feat(interaction): Added LidarUpdates interaction and LidarData object #391
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| /* | ||
| * Copyright (c) 2024 Fraunhofer FOKUS and others. All rights reserved. | ||
| * | ||
| * See the NOTICE file(s) distributed with this work for additional | ||
| * information regarding copyright ownership. | ||
| * | ||
| * This program and the accompanying materials are made available under the | ||
| * terms of the Eclipse Public License 2.0 which is available at | ||
| * http://www.eclipse.org/legal/epl-2.0 | ||
| * | ||
| * SPDX-License-Identifier: EPL-2.0 | ||
| * | ||
| * Contact: [email protected] | ||
| */ | ||
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| package org.eclipse.mosaic.fed.application.app.api; | ||
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| import org.eclipse.mosaic.lib.objects.vehicle.sensor.LidarData; | ||
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| import javax.annotation.Nonnull; | ||
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| public interface LidarApplication extends Application { | ||
| void onLidarUpdated(@Nonnull LidarData updatedLidarData); | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,100 @@ | ||
| /* | ||
| * Copyright (c) 2024 Fraunhofer FOKUS and others. All rights reserved. | ||
| * | ||
| * See the NOTICE file(s) distributed with this work for additional | ||
| * information regarding copyright ownership. | ||
| * | ||
| * This program and the accompanying materials are made available under the | ||
| * terms of the Eclipse Public License 2.0 which is available at | ||
| * http://www.eclipse.org/legal/epl-2.0 | ||
| * | ||
| * SPDX-License-Identifier: EPL-2.0 | ||
| * | ||
| * Contact: [email protected] | ||
| */ | ||
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| package org.eclipse.mosaic.interactions.environment; | ||
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| import static org.apache.commons.lang3.builder.ToStringStyle.SHORT_PREFIX_STYLE; | ||
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| import org.eclipse.mosaic.lib.objects.vehicle.sensor.LidarData; | ||
| import org.eclipse.mosaic.rti.api.Interaction; | ||
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| import org.apache.commons.lang3.builder.EqualsBuilder; | ||
| import org.apache.commons.lang3.builder.HashCodeBuilder; | ||
| import org.apache.commons.lang3.builder.ToStringBuilder; | ||
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| import java.util.List; | ||
| import java.util.stream.Collectors; | ||
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| public class LidarUpdates extends Interaction { | ||
|
There was a problem hiding this comment. This class needs some more documentation before being merged |
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| private static final long serialVersionUID = 1L; | ||
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| /** | ||
| * String identifying the type of this interaction. | ||
| */ | ||
| public final static String TYPE_ID = createTypeIdentifier(LidarUpdates.class); | ||
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| /** | ||
| * Time at which the next sensor update will be sent. | ||
| */ | ||
| private long nextUpdate; | ||
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| /** | ||
| * List of {@link LidarData} containing LiDAR data from the simulator. | ||
| */ | ||
| private final List<LidarData> updated; | ||
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| public LidarUpdates(long time, List<LidarData> updated) { | ||
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There was a problem hiding this comment. For me it isn't clear what exactly the list of updated
This kind of stuff should be documented. As far as I get, each ego-vehicle has a LidarData-Object for each lidar-collection-time, which contains the measured point clouds, right? |
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| super(time); | ||
| this.updated = updated; | ||
| } | ||
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| public List<LidarData> getUpdated() { | ||
| return this.updated; | ||
| } | ||
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| public void setNextUpdate(long nextUpdate) { | ||
| this.nextUpdate = nextUpdate; | ||
| } | ||
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| @Override | ||
| public int hashCode() { | ||
| return new HashCodeBuilder(5, 17) | ||
| .append(nextUpdate) | ||
| .append(updated) | ||
| .toHashCode(); | ||
| } | ||
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| @Override | ||
| public boolean equals(Object obj) { | ||
| if (obj == null) { | ||
| return false; | ||
| } | ||
| if (obj == this) { | ||
| return true; | ||
| } | ||
| if (obj.getClass() != getClass()) { | ||
| return false; | ||
| } | ||
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| LidarUpdates other = (LidarUpdates) obj; | ||
| return new EqualsBuilder() | ||
| .append(this.nextUpdate, other.nextUpdate) | ||
| .append(this.updated, other.updated) | ||
| .isEquals(); | ||
| } | ||
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| @Override | ||
| public String toString() { | ||
| return new ToStringBuilder(this, SHORT_PREFIX_STYLE) | ||
| .appendSuper(super.toString()) | ||
| .append("updated", updated.stream().map(LidarData::getName).collect(Collectors.joining(","))) | ||
| .toString(); | ||
| } | ||
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| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
| /* | ||
| * Copyright (c) 2024 Fraunhofer FOKUS and others. All rights reserved. | ||
| * | ||
| * See the NOTICE file(s) distributed with this work for additional | ||
| * information regarding copyright ownership. | ||
| * | ||
| * This program and the accompanying materials are made available under the | ||
| * terms of the Eclipse Public License 2.0 which is available at | ||
| * http://www.eclipse.org/legal/epl-2.0 | ||
| * | ||
| * SPDX-License-Identifier: EPL-2.0 | ||
| * | ||
| * Contact: [email protected] | ||
| */ | ||
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| package org.eclipse.mosaic.lib.objects.vehicle.sensor; | ||
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| import org.eclipse.mosaic.lib.spatial.PointCloud; | ||
| import org.eclipse.mosaic.lib.util.gson.PolymorphismTypeAdapterFactory; | ||
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| import com.google.gson.annotations.JsonAdapter; | ||
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| import java.io.Serializable; | ||
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| public class LidarData implements Serializable { | ||
| @JsonAdapter(PolymorphismTypeAdapterFactory.class) | ||
| private final PointCloud lidarData; | ||
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| private final long time; | ||
| private final String name; | ||
|
There was a problem hiding this comment. Document the fields and maybe rename |
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| /** | ||
| * Creates a new {@link LidarData}. | ||
| * | ||
| * @param time time of the last update | ||
| * @param name name of the unit | ||
| * @param lidarData Object that contains the LidarFrame data | ||
| */ | ||
| public LidarData(long time, String name, PointCloud lidarData) { | ||
| this.lidarData = lidarData; | ||
| this.time = time; | ||
| this.name = name; | ||
| } | ||
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| /** | ||
| * Returns lidar data produced by the traffic or vehicle simulator. | ||
| * Should be of type LidarFrame. | ||
| */ | ||
| public Object getLidarData() { | ||
| return this.lidarData; | ||
| } | ||
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| public long getTime() { | ||
| return this.time; | ||
| } | ||
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| public String getName() { | ||
| return this.name; | ||
| } | ||
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| /** | ||
| * A builder for creating {@link LidarData} objects | ||
| */ | ||
| public static class Builder { | ||
| private final long time; | ||
| private final String name; | ||
| private PointCloud lidarData; | ||
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| /** | ||
| * Init the builder with the current simulation time [ns] and name of the vehicle. | ||
| */ | ||
| public Builder(long time, String name) { | ||
| this.time = time; | ||
| this.name = name; | ||
| } | ||
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| /** | ||
| * Set position related values for the vehicle info. | ||
| */ | ||
| public LidarData.Builder lidarData(PointCloud lidarData) { | ||
| this.lidarData = lidarData; | ||
| return this; | ||
| } | ||
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| /** | ||
| * Returns the final {@link LidarData} based on the properties given before. | ||
| */ | ||
| public LidarData create() { | ||
| return new LidarData( | ||
| time, name, lidarData); | ||
| } | ||
| } | ||
| } | ||
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This class needs to be documented before being merged.