This is the implementation of IEvaluator interface and provides users ability to evaluate KPIs that are added by themselves. This class controls all KPIs centrally and fill/reset the KpiMessage accordingly based on each KPI's calculation result. More...

#include <base_evaluator.h>

Inheritance diagram for simulation_framework::evaluator::BaseEvaluator:

[legend]

Collaboration diagram for simulation_framework::evaluator::BaseEvaluator:

[legend]

Public Member Functions
void	Init ()

void	Reset ()

void	Evaluate ()

void	AddKpi (kpi::IKpiPtr kpi)

kpi::KpiMessage	GetKpiMessage () const

void	SetGroundTruth (const avx_osi3::GroundTruth &ground_truth)

Detailed Description

This is the implementation of IEvaluator interface and provides users ability to evaluate KPIs that are added by themselves. This class controls all KPIs centrally and fill/reset the KpiMessage accordingly based on each KPI's calculation result.

To join the simulation, the evaluator must be injected into an Activity and required KPIs need to be added using AddKpi(kpi::IKpiPtr kpi).

Example of creating one customized KpiEvaluatorActivity containing 2 KPIs and publish the KpiMessage into KpiLoggerTopic to have the KPI results in output json

class MyFirstKpi : public kpi::IKpi
{
  public:
    MyFirstKpi(const std::string& kpi_name): kpi_name_(kpi_name) {}
    void Init() override {}
    void Reset() override {}
    kpi::KpiContent CalculateKpi(const avx_osi3::GroundTruth& ground_truth) override
    {
        kpi::KpiContent kpi;
        return kpi;
    }
    kpi::Type GetKpiType() const override { return kpi::Type::kScalar; }
};
class MySecondKpi : public kpi::IKpi { 
 
class MyKpiEvaluatorActivity : public BaseActivity
{
  public:
    MyKpiEvaluatorActivity(const std::string& name,
                           const Topics& topics,
                           evaluator::kpi::IKpiMessageConverterPtr kpi_message_converter,
                           evaluator::IEvaluatorPtr evaluator)
        : BaseActivity(name, topics),
          kpi_message_converter_(std::move(kpi_message_converter)),
          evaluator_(std::move(evaluator))
    {
        evaluator_->Init();
    }
 
    ~MyKpiEvaluatorActivity() = default;
 
    void AddPublisherAndSubscriber() override
    {
        AddSubscriber<core::Topic<rtidds::GenericBytesMessage>>(
            "SensorViewTopic", [&](const rtidds::GenericBytesMessage& sv_bytes_msg) {
                if (!osi_proto_sv_.ParseFromArray(sv_bytes_msg.bytes_array().data(), sv_bytes_msg.size()))
                {
                    throw std::runtime_error(
                        "[MyKpiEvaluatorActivity]: Error parsing "
                        "osi proto msg from bytes array!");
                }
            });
 
        AddPublisher<core::Topic<rtidds::KpiMessage>>("KpiLoggerTopic", [&]() {
            const auto dds_kpi_message = kpi_message_converter_->ConvertToDds(kpi_message_);
            return dds_kpi_message;
        });
    }
 
    void ExecuteStep() override
    {
        evaluator_->SetGroundTruth(osi_proto_sv_.global_ground_truth());
        evaluator_->Evaluate();
        kpi_message_ = evaluator_->GetKpiMessage();
    }
 
  private:
    evaluator::kpi::IKpiMessageConverterPtr kpi_message_converter_;
    evaluator::IEvaluatorPtr evaluator_;
    evaluator::kpi::KpiMessage kpi_message_;
    avx_osi3::SensorView osi_proto_sv_{};
};
 
 
 auto my_first_kpi = std::make_unique<MyFirstKpi>("kpi_1");
 auto my_second_kpi = std::make_unique<MySecondKpi>("kpi_2");
 
 auto evaluator = std::make_unique<simulation_framework::evaluator::BaseEvaluator>();
 evaluator->AddKpi(std::move(my_first_kpi));
 evaluator->AddKpi(std::move(my_second_kpi));
 
 auto kpi_message_converter = std::make_unique<evaluator::kpi::KpiMessageConverter>();
 
 auto my_kpi_evaluator_activity = std::make_unique<MyKpiEvaluatorActivity>(
                                                 "MyKpiEvaluatorActivity",
                                                 Topics{topic_registry::GetExistingTopicById("SensorViewTopic"),
                                                        topic_registry::GetExistingTopicById("KpiLoggerTopic")},
                                                 std::move(kpi_message_converter),
                                                 std::move(evaluator));