osi: Renaming and cleanup

Author: tobifalk

optional/osi/CMakeLists.txt

@@ -17,7 +17,7 @@ file(GLOB cloe-osi_PUBLIC_HEADERS "include/**/*.hpp")
 add_library(cloe-osi
     # find src -type f -name "*.cpp" \! -name "*_test.cpp"
     src/osi/utility/osi_ground_truth.cpp
-    src/osi/utility/osi_omni_sensor.cpp
+    src/osi/utility/osi_message_handler.cpp
     src/osi/utility/osi_transceiver_tcp.cpp
     src/osi/utility/osi_utils.cpp
 

optional/osi/include/osi/utility/osi_ground_truth.hpp

@@ -31,11 +31,11 @@
 
 #include "osi/utility/osi_utils.hpp"  // for osi_require, ..
 
-namespace osii {
+namespace cloeosi {
 
 /**
  * OsiGroundTruth provides convenient access to auxiliary ground truth
- * information while processing an OSI message.
+ * information while converting an OSI message to Cloe data.
  */
 class OsiGroundTruth {
  public:
@@ -115,4 +115,4 @@ class OsiGroundTruth {
   std::map<int, Eigen::Vector3d> mov_obj_dimensions_;
 };
 
-}  // namespace osii
+}  // namespace cloeosi

optional/osi/include/osi/utility/osi_omni_sensor.hpp renamed to optional/osi/include/osi/utility/osi_message_handler.hpp

@@ -16,8 +16,8 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 /**
- * \file osi_omni_sensor.hpp
- * \see  osi_omni_sensor.cpp
+ * \file osi_message_handler.hpp
+ * \see  osi_message_handler.cpp
  */
 
 #pragma once
@@ -42,7 +42,7 @@
 #include "osi/utility/osi_transceiver.hpp"   // for OsiTransceiver
 #include "osi/utility/osi_utils.hpp"
 
-namespace osii {
+namespace cloeosi {
 
 /**
  * Convert OSI timestamp to Cloe time format.
@@ -171,111 +171,98 @@ struct SensorMockConf : public cloe::Confable {
 /**
  * Base class for an OSI sensor which is connected via TCP.
  */
-class OsiOmniSensor {
+class OsiMsgHandler {
  public:
-  virtual ~OsiOmniSensor() = default;
-  OsiOmniSensor() = delete;
+  virtual ~OsiMsgHandler() = default;
+  OsiMsgHandler() = delete;
 
   /**
-   * Create a new instance of OsiOmniSensor with the given OsiTransceiver.
+   * Create a new instance of OsiMsgHandler with the given OsiTransceiver.
    */
-  OsiOmniSensor(std::unique_ptr<OsiTransceiver>&& osi_transceiver, uint64_t owner_id)
+  OsiMsgHandler(std::unique_ptr<OsiTransceiver>&& osi_transceiver, uint64_t owner_id)
       : osi_comm_(std::move(osi_transceiver)), owner_id_(owner_id) {
     ground_truth_ = std::make_unique<OsiGroundTruth>();
   }
 
   /**
-   * Create a new instance of OsiOmniSensor with the given new OsiTransceiver.
+   * Create a new instance of OsiMsgHandler with the given new OsiTransceiver.
    *
-   * WARNING: If you use this constructor, please realize that OsiOmniSensor
+   * WARNING: If you use this constructor, please realize that OsiMsgHandler
    *          takes ownership of the pointer you pass in.
    */
-  OsiOmniSensor(OsiTransceiver* osi_transceiver, uint64_t owner_id)
+  OsiMsgHandler(OsiTransceiver* osi_transceiver, uint64_t owner_id)
       : osi_comm_(osi_transceiver), owner_id_(owner_id) {
     ground_truth_ = std::make_unique<OsiGroundTruth>();
   }
 
