From d1ef0cef5b29c0da884442158c610b3c50bebdb8 Mon Sep 17 00:00:00 2001
From: pepms <jmarti@iri.upc.edu>
Date: Wed, 9 Apr 2025 15:34:15 +0200
Subject: [PATCH] sensor_name now in ProcessorBase.schema
---
schema/problem/Problem.schema | 2 +-
schema/processor/ProcessorBase.schema | 5 +++++
schema/processor/ProcessorBaseWithSensor.schema | 6 ------
src/problem/problem.cpp | 6 +++---
test/yaml/processor_diff_drive.yaml | 1 +
test/yaml/processor_fixed_wing_model.yaml | 1 +
test/yaml/processor_landmark_external.yaml | 1 +
test/yaml/processor_loop_closure_dummy.yaml | 1 +
test/yaml/processor_motion_provider_dummy1.yaml | 1 +
test/yaml/processor_motion_provider_dummy2.yaml | 1 +
test/yaml/processor_motion_provider_dummy3.yaml | 1 +
test/yaml/processor_odom_2d.yaml | 1 +
test/yaml/processor_odom_2d_inactive.yaml | 1 +
test/yaml/processor_odom_3d.yaml | 1 +
test/yaml/processor_odom_3d_inactive.yaml | 1 +
test/yaml/processor_pose_3d.yaml | 1 +
test/yaml/processor_tracker_feature_dummy.yaml | 2 ++
test/yaml/processor_tracker_landmark_dummy.yaml | 2 ++
test/yaml/processor_tracker_two_processors_1.yaml | 2 ++
test/yaml/processor_tracker_two_processors_2.yaml | 2 ++
20 files changed, 29 insertions(+), 10 deletions(-)
delete mode 100644 schema/processor/ProcessorBaseWithSensor.schema
diff --git a/schema/problem/Problem.schema b/schema/problem/Problem.schema
index 71d7f9b69..aeec0a341 100644
--- a/schema/problem/Problem.schema
+++ b/schema/problem/Problem.schema
@@ -24,6 +24,6 @@ sensors:
_doc: A sequence of all the sensors.
processors:
_type: derived[]
- _base: ProcessorBaseWithSensor.schema
+ _base: ProcessorBase.schema
_mandatory: true
_doc: A sequence of all the processors.
diff --git a/schema/processor/ProcessorBase.schema b/schema/processor/ProcessorBase.schema
index 51f801a8d..e443f0c5b 100644
--- a/schema/processor/ProcessorBase.schema
+++ b/schema/processor/ProcessorBase.schema
@@ -5,6 +5,11 @@ name:
_type: string
_doc: The processor's name. It has to be unique.
+sensor_name:
+ _mandatory: true
+ _type: string
+ _doc: The name of the sensor corresponding to this processor.
+
time_tolerance:
_mandatory: true
_type: double
diff --git a/schema/processor/ProcessorBaseWithSensor.schema b/schema/processor/ProcessorBaseWithSensor.schema
deleted file mode 100644
index 41f0c1346..000000000
--- a/schema/processor/ProcessorBaseWithSensor.schema
+++ /dev/null
@@ -1,6 +0,0 @@
-follow: ProcessorBase.schema
-
-sensor_name:
- _mandatory: true
- _type: string
- _doc: The name of the sensor corresponding to this processor.
