From 694abe440c913d41e7b0fbe4a7723745175cbf30 Mon Sep 17 00:00:00 2001
From: Arun Das <arun.das@bmw.de>
Date: Tue, 6 Apr 2021 13:36:40 +0200
Subject: [PATCH] Update interface
Signed-off-by: Arun Das <arun.das@bmw.de>
---
MantleAPI/BUILD.bazel | 18 +--
.../include/MantleAPI/Common/bounding_box.h | 32 ++--
.../include/MantleAPI/Common/dimension.h | 16 +-
.../MantleAPI/Common/floating_point_helper.h | 23 +--
.../include/MantleAPI/Common/i_identifiable.h | 17 +-
.../include/MantleAPI/Common/orientation.h | 36 +++--
MantleAPI/include/MantleAPI/Common/pose.h | 16 +-
MantleAPI/include/MantleAPI/Common/position.h | 22 +--
.../MantleAPI/Common/simulation_time.h | 41 +++--
MantleAPI/include/MantleAPI/Common/spline.h | 22 +--
MantleAPI/include/MantleAPI/Common/vector.h | 22 +--
.../EnvironmentalConditions/date_time.h | 31 ++++
.../EnvironmentalConditions/road_condition.h | 16 +-
.../EnvironmentalConditions/weather.h | 26 ++-
.../MantleAPI/Execution/i_environment.h | 39 +++--
.../MantleAPI/Execution/i_scenario_engine.h | 19 +--
.../MantleAPI/Execution/scenario_info.h | 19 ++-
.../include/MantleAPI/Map/i_coord_converter.h | 17 +-
.../Map/i_lane_location_query_service.h | 28 ++--
MantleAPI/include/MantleAPI/Map/i_route.h | 17 +-
.../MantleAPI/Traffic/control_strategy.h | 128 +++++++++++++++
.../MantleAPI/Traffic/entity_properties.h | 33 ++--
.../MantleAPI/Traffic/i_controller_config.h | 75 +++++++--
.../include/MantleAPI/Traffic/i_entity.h | 34 ++--
.../MantleAPI/Traffic/i_entity_repository.h | 17 +-
MantleAPI/test/MantleAPI/Test/test_utils.h | 152 +++++++++++-------
MantleAPI/test/interface_test.cpp | 19 ++-
27 files changed, 618 insertions(+), 317 deletions(-)
create mode 100644 MantleAPI/include/MantleAPI/EnvironmentalConditions/date_time.h
create mode 100644 MantleAPI/include/MantleAPI/Traffic/control_strategy.h
diff --git a/MantleAPI/BUILD.bazel b/MantleAPI/BUILD.bazel
index 02f78c62..e533abec 100644
--- a/MantleAPI/BUILD.bazel
+++ b/MantleAPI/BUILD.bazel
@@ -1,12 +1,12 @@
-/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+################################################################################
+# Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+#
+# This program and the accompanying materials are made
+# available under the terms of the Eclipse Public License 2.0
+# which is available at https://www.eclipse.org/legal/epl-2.0/
+#
+# SPDX-License-Identifier: EPL-2.0
+################################################################################
cc_library(
name = "mantle_api",
diff --git a/MantleAPI/include/MantleAPI/Common/bounding_box.h b/MantleAPI/include/MantleAPI/Common/bounding_box.h
index 3c611b8f..7be0db8e 100644
--- a/MantleAPI/include/MantleAPI/Common/bounding_box.h
+++ b/MantleAPI/include/MantleAPI/Common/bounding_box.h
@@ -1,12 +1,12 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file bounding_box.h */
@@ -15,20 +15,24 @@
#ifndef MANTLEAPI_COMMON_BOUNDINGBOX_H
#define MANTLEAPI_COMMON_BOUNDINGBOX_H
-#include <MantleAPI/Common/i_position.h>
+#include <MantleAPI/Common/dimension.h>
#include <MantleAPI/Common/vector.h>
namespace mantle_api
{
-/// Bounding box is defined in local object coordinate system.
-/// The origin of the object coordinate system is defined in relation to the geometric center.
+/// Bounding box is defined in local entity coordinate system.
