models: Use fable namespace for fable types

Author: cassava

models/include/cloe/component/actuator.hpp

@@ -38,7 +38,7 @@ class Actuator : public Component {
   virtual bool is_set() { return static_cast<bool>(target_); }
   virtual T get() { return *target_; }
 
-  Json active_state() const override { return Json{{"target", target_}}; }
+  fable::Json active_state() const override { return fable::Json{{"target", target_}}; }
 
   Duration process(const Sync& sync) override {
     auto t = Component::process(sync);

models/include/cloe/component/brake_sensor.hpp

@@ -21,7 +21,8 @@
 
 #pragma once
 
-#include <cloe/component.hpp>  // for Component, Json
+#include <cloe/component.hpp>  // for Component
+#include <fable/json.hpp>      // for Json
 
 namespace cloe {
 
@@ -33,16 +34,16 @@ class BrakeSensor : public Component {
 
   /**
    * Return the position of the brake pedal with no unit.
-   * 
+   *
    * The range goes from 0 (unpressed) to 1 (fully pressed).
    */
   virtual double pedal_position_brake() const = 0;
 
   /**
    * Return sensor state as JSON.
    */
-  Json active_state() const override {
-    return Json{{"pedal_position_brake", pedal_position_brake()}};
+  fable::Json active_state() const override {
+    return fable::Json{{"pedal_position_brake", pedal_position_brake()}};
   }
 };
 

models/include/cloe/component/driver_request.hpp

@@ -21,9 +21,11 @@
 
 #pragma once
 
-#include <cloe/component.hpp>  // for Component, Json
+#include <fable/json.hpp> // for Json
 #include <fable/utility/boost_optional.hpp>
 
+#include <cloe/component.hpp>  // for Component
+
 namespace cloe {
 
 class DriverRequest : public Component {
@@ -55,8 +57,8 @@ class DriverRequest : public Component {
   /**
    * Return sensor state as JSON.
    */
-  Json active_state() const override {
-    return Json{
+  fable::Json active_state() const override {
+    return fable::Json{
         {"acceleration", acceleration()},
         {"steering_angle", steering_angle()},
     };

models/include/cloe/component/ego_sensor.hpp

@@ -21,9 +21,11 @@
 
 #pragma once
 
-#include <cloe/component.hpp>         // for Component, Json
+#include <cloe/component.hpp>         // for Component
 #include <cloe/component/object.hpp>  // for Object
 
+#include <fable/json.hpp> // for Json
+
 namespace cloe {
 
 class EgoSensor : public Component {
@@ -58,8 +60,8 @@ class EgoSensor : public Component {
   /**
    * Return sensor state as JSON.
    */
-  Json active_state() const override {
-    return Json{
+  fable::Json active_state() const override {
+    return fable::Json{
         {"sensed_state", this->sensed_state()},
         {"wheel_steering_angle", this->wheel_steering_angle()},
     };

models/include/cloe/component/frustum.hpp

@@ -23,7 +23,9 @@
 
 #include <cmath>  // for M_PI
 
-#include <cloe/core.hpp>  // for Confable
+#include <fable/confable.hpp>  // for Confable
+#include <fable/json.hpp>      // for Json
+#include <fable/schema.hpp>    // for Schema, Struct, make_schema
 
 #define M_2X_PI (2 * M_PI)
 
@@ -32,22 +34,22 @@ namespace cloe {
 /**
  * This class describes the frustum of a sensor.
  */
-struct Frustum : public Confable {
+struct Frustum : public fable::Confable {
   double fov_h{M_2X_PI};
   double offset_h{0.0};
   double fov_v{M_2X_PI};
   double offset_v{0.0};
   double clip_near{0.0};
   double clip_far{480.0};
 
-  void to_json(Json& j) const override {
-    j = Json{
+  void to_json(fable::Json& j) const override {
+    j = fable::Json{
         {"fov_h", fov_h},       {"offset_h", offset_h},   {"fov_v", fov_v},
         {"offset_v", offset_v}, {"clip_near", clip_near}, {"clip_far", clip_far},
     };
   }
 
-  void from_conf(const Conf& c) override {
+  void from_conf(const fable::Conf& c) override {
     assert(clip_near < clip_far);
     Confable::from_conf(c);
     if (clip_near >= clip_far) {
@@ -57,9 +59,9 @@ struct Frustum : public Confable {
   }
 
  protected:
-  Schema schema_impl() override {
+  fable::Schema schema_impl() override {
     // clang-format off
-    using namespace schema;  // NOLINT
+    using namespace fable::schema;  // NOLINT
     return Struct{
         {"fov_h",     make_schema(&fov_h, "horizontal field of view [rad]").bounds(0, M_2X_PI)},
         {"offset_h",  make_schema(&offset_h, "horizontal field-of-view offset [rad]").bounds(-M_2X_PI, M_2X_PI)},

models/include/cloe/component/gearbox_actuator.hpp

@@ -27,8 +27,8 @@
 namespace cloe {
 
 struct GearboxRequest {
-  /* 
-   * Holds the requested gear selector position. 
+  /*
+   * Holds the requested gear selector position.
    *
    * The sign of this field is linked to the mode of the gear
    * - positive: driving forward (e.g. a value of 3 means to request the third gear in driving forward mode)
@@ -38,8 +38,8 @@ struct GearboxRequest {
    */
   int8_t gear_selector{0};
 