\ No newline at end of file
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index c138baaea..965a0aa50 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -285,11 +285,11 @@ ProcessorBasePtr Problem::installProcessor(const YAML::Node& _processor_node, st
// Add the installed schema folders after optional input _schema_folders
FolderRegistry::appendRegisteredFolders(_schema_folders);
- // Validate against ProcessorBaseWithSensor (check if it has 'type' and 'plugin')
+ // Validate against ProcessorBase (check if it has 'type' and 'plugin')
// NOTE: Validation with the correponding schema is done in the creator
auto server = yaml_schema_cpp::YamlServer(_schema_folders);
server.setYaml(_processor_node);
- if (not server.applySchema("ProcessorBaseWithSensor"))
+ if (not server.applySchema("ProcessorBase"))
{
WOLF_ERROR(server.getLog());
throw std::runtime_error("Processor could not be created!");
@@ -399,7 +399,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _params_yaml
// Validate against ProcessorBase and derived type
// NOTE: Validation with the correponding schema is done in the creator
- if (not server.applySchema("ProcessorBaseWithSensor"))
+ if (not server.applySchema("ProcessorBase"))
{
WOLF_ERROR(server.getLog());
throw std::runtime_error("Processor could not be created.");
diff --git a/test/yaml/processor_diff_drive.yaml b/test/yaml/processor_diff_drive.yaml
index e4eff792b..303839615 100644
--- a/test/yaml/processor_diff_drive.yaml
+++ b/test/yaml/processor_diff_drive.yaml
@@ -2,6 +2,7 @@
name: "a cool processor diff drive"
type: ProcessorDiffDrive
plugin: core
+sensor_name: whatever
time_tolerance: 0.5 # seconds
diff --git a/test/yaml/processor_fixed_wing_model.yaml b/test/yaml/processor_fixed_wing_model.yaml
index 6a5b36e86..4968ab03b 100644
--- a/test/yaml/processor_fixed_wing_model.yaml
+++ b/test/yaml/processor_fixed_wing_model.yaml
@@ -1,6 +1,7 @@
name: a cool processor for a fixed wing drone
type: ProcessorFixedWingModel
plugin: core
+sensor_name: whatever
time_tolerance: 0.01 # seconds
diff --git a/test/yaml/processor_landmark_external.yaml b/test/yaml/processor_landmark_external.yaml
index c97236f5a..b70dcc32f 100644
--- a/test/yaml/processor_landmark_external.yaml
+++ b/test/yaml/processor_landmark_external.yaml
@@ -1,6 +1,7 @@
name: cool dummy processor
type: ProcessorLandmarkExternal
plugin: core
+sensor_name: whatever
keyframe_vote:
voting_active: true
diff --git a/test/yaml/processor_loop_closure_dummy.yaml b/test/yaml/processor_loop_closure_dummy.yaml
index 97064c355..034c8d78e 100644
--- a/test/yaml/processor_loop_closure_dummy.yaml
+++ b/test/yaml/processor_loop_closure_dummy.yaml
@@ -1,6 +1,7 @@
name: a cool processor loop closure
type: ProcessorLoopClosureDummy
plugin: core
+sensor_name: whatever
time_tolerance: 0.5 # seconds
apply_loss_function: false
diff --git a/test/yaml/processor_motion_provider_dummy1.yaml b/test/yaml/processor_motion_provider_dummy1.yaml
index 8d1ba78b0..5dd618ce3 100644
--- a/test/yaml/processor_motion_provider_dummy1.yaml
+++ b/test/yaml/processor_motion_provider_dummy1.yaml
@@ -2,6 +2,7 @@
name: "not getter processor"
type: ProcessorMotionProviderDummy
plugin: core
+sensor_name: whatever
time_tolerance: 0.5 # seconds
diff --git a/test/yaml/processor_motion_provider_dummy2.yaml b/test/yaml/processor_motion_provider_dummy2.yaml
index 43605186b..89a43d702 100644
--- a/test/yaml/processor_motion_provider_dummy2.yaml
+++ b/test/yaml/processor_motion_provider_dummy2.yaml
@@ -2,6 +2,7 @@
name: "getter processor"
type: ProcessorMotionProviderDummy
plugin: core
+sensor_name: whatever
time_tolerance: 0.5 # seconds
diff --git a/test/yaml/processor_motion_provider_dummy3.yaml b/test/yaml/processor_motion_provider_dummy3.yaml
