditionalEventDetector& operator=(const ConditionalEventDetector&) = delete;
- ConditionalEventDetector& operator=(ConditionalEventDetector&&) = delete;
+ ConditionalEventDetector(const ConditionalEventDetector &) = delete;
+ ConditionalEventDetector(ConditionalEventDetector &&) = delete;
+ ConditionalEventDetector &operator=(const ConditionalEventDetector &) = delete;
+ ConditionalEventDetector &operator=(ConditionalEventDetector &&) = delete;
virtual void Trigger(int time) override;
@@ -56,7 +61,7 @@ private:
* EventNetwork.
* ------------------------------------------------------------------------
*/
- void TriggerEventInsertion(int time, const std::vector<const AgentInterface*> triggeringAgents);
+ void TriggerEventInsertion(int time, const std::vector<const AgentInterface *> triggeringAgents);
/*!
* ------------------------------------------------------------------------
@@ -84,24 +89,21 @@ private:
* by the Events emitted by the EventDetector
* ------------------------------------------------------------------------
*/
- std::vector<const AgentInterface*> GetActors(const std::vector<const AgentInterface*> triggeringAgents = {});
+ std::vector<const AgentInterface *> GetActors(const std::vector<const AgentInterface *> triggeringAgents = {});
/*!
* ------------------------------------------------------------------------
* \brief EvaluateConditionsAtTime evaluates all conditions for the
- * specified time. TriggeringAgents who meet all conditions are
- * placed into the triggeringAgents collection.
+ * specified time and returns triggering agents who meet all conditions.
*
* \param[in] time the time at which the conditions are being evaluated
*
- * \param[out] triggeringAgents the collection into which the
- * TriggeringAgents who meet all conditions are placed
- *
- * \return true if all conditions are met; false otherwise
+ * \return <0> true if all conditions are met; false otherwise
+ * <1> triggeringAgents who meet all conditions
* ------------------------------------------------------------------------
*/
- bool EvaluateConditionsAtTime(const int time,
- std::vector<const AgentInterface*>& triggeringAgents);
+
+ std::pair<bool, std::vector<const AgentInterface *>> EvaluateConditions(const int time);
/*!
* ------------------------------------------------------------------------
@@ -115,18 +117,18 @@ private:
* \return lambda function for evaluating a Condition variant
* ------------------------------------------------------------------------
*/
- auto CheckCondition(const ConditionMetaInformation& cmi)
+ auto CheckCondition(const ConditionMetaInformation &cmi)
{
return [cmi](auto&& condition)
{
return std::visit(overload{
- [&](const openScenario::ReachPositionRoadCondition& reachPositionCondition) { return ConditionVisitorVariant{reachPositionCondition.IsMet(cmi.world)}; },
- [&](const openScenario::RelativeLaneCondition& relativeLaneCondition) { return ConditionVisitorVariant{relativeLaneCondition.IsMet(cmi.world)}; },
- [&](const openScenario::RelativeSpeedCondition& relativeSpeedCondition) { return ConditionVisitorVariant{relativeSpeedCondition.IsMet(cmi.world)}; },
- [&](const openScenario::TimeToCollisionCondition& timeToCollisionCondition) { return ConditionVisitorVariant{timeToCollisionCondition.IsMet(cmi.world)}; },
+ [&](const openScenario::ReachPositionRoadCondition &reachPositionCondition) { return ConditionVisitorVariant{reachPositionCondition.IsMet(cmi.world)}; },
+ [&](const openScenario::RelativeLaneCondition &relativeLaneCondition) { return ConditionVisitorVariant{relativeLaneCondition.IsMet(cmi.world)}; },
+ [&](const openScenario::RelativeSpeedCondition &relativeSpeedCondition) { return ConditionVisitorVariant{relativeSpeedCondition.IsMet(cmi.world)}; },
+ [&](const openScenario::TimeToCollisionCondition &timeToCollisionCondition) { return ConditionVisitorVariant{timeToCollisionCondition.IsMet(cmi.world)}; },
[&](const openScenario::TimeHeadwayCondition& timeHeadwayCondition) { return ConditionVisitorVariant{timeHeadwayCondition.IsMet(cmi.world)}; },
- [&](const openScenario::SimulationTimeCondition& simulationTimeCondition) { return ConditionVisitorVariant{simulationTimeCondition.IsMet(cmi.currentTime)}; }
- }, condition);
+ [&](const openScenario::SimulationTimeCondition &simulationTimeCondition) { return ConditionVisitorVariant{simulationTimeCondition.IsMet(cmi.currentTime)}; }},
+ condition);
};
}
};
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/EventDetectorCommonBase.h b/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/EventDetectorCommonBase.h
index 89d8662862ea5538d46c3f58e776a0c3c332c8d3..b7da71a3c28f43b4545d9252f575f4f969d4302c 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/EventDetectorCommonBase.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/EventDetector/EventDetectorCommonBase.h
@@ -35,6 +35,7 @@
#include "Interfaces/parameterInterface.h"
#include "Interfaces/worldInterface.h"
#include "Interfaces/eventDetectorInterface.h"
+#include "Interfaces/stochasticsInterface.h"
#include "Common/conditionalEvent.h"
#include "Common/collisionEvent.h"
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/CollisionManipulator.cpp b/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/CollisionManipulator.cpp
index 084d18536370beb4817137a0360b365daf58f60e..652222cfb45f258d55dc384bc7311b12d8c1d13e 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/CollisionManipulator.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/CollisionManipulator.cpp
@@ -16,9 +16,9 @@
#include <QtGlobal>
-CollisionManipulator::CollisionManipulator(WorldInterface* world,
- SimulationSlave::EventNetworkInterface* eventNetwork,
- const CallbackInterface* callbacks):
+CollisionManipulator::CollisionManipulator(WorldInterface *world,
+ SimulationSlave::EventNetworkInterface *eventNetwork,
+ const CallbackInterface *callbacks) :
ManipulatorCommonBase(world,
eventNetwork,
callbacks)
@@ -33,20 +33,20 @@ void CollisionManipulator::Trigger(int time)
for (std::shared_ptr<EventInterface> eventInterface : GetEvents())
{
std::shared_ptr<CollisionEvent> event = std::dynamic_pointer_cast<CollisionEvent>(eventInterface);
- AgentInterface* collisionAgent = world->GetAgent(event->collisionAgentId);
+ AgentInterface *collisionAgent = world->GetAgent(event->collisionAgentId);
eventNetwork->AddCollision(event->collisionAgentId);
if (event->collisionWithAgent)
{
- AgentInterface* collisionOpponent = world->GetAgent(event->collisionOpponentId);
+ AgentInterface *collisionOpponent = world->GetAgent(event->collisionOpponentId);
try
{
UpdateCollision(collisionAgent, collisionOpponent);
}
- catch (const std::bad_alloc&)
+ catch (const std::bad_alloc &)
{
- std::cout << "BAD ALLOC";
+ std::cout << "BAD ALLOC"; // TODO: log if something like this happens
}
eventNetwork->AddCollision(event->collisionOpponentId);
}
@@ -57,7 +57,7 @@ void CollisionManipulator::Trigger(int time)
{
if (partner.first == ObjectTypeOSI::Vehicle)
{
- AgentInterface* partnerAgent = world->GetAgent(partner.second);
+ AgentInterface *partnerAgent = world->GetAgent(partner.second);
partnerAgent->UpdateCollision(pair);
}
}
@@ -67,37 +67,32 @@ void CollisionManipulator::Trigger(int time)
}
}
-void CollisionManipulator::UpdateCollision(AgentInterface* agent, AgentInterface* opponent)
+void CollisionManipulator::UpdateCollision(AgentInterface *agent, AgentInterface *opponent)
{
- //Stop conditions for the recursion
- if (agent == nullptr || opponent == nullptr)
- {
- return ;
- }
-
- if (agent->GetId() == opponent->GetId())
+ if (!agent || !opponent || agent->GetId() == opponent->GetId())
{
return;
}
- for (const auto& partner : agent->GetCollisionPartners())
+ // check if object is already in stored collision partners
+ for (const auto &[objectType, id] : agent->GetCollisionPartners())
{
- if (partner.second == opponent->GetId() && partner.first == ObjectTypeOSI::Vehicle)
+ if (id == opponent->GetId() && objectType == ObjectTypeOSI::Vehicle)
{
return;
}
}
//Update the collision partners
- agent->UpdateCollision(std::make_pair(opponent->GetType(), opponent->GetId()));
- opponent->UpdateCollision(std::make_pair(agent->GetType(), agent->GetId()));
+ agent->UpdateCollision({opponent->GetType(), opponent->GetId()});
+ opponent->UpdateCollision({agent->GetType(), agent->GetId()});
//Recursion for agent
- for (const auto& partner : agent->GetCollisionPartners())
+ for (const auto &partner : agent->GetCollisionPartners())
{
if (partner.first == ObjectTypeOSI::Object)
{
- opponent->UpdateCollision(std::make_pair(ObjectTypeOSI::Object, partner.second));
+ opponent->UpdateCollision({ObjectTypeOSI::Object, partner.second});
}
else
{
@@ -106,11 +101,11 @@ void CollisionManipulator::UpdateCollision(AgentInterface* agent, AgentInterface
}
//Recursion for opponent
- for (const auto& partner : opponent->GetCollisionPartners())
+ for (const auto &partner : opponent->GetCollisionPartners())
{
if (partner.first == ObjectTypeOSI::Object)
{
- agent->UpdateCollision(std::make_pair(ObjectTypeOSI::Object, partner.second));
+ agent->UpdateCollision({ObjectTypeOSI::Object, partner.second});
}
else
{
@@ -119,8 +114,7 @@ void CollisionManipulator::UpdateCollision(AgentInterface* agent, AgentInterface
}
}
-
EventContainer CollisionManipulator::GetEvents()
{
- return eventNetwork->GetActiveEventCategory(EventDefinitions::EventCategory::Collision);
+ return eventNetwork->GetActiveEventCategory(EventDefinitions::EventCategory::OpenPASS);
}
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/ComponentStateChangeManipulator.cpp b/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/ComponentStateChangeManipulator.cpp
index 97b3f2dc86e754983c94ab2b95bcb058dd57ce37..98cf3029a389f2364f9cc9853680802a60441bf1 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/ComponentStateChangeManipulator.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/ComponentStateChangeManipulator.cpp
@@ -17,8 +17,6 @@
#include "Common/componentStateChangeEvent.h"
#include "Common/commonTools.h"
-#include <QtGlobal>
-#include <array>
ComponentStateChangeManipulator::ComponentStateChangeManipulator(WorldInterface *world,
std::shared_ptr<openScenario::UserDefinedCommandAction> action,
@@ -52,13 +50,11 @@ ComponentStateChangeManipulator::ComponentStateChangeManipulator(WorldInterface
cycleTime = 100;
}
-void ComponentStateChangeManipulator::Trigger(int time)
+void ComponentStateChangeManipulator::Trigger([[maybe_unused]] int time)
{
- Q_UNUSED(time)
-
- for (std::shared_ptr<EventInterface> eventInterface : GetEvents())
+ for (const auto& eventInterface : GetEvents())
{
- std::shared_ptr<ConditionalEvent> triggeringEvent = std::dynamic_pointer_cast<ConditionalEvent>(eventInterface);
+ const auto& triggeringEvent = std::dynamic_pointer_cast<ConditionalEvent>(eventInterface);
std::shared_ptr<ComponentChangeEvent> event =
std::make_shared<ComponentChangeEvent>(time,
@@ -79,7 +75,7 @@ EventContainer ComponentStateChangeManipulator::GetEvents()
{
EventContainer manipulatorSpecificEvents{};
- const auto &conditionalEvents = eventNetwork->GetActiveEventCategory(EventDefinitions::EventCategory::Conditional);
+ const auto &conditionalEvents = eventNetwork->GetActiveEventCategory(EventDefinitions::EventCategory::OpenSCENARIO);
for(const auto &event: conditionalEvents)
{
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/LaneChangeManipulator.cpp b/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/LaneChangeManipulator.cpp
index 0ddfebbe54c3d9ff7cef4ed80059d7ad16e562e7..674078876c832e92c8b528c2aefa262e2f9eea5e 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/LaneChangeManipulator.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/LaneChangeManipulator.cpp
@@ -53,7 +53,7 @@ EventContainer LaneChangeManipulator::GetEvents()
{
EventContainer manipulatorSpecificEvents{};
- const auto &conditionalEvents = eventNetwork->GetActiveEventCategory(EventDefinitions::EventCategory::Conditional);
+ const auto &conditionalEvents = eventNetwork->GetActiveEventCategory(EventDefinitions::EventCategory::OpenSCENARIO);
for(const auto &event: conditionalEvents)
{
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/RemoveAgentsManipulator.cpp b/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/RemoveAgentsManipulator.cpp
index 9ccbab01927d0380503fd71274355fdea365e99d..6e825b3bea4d7caaa4780903d991b4c89c69d9ed 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/RemoveAgentsManipulator.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/RemoveAgentsManipulator.cpp
@@ -14,8 +14,6 @@
#include "RemoveAgentsManipulator.h"
-#include <QtGlobal>
-
RemoveAgentsManipulator::RemoveAgentsManipulator(WorldInterface *world,
std::shared_ptr<openScenario::GlobalEntityAction> action,
SimulationSlave::EventNetworkInterface *eventNetwork,
@@ -54,9 +52,7 @@ EventContainer RemoveAgentsManipulator::GetEvents()
{
EventContainer manipulatorSpecificEvents{};
- const auto &conditionalEvents = eventNetwork->GetActiveEventCategory(EventDefinitions::EventCategory::Conditional);
-
- for(const auto &event: conditionalEvents)
+ for (const auto &event : eventNetwork->GetActiveEventCategory(EventDefinitions::EventCategory::OpenSCENARIO))
{
const auto conditionalEvent = std::static_pointer_cast<ConditionalEvent>(event);
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/TrajectoryManipulator.cpp b/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/TrajectoryManipulator.cpp
index 75e5e553b5a91077bafd263ddf3897626f79de2b..a421317d852a356e59d840ad6b336fef2b9eec06 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/TrajectoryManipulator.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Manipulator/TrajectoryManipulator.cpp
@@ -53,7 +53,7 @@ EventContainer TrajectoryManipulator::GetEvents()
{
EventContainer manipulatorSpecificEvents{};
- const auto &conditionalEvents = eventNetwork->GetActiveEventCategory(EventDefinitions::EventCategory::Conditional);
+ const auto &conditionalEvents = eventNetwork->GetActiveEventCategory(EventDefinitions::EventCategory::OpenSCENARIO);
for(const auto &event: conditionalEvents)
{
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/Observation_Log.pro b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/Observation_Log.pro
index 91cb59c4dcb8b1132cc67987ae81c023fdcabee8..c3c975e3ac3ffdc31f048f5795550d0f906d6096 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/Observation_Log.pro
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/Observation_Log.pro
@@ -1,5 +1,5 @@
# /*********************************************************************
-# * Copyright (c) 2017, 2018, 2019 in-tech GmbH
+# * Copyright (c) 2017, 2018, 2019, 2020 in-tech GmbH
# * 2016, 2017 ITK Engineering GmbH
# * This program and the accompanying materials are made
# * available under the terms of the Eclipse Public License 2.0
@@ -18,21 +18,25 @@ DEFINES += OBSERVATION_LOG_LIBRARY
CONFIG += OPENPASS_LIBRARY
include(../../../global.pri)
-SUBDIRS += . \
-
-INCLUDEPATH += $$SUBDIRS \
- ../../CoreFrameWork/CoreShare \
- ../..
+INCLUDEPATH += \
+ . \
+ ../.. \
+ ../Observation_Log \
+ ../../CoreFrameWork/CoreShare
SOURCES += \
- $$getFiles(SUBDIRS, cpp) \
- $$getFiles(SUBDIRS, cc) \
- $$getFiles(SUBDIRS, c) \
- ../../CoreFramework/CoreShare/log.cpp \
- ../../CoreFramework/CoreShare/parameters.cpp
+ observationFileHandler.cpp \
+ observation_log.cpp \
+ observation_logImplementation.cpp \
+ observationCyclics.cpp \
+ runStatistic.cpp \
+ runStatisticCalculation.cpp
HEADERS += \
- $$getFiles(SUBDIRS, hpp) \
- $$getFiles(SUBDIRS, h) \
- ../../CoreFramework/CoreShare/log.h \
- ../../CoreFramework/CoreShare/parameters.h
+ observationFileHandler.h \
+ observationLogConstants.h \
+ observation_log.h \
+ observation_logImplementation.h \
+ observationCyclics.h \
+ runStatistic.h \
+ runStatisticCalculation.h
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationCyclics.h b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationCyclics.h
index 516efb571fb12ce1fccbe71300e6e52201c15f5e..bf74716874b356ca401fe9d9b316f0ef18bb45f5 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationCyclics.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationCyclics.h
@@ -22,8 +22,6 @@
class ObservationCyclics
{
public:
- const std::string COMPONENTNAME = "ObservationCyclics";
-
ObservationCyclics()
{
}
@@ -64,9 +62,9 @@ public:
/*!
* \brief Returns all timesteps for which samples exist
*/
- std::vector<int> *GetTimeSteps()
+ std::vector<int>& GetTimeSteps()
{
- return &timeSteps;
+ return timeSteps;
}
/*!
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationFileHandler.cpp b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationFileHandler.cpp
index 2a6e21688e255e22946e5faa801ba37db83d0c5a..fb7bcd57148181132841878f00cf6c1ea41c4005 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationFileHandler.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationFileHandler.cpp
@@ -14,29 +14,28 @@
//-----------------------------------------------------------------------------
#include <sstream>
+
#include <QDir>
+#include <QFile>
#include <QString>
+#include <QTemporaryFile>
-#include "Interfaces/worldInterface.h"
+#include "Common/openPassTypes.h"
+#include "Common/openPassUtils.h"
#include "Common/sensorDefinitions.h"
+#include "Interfaces/dataStoreInterface.h"
+#include "Interfaces/worldInterface.h"
#include "observationFileHandler.h"
+ObservationFileHandler::ObservationFileHandler(const DataStoreReadInterface& dataStore) :
+ dataStore{dataStore}
+{
+}
+
void ObservationFileHandler::WriteStartOfFile(const std::string& frameworkVersion)
{
runNumber = 0;
- // retrieve storage location
-
- tmpFilename = "simulationOutput.tmp";
- finalFilename = "simulationOutput.xml";
-
- tmpPath = folder + QDir::separator() + tmpFilename;
- finalPath = folder + QDir::separator() + finalFilename;
-
- std::stringstream ss;
- ss << COMPONENTNAME << " retrieved storage location: " << finalPath.toStdString();
- // LOG(CbkLogLevel::Debug, ss.str());
-
// setup environment
QDir dir(folder);
if (!dir.exists() && !dir.mkpath(folder))
@@ -47,11 +46,6 @@ void ObservationFileHandler::WriteStartOfFile(const std::string& frameworkVersio
throw std::runtime_error(ss.str());
}
- if (QFile::exists(tmpPath))
- {
- QFile::remove(tmpPath);
- }
-
if (QFile::exists(finalPath))
{
QFile::remove(finalPath);
@@ -59,16 +53,18 @@ void ObservationFileHandler::WriteStartOfFile(const std::string& frameworkVersio
RemoveCsvCyclics(folder);
- xmlFile = std::make_shared<QFile>(tmpPath);
- if (!xmlFile->open(QIODevice::WriteOnly))
+ xmlFile = std::make_unique<QTemporaryFile>(folder + "/simulationOutput_XXXXXX.tmp");
+ xmlFile->setAutoRemove(false);
+ xmlFile->fileName(); // required for setAutoRemove to be applied, see https://doc.qt.io/qt-5/qtemporaryfile.html#setAutoRemove
+
+ if (!xmlFile->open())
{
std::stringstream ss;
- ss << COMPONENTNAME << " could not create file: " << tmpPath.toStdString();
- // LOG(CbkLogLevel::Error, ss.str());
+ ss << COMPONENTNAME << ": could not create file: " << xmlFile->fileName().toStdString();
throw std::runtime_error(ss.str());
}
- xmlFileStream = std::make_shared<QXmlStreamWriter>(xmlFile.get());
+ xmlFileStream = std::make_unique<QXmlStreamWriter>(xmlFile.get());
xmlFileStream->setAutoFormatting(true);
xmlFileStream->writeStartDocument();
xmlFileStream->writeStartElement(outputTags.SIMULATIONOUTPUT);
@@ -80,11 +76,8 @@ void ObservationFileHandler::WriteStartOfFile(const std::string& frameworkVersio
xmlFileStream->writeStartElement(outputTags.RUNRESULTS);
}
-void ObservationFileHandler::WriteRun(const RunResultInterface& runResult, RunStatistic runStatistic,
- ObservationCyclics& cyclics, WorldInterface* world, SimulationSlave::EventNetworkInterface* eventNetwork)
+void ObservationFileHandler::WriteRun([[maybe_unused]] const RunResultInterface& runResult, RunStatistic runStatistic, ObservationCyclics& cyclics)
{
- Q_UNUSED(runResult);
-
std::stringstream ss;
ss << COMPONENTNAME << " append log to file: " << tmpPath.toStdString();
// LOG(CbkLogLevel::Debug, ss.str());
@@ -96,19 +89,33 @@ void ObservationFileHandler::WriteRun(const RunResultInterface& runResult, RunSt
// write RunStatisticsTag
xmlFileStream->writeStartElement(outputTags.RUNSTATISTICS);
- runStatistic.WriteStatistics(xmlFileStream);
+ const auto agentIds = dataStore.GetKeys("Statics/Agents");
+
+ for (const auto& agentId : agentIds)
+ {
+ const auto tdtResult = dataStore.GetCyclic(std::nullopt, std::stoi(agentId), "TotalDistanceTraveled");
+ const auto last_tdt_row = (*((*tdtResult).end() - 1)).get();
+
+ if (last_tdt_row.entityId == 0)
+ {
+ runStatistic.EgoDistanceTraveled = std::get<double>(last_tdt_row.value);
+ }
+
+ runStatistic.TotalDistanceTraveled += std::get<double>(last_tdt_row.value);
+ }
+
+ runStatistic.WriteStatistics(xmlFileStream.get());
// close RunStatisticsTag
xmlFileStream->writeEndElement();
- AddEvents(xmlFileStream, eventNetwork);
-
- AddAgents(xmlFileStream, world);
+ AddEvents();
+ AddAgents();
// write CyclicsTag
xmlFileStream->writeStartElement(outputTags.CYCLICS);
- if(writeCyclicsToCsv)
+ if (writeCyclicsToCsv)
{
QString runPrefix = "";
if (runNumber < 10)
@@ -121,15 +128,14 @@ void ObservationFileHandler::WriteRun(const RunResultInterface& runResult, RunSt
}
QString csvFilename = "Cyclics_Run_" + runPrefix + QString::number(runNumber) + ".csv";
- AddReference(xmlFileStream, csvFilename);
+ AddReference(csvFilename);
WriteCsvCyclics(csvFilename, cyclics);
}
else
{
- AddHeader(xmlFileStream, cyclics);
-
- AddSamples(xmlFileStream, cyclics);
+ AddHeader(cyclics);
+ AddSamples(cyclics);
}
// close CyclicsTag
@@ -154,144 +160,96 @@ void ObservationFileHandler::WriteEndOfFile()
xmlFile->close();
// finalize results
- // using copy/remove instead of rename, since latter is failing on some systems
- if (xmlFile->copy(finalPath))
- {
- xmlFile->remove();
- }
+ xmlFile->rename(finalPath);
}
-void ObservationFileHandler::AddEventParameters(std::shared_ptr<QXmlStreamWriter> fStream,
- EventParameters eventParameters)
+void ObservationFileHandler::AddEvents()
{
- for (auto parameter : eventParameters)
- {
- fStream->writeStartElement(outputTags.EVENTPARAMETER);
- fStream->writeAttribute(outputAttributes.KEY, QString::fromStdString(parameter.key));
- fStream->writeAttribute(outputAttributes.VALUE, QString::fromStdString(parameter.value));
+ xmlFileStream->writeStartElement(outputTags.EVENTS);
- //Closes EventParameter tag
- fStream->writeEndElement();
- }
-}
+ const auto events = dataStore.GetAcyclic(std::nullopt, std::nullopt, "*");
-void ObservationFileHandler::AddEvent(std::shared_ptr<QXmlStreamWriter> fStream, std::shared_ptr<EventInterface> event)
-{
- fStream->writeStartElement(outputTags.EVENT);
- fStream->writeAttribute(outputAttributes.ID, QString::number(event->GetId()));
- fStream->writeAttribute(outputAttributes.TIME, QString::number(event->GetEventTime()));
- fStream->writeAttribute(outputAttributes.SOURCE, QString::fromStdString(event->GetSource()));
- fStream->writeAttribute(outputAttributes.NAME, QString::fromStdString(event->GetName()));
-
- const int& triggeringEventId = event->GetTriggeringEventId();
- if (triggeringEventId >= 0)
+ for (const AcyclicRow& event : *events)
{
- fStream->writeAttribute(outputAttributes.TRIGGERINGEVENTID, QString::number(triggeringEventId));
- }
-
- AddEventParameters(fStream, event->GetParametersAsString());
-
- fStream->writeEndElement();
-}
+ xmlFileStream->writeStartElement(outputTags.EVENT);
+ xmlFileStream->writeAttribute(outputAttributes.TIME, QString::number(event.timestamp));
+ xmlFileStream->writeAttribute(outputAttributes.SOURCE, QString::fromStdString(event.key));
+ xmlFileStream->writeAttribute(outputAttributes.NAME, QString::fromStdString(event.data.name));
-void ObservationFileHandler::AddEvents(std::shared_ptr<QXmlStreamWriter> fStream,
- SimulationSlave::EventNetworkInterface* eventNetwork)
-{
- // write events
- fStream->writeStartElement(outputTags.EVENTS);
+ WriteEntities(outputTags.TRIGGERINGENTITIES, event.data.triggeringEntities.entities, true);
+ WriteEntities(outputTags.AFFECTEDENTITIES, event.data.affectedEntities.entities, true);
+ WriteParameter(event.data.parameter, true);
- for (const auto& eventList : * (eventNetwork->GetArchivedEvents()))
- {
- for (const auto& event : eventList.second)
- {
- AddEvent(fStream, event);
- }
- }
-
- for (const auto& eventList : * (eventNetwork->GetActiveEvents()))
- {
- for (const auto& event : eventList.second)
- {
- AddEvent(fStream, event);
- }
+ xmlFileStream->writeEndElement(); // event
}
- // close EventsTag
- fStream->writeEndElement();
+ xmlFileStream->writeEndElement(); // events
}
-void ObservationFileHandler::AddAgents(std::shared_ptr<QXmlStreamWriter> fStream, WorldInterface* world)
+void ObservationFileHandler::AddAgents()
{
- //write Agents
- fStream->writeStartElement(outputTags.AGENTS);
+ xmlFileStream->writeStartElement(outputTags.AGENTS);
- for (const auto& it : world->GetAgents())
- {
- const AgentInterface* agent = it.second;
- AddAgent(fStream, agent);
- }
+ const auto agentIds = dataStore.GetKeys("Statics/Agents");
- for (const auto& it : world->GetRemovedAgents())
+ for (const auto& agentId : agentIds)
{
- const AgentInterface* agent = it;
- AddAgent(fStream, agent);
+ AddAgent(agentId);
}
- fStream->writeEndElement();
+ xmlFileStream->writeEndElement();
}
-void ObservationFileHandler::AddAgent(std::shared_ptr<QXmlStreamWriter> fStream, const AgentInterface* agent)
+void ObservationFileHandler::AddAgent(const std::string& agentId)
{
- fStream->writeStartElement(outputTags.AGENT);
+ const std::string keyPrefix = "Agents/" + agentId + "/";
- const auto& agentCategory = static_cast<int>(agent->GetAgentCategory());
+ xmlFileStream->writeStartElement(outputTags.AGENT);
- fStream->writeAttribute(outputAttributes.ID, QString::number(agent->GetId()));
- fStream->writeAttribute(outputAttributes.AGENTTYPEGROUPNAME,
- QString::fromStdString(AgentCategoryStrings[agentCategory]));
- fStream->writeAttribute(outputAttributes.AGENTTYPENAME, QString::fromStdString(agent->GetAgentTypeName()));
- fStream->writeAttribute(outputAttributes.VEHICLEMODELTYPE, QString::fromStdString(agent->GetVehicleModelType()));
- fStream->writeAttribute(outputAttributes.DRIVERPROFILENAME, QString::fromStdString(agent->GetDriverProfileName()));
+ xmlFileStream->writeAttribute(outputAttributes.ID, QString::fromStdString(agentId));
+ xmlFileStream->writeAttribute(outputAttributes.AGENTTYPEGROUPNAME, QString::fromStdString(std::get<std::string>(dataStore.GetStatic(keyPrefix + "AgentTypeGroupName").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.AGENTTYPENAME, QString::fromStdString(std::get<std::string>(dataStore.GetStatic(keyPrefix + "AgentTypeName").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.VEHICLEMODELTYPE, QString::fromStdString(std::get<std::string>(dataStore.GetStatic(keyPrefix + "VehicleModelType").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.DRIVERPROFILENAME, QString::fromStdString(std::get<std::string>(dataStore.GetStatic(keyPrefix + "DriverProfileName").at(0))));
- AddVehicleAttributes(fStream, agent->GetVehicleModelParameters());
- AddSensors(fStream, agent);
+ AddVehicleAttributes(agentId);
+ AddSensors(agentId);
- fStream->writeEndElement();
+ xmlFileStream->writeEndElement();
}
-void ObservationFileHandler::AddVehicleAttributes(std::shared_ptr<QXmlStreamWriter> fStream, const VehicleModelParameters &vehicleModelParameters)
+void ObservationFileHandler::AddVehicleAttributes(const std::string& agentId)
{
- fStream->writeStartElement(outputTags.VEHICLEATTRIBUTES);
+ const std::string keyPrefix = "Agents/" + agentId + "/Vehicle/";
- fStream->writeAttribute(outputAttributes.WIDTH,
- QString::number(vehicleModelParameters.width));
- fStream->writeAttribute(outputAttributes.LENGTH,
- QString::number(vehicleModelParameters.length));
- fStream->writeAttribute(outputAttributes.HEIGHT,
- QString::number(vehicleModelParameters.height));
+ xmlFileStream->writeStartElement(outputTags.VEHICLEATTRIBUTES);
- const double longitudinalPivotOffset = (vehicleModelParameters.length / 2.0) - vehicleModelParameters.distanceReferencePointToLeadingEdge;
- fStream->writeAttribute(outputAttributes.LONGITUDINALPIVOTOFFSET,
- QString::number(longitudinalPivotOffset));
+ xmlFileStream->writeAttribute(outputAttributes.WIDTH, QString::number(std::get<double>(dataStore.GetStatic(keyPrefix + "Width").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.LENGTH, QString::number(std::get<double>(dataStore.GetStatic(keyPrefix + "Length").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.HEIGHT, QString::number(std::get<double>(dataStore.GetStatic(keyPrefix + "Height").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.LONGITUDINALPIVOTOFFSET, QString::number(std::get<double>(dataStore.GetStatic(keyPrefix + "LongitudinalPivotOffset").at(0))));
- fStream->writeEndElement();
+ xmlFileStream->writeEndElement();
}
-void ObservationFileHandler::AddSensors(std::shared_ptr<QXmlStreamWriter> fStream, const AgentInterface* agent)
+void ObservationFileHandler::AddSensors(const std::string& agentId)
{
- const openpass::sensors::Parameters sensorParameters = agent->GetSensorParameters();
+ const std::string keyPrefix = "Statics/Agents/" + agentId + "/Vehicle/Sensors";
+ const auto& sensorIds = dataStore.GetKeys(keyPrefix);
- if (ContainsSensor(sensorParameters))
+ if (sensorIds.empty())
{
- fStream->writeStartElement(outputTags.SENSORS);
+ return;
+ }
- for (const auto& itSensors : sensorParameters)
- {
- AddSensor(fStream, itSensors);
- }
+ xmlFileStream->writeStartElement(outputTags.SENSORS);
- fStream->writeEndElement();
+ for (const auto& sensorId : sensorIds)
+ {
+ AddSensor(agentId, sensorId);
}
+
+ xmlFileStream->writeEndElement();
}
bool ObservationFileHandler::ContainsSensor(const openpass::sensors::Parameters& sensorParameters) const
@@ -299,86 +257,73 @@ bool ObservationFileHandler::ContainsSensor(const openpass::sensors::Parameters&
return !sensorParameters.empty();
}
-void ObservationFileHandler::AddSensor(std::shared_ptr<QXmlStreamWriter> fStream,
- const openpass::sensors::Parameter& sensorParameter)
+void ObservationFileHandler::AddSensor(const std::string& agentId, const::std::string& sensorId)
{
- fStream->writeStartElement(outputTags.SENSOR);
-
- fStream->writeAttribute(outputAttributes.ID, QString::number(sensorParameter.id));
+ const std::string sensorKeyPrefix = "Agents/" + agentId + "/Vehicle/Sensors/" + sensorId + "/";
+ const std::string mountingKeyPrefix = sensorKeyPrefix + "Mounting/";
- fStream->writeAttribute(outputAttributes.TYPE, QString::fromStdString(sensorParameter.profile.type));
- fStream->writeAttribute(outputAttributes.MOUNTINGPOSITIONLONGITUDINAL,
- QString::number(sensorParameter.position.longitudinal));
- fStream->writeAttribute(outputAttributes.MOUNTINGPOSITIONLATERAL,
- QString::number(sensorParameter.position.lateral));
- fStream->writeAttribute(outputAttributes.MOUNTINGPOSITIONHEIGHT,
- QString::number(sensorParameter.position.height));
- fStream->writeAttribute(outputAttributes.ORIENTATIONPITCH, QString::number(sensorParameter.position.pitch));
- fStream->writeAttribute(outputAttributes.ORIENTATIONYAW, QString::number(sensorParameter.position.yaw));
- fStream->writeAttribute(outputAttributes.ORIENTATIONROLL, QString::number(sensorParameter.position.roll));
+ xmlFileStream->writeStartElement(outputTags.SENSOR);
- const auto& parameters = sensorParameter.profile.parameter;
+ xmlFileStream->writeAttribute(outputAttributes.ID, QString::fromStdString(sensorId));
+ xmlFileStream->writeAttribute(outputAttributes.TYPE, QString::fromStdString(std::get<std::string>(dataStore.GetStatic(sensorKeyPrefix + "Type").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.MOUNTINGPOSITIONLONGITUDINAL, QString::number(std::get<double>(dataStore.GetStatic(mountingKeyPrefix + "Position/Longitudinal").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.MOUNTINGPOSITIONLATERAL, QString::number(std::get<double>(dataStore.GetStatic(mountingKeyPrefix + "Position/Lateral").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.MOUNTINGPOSITIONHEIGHT, QString::number(std::get<double>(dataStore.GetStatic(mountingKeyPrefix + "Position/Height").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.ORIENTATIONYAW, QString::number(std::get<double>(dataStore.GetStatic(mountingKeyPrefix + "Orientation/Yaw").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.ORIENTATIONPITCH, QString::number(std::get<double>(dataStore.GetStatic(mountingKeyPrefix + "Orientation/Pitch").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.ORIENTATIONROLL, QString::number(std::get<double>(dataStore.GetStatic(mountingKeyPrefix + "Orientation/Roll").at(0))));
- if (auto latency = openpass::parameter::Get<double>(parameters, "Latency"))
- {
- fStream->writeAttribute(outputAttributes.LATENCY, QString::number(latency.value()));
- }
+ xmlFileStream->writeAttribute(outputAttributes.LATENCY, QString::number(std::get<double>(dataStore.GetStatic(sensorKeyPrefix + "Parameters/Latency").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.OPENINGANGLEH, QString::number(std::get<double>(dataStore.GetStatic(sensorKeyPrefix + "Parameters/OpeningAngleH").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.DETECTIONRANGE, QString::number(std::get<double>(dataStore.GetStatic(sensorKeyPrefix + "Parameters/Range").at(0))));
- if (auto openingAngleH = openpass::parameter::Get<double>(parameters, "OpeningAngleH"))
+ try
{
- fStream->writeAttribute(outputAttributes.OPENINGANGLEH, QString::number(openingAngleH.value()));
+ xmlFileStream->writeAttribute(outputAttributes.OPENINGANGLEV, QString::number(std::get<double>(dataStore.GetStatic(sensorKeyPrefix + "Parameters/OpeningAngleV").at(0))));
}
-
- if (auto openingAngleV = openpass::parameter::Get<double>(parameters, "OpeningAngleV"))
+ catch (const std::out_of_range&)
{
- fStream->writeAttribute(outputAttributes.OPENINGANGLEV, QString::number(openingAngleV.value()));
}
- if (auto detectionRange = openpass::parameter::Get<double>(parameters, "DetectionRange"))
- {
- fStream->writeAttribute(outputAttributes.DETECTIONRANGE, QString::number(detectionRange.value()));
- }
-
- fStream->writeEndElement(); // Close Sensor Tag for this sensor
+ xmlFileStream->writeEndElement();
}
-void ObservationFileHandler::AddHeader(std::shared_ptr<QXmlStreamWriter> fStream, ObservationCyclics& cyclics)
+void ObservationFileHandler::AddHeader(ObservationCyclics& cyclics)
{
- fStream->writeStartElement(outputTags.HEADER);
-
- fStream->writeCharacters(QString::fromStdString(cyclics.GetHeader()));
-
- fStream->writeEndElement();
+ xmlFileStream->writeStartElement(outputTags.HEADER);
+ xmlFileStream->writeCharacters(QString::fromStdString(cyclics.GetHeader()));
+ xmlFileStream->writeEndElement();
}
-void ObservationFileHandler::AddSamples(std::shared_ptr<QXmlStreamWriter> fStream, ObservationCyclics& cyclics)
+void ObservationFileHandler::AddSamples(ObservationCyclics& cyclics)
{
// write SamplesTag
- fStream->writeStartElement(outputTags.SAMPLES);
- auto timeSteps = cyclics.GetTimeSteps();
- for (unsigned int timeStepNumber = 0; timeStepNumber < timeSteps->size(); ++timeStepNumber)
+ xmlFileStream->writeStartElement(outputTags.SAMPLES);
+ const auto& timeSteps = cyclics.GetTimeSteps();
+
+ for (unsigned int timeStepNumber = 0; timeStepNumber < timeSteps.size(); ++timeStepNumber)
{
- fStream->writeStartElement(outputTags.SAMPLE);
- fStream->writeAttribute(outputAttributes.TIME, QString::number(timeSteps->at(timeStepNumber)));
- fStream->writeCharacters(QString::fromStdString(cyclics.GetSamplesLine(timeStepNumber)));
+ xmlFileStream->writeStartElement(outputTags.SAMPLE);
+ xmlFileStream->writeAttribute(outputAttributes.TIME, QString::number(timeSteps.at(timeStepNumber)));
+ xmlFileStream->writeCharacters(QString::fromStdString(cyclics.GetSamplesLine(timeStepNumber)));
// close SampleTag
- fStream->writeEndElement();
+ xmlFileStream->writeEndElement();
}
// close SamplesTag
- fStream->writeEndElement();
+ xmlFileStream->writeEndElement();
}
-void ObservationFileHandler::AddReference(std::shared_ptr<QXmlStreamWriter> fStream, QString filename)
+void ObservationFileHandler::AddReference(QString filename)
{
// write CyclicsFileTag
- fStream->writeStartElement(outputTags.CYCLICSFILE);
+ xmlFileStream->writeStartElement(outputTags.CYCLICSFILE);
- fStream->writeCharacters(filename);
+ xmlFileStream->writeCharacters(filename);
// close CyclicsFileTag
- fStream->writeEndElement();
+ xmlFileStream->writeEndElement();
}
void ObservationFileHandler::RemoveCsvCyclics(QString directory)
@@ -399,7 +344,7 @@ void ObservationFileHandler::WriteCsvCyclics(QString filename, ObservationCyclic
{
QString path = folder + QDir::separator() + filename;
- csvFile = std::make_shared<QFile>(path);
+ csvFile = std::make_unique<QFile>(path);
if (!csvFile->open(QIODevice::WriteOnly | QIODevice::Text))
{
std::stringstream ss;
@@ -408,17 +353,64 @@ void ObservationFileHandler::WriteCsvCyclics(QString filename, ObservationCyclic
throw std::runtime_error(ss.str());
}
- QTextStream stream( csvFile.get() );
+ QTextStream stream(csvFile.get());
stream << "Timestep, " << QString::fromStdString(cyclics.GetHeader()) << '\n';
- auto timeSteps = cyclics.GetTimeSteps();
- for (unsigned int timeStepNumber = 0; timeStepNumber < timeSteps->size(); ++timeStepNumber)
+ const auto& timeSteps = cyclics.GetTimeSteps();
+ for (unsigned int timeStepNumber = 0; timeStepNumber < timeSteps.size(); ++timeStepNumber)
{
- stream << QString::number(timeSteps->at(timeStepNumber)) << ", " << QString::fromStdString(cyclics.GetSamplesLine(timeStepNumber)) << '\n';
+ stream << QString::number(timeSteps.at(timeStepNumber)) << ", " << QString::fromStdString(cyclics.GetSamplesLine(timeStepNumber)) << '\n';
}
csvFile->flush();
csvFile->close();
}
+
+void ObservationFileHandler::WriteEntities(const QString tag, const openpass::type::EntityIds &entities, bool mandatory)
+{
+ if (!entities.empty())
+ {
+ xmlFileStream->writeStartElement(tag);
+ for (const auto &entity : entities)
+ {
+ xmlFileStream->writeStartElement(output::tag::ENTITY);
+ xmlFileStream->writeAttribute(output::attribute::ID, QString::number(entity));
+ xmlFileStream->writeEndElement();
+ }
+ xmlFileStream->writeEndElement();
+ }
+ else if (mandatory)
+ {
+ xmlFileStream->writeEmptyElement(tag);
+ }
+}
+
+void ObservationFileHandler::WriteParameter(const openpass::type::FlatParameter ¶meters, bool mandatory)
+{
+ constexpr auto tag = output::tag::PARAMETERS;
+ if (!parameters.empty())
+ {
+ xmlFileStream->writeStartElement(tag);
+
+ // No structured binding on purpose:
+ // see https://stackoverflow.com/questions/46114214/lambda-implicit-capture-fails-with-variable-declared-from-structured-binding
+ for (const auto &p : parameters)
+ {
+ auto parameterWriter = [&](const std::string &value) {
+ xmlFileStream->writeStartElement(output::tag::PARAMETER);
+ xmlFileStream->writeAttribute(output::attribute::KEY, QString::fromStdString(p.first));
+ xmlFileStream->writeAttribute(output::attribute::VALUE, QString::fromStdString(value));
+ xmlFileStream->writeEndElement();
+ };
+
+ std::visit(openpass::utils::FlatParameter::to_string(parameterWriter), p.second);
+ }
+ xmlFileStream->writeEndElement();
+ }
+ else if (mandatory)
+ {
+ xmlFileStream->writeEmptyElement(tag);
+ }
+}
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationFileHandler.h b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationFileHandler.h
index e469cec54d8dd0d08ad3ee921ff9a73c57cca8c5..baff46cbba19a7af8004430ddf38de4d09a5be52 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationFileHandler.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationFileHandler.h
@@ -12,16 +12,18 @@
#pragma once
#include <string>
+
+#include <QDirIterator>
#include <QFile>
#include <QFileInfo>
+#include <QTemporaryFile>
#include <QTextStream>
#include <QXmlStreamWriter>
-#include <QDirIterator>
-#include "Interfaces/observationInterface.h"
#include "Interfaces/eventNetworkInterface.h"
-#include "observationLogConstants.h"
+#include "Interfaces/observationInterface.h"
#include "observationCyclics.h"
+#include "observationLogConstants.h"
#include "runStatistic.h"
//-----------------------------------------------------------------------------
@@ -39,11 +41,11 @@ class ObservationFileHandler
public:
const std::string COMPONENTNAME = "ObservationFileHandler";
- ObservationFileHandler() = default;
- ObservationFileHandler(const ObservationFileHandler&) = delete;
- ObservationFileHandler(ObservationFileHandler&&) = delete;
- ObservationFileHandler& operator=(const ObservationFileHandler&) = delete;
- ObservationFileHandler& operator=(ObservationFileHandler&&) = delete;
+ ObservationFileHandler(const DataStoreReadInterface& dataStore);
+ ObservationFileHandler(const ObservationFileHandler &) = delete;
+ ObservationFileHandler(ObservationFileHandler &&) = delete;
+ ObservationFileHandler &operator=(const ObservationFileHandler &) = delete;
+ ObservationFileHandler &operator=(ObservationFileHandler &&) = delete;
~ObservationFileHandler() = default;
/*!