   /**
-   * Receive and process the incoming osi3::SensorData messages.
+   * Receive and process the incoming osi3 messages.
    */
-  void step_sensor_data(const cloe::Sync& s, const bool& restart, cloe::Duration& sim_time);
-
-  /**
-   * Receive and process the incoming osi3::SensorView messages.
-   */
-  void step_sensor_view(const cloe::Sync& s, const bool& restart, cloe::Duration& sim_time);
-
-  /**
-   * Receive and process the incoming osi3::GroundTruth messages.
-   */
-  void step_ground_truth(const cloe::Sync& s, const bool& restart, cloe::Duration& sim_time);
-
-  /**
-   * Receive and process the incoming messages.
-   */
-  //virtual void step(const cloe::Sync& s, const bool& restart, cloe::Duration& sim_time) = 0;
+  template <typename T>
+  void process_osi_msgs(const cloe::Sync& s, const bool& restart, cloe::Duration& osi_time);
 
   /**
    * Store the initial timestamp.
    * Note that the osi time does not necessarily start at zero.
    */
-  virtual void process(const osi3::Timestamp& timestamp);
+  void handle_first_message(const osi3::Timestamp& timestamp);
 
   /**
    * Translate OSI SensorData to Cloe data objects.
    *
    * \param osi_sd SensorData message to be processed.
-   * \param sim_time Simulation time to be set.
+   * \param osi_time Timestamp of the OSI message.
    */
-  virtual void process_received_msg(osi3::SensorData* osi_sd, cloe::Duration& sim_time);
+  virtual void process_received_msg(osi3::SensorData* osi_sd, cloe::Duration& osi_time);
 
   /**
    * Translate OSI SensorView to Cloe data objects.
    *
    * \param osi_sv SensorView message to be processed.
-   * \param sim_time Simulation time to be set.
+   * \param osi_time Timestamp of the OSI message.
    */
-  virtual void process_received_msg(osi3::SensorView* osi_sv, cloe::Duration& sim_time);
+  virtual void process_received_msg(osi3::SensorView* osi_sv, cloe::Duration& osi_time);
 
   /**
    * Translate OSI GroundTruth to Cloe data objects.
    *
    * \param osi_gt GroundTruth message to be processed.
-   * \param sim_time Simulation time to be set.
+   * \param osi_time Timestamp of the OSI message.
    */
-  virtual void process_received_msg(osi3::GroundTruth* osi_gt, cloe::Duration& sim_time);
+  virtual void process_received_msg(osi3::GroundTruth* osi_gt, cloe::Duration& osi_time);
 
   /**
    * Translate OSI GroundTruth to Cloe data objects.
    *
    * \param osi_gt GroundTruth message to be processed.
    */
-  virtual void process(const osi3::GroundTruth& osi_gt);
+  virtual void convert_to_cloe_data(const osi3::GroundTruth& osi_gt);
 
   /**
    * Translate OSI SensorView to Cloe data objects.
    *
    * \param osi_sv SensorView message to be processed, including ground truth.
    */
-  virtual void process(const osi3::SensorView& osi_sv);
+  virtual void convert_to_cloe_data(const osi3::SensorView& osi_sv);
 
   /**
    * Translate OSI ego base information made available to the sensor model
    * from other components, or use ground truth.
    * \param osi_mo MovingObject (ground truth) used as fallback.
    * \param osi_hv Pointer to HostVehicleData message to be processed (if available).
    */
-  virtual void process(const osi3::MovingObject& osi_ego, const osi3::HostVehicleData* osi_hv);
+  virtual void convert_to_cloe_data(const osi3::MovingObject& osi_ego,
+                                    const osi3::HostVehicleData* osi_hv);
 
