all: Improve DataBroker interface for common types

Author: cassava

engine/src/registrar.hpp

@@ -21,11 +21,14 @@
 
 #pragma once
 
-#include <memory>  // for unique_ptr<>, shared_ptr<>
-#include <string>  // for string
+#include <memory>       // for unique_ptr<>, shared_ptr<>
+#include <string>       // for string
+#include <string_view>  // for string_view
 
-#include <cloe/registrar.hpp>  // for cloe::Registrar
+#include <cloe/core/logger.hpp>  // for logger::get
+#include <cloe/registrar.hpp>    // for cloe::Registrar
 
+#include "config.hpp"       // for CLOE_TRIGGER_PATH_DELIMITER, ...
 #include "coordinator.hpp"  // for Coordinator
 #include "server.hpp"       // for Server, ServerRegistrar
 
@@ -59,55 +62,69 @@ class Registrar : public cloe::Registrar {
     server_registrar_->register_api_handler(endpoint, t, h);
   }
 
-  std::unique_ptr<cloe::Registrar> clone() const {
+  [[nodiscard]] std::unique_ptr<cloe::Registrar> clone() const {
     return std::make_unique<Registrar>(*this, "", "", "");
   }
 
   std::unique_ptr<cloe::Registrar> with_static_prefix(const std::string& prefix) const override {
-    assert(prefix.size() > 0);
+    assert(!prefix.empty());
     return std::make_unique<Registrar>(*this, "", prefix, "");
   }
 
   std::unique_ptr<cloe::Registrar> with_api_prefix(const std::string& prefix) const override {
-    assert(prefix.size() > 0);
+    assert(!prefix.empty());
     return std::make_unique<Registrar>(*this, "", "", prefix);
   }
 
   std::unique_ptr<cloe::Registrar> with_trigger_prefix(const std::string& prefix) const override {
-    assert(prefix.size() > 0 && prefix[0] != '_');
+    assert(!prefix.empty() && prefix[0] != '_');
     return std::make_unique<Registrar>(*this, prefix, "", "");
   }
 
-  std::string trigger_key(const std::string& name) {
-    assert(name.size() != 0);
+  [[nodiscard]] std::string make_prefix(std::string_view name, std::string_view delim) const {
+    assert(!name.empty());
 
-    if (trigger_prefix_.size() == 0) {
+    if (trigger_prefix_.empty()) {
       // This only works for Cloe internal triggers.
-      return name;
+      return std::string(name);
     }
+
+    std::string prefix = trigger_prefix_;
     if (name == "_") {
       // Special case: "_" means we can actually use just trigger_prefix_.
       // This might cause a problem if we name a plugin the same as one
       // of the internal Cloe triggers...
-      return trigger_prefix_;
+      return prefix;
     }
-    return trigger_prefix_ + "/" + name;
+    prefix += delim;
+    prefix += name;
+    return prefix;
+  }
+
+  [[nodiscard]] std::string make_trigger_name(std::string_view name) const {
+    return make_prefix(name, CLOE_TRIGGER_PATH_DELIMITER);
+  }
+
+  [[nodiscard]] std::string make_signal_name(std::string_view name) const override {
+    auto sname = make_prefix(name, CLOE_SIGNAL_PATH_DELIMITER);
+    coordinator_->logger()->debug("Register signal: {}", sname);
+    return sname;
   }
 
   void register_action(cloe::ActionFactoryPtr&& af) override {
-    coordinator_->register_action(trigger_key(af->name()), std::move(af));
+    coordinator_->register_action(make_trigger_name(af->name()), std::move(af));
   }
 
   void register_event(
       cloe::EventFactoryPtr&& ef, std::shared_ptr<cloe::Callback> storage) override {
-    coordinator_->register_event(trigger_key(ef->name()), std::move(ef), storage);
+    coordinator_->register_event(make_trigger_name(ef->name()), std::move(ef), storage);
   }
 
   sol::table register_lua_table() override {
     return coordinator_->register_lua_table(trigger_prefix_);
   }
 
-  cloe::DataBroker& data_broker() const override {
+  [[nodiscard]] cloe::DataBroker& data_broker() const override {
     assert(data_broker_ != nullptr);
     return *data_broker_;
   }

