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osi: Initial commit of message handler and utils
1 parent 1d6311a commit 1eb0a15

23 files changed

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-111
lines changed

‎optional/osi/.gitignore

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build/

‎optional/osi/CMakeLists.txt

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cmake_minimum_required(VERSION 3.15 FATAL_ERROR)
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project(cloe-osi LANGUAGES CXX)
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include(GNUInstallDirs)
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include(TargetLinting)
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# Module -------------------------------------------------------------
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find_package(cloe-models REQUIRED)
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find_package(cloe-runtime REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(Boost COMPONENTS headers REQUIRED)
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find_package(open-simulation-interface REQUIRED)
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message(STATUS "-> Building cloe-osi library.")
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file(GLOB cloe-osi_PUBLIC_HEADERS "include/**/*.hpp")
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add_library(cloe-osi
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# find src -type f -name "*.cpp" \! -name "*_test.cpp"
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src/osi/utility/osi_ground_truth.cpp
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src/osi/utility/osi_omni_sensor.cpp
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src/osi/utility/osi_transceiver_tcp.cpp
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src/osi/utility/osi_utils.cpp
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# For IDE integration
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${cloe-osi_PUBLIC_HEADERS}
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)
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add_library(cloe::osi ALIAS cloe-osi)
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set_target_properties(cloe-osi PROPERTIES
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CXX_STANDARD 17
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CXX_STANDARD_REQUIRED ON
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VERSION ${CLOE_PROJECT_VERSION}
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)
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target_include_directories(cloe-osi
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PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
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)
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target_link_libraries(cloe-osi
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PUBLIC
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cloe::models
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cloe::runtime
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Boost::headers
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Eigen3::Eigen
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open-simulation-interface::open-simulation-interface
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)
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# Testing -------------------------------------------------------------
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include(CTest)
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if(BUILD_TESTING)
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find_package(GTest REQUIRED)
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include(GoogleTest)
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add_executable(test-osi
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# find src -type f -name "*_test.cpp"
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src/osi/component/osi_sensor_test.cpp
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src/osi/utility/osi_test.cpp
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)
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set_target_properties(test-osi PROPERTIES
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CXX_STANDARD 17
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CXX_STANDARD_REQUIRED ON
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)
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target_link_libraries(test-osi
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PRIVATE
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GTest::gtest
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GTest::gtest_main
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Boost::boost
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cloe::runtime
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cloe::models
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cloe::osi
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open-simulation-interface::open-simulation-interface
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)
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gtest_add_tests(TARGET test-osi)
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endif()
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# Installation -------------------------------------------------------
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install(TARGETS cloe-osi
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LIBRARY
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DESTINATION ${CMAKE_INSTALL_LIBDIR}
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ARCHIVE
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DESTINATION ${CMAKE_INSTALL_LIBDIR}
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)
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install(
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DIRECTORY include/
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DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
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)

