noisy_sensor: Add trigger for noise activation

Author: tobifalk

plugins/noisy_sensor/src/noisy_lane_sensor.cpp

@@ -33,6 +33,7 @@
 #include <cloe/plugin.hpp>                   // for EXPORT_CLOE_PLUGIN
 #include <cloe/registrar.hpp>                // for Registrar
 #include <cloe/sync.hpp>                     // for Sync
+#include <cloe/trigger/set_action.hpp>       // for actions::SetVariableActionFactory
 #include "noise_data.hpp"                    // for NoiseData, NoiseConf
 
 namespace cloe {
@@ -240,6 +241,8 @@ class NoisyLaneBoundarySensor : public LaneBoundarySensor {
   void enroll(Registrar& r) override {
     r.register_action(std::make_unique<actions::ConfigureFactory>(
         &config_, "config", "configure noisy lane component"));
+    r.register_action<actions::SetVariableActionFactory<bool>>(
+        "noise_activation", "switch sensor noise on/off", "enable", &config_.enabled);
   }
 
  protected:

plugins/noisy_sensor/src/noisy_object_sensor.cpp

@@ -32,6 +32,7 @@
 #include <cloe/plugin.hpp>                   // for EXPORT_CLOE_PLUGIN
 #include <cloe/registrar.hpp>                // for Registrar
 #include <cloe/sync.hpp>                     // for Sync
+#include <cloe/trigger/set_action.hpp>       // for actions::SetVariableActionFactory
 #include "noise_data.hpp"                    // for NoiseData, NoiseConf
 
 namespace cloe {
@@ -210,6 +211,8 @@ class NoisyObjectSensor : public ObjectSensor {
   void enroll(Registrar& r) override {
     r.register_action(std::make_unique<actions::ConfigureFactory>(
         &config_, "config", "configure noisy object component"));
+    r.register_action<actions::SetVariableActionFactory<bool>>(
+        "noise_activation", "switch sensor noise on/off", "enable", &config_.enabled);
   }
 
  protected:

tests/config_vtd_infinite.json

@@ -92,6 +92,7 @@
           "name": "noisy_object_sensor",
           "from": "cloe::default_world_sensor",
           "args": {
+            "enable": false,
             "noise": [
               {
                 "target": "translation",
@@ -111,6 +112,7 @@
           "name": "noisy_lane_sensor",
           "from": "cloe::default_lane_sensor",
           "args": {
+            "enable": true,
             "noise": [
               {
                 "target": "dy_start",

tests/config_vtd_smoketest.json

@@ -29,6 +29,8 @@
       "label": "Vehicle default should not reach 50 km/h with the vtd binding and basic controller.",
       "event": "default_speed/kmph=>50.0", "action": "fail"
     },
+    {"event": "time=25", "action": {"name": "noisy_lane_sensor/noise_activation", "enable": false}},
+    {"event": "time=25", "action": "noisy_object_sensor/noise_activation=true"},
     {"event": "time=60", "action": "succeed"}
   ]
 }