generator.md

cd generator
python3 generate.py
usage: generate.py [-h] [--clang-format CLANG_FORMAT] [-l LOG_FILE] [-d] [-c CLASSES [CLASSES ...]] [-f]

OpenScenarioEngine CodeGenerator

optional arguments:
  -h, --help            show this help message and exit
  --clang-format CLANG_FORMAT
                        Specifies executable for clang-format
  -l LOG_FILE, --log_file LOG_FILE
                        Name of log file
  -d, --debug           Additionally print debug information
  -c CLASSES [CLASSES ...], --classes CLASSES [CLASSES ...]
                        Restricts generation scope to given class (e.g. TeleportAction)
  -f, --force           Forces generation even for detected user specializations
Storyboard (1)
├── Init
│   └── InitActions
│       ├── GlobalAction
│       │   ├── EnvironmentAction (2)
│       │   └── ...
│       ├── UserDefinedAction
│       │   └── ...
│       └── Private
│           └── ...
├── Stories
│   └── ...
└── StopTrigger
    └── ConditionGroup
        └── Condition
             ├── ByEntityCondition
             │   ├── TriggeringEntities
             │   └── EntityCondition
             │       └── EndOfRoadCondition (2)
             └── ByValueCondition
'selector':
[
    # node, pattern, ose_type, dependencies
    ('InitActions', '\w+Action$', 'Storyboard/GenericAction', ['Environment']),
    ('Action', '\w+Action$', 'Storyboard/GenericAction', ['Environment']),
]
Storyboard > Init > InitActions > GlobalAction > EnvironmentAction
^ start             ^ required node              ^ matches \w+Action$
engine
├── gen . . . . . . . . . . . . (1)
│   ├── Conversion
│   │   └── OscToNode . . . . . (2)
│   └── Storyboard  . . . . . . (3)
│       ├── ByEntityCondition
│       ├── ByValueCondition
│       ├── GenericAction
│       └── MotionControlAction
└── src . . . . . . . . . . . . (4)
    ├── Conversion
    │   ├── OscToMantle . . . . (5)
    │   └── OscToNode
    ├── Node  . . . . . . . . . (6)
    ├── Storyboard
    │   ├── ByEntityCondition
    │   ├── ByValueCondition
    │   ├── GenericAction
    │   └── MotionControlAction
   (7)
'dependencies':
{
    // reference used in selector and converters
    'Environment':
    {
        // variable name, if applicable
        'name': 'environment',
        // type, if applicable
        'type': 'std::shared_ptr<mantle_api::IEnvironment>',
        // include file
        'include': '<MantleAPI/Execution/i_environment.h>'
    }
}
yase::BehaviorNode::Ptr parse(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICondition> condition) {
  if (auto element = condition->GetByEntityCondition()) {
    return parse(element);
  }
  if (auto element = condition->GetByValueCondition()) {
    return parse(element);
  }
  throw std::runtime_error("Corrupted openSCENARIO file: No choice made within std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICondition>");
}
yase::BehaviorNode::Ptr parse(std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IAct>> acts)
{
  auto node = std::make_shared<yase::ParallelNode>("Acts");
  for (const auto& act : acts)
  {
    node->addChild(parse(act));
  }
  return node;
}
yase::BehaviorNode::Ptr parse(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrigger> trigger)
{
  return trigger ? parse(trigger->GetConditionGroups()) : nullptr;
}
yase::BehaviorNode::Ptr parse(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IAddEntityAction> addEntityAction)
{
  return std::make_shared<AddEntityAction>(addEntityAction);
}
     OpenScenarioAPI                        OpenScenarioEngine
┌────────────────────────┐              ┌─────────────────────────┐
│ ReachPositionCondition │              │ ReachPositionCondition  │
├────────────────────────┤              ├─────────────────────────┤
│ + double   tolerance   │              │ + double      tolerance │
│ + Position position    │ - mapping -> │ + mantle_api::Pose pose │
└────────────────────────┘              └─────────────────────────┘
'converter':
{
  // **OpenScenario API** type, which shall be mapped
  'Position':
  {
      // Function name of the converter
      'converter': 'OPENSCENARIO::ConvertScenarioPosition',
      // Return type of the converter
      'return_type': 'std::optional<mantle_api::Pose>',
      // Necessary include file
      'include': '"Conversion/OscToMantle/ConvertScenarioPosition.h"',
      // type == "static": Call converter on initialization
      // type == "dynamic: Call converter on demand (wrap in lambda)
      'type': 'static',
      // Optional: dependencies of the converter
      'dependencies':
       [
          "Environment"
       ]
       // Other properties of the leaf, necessary for conversion
       'consumes': ['Foo', 'Bar']
  }, ...
}
// from "dependencies"
#include <MantleAPI/Execution/i_environment.h>
// from "include"
#include "Conversion/OscToMantle/ConvertScenarioPosition.h"

...

// When approaching parameter "Position":
[=](){ // <- dynamic: will be mapped to "GetPosition()"
  // "converter"
  return OPENSCENARIO::ConvertScenarioPosition(
    // from "dependencies"
    environment,
    // from "Position"
    condition->GetPosition(),
    // Consumes Foo
    condition->GetFoo()
    // Does not consumes Bar, because not found <- no error
    );
}