‎optional/osi/Makefile

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PROJECT_ROOT := ../..
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include ${PROJECT_ROOT}/Makefile.package
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# -------------------------------------------------
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ALL_VENDOR := $(wildcard vendor/*)
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.PHONY: ${ALL_VENDOR}
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WITHOUT_VENDOR :=
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UNSELECT_VENDOR := ${WITHOUT_VENDOR}
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WITH_VENDOR :=
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SELECT_VENDOR := $(call uniq, $(filter-out ${UNSELECT_VENDOR}, ${ALL_VENDOR}) ${WITH_VENDOR})
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vendor/open-simulation-interface-3.3.1: vendor/protoc
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REGEX_TARGET := 's/(-vendor|-select)?-each//'
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${SELECT_VENDOR}:
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${MAKE} -C $@ $(shell echo ${MAKECMDGOALS} | sed -re ${REGEX_TARGET})
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# Usage: $(call _make_target_rule, TARGET-NAME, MAKE-TARGET, HELP-DESCRIPTION, MAKE-ARGUMENTS)
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define _make_target_rule
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${1}:
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$(call print_header, "Proceeding to $(call unquote, ${3})")
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${MAKE} ${SUBMAKEFLAGS} PROJECT_ROOT=$(realpath ${PROJECT_ROOT}) ${4} ${2}
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endef
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# Usage: $(call _make_target_rules, TARGET-NAME, HELP-DESCRIPTION, HELP-CATEGORY, PACKAGE-DIRS)
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define _make_target_rules
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help::
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$(call print_help_target, ${1}, ${2}, ${3})
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$(call _make_target_rule,${1},${1}-each,${2})
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${1}-each: ${4}
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endef
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# Usage: $(call make_vendor_target, TARGET-NAME, HELP-DESCRIPTION, HELP-CATEGORY)
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define make_vendor_target
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$(eval $(call _make_target_rules,${1},${2},${3},${SELECT_VENDOR}))
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endef
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help::
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$(call print_help_section, "Available vendor targets")
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$(call make_vendor_target, export-vendor, "export all vendor packages", "[conan-cache]")
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$(call make_vendor_target, package-vendor, "create all vendor packages", "[conan-cache]")
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$(call make_vendor_target, download-vendor, "download or build vendor packages", "[conan-cache]")

‎optional/osi/conanfile.py

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# mypy: ignore-errors
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# pylint: skip-file
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from pathlib import Path
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from conan import ConanFile
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from conan.tools import cmake, files, scm
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class CloeOsi(ConanFile):
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name = "cloe-osi"
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url = "https://github.com/eclipse/cloe"
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description = "OSI sensor component and utility functions for data conversion to Cloe"
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license = "Apache-2.0"
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settings = "os", "compiler", "build_type", "arch"
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options = {
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"shared": [True, False],
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"fPIC": [True, False],
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"pedantic": [True, False],
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}
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default_options = {
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"shared": True,
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"fPIC": True,
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"pedantic": True,
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}
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generators = "CMakeDeps", "VirtualRunEnv"
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no_copy_source = True
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exports_sources = [
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"include/*",
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"src/*",
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"CMakeLists.txt",
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]
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def set_version(self):
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version_file = Path(self.recipe_folder) / "../../VERSION"
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if version_file.exists():
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self.version = files.load(self, version_file).strip()
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else:
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git = scm.Git(self, self.recipe_folder)
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self.version = git.run("describe --dirty=-dirty")[1:]
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def requirements(self):
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self.requires(f"cloe-models/{self.version}@cloe/develop")
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self.requires(f"cloe-runtime/{self.version}@cloe/develop")
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self.requires("open-simulation-interface/3.3.1@cloe/stable")
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self.requires("boost/[>=1.65.1]")
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self.requires("eigen/3.4.0")
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def configure(self):
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self.options["open-simulation-interface"].shared = self.options.shared
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self.options["open-simulation-interface"].fPIC = True
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def build_requirements(self):
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self.test_requires("gtest/1.13.0")
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def layout(self):
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cmake.cmake_layout(self)
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def generate(self):
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tc = cmake.CMakeToolchain(self)
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tc.cache_variables["CMAKE_EXPORT_COMPILE_COMMANDS"] = True
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tc.cache_variables["CLOE_PROJECT_VERSION"] = self.version
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tc.cache_variables["TargetLintingExtended"] = self.options.pedantic
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tc.generate()
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def build(self):
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cm = cmake.CMake(self)
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if self.should_configure:
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cm.configure()
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if self.should_build:
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cm.build()
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if self.should_test:
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cm.test()
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def package(self):
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cm = cmake.CMake(self)
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if self.should_install:
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cm.install()
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def package_id(self):
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self.info.requires["boost"].full_package_mode()
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self.info.requires["open-simulation-interface"].full_package_mode()
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del self.info.options.pedantic
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def package_info(self):
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self.cpp_info.set_property("cmake_find_mode", "both")
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self.cpp_info.set_property("cmake_file_name", "cloe-osi")
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self.cpp_info.set_property("cmake_target_name", "cloe::osi")
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self.cpp_info.set_property("pkg_config_name", "cloe-osi")
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# Make sure we can find the library, both in editable mode and in the
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# normal package mode:
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self.cpp_info.libdirs = [f"lib"]
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if not self.in_local_cache:
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self.cpp_info.libs = ["cloe-osi"]
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else:
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self.cpp_info.libs = files.collect_libs(self)