+/// The origin of the entity coordinate system is defined in relation to the geometric center.
struct BoundingBox
{
Vec3d geometric_center{0.0, 0.0, 0.0};
- double width{0.0};
- double length{0.0};
- double height{0.0};
+ Dimension3d dimension{0.0, 0.0, 0.0};
};
+
+inline bool operator==(const BoundingBox& lhs, const BoundingBox& rhs) noexcept
+{
+ return lhs.geometric_center == rhs.geometric_center && lhs.dimension == rhs.dimension;
+}
+
} // namespace mantle_api
#endif // MANTLEAPI_COMMON_BOUNDINGBOX_H
diff --git a/MantleAPI/include/MantleAPI/Common/dimension.h b/MantleAPI/include/MantleAPI/Common/dimension.h
index f7650230..64b97e29 100644
--- a/MantleAPI/include/MantleAPI/Common/dimension.h
+++ b/MantleAPI/include/MantleAPI/Common/dimension.h
@@ -1,12 +1,12 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file dimension.h */
diff --git a/MantleAPI/include/MantleAPI/Common/floating_point_helper.h b/MantleAPI/include/MantleAPI/Common/floating_point_helper.h
index 218c26ae..ea93a5fd 100644
--- a/MantleAPI/include/MantleAPI/Common/floating_point_helper.h
+++ b/MantleAPI/include/MantleAPI/Common/floating_point_helper.h
@@ -1,23 +1,24 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file floating_point_helper.h */
//-----------------------------------------------------------------------------
-#ifndef THIRDPARTY_MANTLEAPI_INCLUDE_MANTLEAPI_COMMON_FLOATING_POINT_HELPER_H
-#define THIRDPARTY_MANTLEAPI_INCLUDE_MANTLEAPI_COMMON_FLOATING_POINT_HELPER_H
+#ifndef MANTLEAPI_COMMON_FLOATING_POINT_HELPER_H
+#define MANTLEAPI_COMMON_FLOATING_POINT_HELPER_H
#include <cmath>
#include <limits>
#include <type_traits>
+
namespace mantle_api
{
@@ -90,4 +91,4 @@ bool LessOrEqual(T lhs, T rhs, T precision = std::numeric_limits<T>::epsilon())
}
} // namespace mantle_api
-#endif // THIRDPARTY_MANTLEAPI_INCLUDE_MANTLEAPI_COMMON_FLOATING_POINT_HELPER_H
+#endif // MANTLEAPI_COMMON_FLOATING_POINT_HELPER_H
diff --git a/MantleAPI/include/MantleAPI/Common/i_identifiable.h b/MantleAPI/include/MantleAPI/Common/i_identifiable.h
index 71ea8d6e..24b6a927 100644
--- a/MantleAPI/include/MantleAPI/Common/i_identifiable.h
+++ b/MantleAPI/include/MantleAPI/Common/i_identifiable.h
@@ -1,18 +1,17 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file i_identifiable.h */
//-----------------------------------------------------------------------------
-
#ifndef MANTLEAPI_COMMON_IIDENTIFIABLE_H
#define MANTLEAPI_COMMON_IIDENTIFIABLE_H
diff --git a/MantleAPI/include/MantleAPI/Common/orientation.h b/MantleAPI/include/MantleAPI/Common/orientation.h
index d9651e5a..ab2038fb 100644
--- a/MantleAPI/include/MantleAPI/Common/orientation.h
+++ b/MantleAPI/include/MantleAPI/Common/orientation.h
@@ -1,20 +1,19 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file orientation.h */
//-----------------------------------------------------------------------------
-
-#ifndef SIMULATOR_ORIENTATION_H
-#define SIMULATOR_ORIENTATION_H
+#ifndef MANTLEAPI_COMMON_ORIENTATION_H
+#define MANTLEAPI_COMMON_ORIENTATION_H
#include <MantleAPI/Common/floating_point_helper.h>
@@ -24,6 +23,9 @@ namespace mantle_api
template <typename T>
struct Orientation3
{
+ Orientation3() = default;
+ Orientation3(T yaw, T pitch, T roll) : yaw{yaw}, pitch{pitch}, roll{roll} {}
+
T yaw{};
T pitch{};
T roll{};
@@ -41,6 +43,16 @@ inline bool operator!=(const Orientation3d& lhs, const Orientation3d& rhs) noexc
return !(lhs == rhs);
}
+inline Orientation3d operator+(const Orientation3d& lhs, const Orientation3d& rhs) noexcept
+{