@@ -51,17 +53,19 @@ public:
*
* \param outputDir path of output directory
*/
- void SetOutputDir(std::string outputDir)
+ void SetOutputLocation(const std::string& outputDir, const std::string& outputFile)
{
folder = QString::fromStdString(outputDir);
+ finalFilename = QString::fromStdString(outputFile);
+ finalPath = folder + QDir::separator() + finalFilename;
}
- void SetSceneryFile (std::string fileName)
+ void SetSceneryFile(const std::string& fileName)
{
sceneryFile = fileName;
}
- void SetCsvOutput (bool writeCsv)
+ void SetCsvOutput(bool writeCsv)
{
writeCyclicsToCsv = writeCsv;
}
@@ -69,7 +73,7 @@ public:
/*!
* \brief Creates the output file as simulationOutput.tmp and writes the basic header information
*/
- void WriteStartOfFile(const std::string& frameworkVersion);
+ void WriteStartOfFile(const std::string &frameworkVersion);
/*!
* \brief This function gets called after each run and writes all information about this run into the output file
@@ -77,11 +81,9 @@ public:
* \param runResult
* \param runStatistik
* \param cyclics
- * \param world
- * \param eventNetwork
+ * \param dataStore
*/
- void WriteRun(const RunResultInterface& runResult, RunStatistic runStatistik, ObservationCyclics& cyclics,
- WorldInterface* world, SimulationSlave::EventNetworkInterface* eventNetwork);
+ void WriteRun(const RunResultInterface& runResult, RunStatistic runStatistik, ObservationCyclics& cyclics);
/*!
* \brief Closes the xml tags flushes the output file, closes it and renames it to simulationOutput.xlm
@@ -89,23 +91,24 @@ public:
void WriteEndOfFile();
private:
- std::shared_ptr<QXmlStreamWriter> xmlFileStream;
+ std::unique_ptr<QXmlStreamWriter> xmlFileStream;
+ const DataStoreReadInterface& dataStore;
- int runNumber; //!< run number
+ int runNumber; //!< run number
std::string sceneryFile;
- bool writeCyclicsToCsv {false};
+ bool writeCyclicsToCsv{false};
- const OutputAttributes outputAttributes;
- const OutputTags outputTags;
+ OutputAttributes outputAttributes;
+ OutputTags outputTags;
QString folder;
QString tmpFilename;
QString finalFilename;
QString tmpPath;
QString finalPath;
- std::shared_ptr<QFile> xmlFile;
- std::shared_ptr<QFile> csvFile;
+ std::unique_ptr<QTemporaryFile> xmlFile;
+ std::unique_ptr<QFile> csvFile;
//add infos to the file stream
/*!
@@ -113,7 +116,7 @@ private:
*
* @return true if agent has sensors, otherwise false.
*/
- inline bool ContainsSensor(const openpass::sensors::Parameters& sensorParameters) const;
+ inline bool ContainsSensor(const openpass::sensors::Parameters &sensorParameters) const;
/*!
* \brief Writes the sensor information into the simulation output.
@@ -121,7 +124,7 @@ private:
* @param[in] fStream Shared pointer of the stream writer.
* @param[in] sensorParameter Parameters of the sensor.
*/
- void AddSensor(std::shared_ptr<QXmlStreamWriter> fStream, const openpass::sensors::Parameter& sensorParameter);
+ void AddSensor(const std::string& agentId, const std::string& sensorId);
/*!
* \brief Writes the sensor information into the simulation output.
@@ -129,7 +132,7 @@ private:
* @param[in] fStream Shared pointer of the stream writer.
* @param[in] vehicleModelParameters Parameters of the vehicle.
*/
- void AddVehicleAttributes(std::shared_ptr<QXmlStreamWriter> fStream, const VehicleModelParameters &vehicleModelParameters);
+ void AddVehicleAttributes(const std::string& agentId);
/*!
* \brief Writes all sensor information of an agent into the simulation output.
@@ -137,7 +140,7 @@ private:
* @param[in] fStream Shared pointer of the stream writer.
* @param[in] agent Pointer to the agent.
*/
- void AddSensors(std::shared_ptr<QXmlStreamWriter> fStream, const AgentInterface* agent);
+ void AddSensors(const std::string& agentId);
/*!
* \brief Writes the content of an agent into the simulation output.
@@ -145,52 +148,35 @@ private:
* @param[in] fStream Shared pointer of the stream writer.
* @param[in] agent Pointer to the agent.
*/
- void AddAgent(std::shared_ptr<QXmlStreamWriter> fStream, const AgentInterface* agent);
+ void AddAgent(const std::string& agentId);
/*!
* \brief Writes the content of all agent into the simulation output.
*
* @param[in] fStream Shared pointer of the stream writer.
*/
- void AddAgents(std::shared_ptr<QXmlStreamWriter> fStream, WorldInterface* world);
-
- /*!
- * \brief Writes all parameters of an event into the simulation output.
- *
- * @param[in] fStream Shared pointer of the stream writer.
- * @param[in] eventParameters Parameters of an event in string representation.
- */
- void AddEventParameters(std::shared_ptr<QXmlStreamWriter> fStream,
- EventParameters eventParameters);
-
- /*!
- * \brief Writes an event into the simulation output.
- *
- * @param[in] fStream Shared pointer of the stream writer.
- * @param[in] event Shared pointer of the event.
- */
- void AddEvent(std::shared_ptr<QXmlStreamWriter> fStream, std::shared_ptr<EventInterface> event);
+ void AddAgents();
/*!
* \brief Writes all events into the simulation output.
*
* @param[in] fStream Shared pointer of the stream writer.
*/
- void AddEvents(std::shared_ptr<QXmlStreamWriter> fStream, SimulationSlave::EventNetworkInterface* eventNetwork);
+ void AddEvents();
/*!
* \brief Writes the header into the simulation output during full logging.
*
* @param[in] fStream Shared pointer of the stream writer.
*/
- void AddHeader(std::shared_ptr<QXmlStreamWriter> fStream, ObservationCyclics& cyclics);
+ void AddHeader(ObservationCyclics& cyclics);
/*!
* \brief Writes the samples into the simulation output during full logging.
*
* @param[in] fStream Shared pointer of the stream writer.
*/
- void AddSamples(std::shared_ptr<QXmlStreamWriter> fStream, ObservationCyclics& cyclics);
+ void AddSamples(ObservationCyclics& cyclics);
/*!
* \brief Writes the filename for the cyclics file into the simulation output during full logging.
@@ -198,7 +184,7 @@ private:
* @param[in] fStream Shared pointer of the stream writer.
* @param[in] filename Name of the file, where cyclics are written to.
*/
- void AddReference(std::shared_ptr<QXmlStreamWriter> fStream, QString filename);
+ void AddReference(QString filename);
/*!
* \brief Removes old cyclic files from directory.
@@ -213,10 +199,27 @@ private:
* @param[in] runId Id of the current run
* @param[in] cyclics Cyclics of the current run
*/
- void WriteCsvCyclics(QString runId, ObservationCyclics& cyclics);
+ void WriteCsvCyclics(QString runId, ObservationCyclics &cyclics);
+
+ /*!
+ * \brief Write entities to XML
+ *
+ * \param tag tag name
+ * \param entities list of entities
+ * \param mandatory if set, an emtpy tag is added if entities is empty (default false)
+ */
+ void WriteEntities(const QString tag, const openpass::type::EntityIds &entities, bool mandatory = false);
+
+ /*!
+ * \brief Write (event) parameter to XML
+ *
+ * \remark Might be used for generic parameters in the future - right now, only event parameters
+ *
+ * \param[in] parameters list of parameters
+ * \param[in] mandatory if set, an emtpy tag is added if parameters are empty (default false)
+ */
+ void WriteParameter(const openpass::type::FlatParameter ¶meters, bool mandatory = false);
private:
const QString outputFileVersion = "0.2.1";
};
-
-
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationLogConstants.h b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationLogConstants.h
index 445492670c95636fed4331ae5f5d7a67da7ed0d1..c0e17f75f5b2e81617bb8339b45296de3e40f77a 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationLogConstants.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationLogConstants.h
@@ -1,5 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2017, 2018, 2019 in-tech GmbH
+* Copyright (c) 2017, 2018, 2019, 2020 in-tech GmbH
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -17,7 +17,7 @@ struct OutputAttributes
const QString FRAMEWORKVERSION = "FrameworkVersion";
const QString SCHEMAVERSION = "SchemaVersion";
const QString RUNID = "RunId";
- const QString FAILUREPROBABITLITY= "FailureProbability";
+ const QString FAILUREPROBABITLITY = "FailureProbability";
const QString LATENCY = "Latency";
const QString OPENINGANGLEH = "OpeningAngleH";
const QString OPENINGANGLEV = "OpeningAngleV";
@@ -35,7 +35,6 @@ struct OutputAttributes
const QString TIME = "Time";
const QString TYPE = "Type";
const QString NAME = "Name";
- const QString TRIGGERINGEVENTID = "TriggeringEventId";
const QString KEY = "Key";
const QString VALUE = "Value";
const QString ID = "Id";
@@ -66,4 +65,28 @@ struct OutputTags
const QString SAMPLE = "Sample";
const QString SCENERYFILE = "SceneryFile";
const QString VEHICLEATTRIBUTES = "VehicleAttributes";
+ const QString TRIGGERINGENTITIES = "TriggeringEntities";
+ const QString AFFECTEDENTITIES = "AffectedEntities";
};
+
+namespace output::tag {
+static constexpr char ENTITY[] = "Entity";
+static constexpr char PARAMETERS[] = "Parameters";
+static constexpr char PARAMETER[] = "Parameter";
+} // namespace output::tag
+
+namespace output::attribute {
+static constexpr char ID[] = "Id";
+static constexpr char TIME[] = "Time";
+static constexpr char TYPE[] = "Type";
+static constexpr char NAME[] = "Name";
+static constexpr char KEY[] = "Key";
+static constexpr char VALUE[] = "Value";
+} // namespace output::attribute
+
+namespace output::event::tag {
+static constexpr char EVENTS[] = "NewEvents";
+static constexpr char EVENT[] = "Event";
+static constexpr char TRIGGERING_ENTITIES[] = "TriggeringEntities";
+static constexpr char AFFECTED_ENTITIES[] = "AffectedEntities";
+} // namespace output::event::tag
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationLogGlobal.h b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_LogGlobal.h
similarity index 62%
rename from OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationLogGlobal.h
rename to OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_LogGlobal.h
index cbc4e897ed75cc687eecd56a1fa75f69f506a4d8..58b705a82f233cf2329d3fae2ddc5f2a2a100121 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observationLogGlobal.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_LogGlobal.h
@@ -1,6 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2017, 2019 in-tech GmbH
-* 2016, 2017 ITK Engineering GmbH
+* Copyright (c) 2020 in-tech GmbH
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -9,13 +8,10 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
-//-----------------------------------------------------------------------------
-/** @file ObservationLogGlobal.h
-* @brief This file contains DLL export declarations
-*
-* This class contains all functionality of the module.
-*/
-//-----------------------------------------------------------------------------
+/**
+ * \file observation_LogGlobal.h
+ * \brief This file contains DLL export declarations
+ */
#pragma once
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_log.cpp b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_log.cpp
index e764c170816d2ae3d212a3f59e20e83977478049..a649db84039de61eacf99d741308c94c2599a939 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_log.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_log.cpp
@@ -1,6 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2017, 2018, 2019 in-tech GmbH
-* 2016, 2017, 2018 ITK Engineering GmbH
+* Copyright (c) 2020 in-tech GmbH
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -10,13 +9,15 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** \file ObservationLog.cpp */
+/** \file observation_Log.cpp */
//-----------------------------------------------------------------------------
#include "observation_log.h"
#include "observation_logImplementation.h"
-const std::string Version = "1.0.0"; //!< The version of the current module - has to be incremented manually
+class DataStoreReadInterface;
+
+const std::string Version = "0.2.0"; //!< The version of the current module - has to be incremented manually
static const CallbackInterface* Callbacks = nullptr;
//-----------------------------------------------------------------------------
@@ -43,17 +44,19 @@ extern "C" OBSERVATION_LOG_SHARED_EXPORT ObservationInterface* OpenPASS_CreateIn
WorldInterface* world,
SimulationSlave::EventNetworkInterface* eventNetwork,
const ParameterInterface* parameters,
- const CallbackInterface* callbacks)
+ const CallbackInterface* callbacks,
+ DataStoreReadInterface* dataStore)
{
Callbacks = callbacks;
try
{
return (ObservationInterface*)(new (std::nothrow) ObservationLogImplementation(eventNetwork,
- stochastics,
- world,
- parameters,
- callbacks));
+ stochastics,
+ world,
+ parameters,
+ callbacks,
+ dataStore));
}
catch (const std::runtime_error& ex)
{
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_log.h b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_log.h
index b5649928c05b27eca27e6a726bc2203497ea7d11..7bc7f4d5100c537ca4ddb284073dcd4ca64edbd6 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_log.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_log.h
@@ -1,6 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2017, 2019 in-tech GmbH
-* 2016, 2017 ITK Engineering GmbH
+* Copyright (c) 2020 in-tech GmbH
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -10,7 +9,7 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** @file ObservationLog.h
+/** @file observation_Log.h
* @brief This file provides the exported methods.
*
* This file provides the exported methods which are available outside of the library.
@@ -19,7 +18,7 @@
#pragma once
-#include "observationLogGlobal.h"
+#include "observation_LogGlobal.h"
#include "Interfaces/observationInterface.h"
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_logImplementation.cpp b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_logImplementation.cpp
index 219134ef86d35aa267e6f7709c1577bccaba2dfd..a17545b1e84a14832111bc6815f76d51c2291d74 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_logImplementation.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_logImplementation.cpp
@@ -9,130 +9,98 @@
*******************************************************************************/
//-----------------------------------------------------------------------------
-/** \file ObservationLogImplementation */
+/** \file observation_LogImplementation */
//-----------------------------------------------------------------------------
-#include <cassert>
-#include <sstream>
-#include <QDir>
+#include <unordered_map>
+#include <variant>
+#include <vector>
+#include "Common/commonTools.h"
+#include "Common/observationTypes.h"
+#include "Common/openPassUtils.h"
+
+#include "Interfaces/dataStoreInterface.h"
#include "Interfaces/stochasticsInterface.h"
-#include "Interfaces/worldInterface.h"
#include "Interfaces/parameterInterface.h"
+#include "Interfaces/worldInterface.h"
+
#include "observation_logImplementation.h"
+
+#include "observationCyclics.h"
#include "runStatisticCalculation.h"
+#include "runStatistic.h"
-ObservationLogImplementation::ObservationLogImplementation(SimulationSlave::EventNetworkInterface* eventNetwork,
+ObservationLogImplementation::ObservationLogImplementation(
+ SimulationSlave::EventNetworkInterface* eventNetwork,
StochasticsInterface* stochastics,
WorldInterface* world,
const ParameterInterface* parameters,
- const CallbackInterface* callbacks) :
+ const CallbackInterface* callbacks,
+ DataStoreReadInterface* dataStore) :
ObservationInterface(stochastics,
world,
parameters,
- callbacks),
+ callbacks,
+ dataStore),
runtimeInformation(parameters->GetRuntimeInformation()),
- eventNetwork(eventNetwork)
+ eventNetwork(eventNetwork),
+ dataStore(dataStore),
+ fileHandler{*dataStore}
+{
+}
+
+void ObservationLogImplementation::SlavePreHook()
{
- // read parameters
+ std::string filename{"simulationOutput.xml"};
+
try
{
- fileHandler.SetSceneryFile(parameters->GetParametersString().at("SceneryFile"));
- fileHandler.SetCsvOutput(parameters->GetParametersBool().at("LoggingCyclicsToCsv"));
- auto loggingGroupsfromConfig = parameters->GetParametersStringVector().at("LoggingGroups");
- for (auto loggingGroup : loggingGroupsfromConfig)
- {
- if (loggingGroup == "Trace")
- {
- loggingGroups.push_back(LoggingGroup::Trace);
- continue;
- }
- if (loggingGroup == "Visualization")
- {
- loggingGroups.push_back(LoggingGroup::Visualization);
- continue;
- }
- if (loggingGroup == "RoadPosition")
- {
- loggingGroups.push_back(LoggingGroup::RoadPosition);
- continue;
- }
- if (loggingGroup == "RoadPositionExtended")
- {
- loggingGroups.push_back(LoggingGroup::RoadPositionExtended);
- continue;
- }
- if (loggingGroup == "Vehicle")
- {
- loggingGroups.push_back(LoggingGroup::Vehicle);
- continue;
- }
- if (loggingGroup == "Sensor")
- {
- loggingGroups.push_back(LoggingGroup::Sensor);
- continue;
- }
- if (loggingGroup == "SensorExtended")
- {
- loggingGroups.push_back(LoggingGroup::SensorExtended);
- continue;
- }
- if (loggingGroup == "Driver")
- {
- loggingGroups.push_back(LoggingGroup::Driver);
- continue;
- }
+ filename = GetParameters()->GetParametersString().at("OutputFilename");
+ }
+ catch (const std::out_of_range&)
+ {
+ LOG(CbkLogLevel::Warning, "Using default output filename: " + filename);
+ }
- const std::string msg = "There is no logging group named " + loggingGroup;
- LOG(CbkLogLevel::Error, msg);
- throw std::runtime_error(msg);
- }
+ try
+ {
+ fileHandler.SetCsvOutput(GetParameters()->GetParametersBool().at("LoggingCyclicsToCsv"));
}
- catch (...)
+ catch (const std::out_of_range&)
{
- const std::string msg = COMPONENTNAME + " could not init parameters";
+ std::string msg = "Mandatory config parameter 'LoggingCyclicsToCsv' is missing";
LOG(CbkLogLevel::Error, msg);
throw std::runtime_error(msg);
}
-}
-//-----------------------------------------------------------------------------
-//! \brief Logs a key/value pair
-//!
-//! @param[in] time current time
-//! @param[in] agentId agent identifier
-//! @param[in] group LoggingGroup the key/value pair should be assigned to
-//! @param[in] key Key of the value to log
-//! @param[in] value Value to log
-//-----------------------------------------------------------------------------
-void ObservationLogImplementation::Insert(int time,
- int agentId,
- LoggingGroup group,
- const std::string& key,
- const std::string& value)
-{
- if (std::find(loggingGroups.cbegin(), loggingGroups.cend(), group) == loggingGroups.cend())
+ try
{
- //ignore the value, because the specified group isn't logged
- return;
+ for (const auto& loggingGroup : GetParameters()->GetParametersStringVector().at("LoggingGroups"))
+ {
+ try
+ {
+ const auto& groupColumns = LOGGINGGROUP_DEFINITIONS.at(loggingGroup);
+ selectedColumns.insert(groupColumns.begin(), groupColumns.end());
+ }
+ catch (const std::out_of_range&)
+ {
+ std::string msg = "Unsupported LoggingGroup '" + loggingGroup + "'";
+ LOG(CbkLogLevel::Error, msg);
+ throw std::runtime_error(msg);
+ }
+ }
}
- std::string extendedKey = (agentId < 10 ? "0" : "") + std::to_string(agentId) + ":" + key;
- cyclics.Insert(time, extendedKey, value);
-}
+ catch (const std::out_of_range&)
+ {
+ const auto& traceColumns = LOGGINGGROUP_DEFINITIONS.at("Trace");
+ selectedColumns.insert(traceColumns.begin(), traceColumns.end());
-//-----------------------------------------------------------------------------
-//! \brief Logs an event
-//!
-//! @param[in] event Shared pointer to the event to log
-//-----------------------------------------------------------------------------
-void ObservationLogImplementation::InsertEvent(std::shared_ptr<EventInterface> event)
-{
- eventNetwork->InsertEvent(event);
-}
+ LOG(CbkLogLevel::Warning, "No LoggingGroups configured. Defaulting to 'Trace'");
+ }
-void ObservationLogImplementation::SlavePreHook()
-{
- fileHandler.SetOutputDir(runtimeInformation.directories.output);
+ fileHandler.SetOutputLocation(runtimeInformation.directories.output, filename);
+ fileHandler.SetSceneryFile(std::get<std::string>(dataStore->GetStatic("SceneryFile").at(0)));
fileHandler.WriteStartOfFile(runtimeInformation.versions.framework.str());
}
@@ -146,9 +114,24 @@ void ObservationLogImplementation::SlavePostRunHook(const RunResultInterface& ru
{
RunStatisticCalculation::DetermineEgoCollision(runStatistic, runResult, GetWorld());
runStatistic.VisibilityDistance = GetWorld()->GetVisibilityDistance();
- RunStatisticCalculation::CalculateTotalDistanceTraveled(runStatistic, GetWorld());
- fileHandler.WriteRun(runResult, runStatistic, cyclics, GetWorld(), eventNetwork);
+ const auto dsCyclics = dataStore->GetCyclic(std::nullopt, std::nullopt, "*");
+
+ for (const CyclicRow& dsCyclic : *dsCyclics)
+ {
+ std::stringstream entityStr;
+ entityStr << std::setw(2) << std::setfill('0') << dsCyclic.entityId;
+
+ std::visit(openpass::utils::FlatParameter::to_string([this, &dsCyclic, &entityStr](const std::string& valueStr)
+ {
+ if (selectedColumns.find(dsCyclic.key) != selectedColumns.end())
+ {
+ cyclics.Insert(dsCyclic.timestamp, entityStr.str() + ":" + dsCyclic.key, valueStr);
+ }
+ }), dsCyclic.value);
+ }
+
+ fileHandler.WriteRun(runResult, runStatistic, cyclics);
}
void ObservationLogImplementation::SlavePostHook()
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_logImplementation.h b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_logImplementation.h
index bff2e81ec3aa1946b027835cdf26948c5f4516b0..07242a5b20691114f4a70cc75d30f68202aeb9e2 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_logImplementation.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/observation_logImplementation.h
@@ -19,14 +19,25 @@
#pragma once
+#include <set>
#include <string>
#include <tuple>
+
#include <QFile>
#include <QTextStream>
-#include "runStatistic.h"
+
+#include "Common/runtimeInformation.h"
+#include "Interfaces/observationInterface.h"
+
#include "observationCyclics.h"
#include "observationFileHandler.h"
-#include "Common/runtimeInformation.h"
+#include "runStatistic.h"
+
+namespace SimulationSlave {
+class EventNetworkInterface;
+}
+
+class DataStoreReadInterface;
//-----------------------------------------------------------------------------
/** \brief This class adds the RunStatistic information to the simulation output.
@@ -43,18 +54,17 @@ public:
const std::string COMPONENTNAME = "ObservationLog";
ObservationLogImplementation(SimulationSlave::EventNetworkInterface* eventNetwork,
- StochasticsInterface* stochastics,
- WorldInterface* world,
- const ParameterInterface* parameters,
- const CallbackInterface* callbacks);
+ StochasticsInterface* stochastics,
+ WorldInterface* world,
+ const ParameterInterface* parameters,
+ const CallbackInterface* callbacks,
+ DataStoreReadInterface* dataStore);
ObservationLogImplementation(const ObservationLogImplementation&) = delete;
ObservationLogImplementation(ObservationLogImplementation&&) = delete;
ObservationLogImplementation& operator=(const ObservationLogImplementation&) = delete;
ObservationLogImplementation& operator=(ObservationLogImplementation&&) = delete;
virtual ~ObservationLogImplementation() override = default;
- virtual void Insert(int time, int agentId, LoggingGroup group, const std::string& key, const std::string& value) override;
- virtual void InsertEvent(std::shared_ptr<EventInterface> event) override;
virtual void SlavePreHook() override;
virtual void SlavePreRunHook() override;
virtual void SlavePostRunHook(const RunResultInterface& runResult) override;
@@ -71,11 +81,12 @@ public:
private:
const openpass::common::RuntimeInformation& runtimeInformation;
- RunStatistic runStatistic = RunStatistic(-1);
- std::vector<LoggingGroup> loggingGroups{LoggingGroup::Trace};
- ObservationCyclics cyclics;
- ObservationFileHandler fileHandler;
SimulationSlave::EventNetworkInterface* eventNetwork;
+ DataStoreReadInterface* dataStore;
+ ObservationFileHandler fileHandler;
+ ObservationCyclics cyclics;
+ RunStatistic runStatistic = RunStatistic(-1);
+ std::set<std::string> selectedColumns;
};
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatistic.cpp b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatistic.cpp
index d007949fc407b36eeda75aab9e7f2bde58036ff7..45a4bc9ea69281e4a6717247a9065ec9b56416af 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatistic.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatistic.cpp
@@ -17,9 +17,7 @@
const QString RunStatistic::StopReasonsStrings[] =
{
- "Due to time out",
- "Due to time after crash",
- "Due to agent reached target position"
+ "Due to time out"
};
RunStatistic::RunStatistic(std::uint32_t randomSeed):
@@ -28,12 +26,12 @@ RunStatistic::RunStatistic(std::uint32_t randomSeed):
void RunStatistic::AddStopReason(int time, StopReason reason)
{
- _stopReason = StopReasonsStrings[static_cast<int>(reason)];
+ _stopReasonIdx = static_cast<int>(reason);
StopTime = time;
}
// ----------------------------- writing out --------------------- //
-void RunStatistic::WriteStatistics(std::shared_ptr<QXmlStreamWriter> fileStream)
+void RunStatistic::WriteStatistics(QXmlStreamWriter* fileStream)
{
fileStream->writeStartElement("RandomSeed");
fileStream->writeCharacters(QString::number(_randomSeed));
@@ -44,7 +42,7 @@ void RunStatistic::WriteStatistics(std::shared_ptr<QXmlStreamWriter> fileStream)
fileStream->writeEndElement();
fileStream->writeStartElement("StopReason");
- fileStream->writeCharacters(_stopReason);
+ fileStream->writeCharacters(StopReasonsStrings[_stopReasonIdx]);
fileStream->writeEndElement();
fileStream->writeStartElement("StopTime");
@@ -52,7 +50,7 @@ void RunStatistic::WriteStatistics(std::shared_ptr<QXmlStreamWriter> fileStream)
fileStream->writeEndElement();
fileStream->writeStartElement("EgoAccident");
- fileStream->writeCharacters(BoolToString(EgoCollision ));
+ fileStream->writeCharacters(BoolToString(EgoCollision));
fileStream->writeEndElement();
fileStream->writeStartElement("TotalDistanceTraveled");
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatistic.h b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatistic.h
index eca4ddb5760b8277ba92c62ac1309938f54d4f27..b71b8d1b1aea1c86f524d3bd0800468b2d94614a 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatistic.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatistic.h
@@ -18,18 +18,18 @@
#include "Common/observationTypes.h"
#include "Interfaces/observationInterface.h"
-enum class StopReason
-{
- DueToTimeOut
-};
-
class RunStatistic
{
public:
+ enum class StopReason
+ {
+ DueToTimeOut
+ };
+
RunStatistic(std::uint32_t randomSeed);
void AddStopReason(int time, StopReason reason);
- void WriteStatistics(std::shared_ptr<QXmlStreamWriter> fileStream);
+ void WriteStatistics(QXmlStreamWriter* fileStream);
// general
int StopTime = -1; //this stays on UNDEFINED_NUMBER, if due time out -> replace in c#
@@ -47,7 +47,7 @@ private:
std::list<int> _followerIds;
static const QString StopReasonsStrings[];
- QString _stopReason = StopReasonsStrings[static_cast<int>(StopReason::DueToTimeOut)];
+ int _stopReasonIdx = static_cast<int>(StopReason::DueToTimeOut);
}; // class RunStatistic
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatisticCalculation.cpp b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatisticCalculation.cpp
index fa588f7c2aed6c244c765fbb22b6f1eee94adb29..69d7447911094d57a15254bd76d994110ec601cd 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatisticCalculation.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatisticCalculation.cpp
@@ -11,29 +11,6 @@
#include "runStatisticCalculation.h"
#include "Interfaces/worldInterface.h"
-void RunStatisticCalculation::CalculateTotalDistanceTraveled(RunStatistic& runStatistic, WorldInterface* world)
-{
- runStatistic.TotalDistanceTraveled = 0.0;
- runStatistic.EgoDistanceTraveled = 0.0;
-
- const auto egoAgent = world->GetEgoAgent();
-
- if (egoAgent)
- {
- runStatistic.EgoDistanceTraveled = egoAgent->GetDistanceTraveled();
- }
-
- for (const auto& agent : world->GetAgents())
- {
- runStatistic.TotalDistanceTraveled += agent.second->GetDistanceTraveled();
- }
-
- for (const auto& agent : world->GetRemovedAgents())
- {
- runStatistic.TotalDistanceTraveled += agent->GetDistanceTraveled();
- }
-}
-
void RunStatisticCalculation::DetermineEgoCollision(RunStatistic& runStatistic, const RunResultInterface& runResult, WorldInterface* world)
{
auto egoAgent = world->GetEgoAgent();
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatisticCalculation.h b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatisticCalculation.h
index a2579cefce52baaaa71fdf3f17d45e413ce997ab..5f3d55b33b35503e8d9fb73d7d190df6be49f88f 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatisticCalculation.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/Observation_Log/runStatisticCalculation.h
@@ -20,17 +20,6 @@ class WorldInterface;
class RunStatisticCalculation
{
public:
- /*!
- * \brief Calculates the total distance traveled of all agents in the simulation
- *
- * The members `EgoDistanceTraveled` and `TotalDistanceTraveled` of the first parameter
- * are used to store the result
- *
- * \param[out] runStatistic Result is stored here
- * \param[in] world Pointer to the world
- */
- static void CalculateTotalDistanceTraveled(RunStatistic& runStatistic, WorldInterface* world);
-
/*!