‎optional/osi/include/osi/component/osi_sensor.hpp

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/*
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* Copyright 2022 Robert Bosch GmbH
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/**
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* \file cloe/component/osi_sensor.hpp
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* \see cloe/component/osi.hpp
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*/
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#pragma once
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#ifndef CLOE_COMPONENT_OSI_SENSOR_HPP_
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#define CLOE_COMPONENT_OSI_SENSOR_HPP_
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#include <memory> // for shared_ptr
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#include "osi_groundtruth.pb.h" // for GroundTruth
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#include "osi_sensordata.pb.h" // for SensorData
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#include "osi_sensorview.pb.h" // for SensorView
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#include <cloe/component.hpp> // for Component, Json
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namespace cloe_osi {
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class OsiSensor : public cloe::Component {
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public:
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using cloe::Component::Component;
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OsiSensor() : Component("osi_sensor") {}
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virtual ~OsiSensor() noexcept = default;
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/**
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* Return OSI data, if available.
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*/
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virtual std::shared_ptr<osi3::GroundTruth> ground_truth() = 0;
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virtual std::shared_ptr<osi3::SensorView> sensor_view() = 0;
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virtual std::shared_ptr<osi3::SensorData> sensor_data() = 0;
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/**
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* Writes JSON representation into j.
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*/
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cloe::Json active_state() const override {
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return cloe::Json{
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/*{"ground_truth", this->ground_truth()},
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{"sensor_view", this->sensor_view()},
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{"sensor_data", this->sensor_data()},*/
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};
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}
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};
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class NopOsiSensor : public OsiSensor {
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public:
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using OsiSensor::OsiSensor;
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NopOsiSensor() : OsiSensor("nop_osi_sensor") {}
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virtual ~NopOsiSensor() noexcept = default;
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std::shared_ptr<osi3::GroundTruth> ground_truth() override { return ground_truth_; }
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std::shared_ptr<osi3::SensorView> sensor_view() override { return sensor_view_; }
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std::shared_ptr<osi3::SensorData> sensor_data() override { return sensor_data_; }
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void set_ground_truth(const osi3::GroundTruth& gt) {
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ground_truth_ = std::make_shared<osi3::GroundTruth>(gt);
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}
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void set_sensor_view(const osi3::SensorView& view) {
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sensor_view_ = std::make_shared<osi3::SensorView>(view);
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}
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void set_sensor_data(const osi3::SensorData& data) {
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sensor_data_ = std::make_shared<osi3::SensorData>(data);
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}
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void reset() override {
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OsiSensor::reset();
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ground_truth_.reset();
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sensor_view_.reset();
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sensor_data_.reset();
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}
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protected:
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std::shared_ptr<osi3::GroundTruth> ground_truth_{nullptr};
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std::shared_ptr<osi3::SensorView> sensor_view_{nullptr};
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std::shared_ptr<osi3::SensorData> sensor_data_{nullptr};
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};
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} // namespace cloe_osi
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#endif // CLOE_COMPONENT_OSI_SENSOR_HPP_

‎optional/vtd/src/osi_ground_truth.hpp renamed to ‎optional/osi/include/osi/utility/osi_ground_truth.hpp

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#include <cloe/simulator.hpp> // for ModelError
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#include "osi_utils.hpp" // for osi_require, ..
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#include "osi/utility/osi_utils.hpp" // for osi_require, ..
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namespace osii {
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* Store address of the GroundTruth object belonging to the OSI message
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* that is to be processed.
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*/
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void set(const osi3::GroundTruth& osi_gt) { gt_ptr_ = &osi_gt; }
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void set(const osi3::GroundTruth& osi_gt);
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const osi3::GroundTruth& get_gt() const {
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if (!gt_ptr_) error();

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