-  friend void to_json(Json& j, const GearboxRequest& g) {
-    j = Json{{"gear_selector", g.gear_selector}};
+  friend void to_json(fable::Json& j, const GearboxRequest& g) {
+    j = fable::Json{{"gear_selector", g.gear_selector}};
   }
 };
 

models/include/cloe/component/lane_boundary.hpp

@@ -27,29 +27,31 @@
 
 #include <Eigen/Geometry>  // for Vector3d
 
-#include <cloe/core.hpp>  // for Confable, Json, Schema
+#include <fable/confable.hpp> // for Confable
+#include <fable/fable_fwd.hpp> // for Schema
+#include <fable/enum.hpp> // for ENUM_SERIALIZATION
 
 namespace cloe {
 
-class LaneBoundary : public Confable {
+class LaneBoundary : public fable::Confable {
  public:
   /**
    * Type of lane boundary.
    */
   enum class Type { Unknown, Solid, Dashed, Grass, Curb };
-  friend void to_json(Json& j, const LaneBoundary::Type& t);
-  friend void from_json(const Json& j, LaneBoundary::Type& t);
+  friend void to_json(fable::Json& j, const LaneBoundary::Type& t);
+  friend void from_json(const fable::Json& j, LaneBoundary::Type& t);
 
   /**
    * Color of the lane boundary.
    */
   enum class Color { Unknown, White, Yellow, Red, Green, Blue };
-  friend void to_json(Json& j, const LaneBoundary::Color& t);
-  friend void from_json(const Json& j, LaneBoundary::Color& t);
+  friend void to_json(fable::Json& j, const LaneBoundary::Color& t);
+  friend void from_json(const fable::Json& j, LaneBoundary::Color& t);
 
  public:
-  Schema schema_impl() override;
-  void to_json(Json& j) const override;
+  fable::Schema schema_impl() override;
+  void to_json(fable::Json& j) const override;
 
   CONFABLE_FRIENDS(LaneBoundary)
 
@@ -71,7 +73,7 @@ class LaneBoundary : public Confable {
 };
 
 using LaneBoundaries = std::map<int, LaneBoundary>;
-void to_json(Json& j, const LaneBoundaries& lbs);
+void to_json(fable::Json& j, const LaneBoundaries& lbs);
 
 // clang-format off
 ENUM_SERIALIZATION(LaneBoundary::Type, ({

models/include/cloe/component/lane_sensor.hpp

@@ -21,7 +21,7 @@
 
 #pragma once
 
-#include <Eigen/Geometry>             // for Isometry3d
+#include <Eigen/Geometry>  // for Isometry3d
 
 #include <cloe/component.hpp>                // for Component
 #include <cloe/component/frustum.hpp>        // for Frustum
@@ -51,8 +51,8 @@ class LaneBoundarySensor : public Component {
    */
   virtual const Eigen::Isometry3d& mount_pose() const = 0;
 
-  Json active_state() const override {
-    return Json{
+  fable::Json active_state() const override {
+    return fable::Json{
         {"mount_pose", this->mount_pose()},
         {"frustum", this->frustum()},
         {"sensed_lane_boundaries", sensed_lane_boundaries()},

models/include/cloe/component/latlong_actuator.hpp

@@ -25,9 +25,10 @@
 #pragma once
 
 #include <boost/optional.hpp>                // for optional<>
+#include <fable/json.hpp>                    // for Json
 #include <fable/utility/boost_optional.hpp>  // for to_json
 
-#include <cloe/component.hpp>                // for Component, Json
+#include <cloe/component.hpp>                // for Component
 #include <cloe/component/actuator.hpp>       // for Actuator
 #include <cloe/utility/actuation_level.hpp>  // for ActuationLevel
 
@@ -86,8 +87,8 @@ class LatLongActuator : public Component {
    * Currently, the API is unstable, because we don't have access to any real
    * data.
    */
-  Json active_state() const override {
-    return Json{
+  fable::Json active_state() const override {
+    return fable::Json{
         {"target_acceleration", target_acceleration_},
         {"target_steering_angle", target_steering_angle_},
         {"actuation_label", level_.to_human_cstr()},

models/include/cloe/component/object.hpp

@@ -24,8 +24,9 @@
 #include <memory>  // for shared_ptr<>
 #include <vector>  // for vector<>
 