* \brief Determines whether the ego had a collision and sets the related flag in the RunStatistic
*
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/World_OSI/AgentAdapter.cpp b/OpenPass_Source_Code/openPASS/CoreModules/World_OSI/AgentAdapter.cpp
index a25af3359595933d392546a4efe1224024d24135..3792f3c8513be0740daa77fb445ad5332d94290a 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/World_OSI/AgentAdapter.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules/World_OSI/AgentAdapter.cpp
@@ -30,6 +30,10 @@ AgentAdapter::AgentAdapter(WorldInterface* world,
{
}
+AgentAdapter::~AgentAdapter()
+{
+}
+
bool AgentAdapter::InitAgentParameter(int id,
AgentBlueprintInterface* agentBlueprint)
{
diff --git a/OpenPass_Source_Code/openPASS/CoreModules/World_OSI/AgentAdapter.h b/OpenPass_Source_Code/openPASS/CoreModules/World_OSI/AgentAdapter.h
index dacd731b156e2f9b9e393af25708f8e36425d01d..bc7934eba8f0cf402677212a0fcfa9c5fce3cf50 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules/World_OSI/AgentAdapter.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules/World_OSI/AgentAdapter.h
@@ -46,7 +46,7 @@ public:
const std::string MODULENAME = "AGENTADAPTER";
AgentAdapter(WorldInterface* world, const CallbackInterface* callbacks, OWL::Interfaces::WorldData* worldData, const World::Localization::Localizer& localizer);
- ~AgentAdapter() override = default;
+ ~AgentAdapter() override;
ObjectTypeOSI GetType() const override
{
@@ -62,6 +62,7 @@ public:
{
return id;
}
+
EgoAgentInterface& GetEgoAgent() override
{
return egoAgent;
@@ -224,14 +225,6 @@ public:
});
}
- void SetDistanceTraveled(double value) override
- {
- world->QueueAgentUpdate([this, value]()
- {
- distanceTraveled = value;
- });
- }
-
void SetVehicleModelParameter(const VehicleModelParameters& parameter) override
{
world->QueueAgentUpdate([this, parameter]()
@@ -385,11 +378,6 @@ public:
double GetVelocity(VelocityScope velocityScope = VelocityScope::Absolute) const override;
- double GetDistanceTraveled() const override
- {
- return distanceTraveled;
- }
-
void Unregister() const override;
double GetLaneRemainder(const std::string& roadId, Side side) const override;
diff --git a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm.cpp b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm.cpp
index ab04a55103b437dfa249e073d122498ea5eb3e21..907f16a4247aa4ca8abd50a2c5338d9c8d459554 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm.cpp
@@ -9,7 +9,6 @@
**********************************************************************/
#include "evaluation_pcm.h"
-#include "observationInterface.h"
#include "evaluation_pcm_implementation.h"
const std::string Version = "1.1.0"; //!< version of the current module - has to be incremented manually
diff --git a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm.h b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm.h
index 108a05bec7428c29742c871db130d3ee3792ad52..b2499a30407a34c55cf0086fbc570e5fe1796c10 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm.h
@@ -17,6 +17,5 @@
#define EVALUATION_PCM_H
#include "evaluation_pcm_global.h"
-#include "observationInterface.h"
#endif // EVALUATION_PCM_H
diff --git a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm_implementation.h b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm_implementation.h
index 5a7300072c8f24b61ad07f675677870cf8ee295f..b3c658588e68a5fa065f4d9b576faa511c84869f 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm_implementation.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/evaluation_pcm_implementation.h
@@ -21,7 +21,6 @@
#include <fstream>
#include <string>
-#include "observationInterface.h"
#include "agent.h"
#include "runResult.h"
#include "componentPorts.h"
diff --git a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/runResult.h b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/runResult.h
index f1b992042c3dcd269f883aa1e2dc7e00886179a8..76919a98b89769cc9f5bbee5c49b85cf5eb1a76c 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/runResult.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Evaluation_Pcm/runResult.h
@@ -20,7 +20,6 @@
#include <list>
#include <map>
#include "worldInterface.h"
-#include "observationInterface.h"
//-----------------------------------------------------------------------------
//! Class that has all informations on the run result
diff --git a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision.cpp b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision.cpp
index 9d67d9d94594fd0a1a4b9b89549e60053a01600a..192141b842af088220be41e7ccfb846cf4683220 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision.cpp
@@ -14,7 +14,6 @@
//-----------------------------------------------------------------------------
#include "observation_collision.h"
-#include "observationInterface.h"
#include "observation_collision_implementation.h"
const std::string Version = "0.0.1"; //!< The version of the current module - has to be incremented manually
diff --git a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision.h b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision.h
index 9acdf7bac0238cb98346a558cfcc78cecab8d28b..59a3a8b921f950b06af953198cd09ab20cd3f611 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision.h
@@ -20,6 +20,5 @@
#define OBSERVATION_COLLISION_H
#include "observation_collision_global.h"
-#include "observationInterface.h"
#endif // OBSERVATION_COLLISION_H
diff --git a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision_implementation.h b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision_implementation.h
index cec684dc75e39e4aa92d9caab441fd512cef48c9..897d17360505acd6b24830fc4cb8ddc067b0f822 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision_implementation.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_Collision/observation_collision_implementation.h
@@ -18,7 +18,6 @@
#include <QTextStream>
#include <QXmlStreamWriter>
#include "componentPorts.h"
-#include "observationInterface.h"
/**
* \addtogroup CoreModules_PCM openPASS CoreModules pcm
diff --git a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger.cpp b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger.cpp
index b988d3534bb3f0510c64e3370abd062bf8154040..f2abbbdf8cdb29a454188cec73b5fb8e304747a9 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger.cpp
+++ b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger.cpp
@@ -15,7 +15,6 @@
//-----------------------------------------------------------------------------
#include "observation_scopeLogger.h"
-#include "observationInterface.h"
#include "observation_scopeLogger_implementation.h"
const std::string Version = "0.0.1"; //!< The version of the current module - has to be incremented manually
diff --git a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger.h b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger.h
index cb9d170fa293acba243ed83b51c5d9c79324e198..5b5bcdf9edcd723dfed4f59c403128c3cdd898a4 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger.h
@@ -21,6 +21,5 @@
#define OBSERVATION_SCOPELOGGER_H
#include "observation_scopeLogger_global.h"
-#include "observationInterface.h"
#endif // OBSERVATION_SCOPELOGGER_H
diff --git a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger_implementation.h b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger_implementation.h
index fe6d6e4efdbe04d53a8ab2e4a818e563e90c53fe..0c6a147f1e8b4b4fa884e4a4da007f29e8b1976a 100644
--- a/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger_implementation.h
+++ b/OpenPass_Source_Code/openPASS/CoreModules_PCM/Observation_ScopeLogger/observation_scopeLogger_implementation.h
@@ -18,7 +18,6 @@
#include <QFile>
#include <QTextStream>
#include "agentInterface.h"
-#include "observationInterface.h"
#include "componentPorts.h"
#include "XoscWriter/openScenarioWriter.h"
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/agentInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/agentInterface.h
index 3781fafc5d9d51ecbd14635667fa9779958c2650..51d795c9fc8c5cc6806aef51119ae6fa07794e58 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/agentInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/agentInterface.h
@@ -212,20 +212,6 @@ public:
//-----------------------------------------------------------------------------
virtual void SetYaw(double value) = 0;
- //-----------------------------------------------------------------------------
- //! Sets the total traveled distance of agent
- //!
- //! @param[in] distanceTraveled total traveled distance
- //-----------------------------------------------------------------------------
- virtual void SetDistanceTraveled(double distanceTraveled) = 0;
-
- //-----------------------------------------------------------------------------
- //! Returns the total traveled distance of agent
- //!
- //! @return total traveled distance
- //-----------------------------------------------------------------------------
- virtual double GetDistanceTraveled() const = 0;
-
//-----------------------------------------------------------------------------
//! Sets gear of vehicle
//!
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/callbackInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/callbackInterface.h
index 7edb5859f4d182b21cc425cf2ec7d9bda036ab71..7d5ebc00d2cfcf63c7ac51741f81b92f768c488f 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/callbackInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/callbackInterface.h
@@ -14,14 +14,13 @@
//! interact with the framework.
//-----------------------------------------------------------------------------
-#ifndef CALLBACKINTERFACE_H
-#define CALLBACKINTERFACE_H
+#pragma once
#include <string>
//-----------------------------------------------------------------------------
//! The following macro should only be called within classes providing a Log() member function
-//! (e.g. classes derived from ModelInterface, ObservationInterface SpawnPointInterface).
+//! (e.g. classes derived from ModelInterface SpawnPointInterface).
//-----------------------------------------------------------------------------
#define LOG(level, message) Log(level, __FILE__, __LINE__, message)
#define LOGERROR(message) Log(CbkLogLevel::Error, __FILE__, __LINE__, message)
@@ -65,5 +64,3 @@ public:
int line,
const std::string &message) const = 0;
};
-
-#endif // CALLBACKINTERFACE_H
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/componentInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/componentInterface.h
index 5824f0eb88c580e71295629826a635a7de16fee3..8fb4f05793f8a3602a8274ab688c042996057e46 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/componentInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/componentInterface.h
@@ -18,7 +18,10 @@
#pragma once
#include "Interfaces/modelInterface.h"
-#include "Interfaces/observationInterface.h"
+
+class PublisherInterface;
+
+class PublisherInterface;
namespace SimulationSlave {
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/dataStoreInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/dataStoreInterface.h
new file mode 100644
index 0000000000000000000000000000000000000000..6161d200dca93f814674a9b33303bdb1490833d4
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/Interfaces/dataStoreInterface.h
@@ -0,0 +1,413 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#pragma once
+
+#include <memory>
+#include <optional>
+#include <string>
+#include <unordered_map>
+#include <variant>
+#include <vector>
+
+#include "Common/globalDefinitions.h"
+#include "Common/observationTypes.h"
+#include "Common/openPassTypes.h"
+#include "Common/runtimeInformation.h"
+#include "Interfaces/callbackInterface.h"
+
+namespace openpass::datastore {
+
+using Key = openpass::type::FlatParameterKey;
+using Value = openpass::type::FlatParameterValue;
+using Parameter = openpass::type::FlatParameter;
+
+static const std::string WILDCARD = "*"; //!< Wildcard to match any token inside a DataStore key string. Length of 1 is mandatory.
+static const std::string SEPARATOR = "/"; //!< Separator for hierarchical DataStore key strings. Length of 1 is mandatory.
+
+/*!
+ * \brief Contains the triggering entities of an acyclic
+ *
+ * Might be enhanced in the future to hold additional information about the affected entities
+ */
+struct TriggeringEntities
+{
+ type::EntityIds entities;
+};
+
+/*!
+ * \brief Contains the affected entities of an acyclic
+ *
+ * Might be enhanced in the future to hold additional information about the affected entities
+ */
+struct AffectedEntities
+{
+ type::EntityIds entities;
+};
+
+/*!
+ * \brief Representation of an component event
+ */
+class ComponentEvent
+{
+public:
+ ComponentEvent(openpass::type::FlatParameter parameter) :
+ parameter{std::move(parameter)}
+ {
+ }
+
+public:
+ openpass::type::FlatParameter parameter; //!< Generic parameter set associated with this event
+};
+
+/*!
+ * \brief Represents an acyclic occurence, like an event
+ */
+class Acyclic
+{
+public:
+ Acyclic() = default;
+ Acyclic(std::string name, TriggeringEntities triggeringEntities, AffectedEntities affectedEntities, Parameter parameter) :
+ name{std::move(name)},
+ triggeringEntities{std::move(triggeringEntities)},
+ affectedEntities{std::move(affectedEntities)},
+ parameter{std::move(parameter)}
+ {
+ }
+
+ Acyclic(std::string name, openpass::type::EntityId entity, openpass::type::FlatParameter parameter) :
+ name{std::move(name)},
+ parameter{std::move(parameter)}
+ {
+ triggeringEntities.entities.push_back(entity);
+ }
+
+ bool operator==(const Acyclic& other) const
+ {
+ return name == other.name &&
+ triggeringEntities.entities == other.triggeringEntities.entities &&
+ affectedEntities.entities == other.affectedEntities.entities &&
+ parameter == other.parameter;
+ }
+
+ std::string name; //!< Name (or identifier) of this occurence
+ TriggeringEntities triggeringEntities; //!< List of entities causing this occurence
+ AffectedEntities affectedEntities; //!< List of entities affected by this occurence
+ Parameter parameter; //!< Generic parameter set associated with this occurence
+};
+
+/*!
+ * \brief Representation of an entry in the DataStore acyclics
+ */
+struct AcyclicRow
+{
+ AcyclicRow(openpass::type::Timestamp ts, openpass::type::EntityId id, Key k, Acyclic data) :
+ timestamp{ts},
+ entityId{id},
+ key{k},
+ data{data}
+ {
+ }
+
+ bool operator==(const AcyclicRow &other) const
+ {
+ return timestamp == other.timestamp &&
+ entityId == other.entityId &&
+ key == other.key &&
+ data == other.data;
+ }
+
+ openpass::type::Timestamp timestamp; //!< Simulation time timestamp [ms]
+ openpass::type::EntityId entityId; //!< Id of the entity (agent or object)
+ Key key; //!< Key (topic) associated with the data
+ Acyclic data; //!< Acyclic data container
+};
+
+/*!
+ * \brief Representation of an entry in the DataStore cyclics
+ */
+struct CyclicRow
+{
+ CyclicRow(openpass::type::Timestamp ts, openpass::type::EntityId id, Key k, Value v) :
+ timestamp{ts},
+ entityId{id},
+ key{k},
+ value{v}
+ {
+ }
+
+ bool operator==(const CyclicRow &other) const
+ {
+ return timestamp == other.timestamp &&
+ entityId == other.entityId &&
+ key == other.key &&
+ value == other.value;
+ }
+
+ openpass::type::Timestamp timestamp; //!< Simulation time timestamp [ms]
+ openpass::type::EntityId entityId; //!< Id of the entity (agent or object)
+ Key key; //!< Key (topic) associated with the data
+ Value value; //!< Data value
+};
+
+using Keys = std::vector<Key>; //!< List of keys used by the DataStore
+using Values = std::vector<Value>; //!< List of values used by the DataStore
+using CyclicRows = std::vector<CyclicRow>; //!< List of data rows used by the DataStore
+
+using CyclicRowRefs = std::vector<std::reference_wrapper<const CyclicRow>>; //!< List of references to rows inside the DataStore
+using AcyclicRowRefs = std::vector<std::reference_wrapper<const AcyclicRow>>; //!< List of references to acyclic rows inside the DataStore
+
+/*!
+ * \brief A set of cyclic data elements representing a DataStore query result
+ *
+ * Basic forward iterator properties are provided for convenient result iteration.
+ *
+ * \code{.cpp}
+ * const auto cyclicResult = dataStore->GetCyclic(std::nullopt, std::nullopt, "*");
+ *
+ * for (const CyclicRow& row : *cyclicResult)
+ * {
+ * ...
+ * }
+ * \endcode
+ *
+ */
+class CyclicResultInterface
+{
+public:
+ virtual ~CyclicResultInterface() = default;
+
+ virtual size_t size() const = 0;
+ virtual const CyclicRow& at(const size_t) const = 0;
+ virtual CyclicRowRefs::const_iterator begin() const = 0;
+ virtual CyclicRowRefs::const_iterator end() const = 0;
+};
+
+/*!
+ * \brief A set of acyclic data elements representing a DataStore query result
+ *
+ * Basic forward iterator properties are provided for convenient result iteration.
+ *
+ * \code{.cpp}
+ * const auto acyclicResult = dataStore->GetAcyclic(std::nullopt, std::nullopt, "*");
+ *
+ * for (const AcyclicRow& row : *acyclicResult)
+ * {
+ * ...
+ * }
+ * \endcode
+ *
+ */
+class AcyclicResultInterface
+{
+public:
+ virtual ~AcyclicResultInterface() = default;
+
+ virtual size_t size() const = 0;
+ virtual const AcyclicRow& at(const size_t) const = 0;
+ virtual AcyclicRowRefs::const_iterator begin() const = 0;
+ virtual AcyclicRowRefs::const_iterator end() const = 0;
+};
+} // namespace openpass::datastore
+
+using namespace openpass::datastore;
+
+/*!
+ * \brief The DataStoreReadInterface provides read-only access to an underlying DataStore implementation
+ *
+ * Topics (see Get* methods) for cyclics, acyclics and statics are independent of each other.
+ */
+class DataStoreReadInterface
+{
+public:
+ DataStoreReadInterface() = default;
+ DataStoreReadInterface(const DataStoreReadInterface &) = delete;
+ DataStoreReadInterface(DataStoreReadInterface &&) = delete;
+ DataStoreReadInterface &operator=(const DataStoreReadInterface &) = delete;
+ DataStoreReadInterface &operator=(DataStoreReadInterface &&) = delete;
+ virtual ~DataStoreReadInterface() = default;
+
+ static constexpr bool NO_DESCEND = false;
+
+ /*!
+ * \brief Retrieves stored cyclic values from the data store
+ *
+ * \param[in] time Timestamp of interest
+ * \param[in] entityId Entity's id
+ * \param[in] key Unique topic identification
+ */
+ virtual std::unique_ptr<CyclicResultInterface> GetCyclic(const std::optional<openpass::type::Timestamp> time, const std::optional<openpass::type::EntityId> entityId, const Key &key) const = 0;
+
+ /*!
+ * \brief Retrieves stored acyclic values from the data store
+ *
+ * \param[in] time Timestamp of interest
+ * \param[in] entityId Entity's id
+ * \param[in] key Unique topic identification
+ *
+ * \note Current implementation ignores time and entityId
+ */
+ virtual std::unique_ptr<AcyclicResultInterface> GetAcyclic(const std::optional<openpass::type::Timestamp> time, const std::optional<openpass::type::EntityId> entityId, const Key &key) const = 0;
+
+ /*!
+ * \brief Retrieves stored static values from the data store
+ *
+ * \param[in] key Unique topic identification
+ */
+ virtual Values GetStatic(const Key &key) const = 0;
+
+ /*!
+ * \brief Retrieves keys at a specific node in the DataStore hierarchy.
+ *
+ * The key parameter has to be prefixed with "Cyclics/", "Acyclics/" or "Statics/" to
+ * get access to the different types of stored elements.
+ *
+ * The following example will retrieve the list of agent ids participating in the current simulation run:
+ * \code{.cpp}
+ * const auto agentIds = dataStore.GetKeys("Statics/Agents");
+ * \endcode
+ *
+ * The following example will retrieve a list of instantiated sensors for agent 3:
+ * \code{.cpp}
+ * const std::string keyPrefix = "Agents/3/Vehicle/Sensors";
+ * \endcode
+ *
+ * \param[in] key Unique topic identification, including prefix
+ */
+ virtual Keys GetKeys(const Key &key) const = 0;
+
+ /*!
+ * \brief Provides callback to LOG() macro
+ *
+ * \param[in] logLevel Importance of log
+ * \param[in] file Name of file where log is called
+ * \param[in] line Line within file where log is called
+ * \param[in] message Message to log
+ */
+ virtual void Log(CbkLogLevel logLevel, const char *file, int line, const std::string &message) const = 0;
+};
+
+/*!
+ * \brief The DataStoreWriteInterface provides write-only access to an underlying DataStore implementation
+ *
+ * Topics (see Put* methods) for cyclics, acyclics and statics are independent of each other.
+ */
+class DataStoreWriteInterface
+{
+public:
+ DataStoreWriteInterface() = default;
+ DataStoreWriteInterface(const DataStoreWriteInterface &) = delete;
+ DataStoreWriteInterface(DataStoreWriteInterface &&) = delete;
+ DataStoreWriteInterface &operator=(const DataStoreWriteInterface &) = delete;
+ DataStoreWriteInterface &operator=(DataStoreWriteInterface &&) = delete;
+ virtual ~DataStoreWriteInterface() = default;
+
+ /*!
+ * \brief Writes cyclic information into the data store
+ *
+ * \param[in] time Timestamp associated with the provided key/value [ms]
+ * \param[in] entityId Id of the associated agent or object
+ * \param[in] key Unique topic identification
+ * \param[in] value Value to be written
+ */
+ virtual void PutCyclic(const openpass::type::Timestamp time, const openpass::type::EntityId entityId, const Key &key, const Value &value) = 0;
+
+ /*!
+ * \brief Writes acyclic information into the data store
+ *
+ * \param[in] time Timestamp associated with the provided key/value [ms]
+ * \param[in] entityId Id of the associated agent
+ * \param[in] key Unique topic identification
+ * \param[in] acyclic The acyclic element to be written
+ */
+ virtual void PutAcyclic(const openpass::type::Timestamp time, const openpass::type::EntityId entityId, const Key &key, const openpass::datastore::Acyclic &acyclic) = 0;
+
+ /*!
+ * \brief Writes static information into the data store
+ *
+ * \param[in] key Unique topic identification
+ * \param[in] value Value to be written
+ * \param[in] persist Make value persistent (not affected by Clear())
+ */
+ virtual void PutStatic(const Key &key, const Value &value, bool persist = false) = 0;
+
+ /*!
+ * \brief Clears the datastore contents, except persistant static data
+ */
+ virtual void Clear() = 0;
+
+ /*!
+ * \brief Provides callback to LOG() macro
+ *
+ * \param[in] logLevel Importance of log
+ * \param[in] file Name of file where log is called
+ * \param[in] line Line within file where log is called
+ * \param[in] message Message to log
+ */
+ virtual void Log(CbkLogLevel logLevel, const char *file, int line, const std::string &message) const = 0;
+};
+
+/*!
+ * \brief The DataStoreInterface provides read/write access to an underlying DataStore implementation
+ *
+ * This interface combines DataStoreReadInterface and DataStoreWriteInterface and adds some additional
+ * methods required for instantiation by the framework.
+ */
+class DataStoreInterface : public DataStoreReadInterface, public DataStoreWriteInterface
+{
+public:
+ DataStoreInterface() = default;
+ DataStoreInterface(const openpass::common::RuntimeInformation *runtimeInformation, const CallbackInterface *callbacks) :
+ runtimeInformation(runtimeInformation),
+ callbacks(callbacks)
+ {
+ }
+
+ DataStoreInterface(const DataStoreInterface &) = delete;
+ DataStoreInterface(DataStoreInterface &&) = delete;
+ DataStoreInterface &operator=(const DataStoreInterface &) = delete;
+ DataStoreInterface &operator=(DataStoreInterface &&) = delete;
+ virtual ~DataStoreInterface() override = default;
+
+ /*!
+ * \brief Instantiates the data store
+ *
+ * \return true if instantiation was successful, false otherwise
+ */
+ virtual bool Instantiate()
+ {
+ return false;
+ }
+
+ /*!
+ * \brief Determines the instantiation status
+ *
+ * \return true if data store is instantiated, false otherwise
+ */
+ virtual bool isInstantiated() const
+ {
+ return false;
+ }
+
+ void Log(CbkLogLevel logLevel, const char *file, int line, const std::string &message) const override
+ {
+ if (callbacks)
+ {
+ callbacks->Log(logLevel,
+ file,
+ line,
+ message);
+ }
+ }
+
+protected:
+ const openpass::common::RuntimeInformation *runtimeInformation; //!< References the configuration parameters
+ const CallbackInterface *callbacks; //!< References the callback functions of the framework
+};
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/eventInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/eventInterface.h
index 9469502274caff1af17acaef935e9cc85a058921..921c6d4ba17e2953dddcdd8c5193dc197b73ce30 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/eventInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/eventInterface.h
@@ -1,5 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2017, 2018, 2019 in-tech GmbH
+* Copyright (c) 2017, 2018, 2019, 2020 in-tech GmbH
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -10,15 +10,15 @@
//-----------------------------------------------------------------------------
/** \file eventInterface.h
-* \brief This file provides the interface for the events
-*/
+ * \brief This file provides the interface for the events
+ */
//-----------------------------------------------------------------------------
-
#pragma once
-#include<vector>
+#include <vector>
#include "Common/eventTypes.h"
+#include "Common/openPassTypes.h"
struct EventParameter
{
@@ -38,28 +38,83 @@ class EventInterface
{
public:
EventInterface() = default;
- EventInterface(const EventInterface&) = delete;
- EventInterface(EventInterface&&) = delete;
- EventInterface& operator=(const EventInterface&) = delete;
- EventInterface& operator=(EventInterface&&) = delete;
+ EventInterface(const EventInterface &) = delete;
+ EventInterface(EventInterface &&) = delete;
+ EventInterface &operator=(const EventInterface &) = delete;
+ EventInterface &operator=(EventInterface &&) = delete;
virtual ~EventInterface() = default;
+ /*!
+ * \brief Sets the Id of the event.
+ * \param[in] Id of the event.
+ */
virtual void SetId(const int eventId) = 0;
+ /*!
+ * \brief Returns the Id of the event.
+ * \return Id.
+ */
virtual int GetId() const = 0;
+ /*!
+ * \brief Returns the time of the event.
+ * \return Time in milliseconds.
+ */
virtual int GetEventTime() const = 0;
- virtual EventDefinitions::EventCategory GetCategory() const = 0;
+ /*!
+ * \brief Returns the category of the event.
+ * \return EventCategory.
+ */
+ virtual EventDefinitions::EventCategory GetCategory() const = 0;
+ /*!
+ * \brief Sets the Id of the event which triggered this event.
+ * \param[in] Event Id.
+ */
virtual void SetTriggeringEventId(const int triggeringEventId) = 0;
+ /*!
+ * \brief Returns the Id of the event which triggered this event.
+ * \return Event Id.
+ */
virtual int GetTriggeringEventId() const = 0;
+ /*!
+ * \brief Returns the name of the event.
+ * \return Name of the event as string.
+ */
virtual std::string GetName() const = 0;
+ /*!
+ * \brief Returns the name of the source component.
+ * \return Name of source component as string.
+ */
virtual std::string GetSource() const = 0;
- virtual EventParameters GetParametersAsString() = 0;
+ /*!
+ * \brief GetTriggeringAgents
+ * \return List of triggering agents (might me empty)
+ */
+ virtual const std::vector<int> GetTriggeringAgents() const = 0;
+
+ /*!
+ * \brief GetActingAgents
+ * \return List of acting agents (might me empty)
+ */
+ virtual const std::vector<int> GetActingAgents() const = 0;
+
+ /*!
+ * \brief Returns all parameters of the event as string list.
+ * \details Returns the agentId as string list.
+ * \return List of string pairs of the event parameters.
+ */
+ [[deprecated("Will be replaced by functionality of openpass::events::Parameter")]] virtual EventParameters GetParametersAsString() = 0;
+
+ /*!
+ * \brief Returns all parameter in their raw form
+ * \see openpass::events::Parameter
+ * \return Parameter
+ */
+ [[deprecated("will be replaced by specializations of the type")]] virtual const openpass::type::FlatParameter &GetParameter() const = 0;
};
-
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/eventNetworkInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/eventNetworkInterface.h
index 59692a26aae2720366dfebb60b68f578fd758418..0e96e96f7b904e776cac96dc7c5c361d22372d9e 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/eventNetworkInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/eventNetworkInterface.h
@@ -18,14 +18,12 @@
#include "Interfaces/agentInterface.h"
#include "Interfaces/eventInterface.h"
-#include "Interfaces/observationInterface.h"
#include "Interfaces/runResultInterface.h"
using Events = std::map<EventDefinitions::EventCategory, std::list<std::shared_ptr<EventInterface>>>;
using EventContainer = std::list<std::shared_ptr<EventInterface>>;
-namespace SimulationSlave
-{
+namespace SimulationSlave {
//-----------------------------------------------------------------------------
/** \brief This class provides the interface for the EventNetwork
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/frameworkModuleContainerInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/frameworkModuleContainerInterface.h
index b4803f9a577d7b9b2d41322a35e705db54a6092d..c9c541b30c1814d62d9ffe8b47129f1e37d89e86 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/frameworkModuleContainerInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/frameworkModuleContainerInterface.h
@@ -10,9 +10,11 @@
#pragma once
+// TODO rb: replace by forward declarations
#include "Interfaces/stochasticsInterface.h"
class AgentBlueprintProviderInterface;
+class DataStoreInterface;
class WorldInterface;
namespace SimulationSlave {
@@ -29,6 +31,13 @@ class FrameworkModuleContainerInterface
public:
virtual ~FrameworkModuleContainerInterface() = default;
+ /*!
+ * \brief Returns a pointer to the agentBlueprintProvider
+ *
+ * @return agentBlueprintProvider pointer
+ */
+ virtual AgentBlueprintProviderInterface* GetAgentBlueprintProvider() = 0;
+
/*!
* \brief Returns a pointer to the AgentFactory
*
@@ -36,6 +45,13 @@ public:
*/
virtual AgentFactoryInterface* GetAgentFactory() = 0;
+ /*!
+ * \brief Returns a pointer to the data store
+ *
+ * @return data store pointer
+ */
+ virtual DataStoreInterface* GetDataStore() = 0;
+
/*!
* \brief Returns a pointer to the EventDetectorNetwork
*
@@ -84,14 +100,6 @@ public:
* @return World pointer
*/
virtual WorldInterface* GetWorld() = 0;
-
-
- /*!
- * \brief Returns a pointer to the agentBlueprintProvider
- *
- * @return agentBlueprintProvider pointer
- */
- virtual AgentBlueprintProviderInterface* GetAgentBlueprintProvider() = 0;
};
} //namespace SimulationSlave
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/modelInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/modelInterface.h
index 76455433d44c7572170e785799d85cd6fccb7451..a50b4d879d5ee63c89cd1d39cc55d2598851846a 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/modelInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/modelInterface.h
@@ -1,5 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2017, 2018, 2019 in-tech GmbH
+* Copyright (c) 2017, 2018, 2019, 2020 in-tech GmbH
* 2016, 2017, 2018 ITK Engineering GmbH
*
* This program and the accompanying materials are made
@@ -32,15 +32,16 @@
#include "Interfaces/agentInterface.h"
#include "Interfaces/callbackInterface.h"
#include "Interfaces/signalInterface.h"
+#include "Interfaces/publisherInterface.h"
+#include "Interfaces/observationInterface.h"
-class ObservationInterface;
class ParameterInterface;
class StochasticsInterface;
class WorldInterface;
namespace SimulationSlave {
class EventNetworkInterface;
-};
+}
//-----------------------------------------------------------------------------
//! Provides functionality to print information of signals
@@ -201,14 +202,14 @@ public:
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks) :
ModelInterface(isInit, priority, offsetTime, responseTime, cycleTime),
callbacks(callbacks),
componentName(componentName),
stochastics(stochastics),
parameters(parameters),
- observations(observations)
+ publisher(publisher)
{}
RestrictedModelInterface(const RestrictedModelInterface&) = delete;
RestrictedModelInterface(RestrictedModelInterface&&) = delete;
@@ -248,14 +249,13 @@ protected:
}
//-----------------------------------------------------------------------------
- //! Retrieves the references to the observation modules used to track and
- //! observe information
+ //! Retrieves the reference to the publishing module for data recording
//!
- //! @return Mapping of observation modules.
+ //! @return Publisher
//-----------------------------------------------------------------------------
- const std::map<int, ObservationInterface*> *GetObservations() const
+ PublisherInterface* GetPublisher()
{
- return observations;
+ return publisher;
}
//-----------------------------------------------------------------------------
@@ -287,7 +287,7 @@ private:
std::string componentName; //!< Name of this component
StochasticsInterface *stochastics; //!< Reference to the stochastics functionality of the framework
const ParameterInterface *parameters; //!< Reference to the configuration parameters
- const std::map<int, ObservationInterface*> *observations; //!< Mapping of observation modules
+ PublisherInterface * const publisher; //!< Reference to the publisher module
};
//-----------------------------------------------------------------------------
@@ -321,7 +321,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
RestrictedModelInterface(componentName,
@@ -332,7 +332,7 @@ public:
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks),
agent(agent),
world(world)
@@ -405,7 +405,7 @@ public:
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
RestrictedModelInterface(componentName,
@@ -416,7 +416,7 @@ public:
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks),
agent(agent)
{}
@@ -583,7 +583,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent,
SimulationSlave::EventNetworkInterface * const eventNetwork):
@@ -596,7 +596,7 @@ public:
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent),
eventNetwork(eventNetwork)
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/observationInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/observationInterface.h
index e06d49390d5f123b32701e81a23d3e9533324362..58b6b245805648bd6d10033ef2bac22a4d43f15c 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/observationInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/observationInterface.h
@@ -31,6 +31,7 @@
#include "Common/observationTypes.h"
class CallbackInterface;
+class DataStoreReadInterface;
class ParameterInterface;
class StochasticsInterface;
class WorldInterface;
@@ -43,7 +44,8 @@ public:
ObservationInterface(StochasticsInterface* stochastics,
WorldInterface* world,
const ParameterInterface* parameters,
- const CallbackInterface* callbacks) :
+ const CallbackInterface* callbacks,
+ [[maybe_unused]] DataStoreReadInterface* dataStore) :
stochastics(stochastics),
world(world),
parameters(parameters),
@@ -108,24 +110,6 @@ public:
//-----------------------------------------------------------------------------
virtual const std::string SlaveResultFile() = 0;
- //-----------------------------------------------------------------------------
- //! \brief Inserts directly pushed information into the observation
- //!
- //! \param time insert time stamp
- //! \param agentId corresponding agent
- //! \param group logging group
- //! \param key topic
- //! \param value value
- //-----------------------------------------------------------------------------
- virtual void Insert(int time, int agentId, LoggingGroup group, const std::string& key, const std::string& value) = 0;
-
- //-----------------------------------------------------------------------------
- /*!
- * \brief Insert the event into the EventNetwork
- */
- //-----------------------------------------------------------------------------
- virtual void InsertEvent(std::shared_ptr<EventInterface> event) = 0;
-
protected:
//-----------------------------------------------------------------------------
//! Retrieves the stochastics functionality
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/observationNetworkInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/observationNetworkInterface.h
index 55697f392b78da0484c613c84a1a32c6f31b5e59..e49d4ed41dceeadb5610200ad8ad098836eb6e50 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/observationNetworkInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/observationNetworkInterface.h
@@ -17,8 +17,8 @@
#pragma once
-#include "Interfaces/observationInterface.h"
#include "Interfaces/eventNetworkInterface.h"
+#include "Interfaces/stochasticsInterface.h"
#include "Common/observationLibraryDefinitions.h"
namespace SimulationSlave {
@@ -59,7 +59,8 @@ public:
StochasticsInterface* stochastics,
WorldInterface* world,
EventNetworkInterface* eventNetwork,
- const std::string& sceneryPath) = 0;
+ const std::string& sceneryPath,
+ DataStoreReadInterface* dataStore) = 0;
//-----------------------------------------------------------------------------
//! Returns the observation module mapping.
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/profilesInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/profilesInterface.h
index aa3784044a4cf1ad74b4847e830c8d59d9a53d65..6129e4aa7765fa38cc3670c252b6b2df9d3f6410 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/profilesInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/profilesInterface.h
@@ -14,6 +14,7 @@
#include <memory>
#include <unordered_map>
+#include "Common/parameter.h"
#include "Common/sensorDefinitions.h"
using StringProbabilities = std::vector<std::pair<std::string, double>>;
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/publisherInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/publisherInterface.h
new file mode 100644
index 0000000000000000000000000000000000000000..982b66d1e49f672ad8dd22f1fd11213820d96e08
--- /dev/null
+++ b/OpenPass_Source_Code/openPASS/Interfaces/publisherInterface.h
@@ -0,0 +1,71 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+/*!
+ *
+ * \file writeInterface.h
+ * \brief This file contains the interface of the observation modules to
+ * interact with the framework
+ */
+
+#pragma once
+
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <variant>
+#include <vector>
+
+#include "Common/eventTypes.h"
+#include "Interfaces/dataStoreInterface.h"
+
+//! Interface which has to be provided by observation modules
+class PublisherInterface
+{
+public:
+ PublisherInterface(DataStoreWriteInterface *const dataStore) :
+ dataStore(dataStore)
+ {
+ }
+
+ PublisherInterface(const PublisherInterface &) = delete;
+ PublisherInterface &operator=(const PublisherInterface &) = delete;
+
+ PublisherInterface(PublisherInterface &&) = default;
+ PublisherInterface &operator=(PublisherInterface &&) = default;
+
+ virtual ~PublisherInterface() = default;
+
+ /*!
+ * \brief Writes information into a data store backend
+ *
+ * \param key[in] Unique topic identification
+ * \param value[in] Value to be written
+ */
+ virtual void Publish(const openpass::datastore::Key &key, const openpass::datastore::Value &value)
+ {
+ }
+
+ /*!