   /**
    * Translate OSI detected moving object information to Cloe data objects.
    *
    * \param osi_eh DetectedEntityHeader message to be processed (if available).
    * \param osi_mo DetectedMovingObject message to be processed.
    */
-  virtual void process(const bool has_eh,
-                       const osi3::DetectedEntityHeader& osi_eh,
-                       const osi3::DetectedMovingObject& osi_mo);
+  virtual void convert_to_cloe_data(const bool has_eh,
+                                    const osi3::DetectedEntityHeader& osi_eh,
+                                    const osi3::DetectedMovingObject& osi_mo);
 
   void detected_moving_objects_from_ground_truth();
 
@@ -334,7 +321,7 @@ class OsiOmniSensor {
   */
   virtual void clear_cache() { osi_comm_->clear_cache(); }
 
-  friend void to_json(cloe::Json& j, const OsiOmniSensor& c) {
+  friend void to_json(cloe::Json& j, const OsiMsgHandler& c) {
     j = cloe::Json{
         {"osi_connection", *c.osi_comm_},
     };
@@ -363,4 +350,4 @@ class OsiOmniSensor {
   /// Use alternative source for required data or overwrite incoming data, if requested.
   std::shared_ptr<const SensorMockConf> mock_{nullptr};
 };
-}  // namespace osii
+}  // namespace cloeosi

optional/osi/include/osi/utility/osi_transceiver.hpp

@@ -27,7 +27,7 @@
 #include <osi3/osi_sensordata.pb.h>  // for SensorData
 #include <osi3/osi_groundtruth.pb.h>  // for GroundTruth
 
-namespace osii {
+namespace cloeosi {
 
 /**
  * OsiError may be thrown when an error is detected in the OSI protocol.
@@ -43,7 +43,7 @@ class OsiError : public cloe::Error {
 };
 
 /**
- * OsiTransceiver is an interface for a OSI connection via TCP.
+ * OsiTransceiver is an interface for OSI message exchange, e.g. via TCP.
  */
 class OsiTransceiver {
  public:
@@ -84,21 +84,21 @@ class OsiTransceiver {
   /**
    * Non-blocking function to return all received osi::SensorData messages.
    */
-  virtual std::vector<std::shared_ptr<osi3::SensorData>> receive_sensor_data() = 0;
+  virtual void receive_osi_msgs(std::vector<std::shared_ptr<osi3::SensorData>>& msgs) = 0;
 
   /**
    * Non-blocking function to return all received osi::SensorView messages.
    */
-  virtual std::vector<std::shared_ptr<osi3::SensorView>> receive_sensor_view() = 0;
+  virtual void receive_osi_msgs(std::vector<std::shared_ptr<osi3::SensorView>>& msgs) = 0;
 
   /**
    * Non-blocking function to return all received osi::GroundTruth messages.
    */
-  virtual std::vector<std::shared_ptr<osi3::GroundTruth>> receive_ground_truth() = 0;
+  virtual void receive_osi_msgs(std::vector<std::shared_ptr<osi3::GroundTruth>>& msgs) = 0;
 
   virtual void to_json(cloe::Json& j) const = 0;
 
   friend void to_json(cloe::Json& j, const OsiTransceiver& t) { t.to_json(j); }
 };
 
-}  // namespace osii
+}  // namespace cloeosi

optional/osi/include/osi/utility/osi_transceiver_tcp.hpp

@@ -36,7 +36,7 @@
 #include "osi/utility/osi_transceiver.hpp"  // for OsiTransceiver
 #include "osi/utility/osi_utils.hpp"        // for osi_logger
 
-namespace osii {
+namespace cloeosi {
 
 /**
  * OsiTransceiverTcp implements an OsiTransceiver via TCP.
@@ -57,31 +57,23 @@ class OsiTransceiverTcp : public OsiTransceiver, public cloe::utility::TcpTransc
     return this->tcp_available_data() >= static_cast<std::streamsize>(sizeof(osi3::GroundTruth));
   }
 