-#include <Eigen/Geometry>             // for Isometry3d, Vector3d
-#include <cloe/core.hpp>  // for Json
+#include <Eigen/Geometry>           // for Isometry3d, Vector3d
+#include <fable/enum.hpp>           // for ENUM_SERIALIZATION
+#include <fable/json.hpp>           // for Json
 #include <fable/utility/eigen.hpp>  // for to_json
 
 namespace cloe {
@@ -82,8 +83,8 @@ struct Object {
 
   Object() = default;
 
-  friend void to_json(Json& j, const Object& o) {
-    j = Json{
+  friend void to_json(fable::Json& j, const Object& o) {
+    j = fable::Json{
         {"id", o.id},
         {"exist_prob", o.exist_prob},
         {"type", o.type},
@@ -107,8 +108,8 @@ struct Object {
  */
 using Objects = std::vector<std::shared_ptr<Object>>;
 
-inline void to_json(Json& j, const Objects& os) {
-  j = Json::array();
+inline void to_json(fable::Json& j, const Objects& os) {
+  j = fable::Json::array();
   for (const auto& o : os) {
     assert(o != nullptr);
     j.push_back(*o);

models/include/cloe/component/object_sensor.hpp

@@ -22,9 +22,10 @@
 
 #pragma once
 
-#include <cloe/component.hpp>          // for Component, Json
+#include <cloe/component.hpp>          // for Component
 #include <cloe/component/frustum.hpp>  // for Frustum
 #include <cloe/component/object.hpp>   // for Object, Isometry3d
+#include <fable/json.hpp>              // for Json
 #include <fable/utility/eigen.hpp>
 
 namespace cloe {
@@ -58,8 +59,8 @@ class ObjectSensor : public Component {
   /**
    * Writes JSON representation into j.
    */
-  Json active_state() const override {
-    return Json{
+  fable::Json active_state() const override {
+    return fable::Json{
         {"mount_pose", this->mount_pose()},
         {"frustum", this->frustum()},
         {"sensed_objects", this->sensed_objects()},

models/include/cloe/component/pedal_actuator.hpp

@@ -27,22 +27,22 @@
 namespace cloe {
 
 struct PedalRequest {
-  /* 
+  /*
    * Requested status of the gas pedal with no unit.
    *
    * The range goes from 0 (unpressed) to 1 (fully pressed).
    */
   double gas_pedal_position{0.0};
 
-  /* 
+  /*
    * Requested status of the brake pedal with no unit.
    *
    * The range goes from 0 (unpressed) to 1 (fully pressed).
    */
   double brake_pedal_position{0.0};
 
-  friend void to_json(Json& j, const PedalRequest& p) {
-    j = Json{
+  friend void to_json(fable::Json& j, const PedalRequest& p) {
+    j = fable::Json{
         {"gas_pedal_position", p.gas_pedal_position},
         {"brake_pedal_position", p.brake_pedal_position},
     };

models/include/cloe/component/powertrain_sensor.hpp

@@ -21,7 +21,8 @@
 
 #pragma once
 
-#include <cloe/component.hpp>  // for Component, Json
+#include <cloe/component.hpp>  // for Component
+#include <fable/json.hpp>      // for Json
 
 namespace cloe {
 
@@ -33,14 +34,14 @@ class PowertrainSensor : public Component {
 
   /**
    * Return the position of the acceleration pedal with no unit.
-   * 
+   *
    * The range goes from 0 (unpressed) to 1 (fully pressed).
    */
   virtual double pedal_position_acceleration() const = 0;
 
   /**
    * Return the gear transmission.
-   * 
+   *
    * The sign of this field is linked to the mode of the gear
    * - positive: driving forward (e.g. a value of 3 means the third gear in driving forward mode)
    * - 0: means that the gear lever is in neutral position
@@ -52,8 +53,8 @@ class PowertrainSensor : public Component {
   /**
    * Return sensor state as JSON.
    */
-  Json active_state() const override {
-    return Json{
+  fable::Json active_state() const override {
+    return fable::Json{
         {"pedal_position_acceleration", pedal_position_acceleration()},
         {"gear_transmission", gear_transmission()},
     };

models/include/cloe/component/steering_actuator.hpp

@@ -32,13 +32,13 @@ struct SteeringRequest {
    */
   double steering_angle_front{0.0};
 
-  /** 
+  /**
    * Rear center wheel angle with regards to z-Axis in [radians].
    */
   double steering_angle_rear{0.0};
 
-  friend void to_json(Json& j, const SteeringRequest& s) {
-    j = Json{
+  friend void to_json(fable::Json& j, const SteeringRequest& s) {
+    j = fable::Json{
         {"steering_angle_front", s.steering_angle_front},
         {"steering_angle_rear", s.steering_angle_rear},
     };