+ * \brief Writes acyclic information into a data store backend
+ *
+ * \param value[in] The acyclic event
+ */
+ virtual void Publish(const openpass::narrator::EventBase &event)
+ {
+ }
+
+ virtual void Publish(const openpass::datastore::Key &key, const openpass::datastore::ComponentEvent &event)
+ {
+ }
+
+protected:
+ DataStoreWriteInterface *const dataStore; //!< References the datastore backend
+};
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/scenarioActionInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/scenarioActionInterface.h
index 84eb82c7e26a7a4c0bf45caf9a00b6369581733f..b4827dbe8a990a949f53c70c5085cf05d11c7003 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/scenarioActionInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/scenarioActionInterface.h
@@ -17,12 +17,6 @@ class ScenarioActionInterface
{
public:
ScenarioActionInterface() = default;
- ScenarioActionInterface(const ScenarioActionInterface&) = delete;
- ScenarioActionInterface(ScenarioActionInterface&&) = delete;
- ScenarioActionInterface& operator=(const ScenarioActionInterface&) = delete;
- ScenarioActionInterface& operator=(ScenarioActionInterface&&) = delete;
virtual ~ScenarioActionInterface() = default;
-
virtual const std::string& GetEventName() const = 0;
-private:
};
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/signalInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/signalInterface.h
index f4a0f88887dcc8ea729e7c965172d0633302fc88..06e1cf6862acd16599beec723c53c40ff80f35c9 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/signalInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/signalInterface.h
@@ -22,9 +22,29 @@ enum class ComponentState
Acting
};
-const std::map<std::string, ComponentState> ComponentStateMapping = { { "Acting", ComponentState::Acting },
- { "Armed", ComponentState::Armed },
- { "Disabled", ComponentState::Disabled } };
+namespace openpass::utils {
+
+static constexpr std::array<const char *, 4> ComponentStateMapping{
+ "Undefined",
+ "Disabled",
+ "Armed",
+ "Acting"};
+
+constexpr const char *to_cstr(ComponentState state)
+{
+ return ComponentStateMapping[static_cast<size_t>(state)];
+}
+
+inline std::string to_string(ComponentState state) noexcept
+{
+ return std::string(to_cstr(state));
+}
+
+} // namespace openpass::utils
+
+const std::map<std::string, ComponentState> ComponentStateMapping = {{"Acting", ComponentState::Acting},
+ {"Armed", ComponentState::Armed},
+ {"Disabled", ComponentState::Disabled}};
enum class ComponentWarningLevel
{
@@ -32,8 +52,8 @@ enum class ComponentWarningLevel
WARNING
};
-const std::map<ComponentWarningLevel, std::string> ComponentWarningLevelMapping = { { ComponentWarningLevel::INFO , "Info" },
- { ComponentWarningLevel::WARNING, "Warning" } };
+const std::map<ComponentWarningLevel, std::string> ComponentWarningLevelMapping = {{ComponentWarningLevel::INFO, "Info"},
+ {ComponentWarningLevel::WARNING, "Warning"}};
enum class ComponentWarningType
{
@@ -42,9 +62,9 @@ enum class ComponentWarningType
HAPTIC
};
-const std::map<ComponentWarningType, std::string> ComponentWarningTypeMapping = { { ComponentWarningType::OPTIC , "Optic" },
- { ComponentWarningType::ACOUSTIC, "Acoustic" },
- { ComponentWarningType::HAPTIC , "Haptic" } };
+const std::map<ComponentWarningType, std::string> ComponentWarningTypeMapping = {{ComponentWarningType::OPTIC, "Optic"},
+ {ComponentWarningType::ACOUSTIC, "Acoustic"},
+ {ComponentWarningType::HAPTIC, "Haptic"}};
enum class ComponentWarningIntensity
{
@@ -53,9 +73,9 @@ enum class ComponentWarningIntensity
HIGH
};
-const std::map<ComponentWarningIntensity, std::string> ComponentWarningIntensityMapping = { { ComponentWarningIntensity::LOW , "Low" },
- { ComponentWarningIntensity::MEDIUM, "Medium" },
- { ComponentWarningIntensity::HIGH , "High" } };
+const std::map<ComponentWarningIntensity, std::string> ComponentWarningIntensityMapping = {{ComponentWarningIntensity::LOW, "Low"},
+ {ComponentWarningIntensity::MEDIUM, "Medium"},
+ {ComponentWarningIntensity::HIGH, "High"}};
struct ComponentWarningInformation
{
@@ -95,11 +115,14 @@ class ComponentStateSignalInterface : public SignalInterface
{
public:
ComponentStateSignalInterface() = default;
- ComponentStateSignalInterface(ComponentState componentState):componentState{componentState}{}
- ComponentStateSignalInterface(const ComponentStateSignalInterface&) = default;
- ComponentStateSignalInterface(ComponentStateSignalInterface&&) = default;
- ComponentStateSignalInterface& operator=(const ComponentStateSignalInterface&) = default;
- ComponentStateSignalInterface& operator=(ComponentStateSignalInterface&&) = default;
+ ComponentStateSignalInterface(ComponentState componentState) :
+ componentState{componentState}
+ {
+ }
+ ComponentStateSignalInterface(const ComponentStateSignalInterface &) = default;
+ ComponentStateSignalInterface(ComponentStateSignalInterface &&) = default;
+ ComponentStateSignalInterface &operator=(const ComponentStateSignalInterface &) = default;
+ ComponentStateSignalInterface &operator=(ComponentStateSignalInterface &&) = default;
virtual ~ComponentStateSignalInterface() = default;
ComponentState componentState;
diff --git a/OpenPass_Source_Code/openPASS/Interfaces/slaveConfigInterface.h b/OpenPass_Source_Code/openPASS/Interfaces/slaveConfigInterface.h
index 1734a70dd5213b6073f901f4ed7b1e88c1d970ed..cf55c2678fe7815954760aa97d6fa9e8b4987d36 100644
--- a/OpenPass_Source_Code/openPASS/Interfaces/slaveConfigInterface.h
+++ b/OpenPass_Source_Code/openPASS/Interfaces/slaveConfigInterface.h
@@ -35,9 +35,7 @@ struct ExperimentConfig
int experimentId;
int numberOfInvocations;
- bool logCyclicsToCsv;
std::uint32_t randomSeed;
- std::vector<std::string> loggingGroups; //!< Holds the names of enabled logging groups
Libraries libraries;
};
diff --git a/OpenPass_Source_Code/openPASS/OpenPass_OSI.pro b/OpenPass_Source_Code/openPASS/OpenPass_OSI.pro
index aed699ce81f16398224a0757f6b5826d81d2477c..038baebce5339b3a31b63bf10ff61bd153f3539f 100644
--- a/OpenPass_Source_Code/openPASS/OpenPass_OSI.pro
+++ b/OpenPass_Source_Code/openPASS/OpenPass_OSI.pro
@@ -12,6 +12,7 @@ TEMPLATE = subdirs
SUBDIRS = \
CoreFramework/OpenPassMaster \
CoreFramework/OpenPassSlave \
+ CoreModules/BasicDataStore \
CoreModules/EventDetector \
CoreModules/Manipulator \
CoreModules/Observation_Log \
diff --git a/OpenPass_Source_Code/openPASS_Resource/OpenPass_OSI_UseCase/AEB/slaveConfig.xml b/OpenPass_Source_Code/openPASS_Resource/OpenPass_OSI_UseCase/AEB/slaveConfig.xml
index 070d16c46c0fe6b5d758284f302e68756203dd4f..18460875f840723d8ae95694a493efa9c2cfceb0 100644
--- a/OpenPass_Source_Code/openPASS_Resource/OpenPass_OSI_UseCase/AEB/slaveConfig.xml
+++ b/OpenPass_Source_Code/openPASS_Resource/OpenPass_OSI_UseCase/AEB/slaveConfig.xml
@@ -1,27 +1,17 @@
-<slaveConfig SchemaVersion="0.7.0">
+<slaveConfig SchemaVersion="0.8.0">
<ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
- <ExperimentConfig>
+ <Experiment>
<ExperimentID>0</ExperimentID>
<NumberOfInvocations>1</NumberOfInvocations>
<RandomSeed>0</RandomSeed>
<Libraries>
<WorldLibrary>World_OSI</WorldLibrary>
- <ObservationLibrary>Observation_Log</ObservationLibrary>
- <SpawnPointLibrary>SpawnPoint_OSI</SpawnPointLibrary>
</Libraries>
- <LoggingGroups>
- <LoggingGroup>Trace</LoggingGroup>
- <LoggingGroup>Visualization</LoggingGroup>
- <LoggingGroup>RoadPosition</LoggingGroup>
- <LoggingGroup>Sensor</LoggingGroup>
- <LoggingGroup>Driver</LoggingGroup>
- </LoggingGroups>
- <LoggingCyclicsToCsv>false</LoggingCyclicsToCsv>
- </ExperimentConfig>
- <ScenarioConfig Name="Default Scenario">
+ </Experiment>
+ <Scenario>
<OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
- </ScenarioConfig>
- <EnvironmentConfig Name="Default Environment">
+ </Scenario>
+ <Environment>
<TimeOfDays>
<TimeOfDay Value="15" Probability="0.4"/>
<TimeOfDay Value="18" Probability="0.6"/>
@@ -37,24 +27,34 @@
<Weather Value="Rainy" Probability="0.5"/>
<Weather Value="Snowy" Probability="0.5"/>
</Weathers>
- </EnvironmentConfig>
- <SpawnPointsConfig>
- <SpawnPoint>
- <Library>SpawnPointScenario</Library>
+ </Environment>
+ <Observations>
+ <Observation>
+ <Library>Observation_Log</Library>
+ <Parameters>
+ <String Key="OutputFilename" Value="simulationOutput.xml"/>
+ <Bool Key="LoggingCyclicsToCsv" Value="false"/>
+ <StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,Sensor,Driver"/>
+ </Parameters>
+ </Observation>
+ </Observations>
+ <Spawners>
+ <Spawner>
+ <Library>SpawnPointScenario_OSI</Library>
<Type>PreRun</Type>
<Priority>1</Priority>
- </SpawnPoint>
- <SpawnPoint>
- <Library>SpawnPointPreRunCommon</Library>
+ </Spawner>
+ <Spawner>
+ <Library>SpawnPointPreRunCommon_OSI</Library>
<Type>PreRun</Type>
<Priority>0</Priority>
<Profile>DefaultPreRunCommon</Profile>
- </SpawnPoint>
- <SpawnPoint>
- <Library>SpawnPointRuntimeCommon</Library>
+ </Spawner>
+ <Spawner>
+ <Library>SpawnPointRuntimeCommon_OSI</Library>
<Type>Runtime</Type>
<Priority>0</Priority>
<Profile>DefaultRuntimeCommon</Profile>
- </SpawnPoint>
- </SpawnPointsConfig>
+ </Spawner>
+ </Spawners>
</slaveConfig>
diff --git a/OpenPass_Source_Code/openPASS_Resource/OpenPass_OSI_UseCase/Static AgentProfiles/slaveConfig.xml b/OpenPass_Source_Code/openPASS_Resource/OpenPass_OSI_UseCase/Static AgentProfiles/slaveConfig.xml
index 5ee2a38229c9365b4c972813e2ce40dd409c4020..2de6ae87c530bf1798fd95ba1dd33d0c900b7ae1 100644
--- a/OpenPass_Source_Code/openPASS_Resource/OpenPass_OSI_UseCase/Static AgentProfiles/slaveConfig.xml
+++ b/OpenPass_Source_Code/openPASS_Resource/OpenPass_OSI_UseCase/Static AgentProfiles/slaveConfig.xml
@@ -1,27 +1,17 @@
-<slaveConfig SchemaVersion="0.7.0">
+<slaveConfig SchemaVersion="0.8.0">
<ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
- <ExperimentConfig>
- <ExperimentID>123</ExperimentID>
+ <Experiment>
+ <ExperimentID>0</ExperimentID>
<NumberOfInvocations>1</NumberOfInvocations>
<RandomSeed>532725206</RandomSeed>
<Libraries>
<WorldLibrary>World_OSI</WorldLibrary>
- <ObservationLibrary>Observation_Log</ObservationLibrary>
- <SpawnPointLibrary>SpawnPoint_OSI</SpawnPointLibrary>
</Libraries>
- <LoggingGroups>
- <LoggingGroup>Trace</LoggingGroup>
- <LoggingGroup>Visualization</LoggingGroup>
- <LoggingGroup>RoadPosition</LoggingGroup>
- <LoggingGroup>Sensor</LoggingGroup>
- <LoggingGroup>Driver</LoggingGroup>
- </LoggingGroups>
- <LoggingCyclicsToCsv>false</LoggingCyclicsToCsv>
- </ExperimentConfig>
- <ScenarioConfig Name="Default Scenario">
+ </Experiment>
+ <Scenario>
<OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
- </ScenarioConfig>
- <EnvironmentConfig Name="Default Environment">
+ </Scenario>
+ <Environment>
<TimeOfDays>
<TimeOfDay Probability="0.4" Value="15"/>
<TimeOfDay Probability="0.6" Value="18"/>
@@ -37,24 +27,34 @@
<Weather Probability="0.5" Value="Rainy"/>
<Weather Probability="0.5" Value="Snowy"/>
</Weathers>
- </EnvironmentConfig>
- <SpawnPointsConfig>
- <SpawnPoint>
- <Library>SpawnPointScenario</Library>
+ </Environment>
+ <Observations>
+ <Observation>
+ <Library>Observation_Log</Library>
+ <Parameters>
+ <String Key="OutputFilename" Value="simulationOutput.xml"/>
+ <Bool Key="LoggingCyclicsToCsv" Value="false"/>
+ <StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,Sensor,Driver"/>
+ </Parameters>
+ </Observation>
+ </Observations>
+ <Spawners>
+ <Spawner>
+ <Library>SpawnPointScenario_OSI</Library>
<Type>PreRun</Type>
<Priority>1</Priority>
- </SpawnPoint>
- <SpawnPoint>
- <Library>SpawnPointPreRunCommon</Library>
+ </Spawner>
+ <Spawner>
+ <Library>SpawnPointPreRunCommon_OSI</Library>
<Type>PreRun</Type>
<Priority>0</Priority>
<Profile>DefaultPreRunCommon</Profile>
- </SpawnPoint>
- <SpawnPoint>
- <Library>SpawnPointRuntimeCommon</Library>
+ </Spawner>
+ <Spawner>
+ <Library>SpawnPointRuntimeCommon_OSI</Library>
<Type>Runtime</Type>
<Priority>0</Priority>
<Profile>DefaultRuntimeCommon</Profile>
- </SpawnPoint>
- </SpawnPointsConfig>
+ </Spawner>
+ </Spawners>
</slaveConfig>
diff --git a/OpenPass_Test/fakes/gmock/fakeAgent.h b/OpenPass_Test/fakes/gmock/fakeAgent.h
index 10ad2eaa001c426fb582291ad7769f6d10737d15..86a90c12f211014781df5ae0d2d06a915e13715b 100644
--- a/OpenPass_Test/fakes/gmock/fakeAgent.h
+++ b/OpenPass_Test/fakes/gmock/fakeAgent.h
@@ -45,8 +45,6 @@ class FakeAgent : public FakeWorldObject, public AgentInterface
MOCK_METHOD1(SetVelocity, void(double value));
MOCK_METHOD1(SetAcceleration, void(double value));
MOCK_METHOD1(SetYaw, void(double value));
- MOCK_METHOD1(SetDistanceTraveled, void(double distanceTraveled));
- MOCK_CONST_METHOD0(GetDistanceTraveled, double());
MOCK_METHOD1(SetGear, void(int gear));
MOCK_METHOD1(SetEngineSpeed, void(double engineSpeed));
MOCK_METHOD1(SetEffAccelPedal, void(double percent));
diff --git a/OpenPass_Test/fakes/gmock/fakeAgentDataPublisher.h b/OpenPass_Test/fakes/gmock/fakeAgentDataPublisher.h
new file mode 100644
index 0000000000000000000000000000000000000000..a2106218c934af2b9161399c92d9522704f72bb6
--- /dev/null
+++ b/OpenPass_Test/fakes/gmock/fakeAgentDataPublisher.h
@@ -0,0 +1,20 @@
+/*********************************************************************
+ * Copyright (c) 2020 in-tech
+ *
+ * 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
+ **********************************************************************/
+
+#pragma once
+
+#include "gmock/gmock.h"
+#include "Interfaces/publisherInterface.h"
+
+class FakeAgentDataPublisher : public PublisherInterface
+{
+public:
+ MOCK_METHOD2(Publish, void(const openpass::datastore::Key&, const openpass::datastore::Value&));
+};
diff --git a/OpenPass_Test/fakes/gmock/fakeComponent.h b/OpenPass_Test/fakes/gmock/fakeComponent.h
index 5dfc5ed6c5020c82aac100292a6c4d19b88ecc90..0fcb54e451038e8d379a0b05f180f0422e7a1355 100644
--- a/OpenPass_Test/fakes/gmock/fakeComponent.h
+++ b/OpenPass_Test/fakes/gmock/fakeComponent.h
@@ -23,8 +23,7 @@ class FakeComponent : public ComponentInterface {
std::map<int, Channel*>&());
MOCK_METHOD0(GetOutputLinks,
std::map<int, Channel*>&());
- MOCK_CONST_METHOD0(GetObservations,
- const std::map<int, ObservationInterface*>&());
+ MOCK_CONST_METHOD0(GetObservations, const std::map<int, ObservationInterface*>& ());
MOCK_METHOD1(TriggerCycle,
bool(int time));
MOCK_METHOD2(AcquireOutputData,
diff --git a/OpenPass_Test/fakes/gmock/fakeDataStore.h b/OpenPass_Test/fakes/gmock/fakeDataStore.h
new file mode 100644
index 0000000000000000000000000000000000000000..5e16ba0c78c9de891c6d4324f7788d54c554849c
--- /dev/null
+++ b/OpenPass_Test/fakes/gmock/fakeDataStore.h
@@ -0,0 +1,28 @@
+/*********************************************************************
+ * Copyright (c) 2020 in-tech
+ *
+ * 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
+ **********************************************************************/
+
+#pragma once
+
+#include "gmock/gmock.h"
+
+#include "Interfaces/dataStoreInterface.h"
+
+class FakeDataStore : public DataStoreInterface
+{
+public:
+ MOCK_CONST_METHOD3(GetCyclic, std::unique_ptr<CyclicResultInterface>(const std::optional<openpass::type::Timestamp> time, const std::optional<openpass::type::EntityId> entityId, const Key& key));
+ MOCK_CONST_METHOD3(GetAcyclic, std::unique_ptr<AcyclicResultInterface>(const std::optional<openpass::type::Timestamp> time, const std::optional<openpass::type::EntityId> entityId, const Key& key));
+ MOCK_CONST_METHOD1(GetStatic, Values(const Key& key));
+ MOCK_CONST_METHOD1(GetKeys, Keys(const Key& key));
+ MOCK_METHOD4(PutCyclic, void(const openpass::type::Timestamp time, const openpass::type::EntityId entityId, const Key& key, const Value& value));
+ MOCK_METHOD4(PutAcyclic, void(const openpass::type::Timestamp time, const openpass::type::EntityId entityId, const Key& key, const Acyclic& event));
+ MOCK_METHOD3(PutStatic, void(const Key& key, const Value& value, bool persist));
+ MOCK_METHOD0(Clear, void());
+};
diff --git a/OpenPass_Test/fakes/gmock/fakeEvent.h b/OpenPass_Test/fakes/gmock/fakeEvent.h
index a9718e5cc51159b5b2bd06b4e1bc4c60e8786261..7e601f4780e4f1fa94f321bd82e93a35c478f98c 100644
--- a/OpenPass_Test/fakes/gmock/fakeEvent.h
+++ b/OpenPass_Test/fakes/gmock/fakeEvent.h
@@ -1,5 +1,5 @@
/*********************************************************************
-* Copyright (c) 2018 - 2019 in-tech
+* Copyright (c) 2018, 2019, 2020 in-tech
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -10,27 +10,22 @@
#pragma once
-#include "gmock/gmock.h"
#include "Interfaces/eventInterface.h"
+#include "gmock/gmock.h"
-class FakeEvent : public EventInterface {
- public:
- MOCK_METHOD1(SetId,
- void(int));
- MOCK_CONST_METHOD0(GetId,
- int());
- MOCK_CONST_METHOD0(GetEventTime,
- int());
- MOCK_CONST_METHOD0(GetCategory,
- EventDefinitions::EventCategory());
- MOCK_METHOD1(SetTriggeringEventId,
- void(int));
- MOCK_CONST_METHOD0(GetTriggeringEventId,
- int());
- MOCK_CONST_METHOD0(GetSource,
- std::string());
- MOCK_CONST_METHOD0(GetName,
- std::string());
- MOCK_METHOD0(GetParametersAsString,
- EventParameters());
+class FakeEvent : public EventInterface
+{
+public:
+ MOCK_METHOD1(SetId, void(int));
+ MOCK_CONST_METHOD0(GetId, int());
+ MOCK_CONST_METHOD0(GetEventTime, int());
+ MOCK_CONST_METHOD0(GetCategory, EventDefinitions::EventCategory());
+ MOCK_METHOD1(SetTriggeringEventId, void(int));
+ MOCK_CONST_METHOD0(GetTriggeringEventId, int());
+ MOCK_CONST_METHOD0(GetSource, std::string());
+ MOCK_CONST_METHOD0(GetName, std::string());
+ MOCK_CONST_METHOD0(GetTriggeringAgents, const std::vector<int>());
+ MOCK_CONST_METHOD0(GetActingAgents, const std::vector<int>());
+ MOCK_METHOD0(GetParametersAsString, EventParameters());
+ MOCK_CONST_METHOD0(GetParameter, const openpass::type::FlatParameter&());
};
diff --git a/OpenPass_Test/fakes/gmock/fakeEventNetwork.h b/OpenPass_Test/fakes/gmock/fakeEventNetwork.h
index 473da48c70d8f56a4c91f66f10fe5dfb481cb9f2..f67503f0d319ef6315cfa2ed53ed37b42a4854cd 100644
--- a/OpenPass_Test/fakes/gmock/fakeEventNetwork.h
+++ b/OpenPass_Test/fakes/gmock/fakeEventNetwork.h
@@ -1,5 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2019 in-tech GmbH
+* Copyright (c) 2019, 2020 in-tech GmbH
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -9,30 +9,20 @@
*******************************************************************************/
#pragma once
-#include "gmock/gmock.h"
#include "Interfaces/eventNetworkInterface.h"
+#include "gmock/gmock.h"
class FakeEventNetwork : public SimulationSlave::EventNetworkInterface
{
public:
- MOCK_METHOD0(GetActiveEvents,
- Events*());
- MOCK_METHOD0(GetArchivedEvents,
- Events*());
- MOCK_METHOD1(GetActiveEventCategory,
- EventContainer(const EventDefinitions::EventCategory));
- MOCK_METHOD1(RemoveOldEvents,
- void(int));
- MOCK_METHOD1(InsertEvent,
- void(std::shared_ptr<EventInterface>));
- MOCK_METHOD0(ClearActiveEvents,
- void());
- MOCK_METHOD0(Clear,
- void());
- MOCK_METHOD1(Respawn,
- void(int));
- MOCK_METHOD1(AddCollision,
- void(const int));
- MOCK_METHOD1(Initialize,
- void(RunResultInterface*));
+ MOCK_METHOD0(GetActiveEvents, Events *());
+ MOCK_METHOD0(GetArchivedEvents, Events *());
+ MOCK_METHOD1(GetActiveEventCategory, EventContainer(const EventDefinitions::EventCategory));
+ MOCK_METHOD1(RemoveOldEvents, void(int));
+ MOCK_METHOD1(InsertEvent, void(std::shared_ptr<EventInterface>));
+ MOCK_METHOD0(ClearActiveEvents, void());
+ MOCK_METHOD0(Clear, void());
+ MOCK_METHOD1(Respawn, void(int));
+ MOCK_METHOD1(AddCollision, void(const int));
+ MOCK_METHOD1(Initialize, void(RunResultInterface *));
};
diff --git a/OpenPass_Test/fakes/gmock/fakeObservation.h b/OpenPass_Test/fakes/gmock/fakeObservation.h
index 0fecda9705a34522859b1b890cf40edf263e3ed6..554557b82a4e585d8ab406ed85e9b3245ccfbef2 100644
--- a/OpenPass_Test/fakes/gmock/fakeObservation.h
+++ b/OpenPass_Test/fakes/gmock/fakeObservation.h
@@ -11,7 +11,6 @@
#pragma once
#include "gmock/gmock.h"
-#include "Interfaces/observationInterface.h"
class FakeObservation : public ObservationInterface
{
diff --git a/OpenPass_Test/fakes/gmock/fakeObservationNetwork.h b/OpenPass_Test/fakes/gmock/fakeObservationNetwork.h
index 8074e24bf15b8ec9aa014b838c569a8939b40959..5fcae4ec2f609627143baa5799c4b21c10243ca5 100644
--- a/OpenPass_Test/fakes/gmock/fakeObservationNetwork.h
+++ b/OpenPass_Test/fakes/gmock/fakeObservationNetwork.h
@@ -15,8 +15,8 @@
class FakeObservationNetwork : public SimulationSlave::ObservationNetworkInterface
{
public:
- MOCK_METHOD5(Instantiate,
- bool(const ObservationInstanceCollection&, StochasticsInterface*, WorldInterface*, EventNetworkInterface*, const std::string&));
+ MOCK_METHOD6(Instantiate,
+ bool(const ObservationInstanceCollection&, StochasticsInterface*, WorldInterface*, EventNetworkInterface*, const std::string&, DataStoreReadInterface*));
MOCK_METHOD0(GetObservationModules,
const std::map<int, ObservationModule*>&());
MOCK_METHOD0(InitAll,
diff --git a/OpenPass_Test/fakes/gmock/fakePublisher.h b/OpenPass_Test/fakes/gmock/fakePublisher.h
new file mode 100644
index 0000000000000000000000000000000000000000..8bc08c7294ee62be13f110d53c43fd06ab9b6203
--- /dev/null
+++ b/OpenPass_Test/fakes/gmock/fakePublisher.h
@@ -0,0 +1,31 @@
+/*********************************************************************
+ * Copyright (c) 2020 in-tech
+ *
+ * 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
+ **********************************************************************/
+
+#pragma once
+
+#include "gmock/gmock.h"
+#include "Interfaces/publisherInterface.h"
+
+#include "fakeDataStore.h"
+using ::testing::NiceMock;
+
+class FakePublisher : public PublisherInterface
+{
+public:
+ NiceMock<FakeDataStore> fakeDataStore;
+ FakePublisher() : PublisherInterface(&fakeDataStore) {}
+
+ MOCK_METHOD2(Publish,
+ void(const openpass::datastore::Key &key, const openpass::datastore::Value &value));
+ MOCK_METHOD1(Publish,
+ void(const openpass::narrator::EventBase &event));
+ MOCK_METHOD2(Publish,
+ void(const openpass::datastore::Key &key, const openpass::datastore::ComponentEvent &event));
+};
diff --git a/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/OpenPassSlave_IntegrationTests.pro b/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/OpenPassSlave_IntegrationTests.pro
index 86ededfe7680ec82687eac826725e9a7564f2915..63065dff97fcfbc044f67965975380a9aa93a937 100644
--- a/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/OpenPassSlave_IntegrationTests.pro
+++ b/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/OpenPassSlave_IntegrationTests.pro
@@ -91,6 +91,7 @@ INC_SLAVECONFIG = $$OPENPASS_SLAVE/importer/slaveConfig.h \
SRC_SLAVECONFIG = $$OPENPASS_SLAVE/importer/slaveConfig.cpp \
$$OPENPASS_SLAVE/importer/slaveConfigImporter.cpp \
+ $$OPENPASS_SLAVE/importer/parameterImporter.cpp \
$$OPENPASS_SLAVE/framework/directories.cpp
SRC_CORESHARE = $$CORE_SHARE/xmlParser.cpp \
diff --git a/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/invalidSpawnPointSlaveConfig.xml b/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/invalidSpawnPointSlaveConfig.xml
index 5f62f9e30dbfdc2b642b0e8954e0140e29527eeb..8bd39d033de90053b7263ea075cf6048c5b161bd 100644
--- a/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/invalidSpawnPointSlaveConfig.xml
+++ b/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/invalidSpawnPointSlaveConfig.xml
@@ -1,52 +1,49 @@
<!-- Invalid Type for SpawnPoint -->
-<Combination SchemaVersion="0.7.0" id="544">
- <ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
- <ExperimentConfig>
- <ExperimentID>123</ExperimentID>
- <NumberOfInvocations>1</NumberOfInvocations>
- <RandomSeed>532725206</RandomSeed>
- <Libraries>
- <WorldLibrary>World_OSI</WorldLibrary>
- <ObservationLibrary>Observation_Log</ObservationLibrary>
- <SpawnPointLibrary>SpawnPoint_OSI</SpawnPointLibrary>
- </Libraries>
- <LoggingGroups>
- <LoggingGroup>Trace</LoggingGroup>
- <LoggingGroup>Visualization</LoggingGroup>
- <LoggingGroup>RoadPosition</LoggingGroup>
- <LoggingGroup>Sensor</LoggingGroup>
- <LoggingGroup>Driver</LoggingGroup>
- </LoggingGroups>
- <LoggingCyclicsToCsv>false</LoggingCyclicsToCsv>
- </ExperimentConfig>
-
- <SpawnPointsConfig>
- <SpawnPoint>
- <Library>SpawnPointScenery_OSI</Library>
- <Type>ThisTypeDoesNotExist</Type>
- <Priority>1</Priority>
- </SpawnPoint>
- </SpawnPointsConfig>
-
- <ScenarioConfig Name="Default Scenario">
- <OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
- </ScenarioConfig>
-
- <EnvironmentConfig Name="Default Environment">
- <TimeOfDays>
- <TimeOfDay Probability="0.4" Value="15" />
- <TimeOfDay Probability="0.6" Value="18" />
- </TimeOfDays>
- <VisibilityDistances>
- <VisibilityDistance Probability="0.7" Value="300" />
- <VisibilityDistance Probability="0.3" Value="400" />
- </VisibilityDistances>
- <Frictions>
- <Friction Probability="1.0" Value="1.0" />
- </Frictions>
- <Weathers>
- <Weather Probability="0.5" Value="Rainy" />
- <Weather Probability="0.5" Value="Snowy" />
- </Weathers>
- </EnvironmentConfig>
-</Combination>
+<slaveConfig SchemaVersion="0.8.0">
+ <ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
+ <Experiment>
+ <ExperimentID>0</ExperimentID>
+ <NumberOfInvocations>1</NumberOfInvocations>
+ <RandomSeed>0</RandomSeed>
+ <Libraries>
+ <WorldLibrary>World_OSI</WorldLibrary>
+ </Libraries>
+ </Experiment>
+ <Scenario>
+ <OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
+ </Scenario>
+ <Environment>
+ <TimeOfDays>
+ <TimeOfDay Value="15" Probability="0.4"/>
+ <TimeOfDay Value="18" Probability="0.6"/>
+ </TimeOfDays>
+ <VisibilityDistances>
+ <VisibilityDistance Value="125" Probability="0.7"/>
+ <VisibilityDistance Value="250" Probability="0.3"/>
+ </VisibilityDistances>
+ <Frictions>
+ <Friction Value="1.0" Probability="1.0"/>
+ </Frictions>
+ <Weathers>
+ <Weather Value="Rainy" Probability="0.5"/>
+ <Weather Value="Snowy" Probability="0.5"/>
+ </Weathers>
+ </Environment>
+ <Observations>
+ <Observation>
+ <Library>Observation_Log</Library>
+ <Parameters>
+ <String Key="OutputFilename" Value="simulationOutput.xml"/>
+ <Bool Key="LoggingCyclicsToCsv" Value="false"/>
+ <StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,Sensor,Driver"/>
+ </Parameters>
+ </Observation>
+ </Observations>
+ <Spawners>
+ <Spawner>
+ <Library>SpawnPointScenario_OSI</Library>
+ <Type>ThisTypeDoesNotExist</Type>
+ <Priority>1</Priority>
+ </Spawner>
+ </Spawners>
+</slaveConfig>
diff --git a/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/validSpawnPointSlaveConfig.xml b/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/validSpawnPointSlaveConfig.xml
index 6d3fb1a0a53aa884c7e0a83813352b4c9f77952b..18460875f840723d8ae95694a493efa9c2cfceb0 100644
--- a/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/validSpawnPointSlaveConfig.xml
+++ b/OpenPass_Test/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/validSpawnPointSlaveConfig.xml
@@ -1,51 +1,60 @@
-<Combination SchemaVersion="0.7.0" id="544">
- <ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
- <ExperimentConfig>
- <ExperimentID>123</ExperimentID>
- <NumberOfInvocations>1</NumberOfInvocations>
- <RandomSeed>532725206</RandomSeed>
- <Libraries>
- <WorldLibrary>World_OSI</WorldLibrary>
- <ObservationLibrary>Observation_Log</ObservationLibrary>
- <SpawnPointLibrary>SpawnPoint_OSI</SpawnPointLibrary>
- </Libraries>
- <LoggingGroups>
- <LoggingGroup>Trace</LoggingGroup>
- <LoggingGroup>Visualization</LoggingGroup>
- <LoggingGroup>RoadPosition</LoggingGroup>
- <LoggingGroup>Sensor</LoggingGroup>
- <LoggingGroup>Driver</LoggingGroup>
- </LoggingGroups>
- <LoggingCyclicsToCsv>false</LoggingCyclicsToCsv>
- </ExperimentConfig>
-
- <SpawnPointsConfig>
- <SpawnPoint>
- <Library>SpawnPointScenerio_OSI</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </SpawnPoint>
- </SpawnPointsConfig>
-
- <ScenarioConfig Name="Default Scenario">
- <OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
- </ScenarioConfig>
-
- <EnvironmentConfig Name="Default Environment">
- <TimeOfDays>
- <TimeOfDay Probability="0.4" Value="15" />
- <TimeOfDay Probability="0.6" Value="18" />
- </TimeOfDays>
- <VisibilityDistances>
- <VisibilityDistance Probability="0.7" Value="300" />
- <VisibilityDistance Probability="0.3" Value="400" />
- </VisibilityDistances>
- <Frictions>
- <Friction Probability="1.0" Value="1.0" />
- </Frictions>
- <Weathers>
- <Weather Probability="0.5" Value="Rainy" />
- <Weather Probability="0.5" Value="Snowy" />
- </Weathers>
- </EnvironmentConfig>
-</Combination>
+<slaveConfig SchemaVersion="0.8.0">
+ <ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
+ <Experiment>
+ <ExperimentID>0</ExperimentID>
+ <NumberOfInvocations>1</NumberOfInvocations>
+ <RandomSeed>0</RandomSeed>
+ <Libraries>
+ <WorldLibrary>World_OSI</WorldLibrary>
+ </Libraries>
+ </Experiment>
+ <Scenario>
+ <OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
+ </Scenario>
+ <Environment>
+ <TimeOfDays>
+ <TimeOfDay Value="15" Probability="0.4"/>
+ <TimeOfDay Value="18" Probability="0.6"/>
+ </TimeOfDays>
+ <VisibilityDistances>
+ <VisibilityDistance Value="125" Probability="0.7"/>
+ <VisibilityDistance Value="250" Probability="0.3"/>
+ </VisibilityDistances>
+ <Frictions>
+ <Friction Value="1.0" Probability="1.0"/>
+ </Frictions>
+ <Weathers>
+ <Weather Value="Rainy" Probability="0.5"/>
+ <Weather Value="Snowy" Probability="0.5"/>
+ </Weathers>
+ </Environment>
+ <Observations>
+ <Observation>
+ <Library>Observation_Log</Library>
+ <Parameters>
+ <String Key="OutputFilename" Value="simulationOutput.xml"/>
+ <Bool Key="LoggingCyclicsToCsv" Value="false"/>
+ <StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,Sensor,Driver"/>
+ </Parameters>
+ </Observation>
+ </Observations>
+ <Spawners>
+ <Spawner>
+ <Library>SpawnPointScenario_OSI</Library>
+ <Type>PreRun</Type>
+ <Priority>1</Priority>
+ </Spawner>
+ <Spawner>
+ <Library>SpawnPointPreRunCommon_OSI</Library>
+ <Type>PreRun</Type>
+ <Priority>0</Priority>
+ <Profile>DefaultPreRunCommon</Profile>
+ </Spawner>
+ <Spawner>
+ <Library>SpawnPointRuntimeCommon_OSI</Library>
+ <Type>Runtime</Type>
+ <Priority>0</Priority>
+ <Profile>DefaultRuntimeCommon</Profile>
+ </Spawner>
+ </Spawners>
+</slaveConfig>
diff --git a/OpenPass_Test/unitTests/Common/Common_Tests.pro b/OpenPass_Test/unitTests/Common/Common_Tests.pro
index 8f8e832e2ccea05c60118f1007c824c77c1c4978..add22e9c54b74ad7bf463c1ab0627662d1fd72c3 100644
--- a/OpenPass_Test/unitTests/Common/Common_Tests.pro
+++ b/OpenPass_Test/unitTests/Common/Common_Tests.pro
@@ -25,8 +25,11 @@ INCLUDEPATH += \
$$OPEN_SRC/CoreFramework/OpenPassSlave/modelElements
HEADERS += \
- $$UNIT_UNDER_TEST/commonTools.h \
+ $$UNIT_UNDER_TEST/commonTools.h
+
+
SOURCES += \
$$UNIT_UNDER_TEST/vector2d.cpp \
+ vectorToString_Tests.cpp \
ttcCalculation_Tests.cpp
diff --git a/OpenPass_Test/unitTests/Common/ttcCalculation_Tests.cpp b/OpenPass_Test/unitTests/Common/ttcCalculation_Tests.cpp
index e8e9c6d5fecac2e42c6d84e86b1e1d9837157340..9ce629dda8b5963f4fc491dd7e5433c6c9b92450 100644
--- a/OpenPass_Test/unitTests/Common/ttcCalculation_Tests.cpp
+++ b/OpenPass_Test/unitTests/Common/ttcCalculation_Tests.cpp
@@ -14,7 +14,6 @@
#include "gmock/gmock.h"
#include "fakeAgent.h"
-#include "fakeObservation.h"
#include "fakeParameter.h"
#include "fakeWorld.h"
#include "fakeWorldObject.h"
@@ -93,7 +92,7 @@ TEST_P(TtcCalcualtionTest, CalculateObjectTTC_ReturnsCorrectTtc)
ASSERT_THAT(result, DoubleNear(data.expectedTtc, 0.001));
}
-INSTANTIATE_TEST_CASE_P(TtcCalculationTestCase, TtcCalcualtionTest, Values(
+INSTANTIATE_TEST_CASE_P(TtcCalculationTestCase, TtcCalcualtionTest, ::testing::Values(
// Ego opponent
// x, y, v_x, v_y, a, yaw, yawRate, yawAcc, x, y, v_x, v_y, a, yaw, yawRate, yawAcc, long, lat, ttc
TtcCalculationTest_Data{ -20.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 12.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, DBL_MAX},
diff --git a/OpenPass_Test/unitTests/Common/vectorToString_Tests.cpp b/OpenPass_Test/unitTests/Common/vectorToString_Tests.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..927c71fe088cb4e1e5375a5dfce793acd5d8a48f
--- /dev/null
+++ b/OpenPass_Test/unitTests/Common/vectorToString_Tests.cpp
@@ -0,0 +1,49 @@
+#/*********************************************************************
+# * Copyright (c) 2020 in-tech 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
+# **********************************************************************/
+#include "Common/openPassUtils.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+TEST(vectorToString, Empty_ReturnsEmtpy)
+{
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<bool>{}), "");
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<int>{}), "");
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<double>{}), "");
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<std::string>{}), "");
+}
+
+TEST(vectorToString, OneElement_ReturnsSingleElementWithoutDelimiter)
+{
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<bool>{true}), "1");
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<int>{123}), "123");
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<double>{12.3}), "12.3");
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<std::string>{"Test"}), "Test");
+}
+
+TEST(vectorToString, SeveralElementsAndNoDelimiter_ReturnsElementsWithDefaultDelimiter)
+{
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<bool>{true, false, true}), "1,0,1");
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<int>{123, 456, 789}), "123,456,789");
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<double>{12.3, 45.6, 78.9}), "12.3,45.6,78.9");
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<std::string>{"Test1", "Test2", "Test3"}), "Test1,Test2,Test3");
+}
+
+TEST(vectorToString, SeveralElementsAndCustomDelimiter_ReturnsElementsWithCustomDelimiter)
+{
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<int>{123, 456, 789}, "/"), "123/456/789");
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<int>{123, 456, 789}, "/ "), "123/ 456/ 789");
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<int>{123, 456, 789}, "_THIS_IS_A_WEIRD_DELIMITER_"), "123_THIS_IS_A_WEIRD_DELIMITER_456_THIS_IS_A_WEIRD_DELIMITER_789");
+}
+
+TEST(vectorToString, DoublesWithLargeBandwidthAndCustomDelimiter_ReturnsElementsWithCustomDelimiter)
+{
+ // let see if compilers behave in the same way w.r.t std::to_string
+ ASSERT_THAT(openpass::utils::vector::to_string(std::vector<double>{1.23e-6, 1e-3, 1, 1000.00001, 1.23e6}, " ### "), "1.23e-06 ### 0.001 ### 1 ### 1000 ### 1.23e+06");
+}
diff --git a/OpenPass_Test/unitTests/Components/AlgorithmAEB/AlgorithmAebOSIUnitTests.h b/OpenPass_Test/unitTests/Components/AlgorithmAEB/AlgorithmAebOSIUnitTests.h
index 2dd0fe3ea6353a5ffdc435263b38588a41ebf0ce..e99957991737de0524cdfbf5bd18d1822a447fcf 100644
--- a/OpenPass_Test/unitTests/Components/AlgorithmAEB/AlgorithmAebOSIUnitTests.h
+++ b/OpenPass_Test/unitTests/Components/AlgorithmAEB/AlgorithmAebOSIUnitTests.h
@@ -8,17 +8,15 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
-
+#include "algorithm_autonomousEmergencyBrakingImplementation.h"
#include "fakeAgent.h"
-#include "fakeObservation.h"
#include "fakeParameter.h"
+#include "fakePublisher.h"
#include "fakeStochastics.h"
#include "fakeWorld.h"
#include "fakeWorldObject.h"
-#include "Interfaces/observationInterface.h"
-#include "algorithm_autonomousEmergencyBrakingImplementation.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
using ::testing::NiceMock;
@@ -32,10 +30,10 @@ public:
delete implementation;
}
- void SetEgoValues (double velocity, double acceleration, double yawRate);
+ void SetEgoValues(double velocity, double acceleration, double yawRate);
- AlgorithmAutonomousEmergencyBrakingImplementation* implementation;
+ AlgorithmAutonomousEmergencyBrakingImplementation *implementation;
NiceMock<FakeWorld> fakeWorldInterface;
NiceMock<FakeAgent> fakeEgoAgent;
- NiceMock<FakeObservation> fakeObservation;
+ NiceMock<FakePublisher> fakePublisher;
};
diff --git a/OpenPass_Test/unitTests/Components/AlgorithmAEB/AlgorithmAeb_Tests.cpp b/OpenPass_Test/unitTests/Components/AlgorithmAEB/AlgorithmAeb_Tests.cpp
index e7978cd5decb85676953ee5bc17f8cd743ed21bb..d6aa7fc59a453da16320334d1146b7d80664de97 100644
--- a/OpenPass_Test/unitTests/Components/AlgorithmAEB/AlgorithmAeb_Tests.cpp
+++ b/OpenPass_Test/unitTests/Components/AlgorithmAEB/AlgorithmAeb_Tests.cpp
@@ -10,22 +10,18 @@
#include <cmath>
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
-
-#include "fakeAgent.h"
-#include "fakeObservation.h"
-#include "fakeWorldObject.h"
-#include "fakeParameter.h"
-
#include "AlgorithmAebOSIUnitTests.h"
#include "algorithm_autonomousEmergencyBrakingImplementation.h"
-
+#include "fakeAgent.h"
+#include "fakeParameter.h"
+#include "fakeWorldObject.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
using ::testing::_;
+using ::testing::NiceMock;
using ::testing::Return;
using ::testing::ReturnRef;
-using ::testing::NiceMock;
TEST_F(AlgorithmAutonomousEmergencyBraking_UnitTest, ActualTTCLessThanBrakeTTCWithStationaryObject_ShouldActivateAEB)
{
@@ -92,27 +88,24 @@ TEST_F(AlgorithmAutonomousEmergencyBraking_UnitTest, ActualTTCMoreThanBrakeTTC_S
AlgorithmAutonomousEmergencyBraking_UnitTest::AlgorithmAutonomousEmergencyBraking_UnitTest()
{
- std::map<std::string, int> intParametersSensorLink = { { "SensorId", 0 } } ;
- std::map<std::string, const std::string> stringParametersSensorLink = { { "InputId", "Camera" } } ;
+ std::map<std::string, int> intParametersSensorLink = {{"SensorId", 0}};
+ std::map<std::string, const std::string> stringParametersSensorLink = {{"InputId", "Camera"}};
auto sensorLink = std::make_shared<NiceMock<FakeParameter>>();
ON_CALL(*sensorLink, GetParametersString()).WillByDefault(ReturnRef(stringParametersSensorLink));
ON_CALL(*sensorLink, GetParametersInt()).WillByDefault(ReturnRef(intParametersSensorLink));
std::map<std::string, ParameterInterface::ParameterLists> parameterLists =
- {
- {"SensorLinks", {sensorLink} }
- };
+ {
+ {"SensorLinks", {sensorLink}}};
