[agents] there can be only one ....

maliput · Jun 27, 2018 · b5d9ad2 · b5d9ad2
1 parent 809ad5b
commit b5d9ad2
Show file tree

Hide file tree

Showing 2 changed files with 22 additions and 8 deletions.
diff --git a/include/delphyne/mi6/CMakeLists.txt b/include/delphyne/mi6/CMakeLists.txt
@@ -8,11 +8,12 @@ target_include_directories(
   mi6
   INTERFACE
     $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include/${PROJECT_NAME}${PROJECT_MAJOR_VERSION}>
+    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
 )
 
-target_link_libraries(public_headers
+target_link_libraries(mi6
   INTERFACE
+    public_headers
     drake::drake
 )
 

diff --git a/include/delphyne/mi6/agent_diagram_builder.h b/include/delphyne/mi6/agent_diagram_builder.h
@@ -59,16 +59,31 @@ class AgentDiagramBuilder : public drake::systems::DiagramBuilder<T> {
 
   /// @brief Export the specified state output port.
   void ExportStateOutput(const drake::systems::OutputPort<T>& output) {
+    DELPHYNE_VALIDATE(
+        outputs_.count("state") == 0,
+        std::runtime_error,
+        "A state output port has already been exported and this diagram "
+        "enforces that there can be only one.");
     outputs_["state"] = this->ExportOutput(output);
   }
 
-  /// @brief Export the specified posee output port.
+  /// @brief Export the specified pose output port.
   void ExportPoseOutput(const drake::systems::OutputPort<T>& output) {
+    DELPHYNE_VALIDATE(
+        outputs_.count("pose") == 0,
+        std::runtime_error,
+        "A pose output port has already been exported and this diagram "
+        "enforces that there can be only one.");
     outputs_["pose"] = this->ExportOutput(output);
   }
 
   /// @brief Export the specified velocity output port.
   void ExportVelocityOutput(const drake::systems::OutputPort<T>& output) {
+    DELPHYNE_VALIDATE(
+        outputs_.count("velocity") == 0,
+        std::runtime_error,
+        "A velocity output port has already been exported and this diagram "
+        "enforces that there can be only one.");
     outputs_["velocity"] = this->ExportOutput(output);
   }
 
@@ -85,11 +100,9 @@ class AgentDiagramBuilder : public drake::systems::DiagramBuilder<T> {
 
   /// @brief Build the diagram bundle and append the indices.
   std::unique_ptr<DiagramBundle<T>> Build() {
-    // TODO(daniel.stonier) check that all indices have been set
-    // outputs: "state", "pose", "velocity"
-    // inputs: "traffic_poses"
-    // Consider putting the check in a AgentDiagramBundle::Validate()
-    // which would be a subclass of DiagramBundle
+    // Check that all indices have been set
+    //   inputs: "traffic_poses"
+    //   outputs: "state", "pose", "velocity"
     DELPHYNE_VALIDATE(
         outputs_.count("state") == 1,
         std::runtime_error,