models: Add brake, steering, wheel, and powertrain sensors

This just extends the package with extra components and is therefore backwards compatible

models/include/cloe/component/brake_sensor.hpp

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+/*
+ * Copyright 2022 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.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/**
+ * \file cloe/component/brake_sensor.hpp
+ */
+
+#pragma once
+#ifndef CLOE_COMPONENT_BRAKE_SENSOR_HPP_
+#define CLOE_COMPONENT_BRAKE_SENSOR_HPP_
+
+#include <cloe/component.hpp>  // for Component, Json
+
+namespace cloe {
+
+class BrakeSensor : public Component {
+ public:
+  using Component::Component;
+  BrakeSensor() : Component("brake_sensor") {}
+  virtual ~BrakeSensor() noexcept = default;
+
+  /**
+   * 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()}};
+  }
+};
+
+/**
+ * NopBrakeSensor is an example no-op implementation of BrakeSensor.
+ */
+class NopBrakeSensor : public BrakeSensor {
+ public:
+  using BrakeSensor::BrakeSensor;
+  NopBrakeSensor() : BrakeSensor("nop_brake_sensor") {}
+  virtual ~NopBrakeSensor() noexcept {};
+
+  double pedal_position_brake() const override { return pedal_position_brake_; }
+
+  void reset() override { pedal_position_brake_ = 0.0; }
+
+ protected:
+  double pedal_position_brake_{0.0};
+};
+
+}  // namespace cloe
+
+#endif  // CLOE_COMPONENT_BRAKE_SENSOR_HPP_

models/include/cloe/component/powertrain_sensor.hpp

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+/*
+ * Copyright 2022 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.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/**
+ * \file cloe/component/powertrain_sensor.hpp
+ */
+
+#pragma once
+#ifndef CLOE_COMPONENT_POWERTRAIN_SENSOR_HPP_
+#define CLOE_COMPONENT_POWERTRAIN_SENSOR_HPP_
+
+#include <cloe/component.hpp>  // for Component, Json
+
+namespace cloe {
+
+class PowertrainSensor : public Component {
+ public:
+  using Component::Component;
+  PowertrainSensor() : Component("powertrain_sensor") {}
+  virtual ~PowertrainSensor() noexcept = default;
+
+  /**
+   * 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
+   * - negative: reverse mode (e.g. a value of -1 means the first gear in reverse mode)
+   * - int max: means that the transmission is in parking position (can be accessed via std::numeric_limits<int>::max())
+   */
+  virtual int gear_transmission() const = 0;
+
+  /**
+   * Return sensor state as JSON.
+   */
+  Json active_state() const override {
+    return Json{
+        {"pedal_position_acceleration", pedal_position_acceleration()},
+        {"gear_transmission", gear_transmission()},
+    };
+  }
+};
+
+/**
+ * NopPowertrainSensor is an example no-op implementation of PowertrainSensor.
+ */
+class NopPowertrainSensor : public PowertrainSensor {
+ public:
+  using PowertrainSensor::PowertrainSensor;
+  NopPowertrainSensor() : PowertrainSensor("nop_powertrain_sensor") {}
+  virtual ~NopPowertrainSensor() noexcept {};
+
+  double pedal_position_acceleration() const override { return pedal_position_acceleration_; }
+
+  int gear_transmission() const override { return gear_transmission_; }
+
+  void reset() override {
+    pedal_position_acceleration_ = 0.0;
+    gear_transmission_ = 0;
+  }
+
+ protected:
+  double pedal_position_acceleration_{0.0};
+  int gear_transmission_{0};
+};
+
+}  // namespace cloe
+
+#endif  // CLOE_COMPONENT_POWERTRAIN_SENSOR_HPP_

models/include/cloe/component/steering_sensor.hpp

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+/*
+ * Copyright 2022 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.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/**
+ * \file cloe/component/steering_sensor.hpp
+ */
+
+#pragma once
+#ifndef CLOE_COMPONENT_STEERING_SENSOR_HPP_
+#define CLOE_COMPONENT_STEERING_SENSOR_HPP_
+
+#include <cloe/component.hpp>  // for Component, Json
+
+namespace cloe {
+
+class SteeringSensor : public Component {
+ public:
+  using Component::Component;
+  SteeringSensor() : Component("steering_sensor") {}
+  virtual ~SteeringSensor() noexcept = default;
+
+  /**
+   * Return curvature of ego vehicle track in [1/m].
+   */
+  virtual double curvature() const = 0;
+
+  /**
+   * Return sensor state as JSON.
+   */
+  Json active_state() const override {
+    return Json{
+        {"curvature", curvature()},
+    };
+  }
+};
+
+/**
+ * NopSteeringSensor is an example no-op implementation of SteeringSensor.
+ */
+class NopSteeringSensor : public SteeringSensor {
+ public:
+  using SteeringSensor::SteeringSensor;
+  NopSteeringSensor() : SteeringSensor("nop_steering_sensor") {}
+  virtual ~NopSteeringSensor() noexcept {};
+
+  double curvature() const override { return curvature_; }
+  void reset() override { curvature_ = 0.0; }
+
+ protected:
+  double curvature_{0.0};
+};
+
+}  // namespace cloe
+
+#endif  // CLOE_COMPONENT_STEERING_SENSOR_HPP_

models/include/cloe/component/wheel.hpp

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+/*
+ * Copyright 2022 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.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/**
+ * \file cloe/component/wheel.hpp
+ */
+
+#pragma once
+#ifndef CLOE_COMPONENT_WHEEL_HPP_
+#define CLOE_COMPONENT_WHEEL_HPP_
+
+#include <fable/json.hpp>  // for to_json
+
+namespace cloe {
+
+struct Wheel {
+  /// Rotational angle of wheel around y-axis in [rad].
+  double rotation{0.0};
+
+  /// Translative velocity of the wheel in [m/s].
+  double velocity{0.0};
+
+  /// Compression of the spring in [m].
+  double spring_compression{0.0};
+
+  friend void to_json(Json& j, const Wheel& w) {
+    j = Json{
+        {"rotation", w.rotation},
+        {"velocity", w.velocity},
+        {"spring_compression", w.spring_compression},
+    };
+  }
+};
+
+}  // namespace cloe
+
+#endif  // CLOE_COMPONENT_WHEEL_HPP_

models/include/cloe/component/wheel_sensor.hpp

@@ -0,0 +1,100 @@
+/*
+ * Copyright 2022 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.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/**
+ * \file cloe/component/wheel_sensor.hpp
+ */
+
+#pragma once
+#ifndef CLOE_COMPONENT_WHEEL_SENSOR_HPP_
+#define CLOE_COMPONENT_WHEEL_SENSOR_HPP_
+
+#include <cloe/component.hpp>        // for Component, Json
+#include <cloe/component/wheel.hpp>  // for Wheel
+
+namespace cloe {
+
+class WheelSensor : public Component {
+ public:
+  using Component::Component;
+  WheelSensor() : Component("wheel_sensor") {}
+  virtual ~WheelSensor() noexcept = default;
+
+  /**
+   * Return front left wheel.
+   */
+  virtual Wheel wheel_fl() const = 0;
+
+  /**
+   * Return front right wheel.
+   */
+  virtual Wheel wheel_fr() const = 0;
+
+  /**
+   * Return rear left wheel.
+   */
+  virtual Wheel wheel_rl() const = 0;
+
+  /**
+   * Return rear right wheel.
+   */
+  virtual Wheel wheel_rr() const = 0;
+
+  /**
+   * Return sensor state as JSON.
+   */
+  Json active_state() const override {
+    return Json{
+        {"wheel_fl", wheel_fl()},
+        {"wheel_fr", wheel_fr()},
+        {"wheel_rl", wheel_rl()},
+        {"wheel_rr", wheel_rr()},
+    };
+  }
+};
+
+/**
+ * NopWheelSensor is an example no-op implementation of WheelSensor.
+ */
+class NopWheelSensor : public WheelSensor {
+ public:
+  using WheelSensor::WheelSensor;
+  NopWheelSensor() : WheelSensor("nop_wheel_sensor") {}
+  virtual ~NopWheelSensor() noexcept {};
+
+  Wheel wheel_fl() const override { return wheel_fl_; };
+  Wheel wheel_fr() const override { return wheel_fr_; };
+  Wheel wheel_rl() const override { return wheel_rl_; };
+  Wheel wheel_rr() const override { return wheel_rr_; };
+
+  void reset() override {
+    wheel_fl_ = Wheel();
+    wheel_fr_ = Wheel();
+    wheel_rl_ = Wheel();
+    wheel_rr_ = Wheel();
+  }
+
+ protected:
+  Wheel wheel_fl_{};
+  Wheel wheel_fr_{};
+  Wheel wheel_rl_{};
+  Wheel wheel_rr_{};
+};
+
+}  // namespace cloe
+
+#endif  // CLOE_COMPONENT_WHEEL_SENSOR_HPP_