- std::map<std::string, double> doubleParameters = { { "TTC", 4.0 },
- { "Acceleration", -4 },
- { "CollisionDetectionLateralBoundary", 0.0 },
- { "CollisionDetectionLongitudinalBoundary", 0.0 } };
+ std::map<std::string, double> doubleParameters = {{"TTC", 4.0},
+ {"Acceleration", -4},
+ {"CollisionDetectionLateralBoundary", 0.0},
+ {"CollisionDetectionLongitudinalBoundary", 0.0}};
auto aebParameters = std::make_shared<NiceMock<FakeParameter>>();
ON_CALL(*aebParameters, GetParameterLists()).WillByDefault(ReturnRef(parameterLists));
ON_CALL(*aebParameters, GetParametersDouble()).WillByDefault(ReturnRef(doubleParameters));
- const std::map<int, ObservationInterface*> fakeObservationMap = {{0, &fakeObservation}};
-
ON_CALL(fakeEgoAgent, GetLength()).WillByDefault(Return(2.0));
ON_CALL(fakeEgoAgent, GetWidth()).WillByDefault(Return(1.0));
ON_CALL(fakeEgoAgent, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1.0));
@@ -127,7 +120,7 @@ AlgorithmAutonomousEmergencyBraking_UnitTest::AlgorithmAutonomousEmergencyBrakin
fakeCycleTime,
nullptr,
aebParameters.get(),
- &fakeObservationMap,
+ &fakePublisher,
nullptr,
&fakeEgoAgent);
}
diff --git a/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testAlgorithmLateralImplementation.h b/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testAlgorithmLateralImplementation.h
index dc1f67465301331c2c669a92b12edc0980457544..f746863effd806ca8031c5ba092a7dde2e0701af 100644
--- a/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testAlgorithmLateralImplementation.h
+++ b/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testAlgorithmLateralImplementation.h
@@ -18,8 +18,8 @@
#include "fakeStochastics.h"
#include "fakeParameter.h"
#include "fakeAgent.h"
-#include "fakeObservation.h"
#include "algorithm_lateralImplementation.h"
+#include "fakePublisher.h"
/**********************************************************/
// Define fake classes necessary for testing
@@ -37,7 +37,7 @@ public:
int cycleTime,
StochasticsInterface* stochastics,
const ParameterInterface* parameters,
- const std::map<int, ObservationInterface*> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface* callbacks,
AgentInterface* agent) :
AlgorithmLateralImplementation(
@@ -49,7 +49,7 @@ public:
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent){}
diff --git a/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testResourceManager.cpp b/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testResourceManager.cpp
index 715d564bd6d8dddfec0b260500019b43ae14585d..22e59eade4464c388cb1fa227592aab5b1c1a817 100644
--- a/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testResourceManager.cpp
+++ b/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testResourceManager.cpp
@@ -25,8 +25,7 @@ TestResourceManager::TestResourceManager()
fakeStochasticsInterface = new testing::NiceMock<FakeStochastics>();
fakeParameters = new testing::NiceMock<FakeParameter>();
fakeAgent = new FakeAgent;
- stubObservation = new testing::NiceMock<FakeObservation>;
- stubObservations = new std::map<int, ObservationInterface*>({{0, stubObservation}});
+ fakePublisher = new testing::NiceMock<FakePublisher>;
CallbackInterface* callbacks = nullptr;
std::map<std::string, int> intParameters {{"DebugLoggingType", 0}, {"SensorModelType", 0}};
@@ -43,7 +42,7 @@ TestResourceManager::TestResourceManager()
100,
fakeStochasticsInterface,
fakeParameters,
- stubObservations,
+ fakePublisher,
callbacks,
fakeAgent);
}
@@ -65,15 +64,10 @@ TestResourceManager::~TestResourceManager()
delete fakeAgent;
fakeAgent = nullptr;
}
- if (stubObservation)
+ if (fakePublisher)
{
- delete stubObservation;
- stubObservation = nullptr;
- }
- if (stubObservations)
- {
- delete stubObservations;
- stubObservations = nullptr;
+ delete fakePublisher;
+ fakePublisher = nullptr;
}
if (stubLateralDriver)
{
diff --git a/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testResourceManager.h b/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testResourceManager.h
index 3e438776cc2570169c44694c9df43188e72bed44..91c7ddfc1529a29e11c96414275515b93afc280f 100644
--- a/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testResourceManager.h
+++ b/OpenPass_Test/unitTests/Components/Algorithm_Lateral/testResourceManager.h
@@ -27,6 +27,5 @@ private:
FakeStochastics* fakeStochasticsInterface{nullptr};
FakeParameter* fakeParameters{nullptr};
FakeAgent* fakeAgent;
- FakeObservation* stubObservation{nullptr};
- const std::map<int, ObservationInterface*>* stubObservations{nullptr};
+ FakePublisher* fakePublisher{nullptr};
};
diff --git a/OpenPass_Test/unitTests/Components/Dynamics_TrajectoryFollower/trajectoryTester.cpp b/OpenPass_Test/unitTests/Components/Dynamics_TrajectoryFollower/trajectoryTester.cpp
index 9c29f535de6a72834c7ade3f9422d9ab9c1b964e..6ca283357f92b5485dc978bc3a13d3bec5404b19 100644
--- a/OpenPass_Test/unitTests/Components/Dynamics_TrajectoryFollower/trajectoryTester.cpp
+++ b/OpenPass_Test/unitTests/Components/Dynamics_TrajectoryFollower/trajectoryTester.cpp
@@ -18,44 +18,18 @@ TrajectoryTester::TrajectoryTester(const int cycleTime)
ON_CALL(fakeAgent, GetId()).WillByDefault(Return(1));
trajectoryFollower = std::make_shared<TrajectoryFollowerImplementation>(
- "trajectoryFollower",
- false,
- DontCare<int>(),
- DontCare<int>(),
- DontCare<int>(),
- cycleTime,
- nullptr,
- nullptr,
- &fakeParameters,
- &fakeObservations,
- nullptr,
- &fakeAgent,
- &fakeEventNetwork);
-}
-
-TrajectoryTester::TrajectoryTester(const int cycleTime,
- SimulationSlave::EventNetworkInterface * eventNetwork)
-{
- fakeBools.insert({"EnforceTrajectory", DontCare<bool>});
- fakeBools.insert({"AutomaticDeactivation", DontCare<bool>});
- ON_CALL(fakeParameters, GetParametersBool()).WillByDefault(ReturnRef(fakeBools));
-
- ON_CALL(fakeAgent, GetId()).WillByDefault(Return(1));
-
- trajectoryFollower = std::make_shared<TrajectoryFollowerImplementation>(
- "trajectoryFollower",
- false,
- DontCare<int>(),
- DontCare<int>(),
- DontCare<int>(),
- cycleTime,
- nullptr,
- nullptr,
- &fakeParameters,
- &fakeObservations,
- nullptr,
- &fakeAgent,
- eventNetwork);
+ "trajectoryFollower",
+ false,
+ DontCare<int>(),
+ DontCare<int>(),
+ DontCare<int>(),
+ cycleTime,
+ nullptr,
+ nullptr,
+ &fakeParameters,
+ &fakePublisher,
+ nullptr,
+ &fakeAgent);
}
TrajectoryTester::TrajectoryTester(const bool enforceTrajectory, const bool automaticDeactivation, const int cycleTime)
@@ -67,19 +41,18 @@ TrajectoryTester::TrajectoryTester(const bool enforceTrajectory, const bool auto
ON_CALL(fakeAgent, GetId()).WillByDefault(Return(1));
trajectoryFollower = std::make_shared<TrajectoryFollowerImplementation>(
- "trajectoryFollower",
- false,
- DontCare<int>(),
- DontCare<int>(),
- DontCare<int>(),
- cycleTime,
- nullptr,
- nullptr,
- &fakeParameters,
- &fakeObservations,
- nullptr,
- &fakeAgent,
- &fakeEventNetwork);
+ "trajectoryFollower",
+ false,
+ DontCare<int>(),
+ DontCare<int>(),
+ DontCare<int>(),
+ cycleTime,
+ nullptr,
+ nullptr,
+ &fakeParameters,
+ &fakePublisher,
+ nullptr,
+ &fakeAgent);
}
TrajectoryTester::TrajectoryTester(const bool enforceTrajectory,
@@ -94,19 +67,18 @@ TrajectoryTester::TrajectoryTester(const bool enforceTrajectory,
ON_CALL(fakeAgent, GetId()).WillByDefault(Return(1));
trajectoryFollower = std::make_shared<TrajectoryFollowerImplementation>(
- "trajectoryFollower",
- false,
- DontCare<int>(),
- DontCare<int>(),
- DontCare<int>(),
- cycleTime,
- nullptr,
- fakeWorld,
- &fakeParameters,
- &fakeObservations,
- nullptr,
- &fakeAgent,
- &fakeEventNetwork);
+ "trajectoryFollower",
+ false,
+ DontCare<int>(),
+ DontCare<int>(),
+ DontCare<int>(),
+ cycleTime,
+ nullptr,
+ fakeWorld,
+ &fakeParameters,
+ &fakePublisher,
+ nullptr,
+ &fakeAgent);
}
TrajectoryTester::TrajectoryTester(const bool enforceTrajectory,
@@ -122,17 +94,16 @@ TrajectoryTester::TrajectoryTester(const bool enforceTrajectory,
ON_CALL(*fakeAgent, GetId()).WillByDefault(Return(1));
trajectoryFollower = std::make_shared<TrajectoryFollowerImplementation>(
- "trajectoryFollower",
- false,
- DontCare<int>(),
- DontCare<int>(),
- DontCare<int>(),
- cycleTime,
- nullptr,
- fakeWorld,
- &fakeParameters,
- &fakeObservations,
- nullptr,
- fakeAgent,
- &fakeEventNetwork);
+ "trajectoryFollower",
+ false,
+ DontCare<int>(),
+ DontCare<int>(),
+ DontCare<int>(),
+ cycleTime,
+ nullptr,
+ fakeWorld,
+ &fakeParameters,
+ &fakePublisher,
+ nullptr,
+ fakeAgent);
}
diff --git a/OpenPass_Test/unitTests/Components/Dynamics_TrajectoryFollower/trajectoryTester.h b/OpenPass_Test/unitTests/Components/Dynamics_TrajectoryFollower/trajectoryTester.h
index f24807881c1d9f94738788bcc85e9dfd5ac5ba99..6574636f5afa744c054ae22e414d972edfa91cad 100644
--- a/OpenPass_Test/unitTests/Components/Dynamics_TrajectoryFollower/trajectoryTester.h
+++ b/OpenPass_Test/unitTests/Components/Dynamics_TrajectoryFollower/trajectoryTester.h
@@ -13,11 +13,10 @@
#include "gmock/gmock.h"
#include "dontCare.h"
-#include "fakeEventNetwork.h"
+#include "fakePublisher.h"
#include "fakeParameter.h"
#include "fakeAgent.h"
#include "fakeWorld.h"
-#include "fakeObservation.h"
#include "trajectoryFollowerImplementation.h"
@@ -40,23 +39,17 @@ public:
EventContainer fakeActivatingEventContainer = {fakeEvent};
EventContainer fakeEmptyEventContainer = {};
- NiceMock<FakeEventNetwork> fakeEventNetwork;
+ NiceMock<FakePublisher> fakePublisher;
std::map<std::string, bool> fakeBools;
NiceMock<FakeParameter> fakeParameters;
NiceMock<FakeAgent> fakeAgent;
- NiceMock<FakeObservation> fakeObservation;
- std::map<int, ObservationInterface*> fakeObservations{{0, &fakeObservation}};
-
std::shared_ptr<TrajectoryFollowerImplementation> trajectoryFollower;
TrajectoryTester(const int cycleTime = 100);
- TrajectoryTester(const int cycleTime,
- SimulationSlave::EventNetworkInterface * eventNetwork);
-
TrajectoryTester(const bool enforceTrajectory,
const bool automaticDeactivation,
const int cycleTime = 100);
diff --git a/OpenPass_Test/unitTests/Components/Sensor_OSI/sensorOSI_Tests.cpp b/OpenPass_Test/unitTests/Components/Sensor_OSI/sensorOSI_Tests.cpp
index 4ad12ce1df2009d9f24f38de8608d9522c13b603..328c33a3e5b8c0b0800db828b21b3530a189bfba 100644
--- a/OpenPass_Test/unitTests/Components/Sensor_OSI/sensorOSI_Tests.cpp
+++ b/OpenPass_Test/unitTests/Components/Sensor_OSI/sensorOSI_Tests.cpp
@@ -14,7 +14,7 @@
#include "gmock/gmock.h"
#include "fakeAgent.h"
-#include "fakeObservation.h"
+#include "fakePublisher.h"
#include "fakeParameter.h"
#include "fakeStochastics.h"
#include "fakeWorld.h"
@@ -200,8 +200,6 @@ public:
fakeBools = {};
ON_CALL(fakeParameters, GetParametersBool()).WillByDefault(ReturnRef(fakeBools));
- observations = {{0, &fakeObservation}};
-
ON_CALL(fakeWorldInterface, GetWorldData()).WillByDefault(Return(&fakeWorldData));
}
@@ -209,14 +207,13 @@ public:
osi3::SensorView sensorView;
NiceMock<FakeStochastics> fakeStochastics;
NiceMock<FakeParameter> fakeParameters;
- NiceMock<FakeObservation> fakeObservation;
+ NiceMock<FakePublisher> fakePublisher;
NiceMock<FakeWorld> fakeWorldInterface;
NiceMock<OWL::Fakes::WorldData> fakeWorldData;
NiceMock<FakeAgent> fakeAgent;
std::map<std::string, double> fakeDoubles;
std::map<std::string, int> fakeInts;
std::map<std::string, bool> fakeBools;
- std::map<int, ObservationInterface*> observations;
};
void AddMovingObjectToSensorView (osi3::SensorView &sensorView, MovingObjectParameter &objectParameter)
@@ -277,7 +274,7 @@ TEST_P(DetectObjects, StoresSensorDataWithDetectedObjects)
&fakeStochastics,
&fakeWorldInterface,
&fakeParameters,
- &observations,
+ &fakePublisher,
nullptr,
&fakeAgent);
diff --git a/OpenPass_Test/unitTests/Components/Sensor_OSI/sensorOSI_Tests.h b/OpenPass_Test/unitTests/Components/Sensor_OSI/sensorOSI_Tests.h
index 4073671a8664fb95e881145817b624a338d33729..127c048c49be17d8c8f4eb64648ed321fae8fdc1 100644
--- a/OpenPass_Test/unitTests/Components/Sensor_OSI/sensorOSI_Tests.h
+++ b/OpenPass_Test/unitTests/Components/Sensor_OSI/sensorOSI_Tests.h
@@ -11,10 +11,8 @@
#include "gtest/gtest.h"
#include "fakeAgent.h"
-#include "fakeObservation.h"
#include "fakeWorld.h"
#include "fakeWorldObject.h"
-#include "Interfaces/observationInterface.h"
#include "fakeParameter.h"
#include "fakeStochastics.h"
@@ -34,7 +32,6 @@ public:
const polygon_t& GetBBByAgentId(size_t id);
SensorGeometric2D* sensor = nullptr;
- FakeObservation fakeObservation;
private:
::testing::NiceMock<FakeWorld> fakeWorldInterface;
@@ -53,8 +50,6 @@ private:
std::map<std::string, bool> fakeBools;
- std::map<int, ObservationInterface*> observations = { { 0, &fakeObservation } };
-
::testing::NiceMock<FakeAgent> fakeEgoAgent;
std::vector<const WorldObjectInterface*> fakeObjects;
std::vector<const polygon_t*> boundingBoxes;
diff --git a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/agentParser_Tests.cpp b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/agentParser_Tests.cpp
index 832453a7f1d619906f747d22ea033debadd0f74e..5002f8c5e9197afd6524d78c6515bd6c2301dbc5 100644
--- a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/agentParser_Tests.cpp
+++ b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/agentParser_Tests.cpp
@@ -8,21 +8,19 @@
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
-
-#include "fakeAgent.h"
-#include "fakeWorld.h"
-#include "fakeComponent.h"
-#include "fakeAgentBlueprint.h"
+#include <map>
-#include "schedulerTasks.h"
-#include "agentParser.h"
#include "Interfaces/componentInterface.h"
+#include "agentParser.h"
#include "channel.h"
#include "component.h"
-
-#include <map>
+#include "fakeAgent.h"
+#include "fakeAgentBlueprint.h"
+#include "fakeComponent.h"
+#include "fakeWorld.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+#include "schedulerTasks.h"
using ::testing::_;
using ::testing::Contains;
@@ -34,16 +32,7 @@ using ::testing::Return;
using ::testing::ReturnRef;
using namespace SimulationSlave;
-using namespace SimulationSlave::Scheduling;
-
-//class FakeTaskProvider : public TaskProviderInterface
-//{
-//public:
-// MOCK_CONST_METHOD1(GetTrigger, std::function<void(int)>(std::string));
-// MOCK_CONST_METHOD1(GetUpdateOutput, std::function<void(int)>(std::string));
-// MOCK_CONST_METHOD1(GetUpdateInput, std::function<void(int)>(std::string));
-//};
-
+using namespace openpass::scheduling;
TEST(AgentParser, RecurringComponent_IsParsed)
{
@@ -54,7 +43,7 @@ TEST(AgentParser, RecurringComponent_IsParsed)
Channel testChannel(1);
Component testTargetComponent("", &testAgent);
testChannel.AddTarget(&testTargetComponent, 0);
- std::map<int, Channel*> testChannels = {{0, &testChannel}};
+ std::map<int, Channel *> testChannels = {{0, &testChannel}};
auto fakeComponent = new NiceMock<FakeComponent>();
ON_CALL(*fakeComponent, GetPriority()).WillByDefault(Return(0));
@@ -91,7 +80,7 @@ TEST(AgentParser, ThreeRecurringComponents_AreParsed)
Channel testChannel(1);
Component testTargetComponent("", &testAgent);
testChannel.AddTarget(&testTargetComponent, 0);
- std::map<int, Channel*> testChannels = {{0, &testChannel}};
+ std::map<int, Channel *> testChannels = {{0, &testChannel}};
auto fakeComponent = new NiceMock<FakeComponent>();
ON_CALL(*fakeComponent, GetCycleTime()).WillByDefault(Return(100));
@@ -146,7 +135,7 @@ TEST(AgentParser, NonRecurringComponent_IsParsed)
Channel testChannel(1);
Component testTargetComponent("", &testAgent);
testChannel.AddTarget(&testTargetComponent, 0);
- std::map<int, Channel*> testChannels = {{0, &testChannel}};
+ std::map<int, Channel *> testChannels = {{0, &testChannel}};
auto fakeComponent = new NiceMock<FakeComponent>();
ON_CALL(*fakeComponent, GetPriority()).WillByDefault(Return(0));
@@ -182,7 +171,7 @@ TEST(AgentParser, MixedComponents_AreParsedWithRightTaskType)
Channel testChannel(1);
Component testTargetComponent("", &testAgent);
testChannel.AddTarget(&testTargetComponent, 0);
- std::map<int, Channel*> testChannels = {{0, &testChannel}};
+ std::map<int, Channel *> testChannels = {{0, &testChannel}};
auto fakeComponent = new NiceMock<FakeComponent>();
ON_CALL(*fakeComponent, GetCycleTime()).WillByDefault(Return(100));
diff --git a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/schedulerTasks_Tests.cpp b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/schedulerTasks_Tests.cpp
index 759f3a6bfa9236c1edf35f6a6c10989e6790c972..3abc7cdec523c0e50ed19b8313833b151d6f1987 100644
--- a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/schedulerTasks_Tests.cpp
+++ b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/schedulerTasks_Tests.cpp
@@ -1,25 +1,26 @@
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
+#define OPENPASS_TESTING_ON
-#include <list>
+#include <functional>
#include <iostream>
+#include <list>
#include <set>
-#include <functional>
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
#include "schedulerTasks.h"
using ::testing::_;
-using ::testing::Return;
-using ::testing::ReturnRef;
+using ::testing::ContainerEq;
+using ::testing::Contains;
using ::testing::Each;
-using ::testing::SizeIs;
+using ::testing::ElementsAre;
using ::testing::Eq;
using ::testing::Field;
-using ::testing::ContainerEq;
-using ::testing::ElementsAre;
-using ::testing::Contains;
+using ::testing::Return;
+using ::testing::ReturnRef;
+using ::testing::SizeIs;
-using namespace SimulationSlave::Scheduling;
+using namespace openpass::scheduling;
int currentTimestamp = 0;
@@ -40,12 +41,12 @@ TEST(Tasks_Test, AddedTask_FillTasksCorrect)
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
std::function<bool(void)> updateFunc = std::bind(&UpdateFunc, 0, std::ref(currentTimestamp));
- TriggerTaskItem firstTaskItem {0, 0, 50, 0, triggerFunc};
+ TriggerTaskItem firstTaskItem{0, 0, 50, 0, triggerFunc};
TriggerTaskItem secondTaskItem{0, 10, 0, 0, triggerFunc};
- UpdateTaskItem thirdTaskItem {0, 0, 100, 0, updateFunc};
- UpdateTaskItem fourthTaskItem {0, 0, 0, 0, updateFunc};
+ UpdateTaskItem thirdTaskItem{0, 0, 100, 0, updateFunc};
+ UpdateTaskItem fourthTaskItem{0, 0, 0, 0, updateFunc};
UpdateTaskItem fifthTaskItem{0, 10, 100, 0, updateFunc};
- UpdateTaskItem sixthTaskItem {0, 0, 100, 10, updateFunc};
+ UpdateTaskItem sixthTaskItem{0, 0, 100, 10, updateFunc};
Tasks testTasks;
testTasks.AddTask(firstTaskItem);
@@ -65,12 +66,12 @@ TEST(Tasks_Test, DeletedTasks_FilterTasksCorrect)
{
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
- TriggerTaskItem firstTaskItem {0, 0, 0, 0, triggerFunc};
+ TriggerTaskItem firstTaskItem{0, 0, 0, 0, triggerFunc};
TriggerTaskItem secondTaskItem{1, 10, 100, 0, triggerFunc};
- TriggerTaskItem thirdTaskItem {1, 0, 50, 0, triggerFunc};
+ TriggerTaskItem thirdTaskItem{1, 0, 50, 0, triggerFunc};
TriggerTaskItem fourthTaskItem{2, 10, 0, 0, triggerFunc};
- TriggerTaskItem fifthTaskItem {3, 0, 100, 0, triggerFunc};
- TriggerTaskItem sixthTaskItem {2, 0, 100, 10, triggerFunc};
+ TriggerTaskItem fifthTaskItem{3, 0, 100, 0, triggerFunc};
+ TriggerTaskItem sixthTaskItem{2, 0, 100, 10, triggerFunc};
Tasks testTasks;
testTasks.AddTask(firstTaskItem);
@@ -97,7 +98,7 @@ TEST(Tasks_Test, DeletedLastTasks_FilterTasksCorrect)
{
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
- TriggerTaskItem firstTaskItem {0, 0, 0, 0, triggerFunc};
+ TriggerTaskItem firstTaskItem{0, 0, 0, 0, triggerFunc};
TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
Tasks testTasks;
testTasks.AddTask(firstTaskItem);
@@ -115,9 +116,9 @@ TEST(SchedulerTasks_Test, ScheduleComponentTasks_UpdateScheduledTimestamps)
{
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
- TriggerTaskItem firstTaskItem {0, 0, 100, 10, triggerFunc};
- TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem thirdTaskItem {0, 0, 25, 0, triggerFunc};
+ TriggerTaskItem firstTaskItem{0, 0, 100, 10, triggerFunc};
+ TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem thirdTaskItem{0, 0, 25, 0, triggerFunc};
std::list<TaskItem> testTasks{firstTaskItem, secondTaskItem, thirdTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -133,10 +134,10 @@ TEST(SchedulerTasks_Test, ScheduleComponentTasksWithLargerValueThanUpperBound_Up
{
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
- TriggerTaskItem firstTaskItem {0, 0, 100, 10, triggerFunc};
- TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem thirdTaskItem {0, 0, 25, 0, triggerFunc};
- TriggerTaskItem fourthTaskItem{0, 10, 250, 0, triggerFunc};
+ TriggerTaskItem firstTaskItem{0, 0, 100, 10, triggerFunc};
+ TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem thirdTaskItem{0, 0, 25, 0, triggerFunc};
+ TriggerTaskItem fourthTaskItem{0, 10, 250, 0, triggerFunc};
std::list<TaskItem> testTasks{firstTaskItem, secondTaskItem, thirdTaskItem, fourthTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -152,9 +153,9 @@ TEST(SchedulerTasks_Test, ScheduleComponentTasksWithLargerDelayThanBound_UpdateS
{
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
- TriggerTaskItem firstTaskItem {0, 0, 100, 10, triggerFunc};
- TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem thirdTaskItem {0, 0, 50, 300, triggerFunc};
+ TriggerTaskItem firstTaskItem{0, 0, 100, 10, triggerFunc};
+ TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem thirdTaskItem{0, 0, 50, 300, triggerFunc};
std::list<TaskItem> testTasks{firstTaskItem, secondTaskItem, thirdTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -170,12 +171,12 @@ TEST(SchedulerTasks_Test, ScheduleComponentTasksWithMultipleLargerHorizons_Updat
{
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
- TriggerTaskItem firstTaskItem {0, 0, 100, 10, triggerFunc};
- TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem thirdTaskItem {0, 0, 250, 0, triggerFunc};
- TriggerTaskItem fourthTaskItem{0, 10, 250, 10, triggerFunc};
- TriggerTaskItem fifthTaskItem{0, 10, 300, 0, triggerFunc};
- TriggerTaskItem sixthTaskItem{0, 10, 400, 0, triggerFunc};
+ TriggerTaskItem firstTaskItem{0, 0, 100, 10, triggerFunc};
+ TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem thirdTaskItem{0, 0, 250, 0, triggerFunc};
+ TriggerTaskItem fourthTaskItem{0, 10, 250, 10, triggerFunc};
+ TriggerTaskItem fifthTaskItem{0, 10, 300, 0, triggerFunc};
+ TriggerTaskItem sixthTaskItem{0, 10, 400, 0, triggerFunc};
std::list<TaskItem> testTasks{firstTaskItem, secondTaskItem, thirdTaskItem, fourthTaskItem, fifthTaskItem, sixthTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -191,7 +192,7 @@ TEST(SchedulerTasks_Test, ScheduleComponentTasks_FillNonRecurringTasksCorrect)
{
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
- TriggerTaskItem firstTaskItem {0, 0, 0, 0, triggerFunc};
+ TriggerTaskItem firstTaskItem{0, 0, 0, 0, triggerFunc};
TriggerTaskItem secondTaskItem{0, 10, 0, 0, triggerFunc};
std::list<TaskItem> testTasks{firstTaskItem, secondTaskItem};
@@ -211,19 +212,19 @@ TEST(SchedulerTasks_Test, DeleteAgentTasks_FilterAllAffectedTasks)
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
std::function<bool(void)> updateFunc = std::bind(&UpdateFunc, 42, std::ref(currentTimestamp));
- UpdateTaskItem firstTaskItem {normalAgent, 0, 0, 0, updateFunc};
- TriggerTaskItem secondTaskItem{removeAgent, 10, 0, 0, triggerFunc};
+ UpdateTaskItem firstTaskItem{normalAgent, 0, 0, 0, updateFunc};
+ TriggerTaskItem secondTaskItem{removeAgent, 10, 0, 0, triggerFunc};
std::list<TaskItem> testTasksNonRecurring{firstTaskItem, secondTaskItem};
- TriggerTaskItem thirdTaskItem{removeAgent, 10, 100, 0, triggerFunc};
- TriggerTaskItem fourthTaskItem {removeAgent, 0, 50, 0, triggerFunc};
- UpdateTaskItem fifthTaskItem {normalAgent, 0, 100, 0, updateFunc};
- UpdateTaskItem sixthTaskItem {normalAgent, 0, 100, 10, updateFunc};
+ TriggerTaskItem thirdTaskItem{removeAgent, 10, 100, 0, triggerFunc};
+ TriggerTaskItem fourthTaskItem{removeAgent, 0, 50, 0, triggerFunc};
+ UpdateTaskItem fifthTaskItem{normalAgent, 0, 100, 0, updateFunc};
+ UpdateTaskItem sixthTaskItem{normalAgent, 0, 100, 10, updateFunc};
std::list<TaskItem> testTasksRecurring{thirdTaskItem, fourthTaskItem, fifthTaskItem, sixthTaskItem};
- ManipulatorTaskItem firstCommonTaskItem {100, triggerFunc};
+ ManipulatorTaskItem firstCommonTaskItem{100, triggerFunc};
EventDetectorTaskItem secondCommonTaskItem{100, triggerFunc};
- SpawningTaskItem thirdCommonTaskItem {100, triggerFunc};
+ SpawningTaskItem thirdCommonTaskItem{100, triggerFunc};
ObservationTaskItem fourthCommonTaskItem{100, triggerFunc};
std::list<TaskItem> testCommonTasks{firstCommonTaskItem, secondCommonTaskItem, thirdCommonTaskItem, fourthCommonTaskItem};
@@ -236,26 +237,23 @@ TEST(SchedulerTasks_Test, DeleteAgentTasks_FilterAllAffectedTasks)
std::multiset<TaskItem> recurringTasks = testSchedulerTasks.recurringTasks.tasks;
auto recurringIt = std::find_if(recurringTasks.begin(), recurringTasks.end(),
- [removeAgent](const TaskItem &TaskItem)
- {
- return removeAgent == TaskItem.agentId;
- });
+ [removeAgent](const TaskItem &TaskItem) {
+ return removeAgent == TaskItem.agentId;
+ });
ASSERT_TRUE(recurringIt == recurringTasks.end());
std::multiset<TaskItem> nonRecurringTasks = testSchedulerTasks.nonRecurringTasks.tasks;
auto nonRecurringIt = std::find_if(nonRecurringTasks.begin(), nonRecurringTasks.end(),
- [removeAgent](const TaskItem &TaskItem)
- {
- return removeAgent == TaskItem.agentId;
- });
+ [removeAgent](const TaskItem &TaskItem) {
+ return removeAgent == TaskItem.agentId;
+ });
ASSERT_TRUE(nonRecurringIt == nonRecurringTasks.end());
std::multiset<TaskItem> commonTasks = testSchedulerTasks.commonTasks.tasks;
auto commonIt = std::find_if(commonTasks.begin(), commonTasks.end(),
- [removeAgent](const TaskItem &TaskItem)
- {
- return removeAgent == TaskItem.agentId;
- });
+ [removeAgent](const TaskItem &TaskItem) {
+ return removeAgent == TaskItem.agentId;
+ });
ASSERT_TRUE(commonIt == commonTasks.end());
}
@@ -265,11 +263,11 @@ TEST(SchedulerTasks_Test, DeleteAgentTasks_CreateNewScheduledTimestamps)
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
std::function<bool(void)> updateFunc = std::bind(&UpdateFunc, 42, std::ref(currentTimestamp));
- UpdateTaskItem firstTaskItem{0, 0, 100, 0, updateFunc};
- TriggerTaskItem secondTaskItem{removeAgent,10, 25, 0, triggerFunc};
- UpdateTaskItem thirdTaskItem{0, 0, 100, 0, updateFunc};
- TriggerTaskItem fourthTaskItem{removeAgent,10, 100, 10, triggerFunc};
- UpdateTaskItem fifthtTaskItem{0, 0, 50, 0, updateFunc};
+ UpdateTaskItem firstTaskItem{0, 0, 100, 0, updateFunc};
+ TriggerTaskItem secondTaskItem{removeAgent, 10, 25, 0, triggerFunc};
+ UpdateTaskItem thirdTaskItem{0, 0, 100, 0, updateFunc};
+ TriggerTaskItem fourthTaskItem{removeAgent, 10, 100, 10, triggerFunc};
+ UpdateTaskItem fifthtTaskItem{0, 0, 50, 0, updateFunc};
TriggerTaskItem sixthTaskItem{removeAgent, 10, 10, 0, triggerFunc};
std::list<TaskItem> testTasks{firstTaskItem, secondTaskItem, thirdTaskItem, fourthTaskItem, fifthtTaskItem, sixthTaskItem};
@@ -289,10 +287,10 @@ TEST(SchedulerTasks_Test, ScheduleComponentTasks_FillRecurringTasksCorrect)
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
std::function<bool(void)> updateFunc = std::bind(&UpdateFunc, 42, std::ref(currentTimestamp));
- TriggerTaskItem firstTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem secondTaskItem {0, 0, 50, 0, triggerFunc};
- UpdateTaskItem thirdTaskItem {0, 0, 100, 0, updateFunc};
- UpdateTaskItem fourthTaskItem {0, 0, 100, 10, updateFunc};
+ TriggerTaskItem firstTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem secondTaskItem{0, 0, 50, 0, triggerFunc};
+ UpdateTaskItem thirdTaskItem{0, 0, 100, 0, updateFunc};
+ UpdateTaskItem fourthTaskItem{0, 0, 100, 10, updateFunc};
std::list<TaskItem> testTasks{firstTaskItem, secondTaskItem, thirdTaskItem, fourthTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -322,10 +320,10 @@ TEST(SchedulerTasks_Test, GetNextTimestamp_CreateNewScheduledTimestamps)
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
std::function<bool(void)> updateFunc = std::bind(&UpdateFunc, 42, std::ref(currentTimestamp));
- UpdateTaskItem firstTaskItem {0, 0, 50, 0, updateFunc};
- TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem thirdTaskItem {0, 0, 100, 10, triggerFunc};
- TriggerTaskItem fourthTaskItem{0, 10, 50, 0, triggerFunc};
+ UpdateTaskItem firstTaskItem{0, 0, 50, 0, updateFunc};
+ TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem thirdTaskItem{0, 0, 100, 10, triggerFunc};
+ TriggerTaskItem fourthTaskItem{0, 10, 50, 0, triggerFunc};
std::list<TaskItem> testTasks{firstTaskItem, secondTaskItem, thirdTaskItem, fourthTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -346,10 +344,10 @@ TEST(SchedulerTasks_Test, GetNextTimestampWithUnscheduledTimestamp_MakesCorrectS
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
std::function<bool(void)> updateFunc = std::bind(&UpdateFunc, 42, std::ref(currentTimestamp));
- UpdateTaskItem firstTaskItem {0, 0, 50, 0, updateFunc};
- TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem thirdTaskItem {0, 0, 100, 10, triggerFunc};
- TriggerTaskItem fourthTaskItem{0, 10, 50, 0, triggerFunc};
+ UpdateTaskItem firstTaskItem{0, 0, 50, 0, updateFunc};
+ TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem thirdTaskItem{0, 0, 100, 10, triggerFunc};
+ TriggerTaskItem fourthTaskItem{0, 10, 50, 0, triggerFunc};
std::list<TaskItem> testTasks{firstTaskItem, secondTaskItem, thirdTaskItem, fourthTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -368,14 +366,14 @@ TEST(SchedulerTasks_Test, GetAllCurrentTasks_DeliversFilteredTasks)
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
std::function<bool(void)> updateFunc = std::bind(&UpdateFunc, 42, std::ref(currentTimestamp));
- UpdateTaskItem firstTaskItem{0, 0, 0, 0, updateFunc};
- TriggerTaskItem secondTaskItem{0, 10, 0, 0, triggerFunc};
+ UpdateTaskItem firstTaskItem{0, 0, 0, 0, updateFunc};
+ TriggerTaskItem secondTaskItem{0, 10, 0, 0, triggerFunc};
std::list<TaskItem> testTasksNonRecurring{firstTaskItem, secondTaskItem};
- TriggerTaskItem thirdTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem fourthTaskItem{0, 0, 25, 0, triggerFunc};
- UpdateTaskItem fifthTaskItem{0, 0, 100, 20, updateFunc};
- UpdateTaskItem sixthTaskItem{0, 0, 100, 10, updateFunc};
+ TriggerTaskItem thirdTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem fourthTaskItem{0, 0, 25, 0, triggerFunc};
+ UpdateTaskItem fifthTaskItem{0, 0, 100, 20, updateFunc};
+ UpdateTaskItem sixthTaskItem{0, 0, 100, 10, updateFunc};
std::list<TaskItem> testTasksRecurring{thirdTaskItem, fourthTaskItem, fifthTaskItem, sixthTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -392,12 +390,12 @@ TEST(SchedulerTasks_Test, GetAllCurrentTasks_DeliversFilteredTasksOnSecondTimest
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
std::function<bool(void)> updateFunc = std::bind(&UpdateFunc, 42, std::ref(currentTimestamp));
- UpdateTaskItem firstTaskItem {0, 0, 50, 0, updateFunc};
- TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem thirdTaskItem {0, 0, 25, 0, triggerFunc};
- TriggerTaskItem fourthTaskItem{0, 10, 50, 0, triggerFunc};
- UpdateTaskItem fifthTaskItem {0, 0, 100, 20, updateFunc};
- UpdateTaskItem sixthTaskItem {0, 0, 100, 10, updateFunc};
+ UpdateTaskItem firstTaskItem{0, 0, 50, 0, updateFunc};
+ TriggerTaskItem secondTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem thirdTaskItem{0, 0, 25, 0, triggerFunc};
+ TriggerTaskItem fourthTaskItem{0, 10, 50, 0, triggerFunc};
+ UpdateTaskItem fifthTaskItem{0, 0, 100, 20, updateFunc};
+ UpdateTaskItem sixthTaskItem{0, 0, 100, 10, updateFunc};
std::list<TaskItem> testTasks{firstTaskItem, secondTaskItem, thirdTaskItem, fourthTaskItem, fifthTaskItem, sixthTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -415,14 +413,14 @@ TEST(SchedulerTasks_Test, GetAllCurrentTasksWithUnscheduledTimestamp_DeliversEmp
int unscheduledTimestamp = 1;
- UpdateTaskItem firstTaskItem{0, 0, 0, 0, updateFunc};
- TriggerTaskItem secondTaskItem{0, 10, 0, 0, triggerFunc};
+ UpdateTaskItem firstTaskItem{0, 0, 0, 0, updateFunc};
+ TriggerTaskItem secondTaskItem{0, 10, 0, 0, triggerFunc};
std::list<TaskItem> testTasksNonRecurring{firstTaskItem, secondTaskItem};
- TriggerTaskItem thirdTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem fourthTaskItem{0, 0, 25, 0, triggerFunc};
- UpdateTaskItem fifthTaskItem{0, 0, 100, 20, updateFunc};
- UpdateTaskItem sixthTaskItem{0, 0, 100, 10, updateFunc};
+ TriggerTaskItem thirdTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem fourthTaskItem{0, 0, 25, 0, triggerFunc};
+ UpdateTaskItem fifthTaskItem{0, 0, 100, 20, updateFunc};
+ UpdateTaskItem sixthTaskItem{0, 0, 100, 10, updateFunc};
std::list<TaskItem> testTasksRecurring{thirdTaskItem, fourthTaskItem, fifthTaskItem, sixthTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -438,14 +436,14 @@ TEST(SchedulerTasks_Test, GetAllCurrentTasksWithinFirstBoundaries_DeliversFilter
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
std::function<bool(void)> updateFunc = std::bind(&UpdateFunc, 42, std::ref(currentTimestamp));
- UpdateTaskItem firstTaskItem{0, 0, 0, 0, updateFunc};
- TriggerTaskItem secondTaskItem{0, 10, 0, 0, triggerFunc};
+ UpdateTaskItem firstTaskItem{0, 0, 0, 0, updateFunc};
+ TriggerTaskItem secondTaskItem{0, 10, 0, 0, triggerFunc};
std::list<TaskItem> testTasksNonRecurring{firstTaskItem, secondTaskItem};
- TriggerTaskItem thirdTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem fourthTaskItem{0, 0, 25, 0, triggerFunc};
- UpdateTaskItem fifthTaskItem{0, 0, 100, 20, updateFunc};
- UpdateTaskItem sixthTaskItem{0, 0, 100, 10, updateFunc};
+ TriggerTaskItem thirdTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem fourthTaskItem{0, 0, 25, 0, triggerFunc};
+ UpdateTaskItem fifthTaskItem{0, 0, 100, 20, updateFunc};
+ UpdateTaskItem sixthTaskItem{0, 0, 100, 10, updateFunc};
std::list<TaskItem> testTasksRecurring{thirdTaskItem, fourthTaskItem, fifthTaskItem, sixthTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -470,14 +468,14 @@ TEST(SchedulerTasks_Test, GetAllCurrentTasksWithTimestampHigherBound_DeliversFil
std::function<bool(void)> triggerFunc = std::bind(&TriggerFunc, std::ref(currentTimestamp));
std::function<bool(void)> updateFunc = std::bind(&UpdateFunc, 42, std::ref(currentTimestamp));
- UpdateTaskItem firstTaskItem{0, 0, 0, 0, updateFunc};
- TriggerTaskItem secondTaskItem{0, 10, 0, 0, triggerFunc};
+ UpdateTaskItem firstTaskItem{0, 0, 0, 0, updateFunc};
+ TriggerTaskItem secondTaskItem{0, 10, 0, 0, triggerFunc};
std::list<TaskItem> testTasksNonRecurring{firstTaskItem, secondTaskItem};
- TriggerTaskItem thirdTaskItem{0, 10, 100, 0, triggerFunc};
- TriggerTaskItem fourthTaskItem{0, 0, 25, 0, triggerFunc};
- UpdateTaskItem fifthTaskItem{0, 0, 100, 20, updateFunc};
- UpdateTaskItem sixthTaskItem{0, 0, 100, 10, updateFunc};
+ TriggerTaskItem thirdTaskItem{0, 10, 100, 0, triggerFunc};
+ TriggerTaskItem fourthTaskItem{0, 0, 25, 0, triggerFunc};
+ UpdateTaskItem fifthTaskItem{0, 0, 100, 20, updateFunc};
+ UpdateTaskItem sixthTaskItem{0, 0, 100, 10, updateFunc};
std::list<TaskItem> testTasksRecurring{thirdTaskItem, fourthTaskItem, fifthTaskItem, sixthTaskItem};
SchedulerTasks testSchedulerTasks(std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, std::list<TaskItem>{}, 200);
@@ -495,8 +493,8 @@ TEST(SchedulerTasks_Test, UpdateTasks_ListedInCorrectOrder)
{
std::function<bool(void)> updateFunc = std::bind(&UpdateFunc, 42, std::ref(currentTimestamp));
- UpdateTaskItem outputTaskItem{0, 0, 0, 0, updateFunc};
- UpdateTaskItem inputTaskItem{1, 0, 0, 0, updateFunc};
+ UpdateTaskItem outputTaskItem{0, 0, 0, 0, updateFunc};
+ UpdateTaskItem inputTaskItem{1, 0, 0, 0, updateFunc};
std::list<TaskItem> taskItems;
taskItems.push_back(outputTaskItem);
diff --git a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/scheduler_Tests.cpp b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/scheduler_Tests.cpp
index d54afc496125f22b5727d4bdbc2c31cf1f083d77..0488d380d7a8861ca8f4c84edb85fd347a5e7dcb 100644
--- a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/scheduler_Tests.cpp
+++ b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/scheduler_Tests.cpp
@@ -1,33 +1,31 @@
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
-
-#include <list>
+#include <functional>
#include <iostream>
+#include <list>
#include <set>
-#include <functional>
-#include "fakeWorld.h"
-#include "fakeSpawnPointNetwork.h"
+#include "eventDetector.h"
+#include "eventDetectorLibrary.h"
#include "fakeEventDetectorNetwork.h"
-#include "fakeManipulatorNetwork.h"
#include "fakeEventNetwork.h"
+#include "fakeManipulatorNetwork.h"
#include "fakeObservationNetwork.h"
-
-#include "eventDetector.h"
-#include "eventDetectorLibrary.h"
+#include "fakeSpawnPointNetwork.h"
+#include "fakeWorld.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
#include "scheduler.h"
#include "schedulerTasks.h"
-using namespace SimulationSlave::Scheduling;
+using namespace openpass::scheduling;
using testing::NiceMock;
-using testing::ReturnRef;
using testing::Return;
+using testing::ReturnRef;
-template<typename T>
+template <typename T>
void ExecuteTasks(T tasks)
{
- for(auto& task : tasks)
+ for (auto &task : tasks)
{
task.func();
}
@@ -72,7 +70,7 @@ TEST(DISABLED_Scheduler, RunWorks)
SimulationSlave::EventDetector e1(&fakeEventDetector, &edl);
SimulationSlave::EventDetector e2(&fakeEventDetector, &edl);
- std::vector<const SimulationSlave::EventDetector*> fakeEventDetectors;
+ std::vector<const SimulationSlave::EventDetector *> fakeEventDetectors;
fakeEventDetectors.push_back(&e1);
fakeEventDetectors.push_back(&e2);
diff --git a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/scheduler_Tests.pro b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/scheduler_Tests.pro
index b8655fa5cb108f1f2b9583116acf8ecdca36e2c2..a1087eb4d8bcfe9bdd570b2f212acd54da1c5cdf 100644
--- a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/scheduler_Tests.pro
+++ b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/scheduler_Tests.pro
@@ -60,4 +60,6 @@ SOURCES += \
taskBuilder_Tests.cpp \
schedulerTasks_Tests.cpp \
agentParser_Tests.cpp \
- scheduler_Tests.cpp
+ scheduler_Tests.cpp \
+ \ # unknown dependency (@reinhard)!