plugins/basic/src/basic.cpp

@@ -397,45 +397,10 @@ class BasicController : public Controller {
   }
 
   void enroll(Registrar& r) override {
-    auto& db = r.data_broker();
     if (this->veh_) {
-      auto& vehicle = this->veh_->name();
-      {
-        std::string name1 = fmt::format("vehicles.{}.{}.acc", vehicle, name());
-        auto acc_signal = db.declare<cloe::controller::basic::AccConfiguration>(name1);
-        acc_signal->set_getter<cloe::controller::basic::AccConfiguration>(
-            [this]() -> const cloe::controller::basic::AccConfiguration& {
-              return this->acc_.config;
-            });
-        acc_signal->set_setter<cloe::controller::basic::AccConfiguration>(
-            [this](const cloe::controller::basic::AccConfiguration& value) {
-              this->acc_.config = value;
-            });
-      }
-      {
-        std::string name1 = fmt::format("vehicles.{}.{}.aeb", vehicle, name());
-        auto aeb_signal = db.declare<cloe::controller::basic::AebConfiguration>(name1);
-        aeb_signal->set_getter<cloe::controller::basic::AebConfiguration>(
-            [this]() -> const cloe::controller::basic::AebConfiguration& {
-              return this->aeb_.config;
-            });
-        aeb_signal->set_setter<cloe::controller::basic::AebConfiguration>(
-            [this](const cloe::controller::basic::AebConfiguration& value) {
-              this->aeb_.config = value;
-            });
-      }
-      {
-        std::string name1 = fmt::format("vehicles.{}.{}.lka", vehicle, name());
-        auto lka_signal = db.declare<cloe::controller::basic::LkaConfiguration>(name1);
-        lka_signal->set_getter<cloe::controller::basic::LkaConfiguration>(
-            [this]() -> const cloe::controller::basic::LkaConfiguration& {
-              return this->lka_.config;
-            });
-        lka_signal->set_setter<cloe::controller::basic::LkaConfiguration>(
-            [this](const cloe::controller::basic::LkaConfiguration& value) {
-              this->lka_.config = value;
-            });
-      }
+      r.declare_signal("acc", &acc_.config);
+      r.declare_signal("aeb", &aeb_.config);
+      r.declare_signal("lka", &lka_.config);
     }
 
     auto lua = r.register_lua_table();

plugins/speedometer/src/speedometer.cpp

@@ -38,22 +38,19 @@ struct SpeedometerConf : public fable::Confable {
 
 class Speedometer : public cloe::Component {
  public:
-  Speedometer(const std::string& name, const SpeedometerConf&, std::shared_ptr<cloe::EgoSensor> ego)
+  Speedometer(const std::string& name, const SpeedometerConf& /*conf*/,
+              std::shared_ptr<cloe::EgoSensor> ego)
       : Component(name, "provides an event trigger to evaluate speed in km/h"), sensor_(ego) {}
 
-  virtual ~Speedometer() noexcept = default;
+  ~Speedometer() noexcept override = default;
 
   void enroll(cloe::Registrar& r) override {
     callback_kmph_ =
         r.register_event<cloe::events::EvaluateFactory, double>("kmph", "vehicle speed in km/h");
 
-    auto& db = r.data_broker();
-    {
-      std::string signal_name = fmt::format("components.{}.kmph", name());
-      auto signal = db.declare<double>(signal_name);
-      signal->set_getter<double>(
-          [this]() -> double { return cloe::utility::EgoSensorCanon(sensor_).velocity_as_kmph(); });
-    }
+    auto kmph_signal = r.declare_signal<double>("kmph");
+    kmph_signal->set_getter<double>(
+        [this]() -> double { return cloe::utility::EgoSensorCanon(sensor_).velocity_as_kmph(); });
   }
 
   cloe::Duration process(const cloe::Sync& sync) override {
@@ -63,7 +60,7 @@ class Speedometer : public cloe::Component {
   }
 
   fable::Json active_state() const override {
-    return fable::Json{{"kmph", utility::EgoSensorCanon(sensor_).velocity_as_kmph()}};
+    return fable::Json{{"kmph", cloe::utility::EgoSensorCanon(sensor_).velocity_as_kmph()}};
   }
 
  private:
@@ -75,7 +72,7 @@ class Speedometer : public cloe::Component {
 DEFINE_COMPONENT_FACTORY(SpeedometerFactory, SpeedometerConf, "speedometer",
                          "provide an event trigger to evaluate speed in km/h")
 
-DEFINE_COMPONENT_FACTORY_MAKE(SpeedometerFactory, Speedometer, EgoSensor)
+DEFINE_COMPONENT_FACTORY_MAKE(SpeedometerFactory, Speedometer, cloe::EgoSensor)
 
 // Register factory as plugin entrypoint
 EXPORT_CLOE_PLUGIN(SpeedometerFactory)

runtime/include/cloe/data_broker.hpp

@@ -1574,14 +1574,47 @@ class DataBroker {
    * \return Pointer to the specified signal
    */
   template <typename T>
-  SignalPtr declare(std::string_view new_name) {
+  SignalPtr declare(std::string_view name) {
     assert_static_type<T>();
     using compatible_type = databroker::compatible_base_t<T>;
 
     declare<compatible_type>();
 