-  std::vector<std::shared_ptr<osi3::SensorData>> receive_sensor_data() override {
-    std::vector<std::shared_ptr<osi3::SensorData>> msgs;
+  void receive_osi_msgs(std::vector<std::shared_ptr<osi3::SensorData>>& msgs) override {
+    if (msgs.size() > 0) {
+      osi_logger()->warn(
+          "OsiTransceiverTcp: Non-zero length of message vector before retrieval: {}", msgs.size());
+    }
     while (this->has_sensor_data()) {
       num_received_++;
       msgs.push_back(this->receive_sensor_data_wait());
     }
-    return msgs;
   }
 
-  std::vector<std::shared_ptr<osi3::SensorView>> receive_sensor_view() override {
-    std::vector<std::shared_ptr<osi3::SensorView>> msgs;
-    while (this->has_sensor_view()) {
-      num_received_++;
-      msgs.push_back(this->receive_sensor_view_wait());
-    }
-    return msgs;
+  void receive_osi_msgs(std::vector<std::shared_ptr<osi3::SensorView>>& /*msgs*/) override {
+    throw OsiError("OsiTransceiverTcp: Retrieval of osi3::SensorView not yet implemented.");
   }
 
-  std::vector<std::shared_ptr<osi3::GroundTruth>> receive_ground_truth() override {
-    std::vector<std::shared_ptr<osi3::GroundTruth>> msgs;
-    while (this->has_ground_truth()) {
-      num_received_++;
-      msgs.push_back(this->receive_ground_truth_wait());
-    }
-    return msgs;
+  void receive_osi_msgs(std::vector<std::shared_ptr<osi3::GroundTruth>>& /*msgs*/) override {
+    throw OsiError("OsiTransceiverTcp: Retrieval of osi3::GroundTruth not yet implemented.");
   }
 
   void to_json(cloe::Json& j) const override {
@@ -101,9 +93,6 @@ class OsiTransceiverTcp : public OsiTransceiver, public cloe::utility::TcpTransc
    * Synchronous (blocking) method to receive a SensorData message.
    */
   std::shared_ptr<osi3::SensorData> receive_sensor_data_wait();
-  std::shared_ptr<osi3::SensorView> receive_sensor_view_wait();
-  std::shared_ptr<osi3::GroundTruth>
-  receive_ground_truth_wait();  // TODO(tobias): change to template function
 
  private:
   // Statistics for interest's sake
@@ -121,4 +110,4 @@ class OsiTransceiverTcpFactory : public cloe::utility::TcpTransceiverFactory<Osi
   const char* instance_name() const override { return "OsiTransceiverTcp"; }
 };
 
-}  // namespace osii
+}  // namespace cloeosi

optional/osi/include/osi/utility/osi_utils.hpp

@@ -41,7 +41,7 @@
   ((test_expr) ? (void)0 : throw cloe::ModelError("OSI message: {} required!", name))
 #endif
 
-namespace osii {
+namespace cloeosi {
 
 inline cloe::Logger osi_logger() { return cloe::logger::get("vtd/osi"); }
 
@@ -98,4 +98,4 @@ void pose_to_osi_position_orientation(const Eigen::Isometry3d&, osi3::BaseMoving
  */
 void osi_transform_base_moving(const osi3::BaseMoving& base_ref, osi3::BaseMoving& base);
 
-}  // namespace osii
+}  // namespace cloeosi

optional/osi/src/osi/utility/osi_ground_truth.cpp

@@ -25,7 +25,7 @@
 #include <osi3/osi_object.pb.h>  // for MovingObject
 #include <cloe/simulator.hpp>    // for ModelError
 
-namespace osii {
+namespace cloeosi {
 
 const osi3::MovingObject* OsiGroundTruth::get_moving_object(const uint64_t id) const {
   for (auto osi_obj = gt_ptr_->moving_object().begin(); osi_obj != gt_ptr_->moving_object().end();
@@ -58,4 +58,4 @@ void OsiGroundTruth::set(const osi3::GroundTruth& osi_gt) {
   }
 }
 
-}  // namespace osii
+}  // namespace cloeosi