+ $$OPEN_PASS_SLAVE/framework/agentDataPublisher.cpp
diff --git a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/taskBuilder_Tests.cpp b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/taskBuilder_Tests.cpp
index 745feec9fe430cabf132ad15dc684c8d9e807c42..c14001757854e7933291a8941b908a505e775278 100644
--- a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/taskBuilder_Tests.cpp
+++ b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/Scheduler/taskBuilder_Tests.cpp
@@ -1,30 +1,28 @@
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
#include <vector>
#include "Interfaces/scenarioInterface.h"
-
+#include "eventDetector.h"
#include "fakeEventDetectorNetwork.h"
#include "fakeManipulatorNetwork.h"
#include "fakeSpawnPointNetwork.h"
#include "fakeWorld.h"
-#include "eventDetector.h"
-
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
#include "taskBuilder.h"
using ::testing::_;
-using ::testing::Invoke;
-using ::testing::Gt;
-using ::testing::SizeIs;
using ::testing::Contains;
-using ::testing::Not;
-using ::testing::Field;
using ::testing::Eq;
+using ::testing::Field;
+using ::testing::Gt;
+using ::testing::Invoke;
using ::testing::NiceMock;
+using ::testing::Not;
using ::testing::Return;
+using ::testing::SizeIs;
using namespace SimulationSlave;
-using namespace SimulationSlave::Scheduling;
+using namespace openpass::scheduling;
TEST(TaskBuilder, CommonTaskCreation_Works)
{
@@ -35,7 +33,7 @@ TEST(TaskBuilder, CommonTaskCreation_Works)
SimulationSlave::EventDetector e1(&fakeEventDetector, &edl);
SimulationSlave::EventDetector e2(&fakeEventDetector, &edl);
- std::vector<const SimulationSlave::EventDetector*> fakeEventDetectors;
+ std::vector<const SimulationSlave::EventDetector *> fakeEventDetectors;
fakeEventDetectors.push_back(&e1);
fakeEventDetectors.push_back(&e2);
diff --git a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/agentDataPublisher_Tests.cpp b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/agentDataPublisher_Tests.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..04bd4f8ad18c9608dc6f6fb7ea03d61ac93274ce
--- /dev/null
+++ b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/agentDataPublisher_Tests.cpp
@@ -0,0 +1,103 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#include "agentDataPublisher.h"
+#include "dontCare.h"
+#include "fakeCallback.h"
+#include "fakeDataStore.h"
+#include "fakeEventNetwork.h"
+#include "fakeParameter.h"
+#include "fakeStochastics.h"
+#include "fakeWorld.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+#include "scheduler/timeKeeper.h"
+
+using ::testing::_;
+using ::testing::DontCare;
+using ::testing::NiceMock;
+using ::testing::NotNull;
+using ::testing::Return;
+using ::testing::ReturnRef;
+
+using namespace openpass::datastore;
+using namespace openpass::publisher;
+using namespace openpass::type;
+
+struct TimeManipulatior : public openpass::scheduling::TimeKeeper
+{
+ static void Set(int faketime)
+ {
+ time = faketime;
+ }
+};
+
+TEST(AgentDataPublisher, CallingPublish_ForwardsParametersToDataStore)
+{
+ FakeDataStore fakeDataStore;
+
+ const Timestamp timestamp = 3;
+ const EntityId agentId = 1;
+ const Key key = "theKey";
+ const Value value = 2;
+
+ auto adp = std::make_unique<AgentDataPublisher>(&fakeDataStore, agentId);
+
+ TimeManipulatior::Set(timestamp);
+ EXPECT_CALL(fakeDataStore, PutCyclic(timestamp, agentId, key, value));
+
+ ASSERT_THAT(adp, NotNull());
+
+ adp->Publish(key, value);
+}
+
+TEST(AgentDataPublisher, UpdatedScheulderTime_IsAccessibleByPublisher)
+{
+ FakeDataStore fakeDataStore;
+
+ const EntityId agentId = 1;
+ const Key key = "theKey";
+ const Value value = 2;
+ const Timestamp timestep1 = 1;
+ const Timestamp timestep2 = 2;
+
+ auto adp = std::make_unique<AgentDataPublisher>(&fakeDataStore, agentId);
+
+ EXPECT_CALL(fakeDataStore, PutCyclic(timestep1, _, _, _));
+ EXPECT_CALL(fakeDataStore, PutCyclic(timestep2, _, _, _));
+
+ ASSERT_THAT(adp, NotNull());
+
+ TimeManipulatior::Set(timestep1);
+ adp->Publish(key, value);
+
+ TimeManipulatior::Set(timestep2);
+ adp->Publish(key, value);
+}
+
+TEST(AgentDataPublisher, PublishingSameTimestampTwice_Succeeds)
+{
+ FakeDataStore fakeDataStore;
+
+ const EntityId agentId = 1;
+ const Key key = "theKey";
+ const Value value = 2;
+ const Timestamp timestep = 1;
+
+ auto adp = std::make_unique<AgentDataPublisher>(&fakeDataStore, agentId);
+
+ EXPECT_CALL(fakeDataStore, PutCyclic(timestep, _, _, _)).Times(2);
+
+ ASSERT_THAT(adp, NotNull());
+
+ TimeManipulatior::Set(timestep);
+ ASSERT_NO_THROW(adp->Publish(key, value));
+ ASSERT_NO_THROW(adp->Publish(key, value));
+}
diff --git a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/eventNetwork_Tests.cpp b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/eventNetwork_Tests.cpp
index 96810fd3094bb6deac609fad4eded0e8121dcf17..9f802ad217b818eaec29f662bba8a6b15271e96f 100644
--- a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/eventNetwork_Tests.cpp
+++ b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/eventNetwork_Tests.cpp
@@ -1,5 +1,5 @@
/*******************************************************************************
-* Copyright (c) 2019 in-tech GmbH
+* Copyright (c) 2019, 2020 in-tech GmbH
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -7,175 +7,171 @@
*
* SPDX-License-Identifier: EPL-2.0
*******************************************************************************/
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
-
#include "eventNetwork.h"
-
+#include "fakeDataStore.h"
#include "fakeEvent.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+using ::testing::_;
+using ::testing::IsEmpty;
using ::testing::Ne;
using ::testing::NiceMock;
using ::testing::Return;
using ::testing::SizeIs;
-TEST(EventNetwork_UnitTests, InsertEventInNotExistingCategory)
+TEST(DISABLED_EventNetwork, InsertEvent_LogsEvent)
{
- auto fakeEvent = std::make_shared<NiceMock<FakeEvent>>();
- EXPECT_CALL(*fakeEvent, GetCategory()).Times(1).WillOnce(Return(EventDefinitions::EventCategory::Conditional));
+ NiceMock<FakeDataStore> mockDataStore;
- SimulationSlave::EventNetwork eventNetwork;
+ std::vector<int> setOf3Ids{1, 2, 3};
+ std::vector<int> setOf2Ids{4, 5};
+ auto fakeEvent1 = std::make_shared<BasicEvent>(100, "test_event_1", "dont_care", setOf3Ids, setOf2Ids);
+ auto fakeEvent2 = std::make_shared<BasicEvent>(200, "test_event_2", "dont_care", setOf2Ids, setOf3Ids);
- eventNetwork.InsertEvent(fakeEvent);
+ SimulationSlave::EventNetwork eventNetwork(&mockDataStore);
- std::list<std::shared_ptr<EventInterface>> resultAgentBasedEventList =
- eventNetwork.GetActiveEvents()->at(EventDefinitions::EventCategory::Conditional);
+ eventNetwork.InsertEvent(fakeEvent1);
+ eventNetwork.InsertEvent(fakeEvent2);
- ASSERT_EQ(resultAgentBasedEventList.size(), size_t(1));
+ EXPECT_CALL(mockDataStore, PutAcyclic(_, _, _, _)).Times(2);
}
-TEST(EventNetwork_UnitTests, InsertEventInExistingCategory)
+TEST(EventNetwork, GetCategoryWithoutEvent_IsEmpty)
{
- auto fakeEvent = std::make_shared<NiceMock<FakeEvent>>();
- EXPECT_CALL(*fakeEvent, GetCategory()).Times(1).WillOnce(Return(EventDefinitions::EventCategory::Conditional));
-
- std::list<std::shared_ptr<EventInterface>> fakeAgentBasedEventList;
- fakeAgentBasedEventList.push_back(fakeEvent);
-
- Events fakeEvents{{EventDefinitions::EventCategory::Conditional, fakeAgentBasedEventList}};
-
- SimulationSlave::EventNetwork eventNetwork;
- *(eventNetwork.GetActiveEvents()) = fakeEvents;
-
- eventNetwork.InsertEvent(fakeEvent);
-
- std::list<std::shared_ptr<EventInterface>> resultAgentBasedEventList =
- eventNetwork.GetActiveEvents()->at(EventDefinitions::EventCategory::Conditional);
+ NiceMock<FakeDataStore> fds;
+ SimulationSlave::EventNetwork eventNetwork(&fds);
+ ASSERT_THAT(eventNetwork.GetActiveEventCategory(EventDefinitions::EventCategory::OpenSCENARIO), IsEmpty());
+}
- ASSERT_EQ(resultAgentBasedEventList.size(), size_t(2));
+std::shared_ptr<EventInterface> GENERATE_FAKE_CONDITIONAL_EVENT()
+{
+ return std::make_shared<ConditionalEvent>(0, "dont_care", "dont_care", std::vector<int>{}, std::vector<int>{});
}
-TEST(EventNetwork_UnitTests, GetActiveEventCategoryWithOneExisting)
+TEST(EventNetwork, InsertEventOnEmptyNetwork_AddsToNewCategory)
{
- auto fakeEvent = std::make_shared<FakeEvent>();
+ NiceMock<FakeDataStore> fds;
+ SimulationSlave::EventNetwork eventNetwork(&fds);
- EventContainer fakeEventList;
- fakeEventList.push_back(fakeEvent);
+ eventNetwork.InsertEvent(GENERATE_FAKE_CONDITIONAL_EVENT());
+ ASSERT_THAT(eventNetwork.GetActiveEvents()->at(EventDefinitions::EventCategory::OpenSCENARIO), SizeIs(1));
+}
- Events fakeEvents {{EventDefinitions::EventCategory::Conditional, fakeEventList}};
+TEST(EventNetwork, InsertEventOfAlreadyAddedCategory_AddsToExistingCategory)
+{
+ NiceMock<FakeDataStore> fds;
+ SimulationSlave::EventNetwork eventNetwork(&fds);
- SimulationSlave::EventNetwork eventNetwork;
- *(eventNetwork.GetActiveEvents()) = fakeEvents;
+ eventNetwork.GetActiveEvents()->insert({EventDefinitions::EventCategory::OpenSCENARIO, {GENERATE_FAKE_CONDITIONAL_EVENT()}});
- EventContainer resultEventList = eventNetwork.GetActiveEventCategory(EventDefinitions::EventCategory::Conditional);
+ eventNetwork.InsertEvent(GENERATE_FAKE_CONDITIONAL_EVENT());
- ASSERT_THAT(resultEventList, SizeIs(Ne(0)));
+ ASSERT_THAT(eventNetwork.GetActiveEvents()->at(EventDefinitions::EventCategory::OpenSCENARIO), SizeIs(2));
}
-TEST(EventNetwork_UnitTests, GetActiveEventCategoryWithoutExisting)
+TEST(EventNetwork, InsertEventOnNewCategory_AddsToNewCategory)
{
- EventContainer fakeEventList;
- Events fakeEvents {{EventDefinitions::EventCategory::Basic, fakeEventList}};
+ NiceMock<FakeDataStore> fds;
+ SimulationSlave::EventNetwork eventNetwork(&fds);
- SimulationSlave::EventNetwork eventNetwork;
- *(eventNetwork.GetActiveEvents()) = fakeEvents;
+ eventNetwork.GetActiveEvents()->insert({EventDefinitions::EventCategory::Basic,
+ {std::make_shared<BasicEvent>(0, "dont_care", "dont_care")}});
- EventContainer resultEventList = eventNetwork.GetActiveEventCategory(EventDefinitions::EventCategory::Conditional);
+ eventNetwork.InsertEvent(GENERATE_FAKE_CONDITIONAL_EVENT());
- ASSERT_THAT(resultEventList, SizeIs(0));
+ ASSERT_THAT(eventNetwork.GetActiveEvents()->at(EventDefinitions::EventCategory::Basic), SizeIs(1));
+ ASSERT_THAT(eventNetwork.GetActiveEvents()->at(EventDefinitions::EventCategory::OpenSCENARIO), SizeIs(1));
}
-TEST(EventNetwork_UnitTests, RemoveOldEventsWithTwoOldEventsOfTheSameCategory)
+TEST(EventNetwork, RemoveOldEventsWithTwoOldEventsOfTheSameCategory)
{
int actualTime = 3;
auto fakeEvent = std::make_shared<NiceMock<FakeEvent>>();
- EXPECT_CALL(*fakeEvent, GetEventTime()).Times(3)
- .WillOnce(Return(1))
- .WillOnce(Return(2))
- .WillOnce(Return(actualTime));
+ EXPECT_CALL(*fakeEvent, GetEventTime()).Times(3).WillOnce(Return(1)).WillOnce(Return(2)).WillOnce(Return(actualTime));
EventContainer fakeConditionalEvents;
fakeConditionalEvents.push_back(fakeEvent);
fakeConditionalEvents.push_back(fakeEvent);
fakeConditionalEvents.push_back(fakeEvent);
- Events fakeEvents {{EventDefinitions::EventCategory::Conditional, fakeConditionalEvents}};
+ Events fakeEvents{{EventDefinitions::EventCategory::OpenSCENARIO, fakeConditionalEvents}};
+
+ NiceMock<FakeDataStore> fds;
+ SimulationSlave::EventNetwork eventNetwork(&fds);
- SimulationSlave::EventNetwork eventNetwork;
*(eventNetwork.GetArchivedEvents()) = fakeEvents;
eventNetwork.RemoveOldEvents(actualTime);
- EventContainer resultEventList = eventNetwork.GetArchivedEvents()->at(EventDefinitions::EventCategory::Conditional);
+ EventContainer resultEventList = eventNetwork.GetArchivedEvents()->at(EventDefinitions::EventCategory::OpenSCENARIO);
ASSERT_THAT(resultEventList, SizeIs(1));
}
-TEST(EventNetwork_UnitTests, RemoveOldEventsWithTwoOldEventsOfDifferentCategories)
+TEST(EventNetwork, RemoveOldEventsWithTwoOldEventsOfDifferentCategories)
{
int actualTime = 2;
auto fakeEventFirst = std::make_shared<NiceMock<FakeEvent>>();
- EXPECT_CALL(*fakeEventFirst, GetEventTime()).Times(2)
- .WillOnce(Return(1))
- .WillOnce(Return(actualTime));
+ EXPECT_CALL(*fakeEventFirst, GetEventTime()).Times(2).WillOnce(Return(1)).WillOnce(Return(actualTime));
EventContainer fakeConditionalEvents;
fakeConditionalEvents.push_back(fakeEventFirst);
fakeConditionalEvents.push_back(fakeEventFirst);
auto fakeEventSecond = std::make_shared<NiceMock<FakeEvent>>();
- EXPECT_CALL(*fakeEventSecond, GetEventTime()).Times(2)
- .WillOnce(Return(1))
- .WillOnce(Return(actualTime));
+ EXPECT_CALL(*fakeEventSecond, GetEventTime()).Times(2).WillOnce(Return(1)).WillOnce(Return(actualTime));
EventContainer fakeBasicEvents;
fakeBasicEvents.push_back(fakeEventSecond);
fakeBasicEvents.push_back(fakeEventSecond);
- Events fakeEvents {{EventDefinitions::EventCategory::Conditional, fakeConditionalEvents},
- {EventDefinitions::EventCategory::Basic, fakeBasicEvents}};
+ Events fakeEvents{{EventDefinitions::EventCategory::OpenSCENARIO, fakeConditionalEvents},
+ {EventDefinitions::EventCategory::Basic, fakeBasicEvents}};
+
+ NiceMock<FakeDataStore> fds;
+ SimulationSlave::EventNetwork eventNetwork(&fds);
- SimulationSlave::EventNetwork eventNetwork;
*(eventNetwork.GetArchivedEvents()) = fakeEvents;
eventNetwork.RemoveOldEvents(actualTime);
- EventContainer conditionalEvents = eventNetwork.GetArchivedEvents()->at(EventDefinitions::EventCategory::Conditional);
+ EventContainer conditionalEvents = eventNetwork.GetArchivedEvents()->at(EventDefinitions::EventCategory::OpenSCENARIO);
EventContainer basicEvents = eventNetwork.GetArchivedEvents()->at(EventDefinitions::EventCategory::Basic);
ASSERT_THAT(conditionalEvents, SizeIs(1));
ASSERT_THAT(basicEvents, SizeIs(1));
}
-TEST(EventNetwork_UnitTests, RemoveOldEventsWithNoOldEvents)
+TEST(EventNetwork, RemoveOldEventsWithNoOldEvents)
{
int actualTime = 2;
auto fakeEventFirst = std::make_shared<NiceMock<FakeEvent>>();
- EXPECT_CALL(*fakeEventFirst, GetEventTime()).Times(1)
- .WillOnce(Return(actualTime));
+ EXPECT_CALL(*fakeEventFirst, GetEventTime()).Times(1).WillOnce(Return(actualTime));
EventContainer fakeConditionalEvents;
fakeConditionalEvents.push_back(fakeEventFirst);
auto fakeEventSecond = std::make_shared<NiceMock<FakeEvent>>();
- EXPECT_CALL(*fakeEventSecond, GetEventTime()).Times(1)
- .WillOnce(Return(actualTime));
+ EXPECT_CALL(*fakeEventSecond, GetEventTime()).Times(1).WillOnce(Return(actualTime));
EventContainer fakeBasicEvents;
fakeBasicEvents.push_back(fakeEventSecond);
- Events fakeEvents {{EventDefinitions::EventCategory::Conditional, fakeConditionalEvents},
- {EventDefinitions::EventCategory::Basic, fakeBasicEvents}};
+ Events fakeEvents{{EventDefinitions::EventCategory::OpenSCENARIO, fakeConditionalEvents},
+ {EventDefinitions::EventCategory::Basic, fakeBasicEvents}};
+
+ NiceMock<FakeDataStore> fds;
+ SimulationSlave::EventNetwork eventNetwork(&fds);
- SimulationSlave::EventNetwork eventNetwork;
*(eventNetwork.GetArchivedEvents()) = fakeEvents;
eventNetwork.RemoveOldEvents(actualTime);
- EventContainer conditionalEvents = eventNetwork.GetArchivedEvents()->at(EventDefinitions::EventCategory::Conditional);
+ EventContainer conditionalEvents = eventNetwork.GetArchivedEvents()->at(EventDefinitions::EventCategory::OpenSCENARIO);
EventContainer basicEvents = eventNetwork.GetArchivedEvents()->at(EventDefinitions::EventCategory::Basic);
ASSERT_THAT(conditionalEvents, SizeIs(1));
diff --git a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/openPassSlave_Tests.pro b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/openPassSlave_Tests.pro
index 642742307df2afc0fa178b537ed181196642db3c..8ba32cb7625ca0bb8fd4d32d670bb842217322b5 100644
--- a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/openPassSlave_Tests.pro
+++ b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/openPassSlave_Tests.pro
@@ -73,6 +73,7 @@ VEHICLEMODELIMPORTER_TESTS = \
EVENTDETECTOR_TESTS = \
$$UNIT_UNDER_TEST/importer/eventDetectorImporter.cpp \
$$UNIT_UNDER_TEST/framework/eventNetwork.cpp \
+ $$UNIT_UNDER_TEST/framework/eventNetworkDataPublisher.cpp \
\
eventNetwork_Tests.cpp
@@ -118,6 +119,11 @@ DIRECTORIES_TESTS = \
\
directories_Tests.cpp \
+PUBLISHER_TESTS = \
+ $$UNIT_UNDER_TEST/framework/agentDataPublisher.cpp \
+ \
+ agentDataPublisher_Tests.cpp
+
SOURCES += \
$$DEPENDENCIES \
$$SLAVECONFIGIMPORTER_TESTS \
@@ -132,4 +138,5 @@ SOURCES += \
$$VEHICLEMODELIMPORTER_TESTS \
$$DIRECTORIES_TESTS \
$$COMMANDLINERPARSER_TESTS \
- $$AGENTSAMPLER_TESTS
+ $$AGENTSAMPLER_TESTS \
+ $$PUBLISHER_TESTS
diff --git a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/slaveConfigImporter_Tests.cpp b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/slaveConfigImporter_Tests.cpp
index 2f76b28b84ae955f0cc16cc6d5fe6fd8f76686b7..31ee18d4253731f796ab9a7835b4b537ac00c2b2 100644
--- a/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/slaveConfigImporter_Tests.cpp
+++ b/OpenPass_Test/unitTests/CoreFramework/OpenPassSlave/slaveConfigImporter_Tests.cpp
@@ -15,6 +15,7 @@
#include "slaveConfigImporter.h"
using ::testing::SizeIs;
+using ::testing::Eq;
using ::testing::Pair;
using ::testing::UnorderedElementsAre;
using ::testing::EndsWith;
@@ -22,27 +23,27 @@ using ::testing::ElementsAre;
using namespace Importer;
-TEST(SlaveConfigImporter_UnitTests, ImportSpawnPointsConfigSuccessfully)
+TEST(SlaveConfigImporter_UnitTests, ImportSpawnersSuccessfully)
{
QDomElement fakeDocumentRoot = documentRootFromString(
"<root>"
- "<SpawnPoint>"
+ "<Spawner>"
"<Library>Test_Library</Library>"
"<Type>PreRun</Type>"
"<Priority>1</Priority>"
- "</SpawnPoint>"
- "<SpawnPoint>"
+ "</Spawner>"
+ "<Spawner>"
"<Library>Test_Library</Library>"
"<Type>Runtime</Type>"
"<Priority>0</Priority>"
"<Profile>ExampleProfile</Profile>"
- "</SpawnPoint>"
+ "</Spawner>"
"</root>"
);
SpawnPointLibraryInfoCollection spawnPointsConfig {};
- EXPECT_NO_THROW(SlaveConfigImporter::ImportSpawnPointsConfig(fakeDocumentRoot, spawnPointsConfig));
+ EXPECT_NO_THROW(SlaveConfigImporter::ImportSpawners(fakeDocumentRoot, spawnPointsConfig));
EXPECT_THAT(spawnPointsConfig, SizeIs(2));
const auto resultSpawnPointLibraryInfo1 = spawnPointsConfig.at(0);
const auto resultSpawnPointLibraryInfo2 = spawnPointsConfig.at(1);
@@ -57,37 +58,70 @@ TEST(SlaveConfigImporter_UnitTests, ImportSpawnPointsConfigSuccessfully)
EXPECT_THAT(resultSpawnPointLibraryInfo2.profileName, "ExampleProfile");
}
-TEST(SlaveConfigImporter_UnitTests, ImportSpawnPointConfigUnsuccessfully)
+TEST(SlaveConfigImporter_UnitTests, ImportSpawnersUnsuccessfully)
{
QDomElement fakeDocumentRootMissingLibrary = documentRootFromString(
"<root>"
- "<SpawnPoint>"
+ "<Spawner>"
"<Type>PreRun</Type>"
"<Priority>1</Priority>"
- "</SpawnPoint>"
+ "</Spawner>"
"</root>"
);
QDomElement fakeDocumentRootMissingType = documentRootFromString(
"<root>"
- "<SpawnPoint>"
+ "<Spawner>"
"<Library>Test_Library</Library>"
"<Priority>1</Priority>"
- "</SpawnPoint>"
+ "</Spawner>"
"</root>"
);
QDomElement fakeDocumentRootMissingPriority = documentRootFromString(
"<root>"
- "<SpawnPoint>"
+ "<Spawner>"
"<Library>Test_Library</Library>"
"<Type>PreRun</Type>"
- "</SpawnPoint>"
+ "</Spawner>"
"</root>"
);
SpawnPointLibraryInfoCollection spawnPointsConfig;
- ASSERT_THROW(SlaveConfigImporter::ImportSpawnPointsConfig(fakeDocumentRootMissingLibrary, spawnPointsConfig), std::runtime_error);
- ASSERT_THROW(SlaveConfigImporter::ImportSpawnPointsConfig(fakeDocumentRootMissingType, spawnPointsConfig), std::runtime_error);
- ASSERT_THROW(SlaveConfigImporter::ImportSpawnPointsConfig(fakeDocumentRootMissingPriority, spawnPointsConfig), std::runtime_error);
+ ASSERT_THROW(SlaveConfigImporter::ImportSpawners(fakeDocumentRootMissingLibrary, spawnPointsConfig), std::runtime_error);
+ ASSERT_THROW(SlaveConfigImporter::ImportSpawners(fakeDocumentRootMissingType, spawnPointsConfig), std::runtime_error);
+ ASSERT_THROW(SlaveConfigImporter::ImportSpawners(fakeDocumentRootMissingPriority, spawnPointsConfig), std::runtime_error);
+}
+
+TEST(SlaveConfigImporter_UnitTests, ImportObserversSuccessfully)
+{
+ QDomElement fakeDocumentRoot = documentRootFromString(
+ "<root>"
+ "<Observation>"
+ "<Library>Test_Library</Library>"
+ "<Parameters>"
+ "</Parameters>"
+ "</Observation>"
+ "<Observation>"
+ "<Library>Test_Library</Library>"
+ "<Parameters>"
+ "<Int Key=\"TestParameter\" Value=\"1\" />"
+ "</Parameters>"
+ "</Observation>"
+ "</root>"
+ );
+
+ ObservationInstanceCollection observations {};
+
+ EXPECT_NO_THROW(SlaveConfigImporter::ImportObservations(fakeDocumentRoot, observations));
+ EXPECT_THAT(observations, SizeIs(2));
+ const auto observation1 = observations.at(0);
+ const auto observation2 = observations.at(1);
+
+ EXPECT_THAT(observation1.libraryName, "Test_Library");
+ EXPECT_THAT(observation1.parameters, SizeIs(0));
+ EXPECT_THAT(observation2.libraryName, "Test_Library");
+ EXPECT_THAT(observation2.parameters, SizeIs(1));
+ EXPECT_THAT(observation2.parameters.at(0).first, Eq("TestParameter"));
+ EXPECT_THAT(std::get<int>(std::get<openpass::parameter::internal::ParameterValue>(observation2.parameters.at(0).second)), Eq(1));
}
TEST(SlaveConfigImporter_UnitTests, ImportExperimentConfigSuccessfully)
@@ -97,31 +131,25 @@ TEST(SlaveConfigImporter_UnitTests, ImportExperimentConfigSuccessfully)
"<ExperimentID>1337</ExperimentID>"
"<NumberOfInvocations>5</NumberOfInvocations>"
"<RandomSeed>12345</RandomSeed>"
- "<LoggingGroups>"
- "<LoggingGroup>Group1</LoggingGroup>"
- "<LoggingGroup>Group2</LoggingGroup>"
- "</LoggingGroups>"
"</root>"
);
ExperimentConfig experimentConfig;
- EXPECT_NO_THROW(SlaveConfigImporter::ImportExperimentConfig(fakeDocumentRoot, experimentConfig));
+ EXPECT_NO_THROW(SlaveConfigImporter::ImportExperiment(fakeDocumentRoot, experimentConfig));
EXPECT_THAT(experimentConfig.experimentId, 1337);
EXPECT_THAT(experimentConfig.numberOfInvocations, 5);
EXPECT_THAT(experimentConfig.randomSeed, 12345);
- EXPECT_THAT(experimentConfig.loggingGroups, UnorderedElementsAre("Group1", "Group2"));
}
TEST(SlaveConfigImporter_UnitTests, ImportExperimentConfigUnsuccessfully)
{
- QDomElement fakeDocumentRootMissingLoggingTag = documentRootFromString(
+ QDomElement fakeDocumentRootMissingRandomSeed = documentRootFromString(
"<root>"
"<ExperimentID>1337</ExperimentID>"
"<NumberOfInvocations>5</NumberOfInvocations>"
- "<RandomSeed>12345</RandomSeed>"
"</root>"
);
@@ -130,7 +158,6 @@ TEST(SlaveConfigImporter_UnitTests, ImportExperimentConfigUnsuccessfully)
"<ExperimentID>1337</ExperimentID>"
"<NumberOfInvocations>abc</NumberOfInvocations>"
"<RandomSeed>12345</RandomSeed>"
- "<LoggingGroups/>"
"</root>"
);
@@ -139,52 +166,16 @@ TEST(SlaveConfigImporter_UnitTests, ImportExperimentConfigUnsuccessfully)
"<Experimentid>1337</Experimentid>"
"<NumberOfInvocations>5</NumberOfInvocations>"
"<RandomSeed>12345</RandomSeed>"
- "<LoggingGroups/>"
"</root>"
);
ExperimentConfig experimentConfig;
- ASSERT_THROW(SlaveConfigImporter::ImportExperimentConfig(fakeDocumentRootMissingLoggingTag, experimentConfig), std::runtime_error);
- ASSERT_THROW(SlaveConfigImporter::ImportExperimentConfig(fakeDocumentRootWrongDataType, experimentConfig), std::runtime_error);
- ASSERT_THROW(SlaveConfigImporter::ImportExperimentConfig(fakeDocumentRootWrongTagName, experimentConfig), std::runtime_error);
-}
-
-TEST(SlaveConfigImporter_UnitTests, ImportValidLoggingGroups_Succeeds)
-{
- QDomElement fakeDocumentRoot = documentRootFromString(
- "<root>"
- "<LoggingGroups>"
- "<LoggingGroup>Group01</LoggingGroup>"
- "<LoggingGroup>Group02</LoggingGroup>"
- "<LoggingGroup>AnotherGroup</LoggingGroup>"
- "</LoggingGroups>"
- "</root>"
- );
-
-
- std::vector<std::string> loggingGroups;
-
- EXPECT_NO_THROW(SlaveConfigImporter::ImportLoggingGroups(fakeDocumentRoot, loggingGroups));
-
- EXPECT_THAT(loggingGroups, UnorderedElementsAre("Group01", "Group02", "AnotherGroup"));
+ ASSERT_THROW(SlaveConfigImporter::ImportExperiment(fakeDocumentRootMissingRandomSeed, experimentConfig), std::runtime_error);
+ ASSERT_THROW(SlaveConfigImporter::ImportExperiment(fakeDocumentRootWrongDataType, experimentConfig), std::runtime_error);
+ ASSERT_THROW(SlaveConfigImporter::ImportExperiment(fakeDocumentRootWrongTagName, experimentConfig), std::runtime_error);
}
-TEST(SlaveConfigImporter_UnitTests, ImportEmptyLoggingGroupString_Fails)
-{
- QDomElement fakeDocumentRootEmptyString = documentRootFromString(
- "<root>"
- "<LoggingGroups>"
- "<LoggingGroup></LoggingGroup>"
- "</LoggingGroups>"
- "</root>"
- );
-
- std::vector<std::string> loggingGroups;
- ASSERT_THROW(SlaveConfigImporter::ImportLoggingGroups(fakeDocumentRootEmptyString, loggingGroups), std::runtime_error);
-}
-
-
TEST(SlaveConfigImporter_UnitTests, ImportMissingLibraries_LoadsDefaults)
{
QDomElement fakeDocumentRoot = documentRootFromString("<root/>");
@@ -263,7 +254,7 @@ TEST(SlaveConfigImporter_UnitTests, ImportScenarioConfigSuccessfully)
ScenarioConfig scenarioConfig;
- EXPECT_NO_THROW(SlaveConfigImporter::ImportScenarioConfig(fakeDocumentRoot, "configs", scenarioConfig));
+ EXPECT_NO_THROW(SlaveConfigImporter::ImportScenario(fakeDocumentRoot, "configs", scenarioConfig));
ASSERT_THAT(scenarioConfig.scenarioPath, EndsWith("configs/scenarioFile.xml"));
}
@@ -278,7 +269,7 @@ TEST(SlaveConfigImporter_UnitTests, ImportScenarioConfigUnsuccessfullyMissingTag
ScenarioConfig scenarioConfig;
- ASSERT_THROW(SlaveConfigImporter::ImportScenarioConfig(fakeDocumentRoot, "configs", scenarioConfig), std::runtime_error);
+ ASSERT_THROW(SlaveConfigImporter::ImportScenario(fakeDocumentRoot, "configs", scenarioConfig), std::runtime_error);
}
TEST(SlaveConfigImporter_UnitTests, ImportEnvironmentConfigSuccessfully)
@@ -307,7 +298,7 @@ TEST(SlaveConfigImporter_UnitTests, ImportEnvironmentConfigSuccessfully)
EnvironmentConfig environmentConfig;
- EXPECT_NO_THROW(SlaveConfigImporter::ImportEnvironmentConfig(fakeDocumentRoot, environmentConfig));
+ EXPECT_NO_THROW(SlaveConfigImporter::ImportEnvironment(fakeDocumentRoot, environmentConfig));
ASSERT_THAT(environmentConfig.timeOfDays, ElementsAre(Pair("12", 0.5),
Pair("18", 0.5)));
@@ -380,10 +371,10 @@ TEST(SlaveConfigImporter_UnitTests, ImportEnvironmentConfigUnsuccessfully)
EnvironmentConfig environmentConfig;
- ASSERT_THROW(SlaveConfigImporter::ImportEnvironmentConfig(fakeDocumentRootWrongProbabilities, environmentConfig),
+ ASSERT_THROW(SlaveConfigImporter::ImportEnvironment(fakeDocumentRootWrongProbabilities, environmentConfig),
std::runtime_error);
- ASSERT_THROW(SlaveConfigImporter::ImportEnvironmentConfig(fakeDocumentRootMissingAtLeastOneElement, environmentConfig),
+ ASSERT_THROW(SlaveConfigImporter::ImportEnvironment(fakeDocumentRootMissingAtLeastOneElement, environmentConfig),
std::runtime_error);
- ASSERT_THROW(SlaveConfigImporter::ImportEnvironmentConfig(fakeDocumentRootMissingTag, environmentConfig),
+ ASSERT_THROW(SlaveConfigImporter::ImportEnvironment(fakeDocumentRootMissingTag, environmentConfig),
std::runtime_error);
}
diff --git a/OpenPass_Test/unitTests/CoreModules/BasicDataStore/basicDataStore_Tests.cpp b/OpenPass_Test/unitTests/CoreModules/BasicDataStore/basicDataStore_Tests.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d9e5925d41ff8f1178831cf5adf6b9cf40aa7bd3
--- /dev/null
+++ b/OpenPass_Test/unitTests/CoreModules/BasicDataStore/basicDataStore_Tests.cpp
@@ -0,0 +1,639 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#include "Common/openPassTypes.h"
+#include "Common/openPassUtils.h"
+
+#include "Common/runtimeInformation.h"
+
+#include "basicDataStoreImplementation.h"
+
+#include "fakeAgentDataPublisher.h"
+#include "fakeCallback.h"
+#include "fakeParameter.h"
+#include "fakeStochastics.h"
+
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+using ::testing::_;
+using ::testing::ElementsAre;
+using ::testing::Eq;
+using ::testing::NiceMock;
+using ::testing::NotNull;
+using ::testing::Pair;
+using ::testing::Return;
+using ::testing::ReturnRef;
+using ::testing::SizeIs;
