--move ManagedVisualSensor to separate header.

facebookresearch · Dec 27, 2024 · f83fa04 · f83fa04
1 parent 4602e2a
commit f83fa04
Show file tree

Hide file tree

Showing 4 changed files with 77 additions and 58 deletions.
diff --git a/src/esp/CMakeLists.txt b/src/esp/CMakeLists.txt
@@ -474,6 +474,7 @@ set(
   sensor/sensorWrappers/ManagedAudioSensor.h
   sensor/sensorWrappers/ManagedSensorBase.h
   sensor/sensorWrappers/ManagedSensorTemplates.h
+  sensor/sensorWrappers/ManagedVisualSensorBase.h
   sensor/Sensor.cpp
   sensor/Sensor.h
   sensor/SensorFactory.cpp

diff --git a/src/esp/sensor/sensorWrappers/ManagedSensorBase.h b/src/esp/sensor/sensorWrappers/ManagedSensorBase.h
@@ -10,7 +10,6 @@
 
 #include "esp/core/managedContainers/AbstractManagedObject.h"
 #include "esp/sensor/Sensor.h"
-#include "esp/sensor/VisualSensor.h"
 
 namespace Cr = Corrade;
 namespace Mn = Magnum;

diff --git a/src/esp/sensor/sensorWrappers/ManagedSensorTemplates.h b/src/esp/sensor/sensorWrappers/ManagedSensorTemplates.h
@@ -10,7 +10,6 @@
 
 #include "ManagedSensorBase.h"
 #include "esp/sensor/Sensor.h"
-#include "esp/sensor/VisualSensor.h"
 
 namespace Cr = Corrade;
 namespace Mn = Magnum;
@@ -95,62 +94,6 @@ class AbstractManagedSensor : public ManagedSensorBase {
   ESP_SMART_POINTERS(AbstractManagedSensor<T>)
 };  // class AbstractManagedSensor
 
-/**
- * @brief Base class template for wrapper for visual sensor objects of all kinds
- * that extends AbstractManagedSensorAccess
- */
-
-template <class T>
-class AbstractManagedVisualSensor
-    : public esp::sensor::AbstractManagedSensor<T> {
- public:
-  static_assert(std::is_base_of<esp::sensor::VisualSensor, T>::value,
-                "AbstractManagedVisualSensor :: Managed visual sensor object "
-                "type must be derived from esp::sensor::VisualSensor");
-
-  explicit AbstractManagedVisualSensor(const std::string& classKey)
-      : AbstractManagedSensor<T>(classKey) {}
-  // TODO Add appropriate abstract visual sensor getters/setters here
-
- protected:
-  /**
-   * @brief Retrieve a comma-separated string holding the header values for
-   * the info returned for this managed object, type-specific.
-   */
-
-  std::string getSensorObjInfoHeaderInternal() const override {
-    return "" + getVisualSensorObjInfoHeaderInternal();
-  }
-  /**
-   * @brief Retrieve a comma-separated string holding the header values for
-   * the info returned for this managed visual sensor, type-specific.
-   */
-
-  virtual std::string getVisualSensorObjInfoHeaderInternal() const = 0;
-  /**
-   * @brief Specialization-specific extension of getObjectInfo, comma
-   * separated info ideal for saving to csv
-   */
-  std::string getSensorObjInfoInternal(
-      CORRADE_UNUSED std::shared_ptr<VisualSensor>& sp) const override {
-    // TODO provide info stream for sensors
-    std::string res = Cr::Utility::formatString(
-        "{},{}", "VisualSensor", getVisualSensorObjInfoInternal());
-
-    return res;
-  }
-
-  /**
-   * @brief Specialization-specific extension of getSensorObjInfoInternal, comma
-   * separated info ideal for saving to csv
-   */
-  virtual std::string getVisualSensorObjInfoInternal(
-      std::shared_ptr<T>& sp) const = 0;
-
- public:
-  ESP_SMART_POINTERS(AbstractManagedVisualSensor<T>)
-};  // class AbstractManagedVisualSensor
-
 }  // namespace sensor
 }  // namespace esp
 

diff --git a/src/esp/sensor/sensorWrappers/ManagedVisualSensorBase.h b/src/esp/sensor/sensorWrappers/ManagedVisualSensorBase.h
@@ -0,0 +1,76 @@
+// Copyright (c) Meta Platforms, Inc. and its affiliates.
+// This source code is licensed under the MIT license found in the
+// LICENSE file in the root directory of this source tree.
+
+#ifndef ESP_SENSOR_MANAGEDVISUALSENSORBASE_H_
+#define ESP_SENSOR_MANAGEDVISUALSENSORBASE_H_
+
+#include <Corrade/Utility/FormatStl.h>
+#include <Corrade/Utility/Macros.h>
+
+#include "ManagedSensorTemplates.h"
+#include "esp/sensor/VisualSensor.h"
+
+namespace esp {
+namespace sensor {
+
+/**
+ * @brief Base class template for wrapper for visual sensor objects of all kinds
+ * that extends AbstractManagedSensorAccess
+ */
+
+template <class T>
+class AbstractManagedVisualSensor
+    : public esp::sensor::AbstractManagedSensor<T> {
+ public:
+  static_assert(std::is_base_of<esp::sensor::VisualSensor, T>::value,
+                "AbstractManagedVisualSensor :: Managed visual sensor object "
+                "type must be derived from esp::sensor::VisualSensor");
+
+  explicit AbstractManagedVisualSensor(const std::string& classKey)
+      : AbstractManagedSensor<T>(classKey) {}
+  // TODO Add appropriate abstract visual sensor getters/setters here
+
+ protected:
+  /**
+   * @brief Retrieve a comma-separated string holding the header values for
+   * the info returned for this managed object, type-specific.
+   */
+
+  std::string getSensorObjInfoHeaderInternal() const override {
+    return "" + getVisualSensorObjInfoHeaderInternal();
+  }
+  /**
+   * @brief Retrieve a comma-separated string holding the header values for
+   * the info returned for this managed visual sensor, type-specific.
+   */
+
+  virtual std::string getVisualSensorObjInfoHeaderInternal() const = 0;
+  /**
+   * @brief Specialization-specific extension of getObjectInfo, comma
+   * separated info ideal for saving to csv
+   */
+  std::string getSensorObjInfoInternal(
+      CORRADE_UNUSED std::shared_ptr<VisualSensor>& sp) const override {
+    // TODO provide info stream for sensors
+    std::string res = Cr::Utility::formatString(
+        "{},{}", "VisualSensor", getVisualSensorObjInfoInternal());
+
+    return res;
+  }
+
+  /**
+   * @brief Specialization-specific extension of getSensorObjInfoInternal, comma
+   * separated info ideal for saving to csv
+   */
+  virtual std::string getVisualSensorObjInfoInternal(
+      std::shared_ptr<T>& sp) const = 0;
+
+ public:
+  ESP_SMART_POINTERS(AbstractManagedVisualSensor<T>)
+};  // class AbstractManagedVisualSensor
+
+}  // namespace sensor
+}  // namespace esp
+
+#endif  // ESP_SENSOR_MANAGEDVISUALSENSORBASE_H_