esmini_conf.hpp

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/*
 * 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.
 * 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
 */
#pragma once
 
#include <map>     // for map<>
#include <string>  // for string
 
#include <fable/confable.hpp>  // for Confable
#include <fable/schema.hpp> // for Schema
 
namespace cloe_esmini {
 
struct ESMiniVehicleConfig : public fable::Confable {
  bool is_closed_loop{true};
 
  double filter_dist{100.0};
 
 public:
  CONFABLE_SCHEMA(ESMiniVehicleConfig) {
    // clang-format off
    return fable::Schema{
        {"closed_loop", fable::Schema(&is_closed_loop, "control the esmini vehicle")},
        {"filter_distance", fable::Schema(&filter_dist, "filter distance for ground truth data")},
    };
    // clang-format on
  }
};
 
struct ESMiniConfiguration : public fable::Confable {
  std::string scenario{};
 
  bool is_headless{true};
 
  bool write_images{false};
 
  std::map<std::string, ESMiniVehicleConfig> vehicles;
 
  CONFABLE_SCHEMA(ESMiniConfiguration) {
    // clang-format off
    return fable::Schema{
        {"headless", fable::Schema(&is_headless, "run esmini without viewer")},
        {"write_images", fable::Schema(&write_images, "save an image for each step")},
        {"scenario", fable::Schema(&scenario, "absolute path to open scenario file")},
        {"vehicles", fable::Schema(&vehicles, "vehicle configuration like sensors and component mapping")},
    };
    // clang-format on
  }
};
 
}  // namespace cloe_esmini