+using ::testing::UnorderedElementsAre;
+
+using namespace openpass::type;
+
+const openpass::common::RuntimeInformation fakeRti{{openpass::common::Version{0, 0, 0}}, {"", "", ""}};
+
+class TestBasicDataStore : public BasicDataStoreImplementation
+{
+public:
+ TestBasicDataStore(const openpass::common::RuntimeInformation *runtimeInformation, const CallbackInterface *callbacks) :
+ BasicDataStoreImplementation(runtimeInformation, callbacks)
+ {
+ }
+
+ AcyclicStore &GetAcyclicStore()
+ {
+ return acyclicStore;
+ }
+
+ void SetAcyclicStore(AcyclicStore &newStore)
+ {
+ acyclicStore = newStore;
+ }
+
+ StaticStore &GetStaticStore()
+ {
+ return staticStore;
+ }
+
+ void SetStaticStore(StaticStore &newStore)
+ {
+ staticStore = newStore;
+ }
+
+ CyclicStore &GetStore()
+ {
+ return cyclicStore;
+ }
+
+ void SetStore(CyclicStore &newStore)
+ {
+ cyclicStore = newStore;
+ }
+
+ StoreIndex<Timestamp> &GetTimestampIndex()
+ {
+ return timestampIndex;
+ }
+
+ StoreIndex<EntityId> &GetEntityIdIndex()
+ {
+ return entityIdIndex;
+ }
+
+ StoreIndex<Timestamp, EntityId> &GetTimeAndEntityIdIndex()
+ {
+ return timeAndEntityIdIndex;
+ }
+};
+
+class BasicDataStore_GetCyclic_Test : public ::testing::Test
+{
+public:
+ BasicDataStore_GetCyclic_Test()
+ {
+ implementation = std::make_unique<BasicDataStoreImplementation>(&fakeRti, &fakeCallback);
+
+ // fill some test data
+
+ // value types according to openpass::datastore::Value
+ // bool, char, int, size_t, float, double, std::string and std::vector of each type
+
+ implementation->PutCyclic(0, 0, "boolVal", true);
+ implementation->PutCyclic(0, 0, "charVal", 'a');
+ implementation->PutCyclic(0, 0, "intVal", 1);
+ implementation->PutCyclic(0, 0, "sizeVal", static_cast<size_t>(2));
+ implementation->PutCyclic(0, 0, "floatVal", 3.3f);
+ implementation->PutCyclic(0, 0, "doubleVal", 4.4);
+ implementation->PutCyclic(0, 0, "stringVal", "str");
+
+ implementation->PutCyclic(0, 0, "boolVec", std::vector<bool>{true, false});
+ implementation->PutCyclic(0, 0, "charVec", std::vector<char>{'a'});
+ implementation->PutCyclic(0, 0, "intVec", std::vector<char>{1, 2});
+ implementation->PutCyclic(0, 0, "sizeVec", std::vector<size_t>{3, 4});
+ implementation->PutCyclic(0, 0, "floatVec", std::vector<float>{5.5f, 6.6f});
+ implementation->PutCyclic(0, 0, "doubleVec", std::vector<double>{7.7, 8.8});
+ implementation->PutCyclic(0, 0, "stringVec", std::vector<std::string>{"str1", "str2"});
+
+ // data with additional timestamps and entity ids
+
+ implementation->PutCyclic(0, 1, "intVal", 2);
+ implementation->PutCyclic(0, 2, "intVal", 3);
+ implementation->PutCyclic(1, 0, "intVal", 4);
+ implementation->PutCyclic(1, 1, "intVal", 5);
+ implementation->PutCyclic(1, 2, "intVal", 6);
+ implementation->PutCyclic(2, 0, "intVal", 7);
+ implementation->PutCyclic(2, 1, "intVal", 8);
+ implementation->PutCyclic(2, 2, "intVal", 9);
+
+ implementation->PutCyclic(2, 2, "intVal2", 22);
+ implementation->PutCyclic(2, 2, "intVal2", 33);
+ implementation->PutCyclic(2, 2, "intVal2", 44);
+ implementation->PutCyclic(2, 2, "intVal2", 55);
+
+ implementation->PutCyclic(3, 3, "intVal3", 66);
+ implementation->PutCyclic(3, 3, "intVal3", 77);
+ implementation->PutCyclic(3, 3, "intVal3", 88);
+ implementation->PutCyclic(3, 3, "intVal3", 99);
+ }
+
+ std::unique_ptr<DataStoreInterface> implementation;
+
+private:
+ NiceMock<FakeCallback> fakeCallback;
+};
+
+class BasicDataStore_GetAcyclic_Test : public ::testing::Test
+{
+public:
+ BasicDataStore_GetAcyclic_Test()
+ {
+ implementation = std::make_unique<BasicDataStoreImplementation>(&fakeRti, &fakeCallback);
+
+ // fill some test data
+ Parameter params{{"param1", 1},
+ {"param2", 2.0}
+ };
+
+ implementation->PutAcyclic(0, 0, "key1", Acyclic{"name", {{0, 1}}, {{2, 3}}, {{"param1", 1}}});
+ implementation->PutAcyclic(0, 1, "key2", Acyclic{"name", {{1, 2}}, {{3, 4}}, {{"param2", 2.0}}});
+ implementation->PutAcyclic(1, 0, "key1", Acyclic{"name", {{2, 3}}, {{4, 5}}, {{"param3", "paramVal3"}}});
+ implementation->PutAcyclic(2, 0, "key1", Acyclic{"name", {{3, 4}}, {{5, 6}}, {{"param4", std::vector<int>{0, 1, 2}}}});
+ }
+
+ std::unique_ptr<DataStoreInterface> implementation;
+
+private:
+ NiceMock<FakeCallback> fakeCallback;
+};
+
+class BasicDataStore_Persistence_Test : public ::testing::Test
+{
+public:
+ BasicDataStore_Persistence_Test()
+ {
+ implementation = std::make_unique<BasicDataStoreImplementation>(&fakeRti, &fakeCallback);
+
+ implementation->PutStatic("nonpersistentKey", 0, false);
+ implementation->PutStatic("persistentKey", 1, true);
+ implementation->PutCyclic(0, 0, "cyclicKey", 2);
+ implementation->PutAcyclic(0, 0, "acyclicKey", Acyclic{"name", {{0, 1}}, {{2, 3}}, {{"param1", 1}}});
+ }
+
+ std::unique_ptr<DataStoreInterface> implementation;
+
+private:
+ NiceMock<FakeCallback> fakeCallback;
+};
+
+class BasicDataStore_GetStatic_Test : public ::testing::Test
+{
+public:
+ BasicDataStore_GetStatic_Test()
+ {
+ implementation = std::make_unique<BasicDataStoreImplementation>(&fakeRti, &fakeCallback);
+
+ // fill some test data
+ implementation->PutStatic("boolVal", true);
+ implementation->PutStatic("intVal", 1);
+ implementation->PutStatic("doubleVal", 2.0);
+ }
+
+ std::unique_ptr<DataStoreInterface> implementation;
+
+private:
+ NiceMock<FakeCallback> fakeCallback;
+};
+
+class BasicDataStore_GetKeys_Test : public ::testing::Test
+{
+public:
+ BasicDataStore_GetKeys_Test()
+ {
+ implementation = std::make_unique<BasicDataStoreImplementation>(&fakeRti, &fakeCallback);
+
+ // fill some test data
+ implementation->PutStatic("level1a", 0);
+ implementation->PutStatic("level1b/level2a", 0);
+ implementation->PutStatic("level1b/level2b", 0);
+ implementation->PutStatic("level1c/level2c/level3a", 0);
+ implementation->PutStatic("level1c/level2c/level3b", 0);
+
+ implementation->PutCyclic(0, 0, "level1c", 0);
+ implementation->PutCyclic(0, 0, "level1d/level2a", 0);
+ implementation->PutCyclic(0, 0, "level1d/level2b", 0);
+ implementation->PutCyclic(0, 0, "level1e/level2c", 0);
+ implementation->PutCyclic(0, 0, "level1e/level2d", 0);
+ implementation->PutCyclic(0, 1, "level1f", 0);
+ implementation->PutCyclic(1, 0, "level1g", 0);
+ implementation->PutCyclic(1, 0, "level1h", 0);
+
+ //implementation->PutAcyclic(0, 0, "level1i", Acyclic{"name", {{0, 1}}, {{2, 3}}, {}});
+ }
+
+ std::unique_ptr<DataStoreInterface> implementation;
+
+private:
+ NiceMock<FakeCallback> fakeCallback;
+};
+
+namespace openpass::datastore {
+
+std::ostream& operator<<(std::ostream& stream, CyclicRow const& row)
+{
+ stream << "{timestamp = " << row.timestamp << ", entityId = " << row.entityId << ", key = " << row.key << " , value = ";
+
+ std::visit(openpass::utils::FlatParameter::to_string([&stream](const std::string& valueStr)
+ {
+ stream << valueStr;
+ }, "|"), row.value);
+
+ return stream << "}";
+}
+
+}
+
+TEST(BasicDataStore, PutCyclicData_StoresData)
+{
+ FakeCallback fakeCallback;
+ FakeStochastics fakeStochastics;
+
+ const Timestamp timestamp = 0;
+ const EntityId agentId = 1;
+ const int value = 2;
+ const std::string key{"key/one/two"};
+ const CyclicRow expectedRow{timestamp, agentId, key, value};
+
+ auto ds = std::make_unique<TestBasicDataStore>(&fakeRti, &fakeCallback);
+
+ ASSERT_THAT(ds, NotNull());
+
+ ds->PutCyclic(timestamp, agentId, key, value);
+
+ EXPECT_THAT(ds->GetStore().back(), Eq(expectedRow));
+}
+
+TEST(BasicDataStore, PutCyclicData_CreatesIndices)
+{
+ FakeCallback fakeCallback;
+ FakeStochastics fakeStochastics;
+
+ const Timestamp timestamp = 0;
+ const EntityId agentId = 1;
+ const int value = 2;
+ const std::string key{"key/one/two"};
+ const CyclicRow expectedRow{timestamp, agentId, key, value};
+ const size_t expectedIndex = 0;
+
+ auto ds = std::make_unique<TestBasicDataStore>(&fakeRti, &fakeCallback);
+
+ ASSERT_THAT(ds, NotNull());
+
+ ds->PutCyclic(timestamp, agentId, key, value);
+
+ auto &timeIdx = ds->GetTimestampIndex();
+ auto &entityIdx = ds->GetEntityIdIndex();
+ auto &timeAndEntityIdx = ds->GetTimeAndEntityIdIndex();
+
+ auto firstTimeIdx = timeIdx.equal_range(timestamp).first;
+ auto firstEntityIdx = entityIdx.equal_range(agentId).first;
+ auto firstTimeAndEntityIdx = timeAndEntityIdx.equal_range({timestamp, agentId}).first;
+
+ EXPECT_THAT(firstTimeIdx->second, Eq(expectedIndex));
+ EXPECT_THAT(firstEntityIdx->second, Eq(expectedIndex));
+ EXPECT_THAT(firstTimeAndEntityIdx->second, Eq(expectedIndex));
+}
+
+TEST_F(BasicDataStore_GetCyclic_Test, GivenTimestampAndEntityIdAndKey_ReturnsCorrectData)
+{
+ const auto result1 = implementation->GetCyclic(1, 1, "intVal");
+ const auto result2 = implementation->GetCyclic(2, 0, "intVal");
+
+ ASSERT_THAT(result1->size(), Eq(1));
+ ASSERT_THAT(result2->size(), Eq(1));
+ EXPECT_THAT(result1->at(0), Eq(CyclicRow{1, 1, "intVal", 5}));
+ EXPECT_THAT(result2->at(0), Eq(CyclicRow{2, 0, "intVal", 7}));
+}
+
+TEST_F(BasicDataStore_GetCyclic_Test, GivenTimestampAndKey_ReturnsCorrectData)
+{
+ const auto result = implementation->GetCyclic(1, std::nullopt, "intVal");
+
+ ASSERT_THAT(result->size(), Eq(3));
+ EXPECT_THAT(result->at(0), Eq(CyclicRow{1, 0, "intVal", 4}));
+ EXPECT_THAT(result->at(1), Eq(CyclicRow{1, 1, "intVal", 5}));
+ EXPECT_THAT(result->at(2), Eq(CyclicRow{1, 2, "intVal", 6}));
+}
+
+TEST_F(BasicDataStore_GetCyclic_Test, GivenEntityIdAndKey_ReturnsCorrectResult)
+{
+ const auto result = implementation->GetCyclic(std::nullopt, 1, "intVal");
+
+ ASSERT_THAT(result->size(), Eq(3));
+ EXPECT_THAT(result->at(0), Eq(CyclicRow{0, 1, "intVal", 2}));
+ EXPECT_THAT(result->at(1), Eq(CyclicRow{1, 1, "intVal", 5}));
+ EXPECT_THAT(result->at(2), Eq(CyclicRow{2, 1, "intVal", 8}));
+}
+
+TEST_F(BasicDataStore_GetCyclic_Test, GivenKey_ReturnsCorrectResult)
+{
+ const auto result = implementation->GetCyclic(std::nullopt, std::nullopt, "intVal2");
+
+ ASSERT_THAT(result->size(), Eq(4));
+ EXPECT_THAT(result->at(0), Eq(CyclicRow{2, 2, "intVal2", 22}));
+ EXPECT_THAT(result->at(1), Eq(CyclicRow{2, 2, "intVal2", 33}));
+ EXPECT_THAT(result->at(2), Eq(CyclicRow{2, 2, "intVal2", 44}));
+ EXPECT_THAT(result->at(3), Eq(CyclicRow{2, 2, "intVal2", 55}));
+}
+
+TEST_F(BasicDataStore_GetCyclic_Test, GivenTimestampAndEntityIdAndWildcard_ReturnsCorrectResult)
+{
+ const auto result = implementation->GetCyclic(2, 2, "*");
+
+ ASSERT_THAT(result->size(), Eq(5));
+ EXPECT_THAT(result->at(0), Eq(CyclicRow{2, 2, "intVal", 9}));
+ EXPECT_THAT(result->at(1), Eq(CyclicRow{2, 2, "intVal2", 22}));
+ EXPECT_THAT(result->at(2), Eq(CyclicRow{2, 2, "intVal2", 33}));
+ EXPECT_THAT(result->at(3), Eq(CyclicRow{2, 2, "intVal2", 44}));
+ EXPECT_THAT(result->at(4), Eq(CyclicRow{2, 2, "intVal2", 55}));
+}
+
+TEST_F(BasicDataStore_GetCyclic_Test, GivenTimestampAndWildcard_ReturnsCorrectResult)
+{
+ const auto result = implementation->GetCyclic(2, std::nullopt, "*");
+
+ ASSERT_THAT(result->size(), Eq(7));
+ EXPECT_THAT(result->at(0), Eq(CyclicRow{2, 0, "intVal", 7}));
+ EXPECT_THAT(result->at(1), Eq(CyclicRow{2, 1, "intVal", 8}));
+ EXPECT_THAT(result->at(2), Eq(CyclicRow{2, 2, "intVal", 9}));
+ EXPECT_THAT(result->at(3), Eq(CyclicRow{2, 2, "intVal2", 22}));
+ EXPECT_THAT(result->at(4), Eq(CyclicRow{2, 2, "intVal2", 33}));
+ EXPECT_THAT(result->at(5), Eq(CyclicRow{2, 2, "intVal2", 44}));
+ EXPECT_THAT(result->at(6), Eq(CyclicRow{2, 2, "intVal2", 55}));
+}
+
+TEST_F(BasicDataStore_GetCyclic_Test, GivenEntityIdAndWildcard_ReturnsCorrectResult)
+{
+ const auto result = implementation->GetCyclic(std::nullopt, 2, "*");
+
+ ASSERT_THAT(result->size(), Eq(7));
+ EXPECT_THAT(result->at(0), Eq(CyclicRow{0, 2, "intVal", 3}));
+ EXPECT_THAT(result->at(1), Eq(CyclicRow{1, 2, "intVal", 6}));
+ EXPECT_THAT(result->at(2), Eq(CyclicRow{2, 2, "intVal", 9}));
+ EXPECT_THAT(result->at(3), Eq(CyclicRow{2, 2, "intVal2", 22}));
+ EXPECT_THAT(result->at(4), Eq(CyclicRow{2, 2, "intVal2", 33}));
+ EXPECT_THAT(result->at(5), Eq(CyclicRow{2, 2, "intVal2", 44}));
+ EXPECT_THAT(result->at(6), Eq(CyclicRow{2, 2, "intVal2", 55}));
+}
+
+TEST_F(BasicDataStore_GetCyclic_Test, GivenWildcard_ReturnsCorrectResult)
+{
+ const auto result = implementation->GetCyclic(std::nullopt, std::nullopt, "*");
+
+ ASSERT_THAT(result->size(), Eq(30));
+
+ EXPECT_THAT(result->at(0), Eq(CyclicRow{0, 0, "boolVal", true}));
+ EXPECT_THAT(result->at(1), Eq(CyclicRow{0, 0, "charVal", 'a'}));
+ EXPECT_THAT(result->at(2), Eq(CyclicRow{0, 0, "intVal", 1}));
+ EXPECT_THAT(result->at(3), Eq(CyclicRow{0, 0, "sizeVal", static_cast<size_t>(2)}));
+ EXPECT_THAT(result->at(4), Eq(CyclicRow{0, 0, "floatVal", 3.3f}));
+ EXPECT_THAT(result->at(5), Eq(CyclicRow{0, 0, "doubleVal", 4.4}));
+ EXPECT_THAT(result->at(6), Eq(CyclicRow{0, 0, "stringVal", "str"}));
+
+ EXPECT_THAT(result->at(7), Eq(CyclicRow{0, 0, "boolVec", std::vector<bool>{true, false}}));
+ EXPECT_THAT(result->at(8), Eq(CyclicRow{0, 0, "charVec", std::vector<char>{'a'}}));
+ EXPECT_THAT(result->at(9), Eq(CyclicRow{0, 0, "intVec", std::vector<char>{1, 2}}));
+ EXPECT_THAT(result->at(10), Eq(CyclicRow{0, 0, "sizeVec", std::vector<size_t>{3, 4}}));
+ EXPECT_THAT(result->at(11), Eq(CyclicRow{0, 0, "floatVec", std::vector<float>{5.5f, 6.6f}}));
+ EXPECT_THAT(result->at(12), Eq(CyclicRow{0, 0, "doubleVec", std::vector<double>{7.7, 8.8}}));
+ EXPECT_THAT(result->at(13), Eq(CyclicRow{0, 0, "stringVec", std::vector<std::string>{"str1", "str2"}}));
+
+ EXPECT_THAT(result->at(14), Eq(CyclicRow{0, 1, "intVal", 2}));
+ EXPECT_THAT(result->at(15), Eq(CyclicRow{0, 2, "intVal", 3}));
+ EXPECT_THAT(result->at(16), Eq(CyclicRow{1, 0, "intVal", 4}));
+ EXPECT_THAT(result->at(17), Eq(CyclicRow{1, 1, "intVal", 5}));
+ EXPECT_THAT(result->at(18), Eq(CyclicRow{1, 2, "intVal", 6}));
+ EXPECT_THAT(result->at(19), Eq(CyclicRow{2, 0, "intVal", 7}));
+ EXPECT_THAT(result->at(20), Eq(CyclicRow{2, 1, "intVal", 8}));
+ EXPECT_THAT(result->at(21), Eq(CyclicRow{2, 2, "intVal", 9}));
+
+ EXPECT_THAT(result->at(22), Eq(CyclicRow{2, 2, "intVal2", 22}));
+ EXPECT_THAT(result->at(23), Eq(CyclicRow{2, 2, "intVal2", 33}));
+ EXPECT_THAT(result->at(24), Eq(CyclicRow{2, 2, "intVal2", 44}));
+ EXPECT_THAT(result->at(25), Eq(CyclicRow{2, 2, "intVal2", 55}));
+
+ EXPECT_THAT(result->at(26), Eq(CyclicRow{3, 3, "intVal3", 66}));
+ EXPECT_THAT(result->at(27), Eq(CyclicRow{3, 3, "intVal3", 77}));
+ EXPECT_THAT(result->at(28), Eq(CyclicRow{3, 3, "intVal3", 88}));
+ EXPECT_THAT(result->at(29), Eq(CyclicRow{3, 3, "intVal3", 99}));
+
+}
+
+TEST_F(BasicDataStore_GetCyclic_Test, Result_IsIteratable)
+{
+ const auto result = implementation->GetCyclic(std::nullopt, std::nullopt, "intVal3");
+
+ ASSERT_THAT(result->size(), Eq(4));
+
+ int expectedValue = 66;
+ for (const auto& entryRef : *result)
+ {
+ const auto& entry = entryRef.get();
+ EXPECT_THAT(entry, Eq(CyclicRow{3, 3, "intVal3", expectedValue}));
+ expectedValue += 11;
+ }
+}
+
+TEST(BasicDataStore, PutAcyclicData_StoresData)
+{
+ FakeCallback fakeCallback;
+ FakeStochastics fakeStochastics;
+
+ const Timestamp timestamp = 0;
+ const EntityId agentId = 1;
+
+ const std::string name{"name"};
+ const TriggeringEntities triggeringEntities{{0, 1}};
+ const AffectedEntities affectedEntities{{2, 3}};
+ const std::string key{"key/one/two"};
+ const Parameter params{{"key", "value"}};
+ const Acyclic acyclic{name, triggeringEntities, affectedEntities, params};
+ const AcyclicRow expectedRow{timestamp, agentId, key, acyclic};
+
+ auto ds = std::make_unique<TestBasicDataStore>(&fakeRti, &fakeCallback);
+
+ ASSERT_THAT(ds, NotNull());
+
+ ds->PutAcyclic(timestamp, agentId, key, acyclic);
+
+ EXPECT_THAT(ds->GetAcyclicStore().back(), Eq(expectedRow));
+}
+
+TEST_F(BasicDataStore_GetAcyclic_Test, GivenKey_ReturnsCorrectResult)
+{
+ const auto result = implementation->GetAcyclic(std::nullopt, std::nullopt, "key1");
+
+ ASSERT_THAT(result->size(), Eq(3));
+
+ EXPECT_THAT(result->at(0), Eq(AcyclicRow{0, 0, "key1", Acyclic{"name", {{0, 1}}, {{2, 3}}, {{"param1", 1}}}}));
+ EXPECT_THAT(result->at(1), Eq(AcyclicRow{1, 0, "key1", Acyclic{"name", {{2, 3}}, {{4, 5}}, {{"param3", "paramVal3"}}}}));
+ EXPECT_THAT(result->at(2), Eq(AcyclicRow{2, 0, "key1", Acyclic{"name", {{3, 4}}, {{5, 6}}, {{"param4", std::vector<int>{0, 1, 2}}}}}));
+}
+
+TEST_F(BasicDataStore_GetAcyclic_Test, GivenWildcard_ReturnsCorrectResult)
+{
+ const auto result = implementation->GetAcyclic(std::nullopt, std::nullopt, "*");
+
+ ASSERT_THAT(result->size(), Eq(4));
+
+ EXPECT_THAT(result->at(0), Eq(AcyclicRow{0, 0, "key1", Acyclic{"name", {{0, 1}}, {{2, 3}}, {{"param1", 1}}}}));
+ EXPECT_THAT(result->at(1), Eq(AcyclicRow{0, 1, "key2", Acyclic{"name", {{1, 2}}, {{3, 4}}, {{"param2", 2.0}}}}));
+ EXPECT_THAT(result->at(2), Eq(AcyclicRow{1, 0, "key1", Acyclic{"name", {{2, 3}}, {{4, 5}}, {{"param3", "paramVal3"}}}}));
+ EXPECT_THAT(result->at(3), Eq(AcyclicRow{2, 0, "key1", Acyclic{"name", {{3, 4}}, {{5, 6}}, {{"param4", std::vector<int>{0, 1, 2}}}}}));
+}
+
+TEST(BasicDataStore, PutStaticData_StoresData)
+{
+ FakeCallback fakeCallback;
+
+ const int value = 1;
+ const std::string key{"key/one/two"};
+
+ auto ds = std::make_unique<TestBasicDataStore>(&fakeRti, &fakeCallback);
+
+ ASSERT_THAT(ds, NotNull());
+
+ ds->PutStatic(key, value);
+
+ Value result;
+ ASSERT_NO_THROW(result = std::get<Value>(ds->GetStaticStore().at(key)));
+ EXPECT_THAT(result, Eq(Value{value}));
+}
+
+TEST(BasicDataStore, PutStaticDataTwiceUsingSameKey_IgnoresSecondCall)
+{
+ FakeCallback fakeCallback;
+
+ const int value1 = 1;
+ const int value2 = 2;
+ const std::string key{"key/one/two"};
+
+ auto ds = std::make_unique<TestBasicDataStore>(&fakeRti, &fakeCallback);
+
+ ASSERT_THAT(ds, NotNull());
+
+ ds->PutStatic(key, value1);
+ ds->PutStatic(key, value2);
+
+ Value result;
+ ASSERT_NO_THROW(result = std::get<Value>(ds->GetStaticStore().at(key)));
+ EXPECT_THAT(result, Eq(Value{value1}));
+}
+
+TEST_F(BasicDataStore_Persistence_Test, FixtureSetup_StoresData)
+{
+ const auto acyclicResult = implementation->GetAcyclic(std::nullopt, std::nullopt, "acyclicKey");
+ const auto cyclicResult = implementation->GetCyclic(std::nullopt, std::nullopt, "cyclicKey");
+ const auto staticPersistentResult = implementation->GetStatic("persistentKey");
+ const auto staticNonPersistentResult = implementation->GetStatic("nonpersistentKey");
+
+ ASSERT_THAT(acyclicResult->size(), Eq(1));
+ ASSERT_THAT(cyclicResult->size(), Eq(1));
+ ASSERT_THAT(staticPersistentResult, SizeIs(1));
+ ASSERT_THAT(staticNonPersistentResult, SizeIs(1));
+}
+
+TEST_F(BasicDataStore_Persistence_Test, Clear_KeepsPersistentStaticData)
+{
+ implementation->Clear();
+
+ const auto staticPersistentResult = implementation->GetStatic("persistentKey");
+
+ ASSERT_THAT(staticPersistentResult, SizeIs(1));
+ EXPECT_THAT(staticPersistentResult.at(0), Eq(Value{1}));
+}
+
+TEST_F(BasicDataStore_Persistence_Test, Clear_DeletesNonPersisentData)
+{
+ implementation->Clear();
+
+ const auto acyclicResult = implementation->GetAcyclic(std::nullopt, std::nullopt, "acyclicKey");
+ const auto cyclicResult = implementation->GetCyclic(std::nullopt, std::nullopt, "cyclicKey");
+ const auto staticNonPersistentResult = implementation->GetStatic("nonpersistentKey");
+
+ ASSERT_THAT(acyclicResult->size(), Eq(0));
+ ASSERT_THAT(cyclicResult->size(), Eq(0));
+ ASSERT_THAT(staticNonPersistentResult, SizeIs(0));
+}
+
+TEST_F(BasicDataStore_GetStatic_Test, GivenKey_ReturnsValue)
+{
+ const auto boolResult = implementation->GetStatic("boolVal");
+ const auto intResult = implementation->GetStatic("intVal");
+ const auto doubleResult = implementation->GetStatic("doubleVal");
+
+ ASSERT_THAT(boolResult, SizeIs(1));
+ ASSERT_THAT(intResult, SizeIs(1));
+ ASSERT_THAT(doubleResult, SizeIs(1));
+
+ EXPECT_THAT(boolResult.at(0), Eq(Value{true}));
+ EXPECT_THAT(intResult.at(0), Eq(Value{1}));
+ EXPECT_THAT(doubleResult.at(0), Eq(Value{2.0}));
+}
+
+TEST_F(BasicDataStore_GetStatic_Test, GivenWildcard_ReturnsEmptyResult)
+{
+ const auto result = implementation->GetStatic("*");
+
+ ASSERT_THAT(result, SizeIs(0));
+}
+
+TEST_F(BasicDataStore_GetKeys_Test, StaticsKey_ReturnsCorrectKeys)
+{
+ const auto keys1 = implementation->GetKeys("Statics");
+ const auto keys2 = implementation->GetKeys("Statics/level1a");
+ const auto keys3 = implementation->GetKeys("Statics/level1b");
+ const auto keys4 = implementation->GetKeys("Statics/level1c/level2c");
+
+ EXPECT_THAT(keys1, ElementsAre("level1a", "level1b", "level1c"));
+ EXPECT_THAT(keys2, SizeIs(0));
+ EXPECT_THAT(keys3, ElementsAre("level2a", "level2b"));
+ EXPECT_THAT(keys4, ElementsAre("level3a", "level3b"));
+}
+
+TEST_F(BasicDataStore_GetKeys_Test, CyclicsKeyWithoutTimestampAndEntityId_ReturnsTimestamps)
+{
+ const auto keys1 = implementation->GetKeys("Cyclics");
+
+ EXPECT_THAT(keys1, ElementsAre("0", "1"));
+
+}
+
+TEST_F(BasicDataStore_GetKeys_Test, CyclicsKeyWithTimestampAndEntityId_ReturnsKeys)
+{
+ const auto keys1 = implementation->GetKeys("Cyclics/0/0");
+ const auto keys2 = implementation->GetKeys("Cyclics/0/0/level1e");
+ const auto keys3 = implementation->GetKeys("Cyclics/0/1");
+ const auto keys4 = implementation->GetKeys("Cyclics/1/0");
+
+ EXPECT_THAT(keys1, ElementsAre("level1c", "level1d", "level1e"));
+ EXPECT_THAT(keys2, ElementsAre("level2c", "level2d"));
+ EXPECT_THAT(keys3, ElementsAre("level1f"));
+ EXPECT_THAT(keys4, ElementsAre("level1g", "level1h"));
+
+}
+
+TEST(BasicDataStore_Constants, Wildcard_IsSize1)
+{
+ ASSERT_THAT(WILDCARD, SizeIs(1));
+}
+
+TEST(BasicDataStore_Constants, Separator_IsSize1)
+{
+ ASSERT_THAT(SEPARATOR, SizeIs(1));
+}
diff --git a/OpenPass_Test/unitTests/CoreModules/BasicDataStore/basicDataStore_Tests.pro b/OpenPass_Test/unitTests/CoreModules/BasicDataStore/basicDataStore_Tests.pro
new file mode 100644
index 0000000000000000000000000000000000000000..a5d477c214b386048d5b4da5bb57fe8ed3369b66
--- /dev/null
+++ b/OpenPass_Test/unitTests/CoreModules/BasicDataStore/basicDataStore_Tests.pro
@@ -0,0 +1,30 @@
+# /*********************************************************************
+# * Copyright (c) 2020 in-tech 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
+# **********************************************************************/
+
+CONFIG += OPENPASS_GTEST \
+ OPENPASS_GTEST_DEFAULT_MAIN
+
+include(../../../testing.pri)
+
+UNIT_UNDER_TEST = $$OPEN_SRC/CoreModules/BasicDataStore
+
+#win32:QMAKE_CXXFLAGS += -Wa,-mbig-obj
+
+INCLUDEPATH += \
+ $$UNIT_UNDER_TEST
+
+HEADERS += \
+ $$OPEN_SRC/Interfaces/dataStoreInterface.h \
+ $$UNIT_UNDER_TEST/basicDataStoreImplementation.h
+
+SOURCES += \
+ $$OPEN_SRC/Common/vector2d.cpp \
+ $$UNIT_UNDER_TEST/basicDataStoreImplementation.cpp \
+ basicDataStore_Tests.cpp
diff --git a/OpenPass_Test/unitTests/CoreModules/EventDetector/ConditionalEventDetector_Tests.cpp b/OpenPass_Test/unitTests/CoreModules/EventDetector/ConditionalEventDetector_Tests.cpp
index e3212d87d0cd64cbea67308a0a85393ee0d60c31..5a78eee4014d57e64734e4c264c67e4d40768f70 100644
--- a/OpenPass_Test/unitTests/CoreModules/EventDetector/ConditionalEventDetector_Tests.cpp
+++ b/OpenPass_Test/unitTests/CoreModules/EventDetector/ConditionalEventDetector_Tests.cpp
@@ -71,7 +71,7 @@ TEST_P(ConditionalTimeTriggerTest, TriggerEventInsertion_AddsEventIfNecessary)
INSTANTIATE_TEST_CASE_P(ConditionalTimeTrigger_AppropriatelyInsertsEventsIntoNetwork,
ConditionalTimeTriggerTest,
- Values(
+ ::testing::Values(
ConditionalTimeTriggerTest_Data{800, 0},
ConditionalTimeTriggerTest_Data{1000, 0},
ConditionalTimeTriggerTest_Data{1200, 1}
@@ -112,7 +112,7 @@ TEST_P(ReachPositionConditionTest, TriggerEventInsertion_AddsEventIfNecessary)
{
openScenario::ConditionalEventDetectorInformation testConditionalEventDetectorInformation;
testConditionalEventDetectorInformation.numberOfExecutions = -1;
- testConditionalEventDetectorInformation.actorInformation.triggeringAgentsAsActors.emplace(true);
+ testConditionalEventDetectorInformation.actorInformation.actorIsTriggeringEntity = true;
const std::vector<std::string> actors {"mockAgent1", "mockAgent2"};
testConditionalEventDetectorInformation.actorInformation.actors.emplace(actors);
@@ -178,7 +178,7 @@ TEST_P(ReachPositionConditionTest, TriggerEventInsertion_AddsEventIfNecessary)
INSTANTIATE_TEST_CASE_P(ReachPositionCondition_AppropriatelyInsertsEventsIntoNetwork,
ReachPositionConditionTest,
- Values(
+ ::testing::Values(
ReachPositionCondition_Data{20.0 , -1.0 , "fakeRoad" , true, 0, 0},
ReachPositionCondition_Data{-20.0, 10.0 , "fakeRoad" , true, 0, 0},
ReachPositionCondition_Data{20.0 , 100.0, "fakeRoad" , false, 2, 2},
@@ -212,7 +212,7 @@ TEST_P(RelativeSpeedConditionTest, TriggerEventInsertion_AddsEventIfNecessary)
{
openScenario::ConditionalEventDetectorInformation testConditionalEventDetectorInformation;
testConditionalEventDetectorInformation.numberOfExecutions = -1;
- testConditionalEventDetectorInformation.actorInformation.triggeringAgentsAsActors.emplace(true);
+ testConditionalEventDetectorInformation.actorInformation.actorIsTriggeringEntity = true;
const std::vector<std::string> actors {};
testConditionalEventDetectorInformation.actorInformation.actors.emplace(actors);
@@ -266,7 +266,7 @@ TEST_P(RelativeSpeedConditionTest, TriggerEventInsertion_AddsEventIfNecessary)
INSTANTIATE_TEST_CASE_P(RelativeSpeedCondition_AppropriatelyInsertsEventsIntoNetwork,
RelativeSpeedConditionTest,
- Values(
+ ::testing::Values(
RelativeSpeedCondition_Data{"notExisting" , DontCare<double>(), DontCare<openScenario::Rule>() , 20.0, 20.0, DontCare<double>(), true , 0},
RelativeSpeedCondition_Data{"referenceAgent" , -10.0 , DontCare<openScenario::Rule>() , 0.0, 0.0, 20.0 , false , 1},
RelativeSpeedCondition_Data{"referenceAgent" , 10.0 , openScenario::Rule::LessThan , 10.0, 10.0, 19.9 , false , 1},
@@ -303,7 +303,7 @@ TEST_P(RelativeLaneConditionTest, TriggerEventInsertion_AddsEventIfNecessary)
{
openScenario::ConditionalEventDetectorInformation testConditionalEventDetectorInformation;
testConditionalEventDetectorInformation.numberOfExecutions = -1;
- testConditionalEventDetectorInformation.actorInformation.triggeringAgentsAsActors.emplace(true);
+ testConditionalEventDetectorInformation.actorInformation.actorIsTriggeringEntity = true;
const std::vector<std::string> actors {};
testConditionalEventDetectorInformation.actorInformation.actors.emplace(actors);
@@ -357,7 +357,7 @@ TEST_P(RelativeLaneConditionTest, TriggerEventInsertion_AddsEventIfNecessary)
INSTANTIATE_TEST_CASE_P(RelativeLaneCondition_AppropriatelyInsertsEventsIntoNetwork,
RelativeLaneConditionTest,
- Values(
+ ::testing::Values(
// -----------------------| entityName | deltaLane | deltaS | tolerance | triggeringAgentLane | triggeringAgentSCoordinate | referenceAgentLane | referenceAgentSCoordinate | expectError | expectNumberOfEvents
RelativeLaneCondition_Data{"notExisting" , DontCare<int>(), DontCare<double>(), DontCare<double>(), DontCare<int>() , DontCare<double>() , DontCare<int>() , DontCare<double>() , true , 0 },
RelativeLaneCondition_Data{"referenceAgentOnSameRoad", -1 , 30.0 , 10.0 , 0 , 25.0 , -1 , 0.0 , false , 0 },
@@ -388,7 +388,7 @@ TEST_P(TimeToCollisionConditionTest, TriggerEventInsertion_AddsEventIfNecessary)
{
openScenario::ConditionalEventDetectorInformation testConditionalEventDetectorInformation;
testConditionalEventDetectorInformation.numberOfExecutions = -1;
- testConditionalEventDetectorInformation.actorInformation.triggeringAgentsAsActors.emplace(true);
+ testConditionalEventDetectorInformation.actorInformation.actorIsTriggeringEntity = true;
const std::vector<std::string> actors {};
testConditionalEventDetectorInformation.actorInformation.actors.emplace(actors);
@@ -457,7 +457,7 @@ TEST_P(TimeToCollisionConditionTest, TriggerEventInsertion_AddsEventIfNecessary)
INSTANTIATE_TEST_CASE_P(TimeToCollisionCondition_AppropriatelyInsertsEventsIntoNetwork,
TimeToCollisionConditionTest,
- Values(
+ ::testing::Values(
// ------------------------- | entityName | targetTTC | rule | expectError | expectNumberOfEvents |
