osi: Merge OsiSensor into cloe-osi

Author: tobifalk

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

@@ -1,5 +1,5 @@
 /*
- * Copyright 2022 Robert Bosch GmbH
+ * Copyright 2023 Robert Bosch GmbH
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -21,16 +21,10 @@
  */
 
 #pragma once
-#ifndef CLOE_COMPONENT_OSI_SENSOR_HPP_
-#define CLOE_COMPONENT_OSI_SENSOR_HPP_
 
-#include <memory>  // for shared_ptr
+#include <osi_sensordata.pb.h>  // for SensorData
 
-#include "osi_groundtruth.pb.h"  // for GroundTruth
-#include "osi_sensordata.pb.h"   // for SensorData
-#include "osi_sensorview.pb.h"   // for SensorView
-
-#include <cloe/component.hpp>  // for Component, Json
+#include <cloe/component.hpp>  // for Component
 
 namespace cloe_osi {
 
@@ -41,64 +35,10 @@ class OsiSensor : public cloe::Component {
   virtual ~OsiSensor() noexcept = default;
 
   /**
-   * Return OSI data, if available.
-   */
-
-  virtual std::shared_ptr<osi3::GroundTruth> ground_truth() = 0;
-
-  virtual std::shared_ptr<osi3::SensorView> sensor_view() = 0;
-
-  virtual std::shared_ptr<osi3::SensorData> sensor_data() = 0;
-
-  /**
-   * Writes JSON representation into j.
+   * Return OSI-SensorData
    */
-  cloe::Json active_state() const override {
-    return cloe::Json{
-        /*{"ground_truth", this->ground_truth()},
-        {"sensor_view", this->sensor_view()},
-        {"sensor_data", this->sensor_data()},*/
-    };
-  }
-};
-
-class NopOsiSensor : public OsiSensor {
- public:
-  using OsiSensor::OsiSensor;
-  NopOsiSensor() : OsiSensor("nop_osi_sensor") {}
-  virtual ~NopOsiSensor() noexcept = default;
-
-  std::shared_ptr<osi3::GroundTruth> ground_truth() override { return ground_truth_; }
-
-  std::shared_ptr<osi3::SensorView> sensor_view() override { return sensor_view_; }
-
-  std::shared_ptr<osi3::SensorData> sensor_data() override { return sensor_data_; }
-
-  void set_ground_truth(const osi3::GroundTruth& gt) {
-    ground_truth_ = std::make_shared<osi3::GroundTruth>(gt);
-  }
-
-  void set_sensor_view(const osi3::SensorView& view) {
-    sensor_view_ = std::make_shared<osi3::SensorView>(view);
-  }
-
-  void set_sensor_data(const osi3::SensorData& data) {
-    sensor_data_ = std::make_shared<osi3::SensorData>(data);
-  }
-
-  void reset() override {
-    OsiSensor::reset();
-    ground_truth_.reset();
-    sensor_view_.reset();
-    sensor_data_.reset();
-  }
-
- protected:
-  std::shared_ptr<osi3::GroundTruth> ground_truth_{nullptr};
-  std::shared_ptr<osi3::SensorView> sensor_view_{nullptr};
-  std::shared_ptr<osi3::SensorData> sensor_data_{nullptr};
+  virtual const std::shared_ptr<osi3::SensorData>& get() const = 0;
+  virtual std::shared_ptr<osi3::SensorData>& get() = 0;
 };
 
 }  // namespace cloe_osi
-
-#endif  // CLOE_COMPONENT_OSI_SENSOR_HPP_

optional/osi/src/osi/component/osi_sensor_test.cpp

@@ -26,15 +26,39 @@
 
 #include <osi/component/osi_sensor.hpp>
 
-TEST(cloe_osi_sensor, sensor_data) {
-  cloe_osi::NopOsiSensor sensor;
-  osi3::SensorData sd;
-  sd.mutable_version()->set_version_major(3);
-  sd.mutable_timestamp()->set_seconds(1);
+class TestOsiSensor : public ::cloe_osi::OsiSensor {
+ public:
+  using OsiSensor::OsiSensor;
+  TestOsiSensor() : OsiSensor("nop_osi_sensor") {}
+  virtual ~TestOsiSensor() noexcept = default;
+
+  const std::shared_ptr<osi3::SensorData>& get() const override { return sensor_data_; };
+  std::shared_ptr<osi3::SensorData>& get() override { return sensor_data_; }
+
+  void reset() override {
+    OsiSensor::reset();
+    sensor_data_.reset();
+  }
 
-  sensor.set_sensor_data(sd);
+  fable::Json active_state() const override {
+    return fable::Json{
+        {"name", this->name()},
+    };
+  }
 
-  ASSERT_TRUE(sensor.sensor_data()->has_version());
-  ASSERT_TRUE(sensor.sensor_data()->has_timestamp());
-  ASSERT_FALSE(sensor.sensor_data()->has_mounting_position());
+ protected:
+  std::shared_ptr<osi3::SensorData> sensor_data_{nullptr};
+};
+
+TEST(cloe_osi_sensor, sensor_data) {
+  TestOsiSensor sensor;
+  {
+    osi3::SensorData sd;
+    sd.mutable_version()->set_version_major(3);
+    sd.mutable_timestamp()->set_seconds(1);
+    sensor.get() = std::make_shared<osi3::SensorData>(sd);
+  }
+  ASSERT_TRUE(sensor.get()->has_version());
+  ASSERT_TRUE(sensor.get()->has_timestamp());
+  ASSERT_FALSE(sensor.get()->has_mounting_position());
 }