index 3414e1820..79904604d 100644
--- a/test/yaml/processor_motion_provider_dummy3.yaml
+++ b/test/yaml/processor_motion_provider_dummy3.yaml
@@ -2,6 +2,7 @@
name: "getter processor lower priority"
type: ProcessorMotionProviderDummyPOV
plugin: core
+sensor_name: whatever
time_tolerance: 0.5 # seconds
diff --git a/test/yaml/processor_odom_2d.yaml b/test/yaml/processor_odom_2d.yaml
index bdd02893d..5d747b7bb 100644
--- a/test/yaml/processor_odom_2d.yaml
+++ b/test/yaml/processor_odom_2d.yaml
@@ -2,6 +2,7 @@
name: "a cool processor odom 2d"
type: ProcessorOdom2d
plugin: core
+sensor_name: sensor_odom
time_tolerance: 0.005 # seconds
diff --git a/test/yaml/processor_odom_2d_inactive.yaml b/test/yaml/processor_odom_2d_inactive.yaml
index 2864aef8e..b75bd8909 100644
--- a/test/yaml/processor_odom_2d_inactive.yaml
+++ b/test/yaml/processor_odom_2d_inactive.yaml
@@ -2,6 +2,7 @@
name: "a cool processor odom 2d"
type: ProcessorOdom2d
plugin: core
+sensor_name: whatever
time_tolerance: 0.005 # seconds
diff --git a/test/yaml/processor_odom_3d.yaml b/test/yaml/processor_odom_3d.yaml
index 3653c5af7..2dd89e99b 100644
--- a/test/yaml/processor_odom_3d.yaml
+++ b/test/yaml/processor_odom_3d.yaml
@@ -2,6 +2,7 @@
name: a cool processor odom 3d
type: ProcessorOdom3d
plugin: core
+sensor_name: whatever
time_tolerance: 0.01 # seconds
diff --git a/test/yaml/processor_odom_3d_inactive.yaml b/test/yaml/processor_odom_3d_inactive.yaml
index e5c846447..0693a23d0 100644
--- a/test/yaml/processor_odom_3d_inactive.yaml
+++ b/test/yaml/processor_odom_3d_inactive.yaml
@@ -2,6 +2,7 @@
name: a cool processor odom 3d
type: ProcessorOdom3d
plugin: core
+sensor_name: whatever
time_tolerance: 0.01 # seconds
diff --git a/test/yaml/processor_pose_3d.yaml b/test/yaml/processor_pose_3d.yaml
index d319bbaa3..dc98db13e 100644
--- a/test/yaml/processor_pose_3d.yaml
+++ b/test/yaml/processor_pose_3d.yaml
@@ -2,6 +2,7 @@
name: a cool processor pose 3d
type: ProcessorPose3d
plugin: core
+sensor_name: whatever
time_tolerance: 0.01 # seconds
diff --git a/test/yaml/processor_tracker_feature_dummy.yaml b/test/yaml/processor_tracker_feature_dummy.yaml
index ed268cb6d..4139a42cd 100644
--- a/test/yaml/processor_tracker_feature_dummy.yaml
+++ b/test/yaml/processor_tracker_feature_dummy.yaml
@@ -1,6 +1,8 @@
name: cool dummy processor
type: ProcessorTrackerFeatureDummy
plugin: core
+sensor_name: whatever
+
time_tolerance: 0.25
keyframe_vote:
voting_active: true
diff --git a/test/yaml/processor_tracker_landmark_dummy.yaml b/test/yaml/processor_tracker_landmark_dummy.yaml
index 38af26730..95a8ab17e 100644
--- a/test/yaml/processor_tracker_landmark_dummy.yaml
+++ b/test/yaml/processor_tracker_landmark_dummy.yaml
@@ -1,6 +1,8 @@
name: cool dummy processor
type: ProcessorTrackerLandmarkDummy
plugin: core
+sensor_name: whatever
+
time_tolerance: 0.25
keyframe_vote:
voting_active: true
diff --git a/test/yaml/processor_tracker_two_processors_1.yaml b/test/yaml/processor_tracker_two_processors_1.yaml
index 1b71975c9..20b3c0257 100644
--- a/test/yaml/processor_tracker_two_processors_1.yaml
+++ b/test/yaml/processor_tracker_two_processors_1.yaml
@@ -1,6 +1,8 @@
name: processor_1
type: ProcessorTrackerFeatureDummy
plugin: core
+sensor_name: whatever
+
time_tolerance: 0.5
keyframe_vote:
voting_active: true
diff --git a/test/yaml/processor_tracker_two_processors_2.yaml b/test/yaml/processor_tracker_two_processors_2.yaml
index ef69a2eb0..b2ad07b9c 100644
--- a/test/yaml/processor_tracker_two_processors_2.yaml
+++ b/test/yaml/processor_tracker_two_processors_2.yaml
@@ -1,6 +1,8 @@
name: processor_2
type: ProcessorTrackerFeatureDummy
plugin: core
+sensor_name: whatever
+
time_tolerance: 0.5
keyframe_vote:
voting_active: true
--
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