     SignalPtr signal = Signal::make<compatible_type>();
-    alias(signal, new_name);
+    alias(signal, name);
+    return signal;
+  }
+
+  /**
+   * Declare a new signal and auto-implement getter and setter.
+   *
+   * \tparam T type of the signal value
+   * \param name name of the signal
+   * \param value_ptr pointer to signal value
+   * \return pointer to specified signal
+   */
+  template <typename T>
+  SignalPtr declare(std::string_view name, T* value_ptr) {
+    assert(value_ptr != nullptr);
+    auto signal = this->declare<T>(name);
+    signal->template set_getter<T>([value_ptr]() -> const T& {
+      return *value_ptr;
+    });
+    signal->template set_setter<T>([value_ptr](const T& value) {
+      *value_ptr = value;
+    });
+    return signal;
+  }
+
+  template <typename T>
+  SignalPtr declare(std::string_view name, std::function<T()> getter, std::function<void(T)> setter) {
+    auto signal = this->declare<T>(name);
+    if (getter) {
+      signal->template set_getter<T>(getter);
+    }
+    if (setter) {
+      signal->template set_setter<T>(setter);
+    }
     return signal;
   }
 

runtime/include/cloe/registrar.hpp

@@ -26,11 +26,11 @@
 #include <string>   // for string
 #include <utility>  // for move
 
+#include <cloe/data_broker.hpp>  // for DataBroker
+#include <cloe/handler.hpp>      // for Handler
+#include <cloe/trigger.hpp>      // for ActionFactory, EventFactory, Callback, ...
+#include <fable/json.hpp>        // for Json
 #include <sol/table.hpp>
-#include <cloe/cloe_fwd.hpp> // for DataBroker
-#include <cloe/handler.hpp>  // for Handler
-#include <cloe/trigger.hpp>  // for ActionFactory, EventFactory, Callback, ...
-#include <fable/json.hpp>    // for Json
 
 namespace cloe {
 
@@ -159,19 +159,37 @@ class Registrar {
   virtual std::unique_ptr<Registrar> with_static_prefix(const std::string& prefix) const = 0;
 
   /**
-   * Return a new Registrar with the given trigger prefix.
+   * Return a new Registrar with the given trigger and data broker prefix.
    *
    * The returned object should remain valid even if the object creating it
    * is destroyed.
    */
   virtual std::unique_ptr<Registrar> with_trigger_prefix(const std::string& prefix) const = 0;
 
+  [[nodiscard]] virtual std::string make_signal_name(std::string_view name) const = 0;
+
   /**
    * Register an ActionFactory.
    */
   virtual void register_action(std::unique_ptr<ActionFactory>&&) = 0;
 
-  virtual DataBroker& data_broker() const = 0;
+  template <typename T>
+  SignalPtr declare_signal(std::string_view name) {
+    return data_broker().declare<T>(make_signal_name(name));
+  }
+
+  template <typename T>
+  SignalPtr declare_signal(std::string_view name, T&& value_ptr) {
+    return data_broker().declare(make_signal_name(name), std::forward<T>(value_ptr));
+  }
+
+  template <typename T, typename GetterFunc, typename SetterFunc>
+  SignalPtr declare_signal(std::string_view name, GetterFunc&& getter, SetterFunc&& setter) {
+    return data_broker().declare(make_signal_name(name), std::forward<GetterFunc>(getter),
+                                 std::forward<SetterFunc>(setter));
+  }
+
+  [[nodiscard]] virtual DataBroker& data_broker() const = 0;
 
   /**
    * Construct and register an ActionFactory.

runtime/include/cloe/trigger/nil_event.hpp

@@ -25,6 +25,7 @@
 #include <string>  // for string
 
 #include <cloe/core.hpp>                   // for Conf, Json
+#include <cloe/registrar.hpp>              // for DirectCallback
 #include <cloe/trigger.hpp>                // for Event, EventFactory, Action, ActionFactory
 #include <cloe/trigger/helper_macros.hpp>  // for _X_FACTORY, _X_CALLBACK
 

tests/test_lua04_schedule_test.lua

@@ -18,15 +18,17 @@ cloe.schedule({
     end,
 })
 
-local signals = { "vehicles.default.basic.acc" }
-cloe.require_signals(signals)
-cloe.record_signals(signals)
+local Sig = {
+    VehAcc = "basic/acc"
+}
+cloe.require_signals_enum(Sig)
+cloe.record_signals(Sig)
 cloe.record_signals( {
     ["acc_config.limit_acceleration"] = function()
-        return cloe.signal("vehicles.default.basic.acc").limit_acceleration
+        return cloe.signal(Sig.VehAcc).limit_acceleration
     end,
     ["acc_config.limit_deceleration"] = function()
-        return cloe.signal("vehicles.default.basic.acc").limit_deceleration
+        return cloe.signal(Sig.VehAcc).limit_deceleration
     end,
 })