TimeToCollisionCondition_Data{"notExisting" , 1.0 , openScenario::Rule::LessThan , true , 0 },
TimeToCollisionCondition_Data{"referenceAgent" , 1.0 , openScenario::Rule::GreaterThan , false , 1 },
@@ -489,7 +489,7 @@ TEST_P(TimeHeadwayConditionTest, TriggerEventInsertionFreeSpaceTrue_AddsEventIfN
{
openScenario::ConditionalEventDetectorInformation testConditionalEventDetectorInformation;
testConditionalEventDetectorInformation.numberOfExecutions = -1;
- testConditionalEventDetectorInformation.actorInformation.triggeringAgentsAsActors.emplace(true);
+ testConditionalEventDetectorInformation.actorInformation.actorIsTriggeringEntity = true;
const std::vector<std::string> actors {};
testConditionalEventDetectorInformation.actorInformation.actors.emplace(actors);
@@ -546,7 +546,7 @@ TEST_P(TimeHeadwayConditionTest, TriggerEventInsertionFreeSpaceFalse_AddsEventIf
{
openScenario::ConditionalEventDetectorInformation testConditionalEventDetectorInformation;
testConditionalEventDetectorInformation.numberOfExecutions = -1;
- testConditionalEventDetectorInformation.actorInformation.triggeringAgentsAsActors.emplace(true);
+ testConditionalEventDetectorInformation.actorInformation.actorIsTriggeringEntity = true;
const std::vector<std::string> actors {};
testConditionalEventDetectorInformation.actorInformation.actors.emplace(actors);
@@ -601,7 +601,7 @@ TEST_P(TimeHeadwayConditionTest, TriggerEventInsertionFreeSpaceFalse_AddsEventIf
INSTANTIATE_TEST_CASE_P(TimeHeadwayCondition_AppropriatelyInsertsEventsIntoNetwork,
TimeHeadwayConditionTest,
- Values(
+ ::testing::Values(
// --------------------- | entityName | targetTHW | rule | expectError | expectNumberOfEvents |
TimeHeadwayCondition_Data{"notExisting" , 1.0 , openScenario::Rule::LessThan , true , 0 },
TimeHeadwayCondition_Data{"referenceAgent" , 1.0 , openScenario::Rule::GreaterThan , false , 1 },
diff --git a/OpenPass_Test/unitTests/CoreModules/Observation_Log/observationLog_Tests.cpp b/OpenPass_Test/unitTests/CoreModules/Observation_Log/observationLog_Tests.cpp
index 96dafe025aab93c4e8fee420cdf683547c809753..6b3284167251e94aa730056fc511a4aa942f7a05 100644
--- a/OpenPass_Test/unitTests/CoreModules/Observation_Log/observationLog_Tests.cpp
+++ b/OpenPass_Test/unitTests/CoreModules/Observation_Log/observationLog_Tests.cpp
@@ -45,7 +45,7 @@ TEST(ObservationCyclics_Test, GetTimeSteps_ReturnsCorrectTimesteps)
cyclics.Insert(100, "ParameterA", "345");
cyclics.Insert(150, "ParameterB", "456");
- std::vector<int> timesteps = *cyclics.GetTimeSteps();
+ const auto& timesteps = cyclics.GetTimeSteps();
ASSERT_THAT(timesteps, ElementsAre(0, 100, 150));
}
@@ -116,39 +116,6 @@ TEST(ObservationCyclics_Test, GetSamplesLineSamplesNotUntilEnd_ReturnsLineWithEm
ASSERT_THAT(samplesLine, Eq(", 789, "));
}
-TEST(RunStatisticCalculation_Test, CalculateTotalDistanceTraveled_SetsCorrectDistances)
-{
- NiceMock<FakeWorld> fakeWorld;
-
- NiceMock<FakeAgent> fakeEgo;
- ON_CALL(fakeEgo, GetDistanceTraveled()).WillByDefault(Return(100.0));
- ON_CALL(fakeWorld, GetEgoAgent()).WillByDefault(Return(&fakeEgo));
-
- NiceMock<FakeAgent> fakeAgent1;
- ON_CALL(fakeAgent1, GetDistanceTraveled()).WillByDefault(Return(50.0));
- ON_CALL(fakeAgent1, IsEgoAgent()).WillByDefault(Return(false));
-
- NiceMock<FakeAgent> fakeAgent2;
- ON_CALL(fakeAgent2, GetDistanceTraveled()).WillByDefault(Return(8.0));
- ON_CALL(fakeAgent2, IsEgoAgent()).WillByDefault(Return(false));
-
- NiceMock<FakeAgent> fakeAgent3;
- ON_CALL(fakeAgent3, GetDistanceTraveled()).WillByDefault(Return(0.3));
- ON_CALL(fakeAgent3, IsEgoAgent()).WillByDefault(Return(false));
-
- std::map<int, AgentInterface*> agents{ {0, &fakeEgo}, {1, &fakeAgent1}, {2, &fakeAgent2} };
- std::list<const AgentInterface*> removedAgents{&fakeAgent3};
- ON_CALL(fakeWorld, GetAgents()).WillByDefault(ReturnRef(agents));
- ON_CALL(fakeWorld, GetRemovedAgents()).WillByDefault(ReturnRef(removedAgents));
-
- RunStatistic runStatistic{0};
-
- RunStatisticCalculation::CalculateTotalDistanceTraveled(runStatistic, &fakeWorld);
-
- ASSERT_THAT(runStatistic.EgoDistanceTraveled, DoubleEq(100.0));
- ASSERT_THAT(runStatistic.TotalDistanceTraveled, DoubleEq(158.3));
-}
-
TEST(RunStatisticCalculation_Test, DetermineEgoCollisionWithEgoCollision_SetsEgoCollisionTrue)
{
NiceMock<FakeWorld> fakeWorld;
diff --git a/OpenPass_Test/unitTests/CoreModules/Observation_Log/observationLog_Tests.pro b/OpenPass_Test/unitTests/CoreModules/Observation_Log/observationLog_Tests.pro
index 0db586fcbdfc04d0b659b512336ecea80ae8f091..73ae69acf067fd5782f83f101e8b2f00378fdf15 100644
--- a/OpenPass_Test/unitTests/CoreModules/Observation_Log/observationLog_Tests.pro
+++ b/OpenPass_Test/unitTests/CoreModules/Observation_Log/observationLog_Tests.pro
@@ -34,4 +34,5 @@ SOURCES += \
$$UNIT_UNDER_TEST/observationFileHandler.cpp \
$$UNIT_UNDER_TEST/runStatistic.cpp \
$$UNIT_UNDER_TEST/runStatisticCalculation.cpp \
+ $$OPEN_SRC/Common/vector2d.cpp \
observationLog_Tests.cpp
diff --git a/OpenPass_Test/unitTests/CoreModules/Observation_LogNG/observationLogNG_Tests.cpp b/OpenPass_Test/unitTests/CoreModules/Observation_LogNG/observationLogNG_Tests.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ddbaaafeb87c9c1a7f71a6c7d67d3514ba362fb9
--- /dev/null
+++ b/OpenPass_Test/unitTests/CoreModules/Observation_LogNG/observationLogNG_Tests.cpp
@@ -0,0 +1,54 @@
+/*******************************************************************************
+* Copyright (c) 2020 in-tech 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
+*******************************************************************************/
+
+#include "gtest/gtest.h"
+#include "gmock/gmock.h"
+
+#include "fakeAgentDataPublisher.h"
+#include "fakeCallback.h"
+#include "fakeDataStore.h"
+#include "fakeEventNetwork.h"
+#include "fakeParameter.h"
+#include "fakeStochastics.h"
+#include "fakeWorld.h"
+
+#include "Common/runtimeInformation.h"
+
+#include "observation_logNGImplementation.h"
+
+using ::testing::NiceMock;
+using ::testing::NotNull;
+using ::testing::Return;
+using ::testing::ReturnRef;
+
+const openpass::common::RuntimeInformation fakeRti{{openpass::common::Version{0,0,0}}, {"", "", ""}};
+
+TEST(ObservationNG, Compiles)
+{
+ FakeCallback fakeCallback;
+ FakeEventNetwork fakeEventNetwork;
+ NiceMock<FakeParameter> fakeParameter;
+ FakeStochastics fakeStochastics;
+ FakeWorld fakeWorld;
+
+ std::map<std::string, const std::vector<std::string>> fakeStringVectors{{"LoggingGroups", {}}};
+
+ ON_CALL(fakeParameter, GetRuntimeInformation()).WillByDefault(ReturnRef(fakeRti));
+ ON_CALL(fakeParameter, GetParametersStringVector()).WillByDefault(ReturnRef(fakeStringVectors));
+
+ auto ong = std::make_unique<ObservationLogNGImplementation>(
+ &fakeEventNetwork,
+ &fakeStochastics,
+ &fakeWorld,
+ &fakeParameter,
+ &fakeCallback);
+
+ ASSERT_THAT(ong, NotNull());
+}
diff --git a/OpenPass_Test/unitTests/CoreModules/Observation_LogNG/observationLogNG_Tests.pro b/OpenPass_Test/unitTests/CoreModules/Observation_LogNG/observationLogNG_Tests.pro
new file mode 100644
index 0000000000000000000000000000000000000000..38816134b9c364b7bcba727d0882893395c3c12a
--- /dev/null
+++ b/OpenPass_Test/unitTests/CoreModules/Observation_LogNG/observationLogNG_Tests.pro
@@ -0,0 +1,31 @@
+# /*********************************************************************
+# * Copyright (c) 2020 in-tech 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
+# **********************************************************************/
+
+CONFIG += OPENPASS_GTEST \
+ OPENPASS_GTEST_DEFAULT_MAIN
+
+include(../../../testing.pri)
+
+UNIT_UNDER_TEST = $$OPEN_SRC/CoreModules/Observation_LogNG
+
+win32:QMAKE_CXXFLAGS += -Wa,-mbig-obj
+
+INCLUDEPATH += \
+ . \
+ $$UNIT_UNDER_TEST
+
+HEADERS += \
+ $$OPEN_SRC/Interfaces/dataStoreInterface.h \
+ $$OPEN_SRC/Interfaces/publisherInterface.h \
+ $$UNIT_UNDER_TEST/observation_logNGImplementation.h
+
+SOURCES += \
+ $$UNIT_UNDER_TEST/observation_logNGImplementation.cpp \
+ observationLogNG_Tests.cpp
diff --git a/OpenPass_Test/unitTests/CoreModules/SpawnPointRuntimeCommon_OSI/spawnPointRuntimeCommon_Tests.pro b/OpenPass_Test/unitTests/CoreModules/SpawnPointRuntimeCommon_OSI/spawnPointRuntimeCommon_Tests.pro
index 17d7cbc2c2b6018c4cfce69cf09af00f77706f8b..a4f5b22fbbdd62cd1e4202d968a51de18c982284 100644
--- a/OpenPass_Test/unitTests/CoreModules/SpawnPointRuntimeCommon_OSI/spawnPointRuntimeCommon_Tests.pro
+++ b/OpenPass_Test/unitTests/CoreModules/SpawnPointRuntimeCommon_OSI/spawnPointRuntimeCommon_Tests.pro
@@ -65,6 +65,7 @@ SOURCES += \
$$relative_path($$OPEN_SRC)/Common/vector2d.cpp \
$$UNIT_UNDER_TEST/SpawnPointRuntimeCommon.cpp \
$$FRAMEWORK/agentBlueprintProvider.cpp \
+ $$FRAMEWORK/agentDataPublisher.cpp \
$$FRAMEWORK/dynamicProfileSampler.cpp \
$$FRAMEWORK/dynamicParametersSampler.cpp \
$$FRAMEWORK/dynamicAgentTypeGenerator.cpp \
diff --git a/OpenPass_Test/unitTests/CoreModules/SpawnPointScenario_OSI/spawnPointScenario_Tests.cpp b/OpenPass_Test/unitTests/CoreModules/SpawnPointScenario_OSI/spawnPointScenario_Tests.cpp
index dd864b78da3002718a58620c6efe55f20b905f5e..34204097582ebdc969cedf7513cffd1fe33adf09 100644
--- a/OpenPass_Test/unitTests/CoreModules/SpawnPointScenario_OSI/spawnPointScenario_Tests.cpp
+++ b/OpenPass_Test/unitTests/CoreModules/SpawnPointScenario_OSI/spawnPointScenario_Tests.cpp
@@ -8,48 +8,40 @@
* SPDX-License-Identifier: EPL-2.0
**********************************************************************/
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
-#include "dontCare.h"
-
#include "SpawnPointScenario.h"
#include "agentBlueprint.h"
-
-#include "fakeWorld.h"
-#include "fakeScenario.h"
+#include "dontCare.h"
+#include "fakeAgent.h"
#include "fakeAgentBlueprintProvider.h"
#include "fakeAgentFactory.h"
#include "fakeStochastics.h"
-#include "fakeAgent.h"
+#include "fakeScenario.h"
+#include "fakeWorld.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
-using ::testing::ReturnRef;
-using ::testing::Return;
using ::testing::_;
using ::testing::DontCare;
using ::testing::Matcher;
using ::testing::NiceMock;
+using ::testing::Return;
+using ::testing::ReturnRef;
MATCHER_P(MatchesAgentBlueprint, referenceAgentBlueprint, "matches blueprint")
{
- if (!(arg->GetAgentProfileName() == referenceAgentBlueprint.GetAgentProfileName()
- && arg->GetAgentCategory() == referenceAgentBlueprint.GetAgentCategory())
- && arg->GetObjectName() == referenceAgentBlueprint.GetObjectName())
+ if (!(arg->GetAgentProfileName() == referenceAgentBlueprint.GetAgentProfileName() && arg->GetAgentCategory() == referenceAgentBlueprint.GetAgentCategory()) && arg->GetObjectName() == referenceAgentBlueprint.GetObjectName())
{
return false;
}
const auto actualSpawnParameters = arg->GetSpawnParameter();
const auto expectedSpawnParameters = referenceAgentBlueprint.GetSpawnParameter();
- if (!(actualSpawnParameters.velocity == expectedSpawnParameters.velocity
- && actualSpawnParameters.positionX == expectedSpawnParameters.positionX
- && actualSpawnParameters.yawAngle == expectedSpawnParameters.yawAngle))
+ if (!(actualSpawnParameters.velocity == expectedSpawnParameters.velocity && actualSpawnParameters.positionX == expectedSpawnParameters.positionX && actualSpawnParameters.yawAngle == expectedSpawnParameters.yawAngle))
{
return false;
}
const auto actualVehicleModelParameters = arg->GetVehicleModelParameters();
const auto expectedVehicleModelParameters = referenceAgentBlueprint.GetVehicleModelParameters();
- if (!(actualVehicleModelParameters.length == expectedVehicleModelParameters.length
- && actualVehicleModelParameters.width == expectedVehicleModelParameters.width
- && actualVehicleModelParameters.distanceReferencePointToLeadingEdge == expectedVehicleModelParameters.distanceReferencePointToLeadingEdge))
+ if (!(actualVehicleModelParameters.length == expectedVehicleModelParameters.length && actualVehicleModelParameters.width == expectedVehicleModelParameters.width && actualVehicleModelParameters.distanceReferencePointToLeadingEdge == expectedVehicleModelParameters.distanceReferencePointToLeadingEdge))
{
return false;
}
@@ -108,17 +100,17 @@ TEST(SpawnPointScenario, Trigger_SpawnsEgoAgentAccordingToScenarioWorldPosition)
expectedAgentBlueprint.SetSpawnParameter(expectedSpawnParameter);
ON_CALL(fakeScenario, GetEntities())
- .WillByDefault(ReturnRef(entities));
+ .WillByDefault(ReturnRef(entities));
ON_CALL(fakeAgentBlueprintProvider, SampleAgent(entity.catalogReference.entryName, _))
- .WillByDefault(Return(actualAgentBlueprint));
+ .WillByDefault(Return(actualAgentBlueprint));
ON_CALL(fakeWorld, IntersectsWithAgent(_, _, _, _, _, _))
- .WillByDefault(Return(false));
+ .WillByDefault(Return(false));
SimulationSlave::Agent agent(0, &fakeWorld);
// if this is called and the blueprints match, we're creating our Agent correctly
EXPECT_CALL(fakeAgentFactory, AddAgent(MatchesAgentBlueprint(expectedAgentBlueprint)))
- .WillOnce(Return(&agent));
+ .WillOnce(Return(&agent));
SpawnPointScenario spawnPointScenario{&dependencies, nullptr};
spawnPointScenario.Trigger(0);
@@ -184,25 +176,25 @@ TEST(SpawnPointScenario, Trigger_SpawnsEgoAgentAccordingToScenarioLanePosition)
Position position{expectedX, expectedY, expectedYaw, 0};
- ON_CALL(fakeScenario, GetEntities()) .WillByDefault(ReturnRef(entities));
+ ON_CALL(fakeScenario, GetEntities()).WillByDefault(ReturnRef(entities));
ON_CALL(fakeAgentBlueprintProvider, SampleAgent(entity.catalogReference.entryName, _))
- .WillByDefault(Return(actualAgentBlueprint));
+ .WillByDefault(Return(actualAgentBlueprint));
ON_CALL(fakeWorld, IsSValidOnLane(roadId, laneId, s))
- .WillByDefault(Return(true));
+ .WillByDefault(Return(true));
ON_CALL(fakeWorld, IsSValidOnLane(roadId, laneId, s))
- .WillByDefault(Return(true));
+ .WillByDefault(Return(true));
ON_CALL(fakeWorld, GetLaneWidth(roadId, laneId, s))
- .WillByDefault(Return(0.75));
+ .WillByDefault(Return(0.75));
ON_CALL(fakeWorld, LaneCoord2WorldCoord(s, offset, roadId, laneId))
- .WillByDefault(Return(position));
+ .WillByDefault(Return(position));
ON_CALL(fakeWorld, IntersectsWithAgent(_, _, _, _, _, _))
- .WillByDefault(Return(false));
+ .WillByDefault(Return(false));
SimulationSlave::Agent agent(0, &fakeWorld);
// if this is called and the blueprints match, we're creating our Agent correctly
EXPECT_CALL(fakeAgentFactory, AddAgent(MatchesAgentBlueprint(expectedAgentBlueprint)))
- .WillOnce(Return(&agent));
+ .WillOnce(Return(&agent));
SpawnPointScenario spawnPointScenario{&dependencies, nullptr};
spawnPointScenario.Trigger(0);
@@ -259,17 +251,17 @@ TEST(SpawnPointScenario, Trigger_SpawnsScenarioAgentAccordingToScenarioWorldPosi
expectedAgentBlueprint.SetSpawnParameter(expectedSpawnParameter);
ON_CALL(fakeScenario, GetEntities())
- .WillByDefault(ReturnRef(entities));
+ .WillByDefault(ReturnRef(entities));
ON_CALL(fakeAgentBlueprintProvider, SampleAgent(entity.catalogReference.entryName, _))
- .WillByDefault(Return(actualAgentBlueprint));
+ .WillByDefault(Return(actualAgentBlueprint));
ON_CALL(fakeWorld, IntersectsWithAgent(_, _, _, _, _, _))
- .WillByDefault(Return(false));
+ .WillByDefault(Return(false));
SimulationSlave::Agent agent(0, &fakeWorld);
// if this is called and the blueprints match, we're creating our Agent correctly
EXPECT_CALL(fakeAgentFactory, AddAgent(MatchesAgentBlueprint(expectedAgentBlueprint)))
- .WillOnce(Return(&agent));
+ .WillOnce(Return(&agent));
SpawnPointScenario spawnPointScenario{&dependencies, nullptr};
spawnPointScenario.Trigger(0);
@@ -336,25 +328,25 @@ TEST(SpawnPointScenario, Trigger_SpawnsScenarioAgentAccordingToScenarioLanePosit
Position position{expectedX, expectedY, expectedYaw, 0};
ON_CALL(fakeScenario, GetEntities())
- .WillByDefault(ReturnRef(entities));
+ .WillByDefault(ReturnRef(entities));
ON_CALL(fakeAgentBlueprintProvider, SampleAgent(entity.catalogReference.entryName, _))
- .WillByDefault(Return(actualAgentBlueprint));
+ .WillByDefault(Return(actualAgentBlueprint));
ON_CALL(fakeWorld, IsSValidOnLane(roadId, laneId, s))
- .WillByDefault(Return(true));
+ .WillByDefault(Return(true));
ON_CALL(fakeWorld, IsSValidOnLane(roadId, laneId, s))
- .WillByDefault(Return(true));
+ .WillByDefault(Return(true));
ON_CALL(fakeWorld, GetLaneWidth(roadId, laneId, s))
- .WillByDefault(Return(0.75));
+ .WillByDefault(Return(0.75));
ON_CALL(fakeWorld, LaneCoord2WorldCoord(s, offset, roadId, laneId))
- .WillByDefault(Return(position));
+ .WillByDefault(Return(position));
ON_CALL(fakeWorld, IntersectsWithAgent(_, _, _, _, _, _))
- .WillByDefault(Return(false));
+ .WillByDefault(Return(false));
SimulationSlave::Agent agent(0, &fakeWorld);
// if this is called and the blueprints match, we're creating our Agent correctly
EXPECT_CALL(fakeAgentFactory, AddAgent(MatchesAgentBlueprint(expectedAgentBlueprint)))
- .WillOnce(Return(&agent));
+ .WillOnce(Return(&agent));
SpawnPointScenario spawnPointScenario{&dependencies, nullptr};
spawnPointScenario.Trigger(0);
diff --git a/OpenPass_Test/unitTests/CoreModules/SpawnPointScenario_OSI/spawnPointScenario_Tests.pro b/OpenPass_Test/unitTests/CoreModules/SpawnPointScenario_OSI/spawnPointScenario_Tests.pro
index e9dae7a84e09ad6a26069465d009afac837e933c..37df5e100c908bef4d43b14381f9abbdb4d4fdb8 100644
--- a/OpenPass_Test/unitTests/CoreModules/SpawnPointScenario_OSI/spawnPointScenario_Tests.pro
+++ b/OpenPass_Test/unitTests/CoreModules/SpawnPointScenario_OSI/spawnPointScenario_Tests.pro
@@ -62,6 +62,7 @@ SOURCES += \
$$relative_path($$OPEN_SRC)/Common/vector2d.cpp \
$$UNIT_UNDER_TEST/SpawnPointScenario.cpp \
$$FRAMEWORK/agentBlueprintProvider.cpp \
+ $$FRAMEWORK/agentDataPublisher.cpp \
$$FRAMEWORK/dynamicProfileSampler.cpp \
$$FRAMEWORK/dynamicParametersSampler.cpp \
$$FRAMEWORK/dynamicAgentTypeGenerator.cpp \
diff --git a/OpenPass_Test/unitTests/openPASS_UnitTests.pro b/OpenPass_Test/unitTests/openPASS_UnitTests.pro
index add44f8e4282510b785ad4634c07f8e5f29defba..43007de8260afe6abb01e6063c26268b2a564b42 100644
--- a/OpenPass_Test/unitTests/openPASS_UnitTests.pro
+++ b/OpenPass_Test/unitTests/openPASS_UnitTests.pro
@@ -16,12 +16,14 @@ SUBDIRS = \
algorithmFmuWrapper_Tests \
algorithmLateral_Tests \
algorithmLongitudinal_Tests \
+ basicDataStore_Tests \
componentController_Tests \
dynamicsCollision_Tests \
dynamicsTrajectoryFollower_Tests \
eventDetector_Tests \
limiterAccelerationVehicleComponents_Tests \
observationLog_Tests \
+ \ #observationLogNG_Tests \
openPassSlave_Tests \
openScenarioActions_Tests \
scheduler_Tests \
@@ -50,6 +52,9 @@ algorithmLateral_Tests.file = \
algorithmLongitudinal_Tests.file = \
$$PWD/Components/Algorithm_Longitudinal/algorithmLongitudinal_Tests.pro
+basicDataStore_Tests.file = \
+ $$PWD/CoreModules/BasicDataStore/basicDataStore_Tests.pro
+
componentController_Tests.file = \
$$PWD/Components/ComponentController/componentController_Tests.pro
diff --git a/Templates/Algorithm_Comp1/algorithm_Comp1.cpp b/Templates/Algorithm_Comp1/algorithm_Comp1.cpp
index 9ca3b659081ce39d5c734372022c4b2c0f7b0949..0c80df446827571318d9d617aeedd8bd26f3afc2 100644
--- a/Templates/Algorithm_Comp1/algorithm_Comp1.cpp
+++ b/Templates/Algorithm_Comp1/algorithm_Comp1.cpp
@@ -1,9 +1,9 @@
-/*********************************************************************
-* This Example Content is intended to demonstrate usage of
-* Eclipse technology. It is provided to you under the terms
-* and conditions of the Eclipse Distribution License v1.0
-* which is available at http://www.eclipse.org/org/documents/edl-v10.php
-**********************************************************************/
+/*********************************************************************
+* This Example Content is intended to demonstrate usage of
+* Eclipse technology. It is provided to you under the terms
+* and conditions of the Eclipse Distribution License v1.0
+* which is available at http://www.eclipse.org/org/documents/edl-v10.php
+**********************************************************************/
//-----------------------------------------------------------------------------
//! @file algorithm_Comp1.cpp
@@ -34,7 +34,7 @@ extern "C" ALGORITHM_COMP1_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -55,7 +55,7 @@ extern "C" ALGORITHM_COMP1_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agent->GetAgentId()));
}
diff --git a/Templates/Algorithm_Comp1/algorithm_Comp1_implementation.cpp b/Templates/Algorithm_Comp1/algorithm_Comp1_implementation.cpp
index 3829a097791e9b7b3df7e6a823281a1954db8d63..f6b40f512e21090b78efaaa681cc1fdf2b33b14d 100644
--- a/Templates/Algorithm_Comp1/algorithm_Comp1_implementation.cpp
+++ b/Templates/Algorithm_Comp1/algorithm_Comp1_implementation.cpp
@@ -1,9 +1,9 @@
-/*********************************************************************
-* This Example Content is intended to demonstrate usage of
-* Eclipse technology. It is provided to you under the terms
-* and conditions of the Eclipse Distribution License v1.0
-* which is available at http://www.eclipse.org/org/documents/edl-v10.php
-**********************************************************************/
+/*********************************************************************
+* This Example Content is intended to demonstrate usage of
+* Eclipse technology. It is provided to you under the terms
+* and conditions of the Eclipse Distribution License v1.0
+* which is available at http://www.eclipse.org/org/documents/edl-v10.php
+**********************************************************************/
/**
* @defgroup module_comp1 Comp1
@@ -31,7 +31,7 @@ Algorithm_Comp1_Implementation::Algorithm_Comp1_Implementation(int componentId,
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
int agentId) :
AlgorithmInterface(componentId,
@@ -42,7 +42,7 @@ Algorithm_Comp1_Implementation::Algorithm_Comp1_Implementation(int componentId,
cycleTime,
stochastics,
parameters,
- observations,
+ publisher,
callbacks,
agentId)
{
diff --git a/Templates/Algorithm_Comp1/algorithm_Comp1_implementation.h b/Templates/Algorithm_Comp1/algorithm_Comp1_implementation.h
index e1854ecda2e83975024ff5d2b0b5a388724157e5..c02131166eeedddd79359f17cc44b2b1a1d7e0a3 100644
--- a/Templates/Algorithm_Comp1/algorithm_Comp1_implementation.h
+++ b/Templates/Algorithm_Comp1/algorithm_Comp1_implementation.h
@@ -1,15 +1,14 @@
-/*********************************************************************
-* This Example Content is intended to demonstrate usage of
-* Eclipse technology. It is provided to you under the terms
-* and conditions of the Eclipse Distribution License v1.0
-* which is available at http://www.eclipse.org/org/documents/edl-v10.php
-**********************************************************************/
+/*********************************************************************
+* This Example Content is intended to demonstrate usage of
+* Eclipse technology. It is provided to you under the terms
+* and conditions of the Eclipse Distribution License v1.0
+* which is available at http://www.eclipse.org/org/documents/edl-v10.php
+**********************************************************************/
#ifndef ALGORITHM_COMP1_IMPLEMENTATION_H
#define ALGORITHM_COMP1_IMPLEMENTATION_H
#include "modelInterface.h"
-#include "observationInterface.h"
#include "primitiveSignals.h"
#include "vectorSignals.h"
#include "componentPorts.h"
@@ -55,7 +54,7 @@ public:
int cycleTime,
StochasticsInterface *stochastics,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
int agentId);
diff --git a/Templates/Dynamics_Comp2/dynamics_Comp2.cpp b/Templates/Dynamics_Comp2/dynamics_Comp2.cpp
index d99d2e8834eb389fe5eab05654f0353e6a2c59a4..336156741e5d6d591305a11b4076a621fceed869 100644
--- a/Templates/Dynamics_Comp2/dynamics_Comp2.cpp
+++ b/Templates/Dynamics_Comp2/dynamics_Comp2.cpp
@@ -1,9 +1,9 @@
-/*********************************************************************
-* This Example Content is intended to demonstrate usage of
-* Eclipse technology. It is provided to you under the terms
-* and conditions of the Eclipse Distribution License v1.0
-* which is available at http://www.eclipse.org/org/documents/edl-v10.php
-**********************************************************************/
+/*********************************************************************
+* This Example Content is intended to demonstrate usage of
+* Eclipse technology. It is provided to you under the terms
+* and conditions of the Eclipse Distribution License v1.0
+* which is available at http://www.eclipse.org/org/documents/edl-v10.php
+**********************************************************************/
//-----------------------------------------------------------------------------
//! @file dynamics_Comp2.cpp
@@ -34,7 +34,7 @@ extern "C" DYNAMICS_COMP2_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks)
{
@@ -56,7 +56,7 @@ extern "C" DYNAMICS_COMP2_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent));
}
diff --git a/Templates/Dynamics_Comp2/dynamics_Comp2_implementation.cpp b/Templates/Dynamics_Comp2/dynamics_Comp2_implementation.cpp
index b6f7b3a441c20e8ffc24d5c7b443012e5a9468c0..2e1f78dc3dbbf8c2a9c057695356dbdf9d9cc231 100644
--- a/Templates/Dynamics_Comp2/dynamics_Comp2_implementation.cpp
+++ b/Templates/Dynamics_Comp2/dynamics_Comp2_implementation.cpp
@@ -1,9 +1,9 @@
-/*********************************************************************
-* This Example Content is intended to demonstrate usage of
-* Eclipse technology. It is provided to you under the terms
-* and conditions of the Eclipse Distribution License v1.0
-* which is available at http://www.eclipse.org/org/documents/edl-v10.php
-**********************************************************************/
+/*********************************************************************
+* This Example Content is intended to demonstrate usage of
+* Eclipse technology. It is provided to you under the terms
+* and conditions of the Eclipse Distribution License v1.0
+* which is available at http://www.eclipse.org/org/documents/edl-v10.php
+**********************************************************************/
/**
* @defgroup module_comp2 Comp2
@@ -32,7 +32,7 @@ Dynamics_Comp2_Implementation::Dynamics_Comp2_Implementation(int componentId,
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
DynamicsInterface(componentId,
@@ -44,7 +44,7 @@ Dynamics_Comp2_Implementation::Dynamics_Comp2_Implementation(int componentId,
stochastics,
world,
parameters,
- observations,
+ publisher,
callbacks,
agent)
{
diff --git a/Templates/Dynamics_Comp2/dynamics_Comp2_implementation.h b/Templates/Dynamics_Comp2/dynamics_Comp2_implementation.h
index 9731709d8b854d81fd14e7188a67ef26a82efb93..c168011cd051c9aa6dd004d555782dd98cbf7466 100644
--- a/Templates/Dynamics_Comp2/dynamics_Comp2_implementation.h
+++ b/Templates/Dynamics_Comp2/dynamics_Comp2_implementation.h
@@ -1,15 +1,14 @@
-/*********************************************************************
-* This Example Content is intended to demonstrate usage of
-* Eclipse technology. It is provided to you under the terms
-* and conditions of the Eclipse Distribution License v1.0
-* which is available at http://www.eclipse.org/org/documents/edl-v10.php
-**********************************************************************/
+/*********************************************************************
+* This Example Content is intended to demonstrate usage of
+* Eclipse technology. It is provided to you under the terms
+* and conditions of the Eclipse Distribution License v1.0
+* which is available at http://www.eclipse.org/org/documents/edl-v10.php
+**********************************************************************/
#ifndef DYNAMICS_COMP2_IMPLEMENTATION_H
#define DYNAMICS_COMP2_IMPLEMENTATION_H
#include "modelInterface.h"
-#include "observationInterface.h"
#include "primitiveSignals.h"
#include "vectorSignals.h"
#include "componentPorts.h"
@@ -56,7 +55,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- const std::map<int, ObservationInterface *> *observations,
+ PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent);