osi: Initial commit of message handler and utils

optional/osi/.gitignore

@@ -0,0 +1 @@
+build/

optional/osi/CMakeLists.txt

@@ -0,0 +1,85 @@
+cmake_minimum_required(VERSION 3.15 FATAL_ERROR)
+
+project(cloe-osi LANGUAGES CXX)
+
+include(GNUInstallDirs)
+include(TargetLinting)
+
+# Module -------------------------------------------------------------
+find_package(cloe-models REQUIRED)
+find_package(cloe-runtime REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(Boost COMPONENTS headers REQUIRED)
+find_package(open-simulation-interface REQUIRED)
+
+message(STATUS "-> Building cloe-osi library.")
+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_transceiver_tcp.cpp
+    src/osi/utility/osi_utils.cpp
+
+    # For IDE integration
+    ${cloe-osi_PUBLIC_HEADERS}
+)
+add_library(cloe::osi ALIAS cloe-osi)
+set_target_properties(cloe-osi PROPERTIES
+    CXX_STANDARD 17
+    CXX_STANDARD_REQUIRED ON
+    VERSION ${CLOE_PROJECT_VERSION}
+)
+target_include_directories(cloe-osi
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
+)
+target_link_libraries(cloe-osi
+  PUBLIC
+    cloe::models
+    cloe::runtime
+    Boost::headers
+    Eigen3::Eigen
+    open-simulation-interface::open-simulation-interface
+)
+
+# Testing -------------------------------------------------------------
+include(CTest)
+if(BUILD_TESTING)
+    find_package(GTest REQUIRED)
+    include(GoogleTest)
+
+    add_executable(test-osi
+        # find src -type f -name "*_test.cpp"
+        src/osi/component/osi_sensor_test.cpp
+        src/osi/utility/osi_test.cpp
+    )
+    set_target_properties(test-osi PROPERTIES
+        CXX_STANDARD 17
+        CXX_STANDARD_REQUIRED ON
+    )
+    target_link_libraries(test-osi
+      PRIVATE
+        GTest::gtest
+        GTest::gtest_main
+        Boost::boost
+        cloe::runtime
+        cloe::models
+        cloe::osi
+        open-simulation-interface::open-simulation-interface
+    )
+    gtest_add_tests(TARGET test-osi)
+endif()
+
+# Installation -------------------------------------------------------
+install(TARGETS cloe-osi
+    LIBRARY
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    ARCHIVE
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}
+)
+install(
+    DIRECTORY include/
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)

optional/osi/Makefile

@@ -0,0 +1,45 @@
+PROJECT_ROOT := ../..
+include ${PROJECT_ROOT}/Makefile.package
+
+# -------------------------------------------------
+
+ALL_VENDOR := $(wildcard vendor/*)
+.PHONY: ${ALL_VENDOR}
+
+WITHOUT_VENDOR :=
+UNSELECT_VENDOR := ${WITHOUT_VENDOR}
+WITH_VENDOR :=
+SELECT_VENDOR := $(call uniq, $(filter-out ${UNSELECT_VENDOR}, ${ALL_VENDOR}) ${WITH_VENDOR})
+
+vendor/open-simulation-interface-3.3.1: vendor/protoc
+
+REGEX_TARGET := 's/(-vendor|-select)?-each//'
+${SELECT_VENDOR}:
+	${MAKE} -C $@ $(shell echo ${MAKECMDGOALS} | sed -re ${REGEX_TARGET})
+
+# Usage: $(call _make_target_rule, TARGET-NAME, MAKE-TARGET, HELP-DESCRIPTION, MAKE-ARGUMENTS)
+define _make_target_rule
+${1}:
+	$(call print_header, "Proceeding to $(call unquote, ${3})")
+	${MAKE} ${SUBMAKEFLAGS} PROJECT_ROOT=$(realpath ${PROJECT_ROOT}) ${4} ${2}
+endef
+
+# Usage: $(call _make_target_rules, TARGET-NAME, HELP-DESCRIPTION, HELP-CATEGORY, PACKAGE-DIRS)
+define _make_target_rules
+help::
+	$(call print_help_target, ${1}, ${2}, ${3})
+$(call _make_target_rule,${1},${1}-each,${2})
+${1}-each: ${4}
+endef
+
+# Usage: $(call make_vendor_target, TARGET-NAME, HELP-DESCRIPTION, HELP-CATEGORY)
+define make_vendor_target
+$(eval $(call _make_target_rules,${1},${2},${3},${SELECT_VENDOR}))
+endef
+
+help::
+	$(call print_help_section, "Available vendor targets")
+
+$(call make_vendor_target, export-vendor, "export all vendor packages", "[conan-cache]")
+$(call make_vendor_target, package-vendor, "create all vendor packages", "[conan-cache]")
+$(call make_vendor_target, download-vendor, "download or build vendor packages", "[conan-cache]")

optional/osi/conanfile.py

@@ -0,0 +1,96 @@
+# mypy: ignore-errors
+# pylint: skip-file
+
+from pathlib import Path
+from conan import ConanFile
+from conan.tools import cmake, files, scm
+
+
+class CloeOsi(ConanFile):
+    name = "cloe-osi"
+    url = "/~https://github.com/eclipse/cloe"
+    description = "OSI sensor component and utility functions for data conversion to Cloe"
+    license = "Apache-2.0"
+    settings = "os", "compiler", "build_type", "arch"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+        "pedantic": [True, False],
+    }
+    default_options = {
+        "shared": True,
+        "fPIC": True,
+        "pedantic": True,
+    }
+    generators = "CMakeDeps", "VirtualRunEnv"
+    no_copy_source = True
+    exports_sources = [
+        "include/*",
+        "src/*",
+        "CMakeLists.txt",
+    ]
+
+    def set_version(self):
+        version_file = Path(self.recipe_folder) / "../../VERSION"
+        if version_file.exists():
+            self.version = files.load(self, version_file).strip()
+        else:
+            git = scm.Git(self, self.recipe_folder)
+            self.version = git.run("describe --dirty=-dirty")[1:]
+
+    def requirements(self):
+        self.requires(f"cloe-models/{self.version}@cloe/develop")
+        self.requires(f"cloe-runtime/{self.version}@cloe/develop")
+        self.requires("open-simulation-interface/3.3.1@cloe/stable")
+        self.requires("boost/[>=1.65.1]")
+        self.requires("eigen/3.4.0")
+
+    def configure(self):
+        self.options["open-simulation-interface"].shared = self.options.shared
+        self.options["open-simulation-interface"].fPIC = True
+
+    def build_requirements(self):
+        self.test_requires("gtest/1.13.0")
+
+    def layout(self):
+        cmake.cmake_layout(self)
+
+    def generate(self):
+        tc = cmake.CMakeToolchain(self)
+        tc.cache_variables["CMAKE_EXPORT_COMPILE_COMMANDS"] = True
+        tc.cache_variables["CLOE_PROJECT_VERSION"] = self.version
+        tc.cache_variables["TargetLintingExtended"] = self.options.pedantic
+        tc.generate()
+
+    def build(self):
+        cm = cmake.CMake(self)
+        if self.should_configure:
+            cm.configure()
+        if self.should_build:
+            cm.build()
+        if self.should_test:
+            cm.test()
+
+    def package(self):
+        cm = cmake.CMake(self)
+        if self.should_install:
+            cm.install()
+
+    def package_id(self):
+        self.info.requires["boost"].full_package_mode()
+        self.info.requires["open-simulation-interface"].full_package_mode()
+        del self.info.options.pedantic
+
+    def package_info(self):
+        self.cpp_info.set_property("cmake_find_mode", "both")
+        self.cpp_info.set_property("cmake_file_name", "cloe-osi")
+        self.cpp_info.set_property("cmake_target_name", "cloe::osi")
+        self.cpp_info.set_property("pkg_config_name", "cloe-osi")
+
+        # Make sure we can find the library, both in editable mode and in the
+        # normal package mode:
+        self.cpp_info.libdirs = [f"lib"]
+        if not self.in_local_cache:
+            self.cpp_info.libs = ["cloe-osi"]
+        else:
+            self.cpp_info.libs = files.collect_libs(self)

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

@@ -0,0 +1,104 @@
+/*
+ * 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/osi_sensor.hpp
+ * \see  cloe/component/osi.hpp
+ */
+
+#pragma once
+#ifndef CLOE_COMPONENT_OSI_SENSOR_HPP_
+#define CLOE_COMPONENT_OSI_SENSOR_HPP_
+
+#include <memory>  // for shared_ptr
+
+#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
+
+namespace cloe_osi {
+
+class OsiSensor : public cloe::Component {
+ public:
+  using cloe::Component::Component;
+  OsiSensor() : Component("osi_sensor") {}
+  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.
+   */
+  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};
+};
+
+}  // namespace cloe_osi
+
+#endif  // CLOE_COMPONENT_OSI_SENSOR_HPP_

optional/vtd/src/osi_ground_truth.hpp → optional/osi/include/osi/utility/osi_ground_truth.hpp

@@ -29,7 +29,7 @@
 
 #include <cloe/simulator.hpp>         // for ModelError
 
-#include "osi_utils.hpp"  // for osi_require, ..
+#include "osi/utility/osi_utils.hpp"  // for osi_require, ..
 
 namespace osii {
 
@@ -47,7 +47,7 @@ class OsiGroundTruth {
    * Store address of the GroundTruth object belonging to the OSI message
    * that is to be processed.
    */
-  void set(const osi3::GroundTruth& osi_gt) { gt_ptr_ = &osi_gt; }
+  void set(const osi3::GroundTruth& osi_gt);
 
   const osi3::GroundTruth& get_gt() const {
     if (!gt_ptr_) error();