+ return Orientation3d{lhs.yaw + rhs.yaw, lhs.pitch + rhs.pitch, lhs.roll + rhs.roll};
+}
+
+inline Orientation3d operator-(const Orientation3d& lhs, const Orientation3d& rhs) noexcept
+{
+ return Orientation3d{lhs.yaw - rhs.yaw, lhs.pitch - rhs.pitch, lhs.roll - rhs.roll};
+}
+
} // namespace mantle_api
-#endif // SIMULATOR_ORIENTATION_H
+#endif // MANTLEAPI_COMMON_ORIENTATION_H
diff --git a/MantleAPI/include/MantleAPI/Common/pose.h b/MantleAPI/include/MantleAPI/Common/pose.h
index 57b41c93..0cbdd8e6 100644
--- a/MantleAPI/include/MantleAPI/Common/pose.h
+++ b/MantleAPI/include/MantleAPI/Common/pose.h
@@ -1,12 +1,12 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file pose.h */
diff --git a/MantleAPI/include/MantleAPI/Common/position.h b/MantleAPI/include/MantleAPI/Common/position.h
index d8d01314..029e375a 100644
--- a/MantleAPI/include/MantleAPI/Common/position.h
+++ b/MantleAPI/include/MantleAPI/Common/position.h
@@ -1,19 +1,19 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file position.h */
//-----------------------------------------------------------------------------
-#ifndef SCENARIOABSTRACT_COMMON_IPOSITION_H
-#define SCENARIOABSTRACT_COMMON_IPOSITION_H
+#ifndef MANTLEAPI_COMMON_IPOSITION_H
+#define MANTLEAPI_COMMON_IPOSITION_H
#include <MantleAPI/Common/floating_point_helper.h>
#include <MantleAPI/Common/vector.h>
@@ -79,4 +79,4 @@ inline bool operator!=(const LatLonPosition& lhs, const LatLonPosition& rhs) noe
}
} // namespace mantle_api
-#endif // SCENARIOABSTRACT_COMMON_IPOSITION_H
+#endif // MANTLEAPI_COMMON_IPOSITION_H
diff --git a/MantleAPI/include/MantleAPI/Common/simulation_time.h b/MantleAPI/include/MantleAPI/Common/simulation_time.h
index 4e94030a..77200149 100644
--- a/MantleAPI/include/MantleAPI/Common/simulation_time.h
+++ b/MantleAPI/include/MantleAPI/Common/simulation_time.h
@@ -1,25 +1,44 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file simulation_time.h */
//-----------------------------------------------------------------------------
-#ifndef SCENARIOABSTRACT_COMMON_SIMULATION_TIME_H
-#define SCENARIOABSTRACT_COMMON_SIMULATION_TIME_H
+#ifndef MANTLEAPI_COMMON_SIMULATION_TIME_H
+#define MANTLEAPI_COMMON_SIMULATION_TIME_H
#include <chrono>
namespace mantle_api
{
using SimulationTime = std::chrono::duration<std::int64_t, std::milli>;
+
+/// @brief Converts input in [s] to @ref SimulationTime.
+/// @tparam T Input type, eg. `double`.
+/// @param duration Input value
+/// @return Duration representing the given input in units of @ref SimulationTime.
+template <typename T>
+inline SimulationTime SecondsToSimulationTime(T duration)
+{
+ return std::chrono::duration_cast<SimulationTime>(std::chrono::duration<T>{duration});
+}
+
+/// @brief Converts input @ref SimulationTime to [s].
+/// @param time Simulation time
+/// @return Duration ins seconds representing the passed in @ref SimulationTime.
+inline double SimulationTimeToSeconds(const SimulationTime& time)
+{
+ return static_cast<double>(time.count()) / 1000.0;
}
+
+} // namespace mantle_api
-#endif // SCENARIOABSTRACT_COMMON_SIMULATION_TIME_H
\ No newline at end of file
+#endif // MANTLEAPI_COMMON_SIMULATION_TIME_H
diff --git a/MantleAPI/include/MantleAPI/Common/spline.h b/MantleAPI/include/MantleAPI/Common/spline.h
index 9c399447..1fd7c9be 100644
--- a/MantleAPI/include/MantleAPI/Common/spline.h
+++ b/MantleAPI/include/MantleAPI/Common/spline.h
@@ -1,19 +1,19 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file spline.h */
//-----------------------------------------------------------------------------
-#ifndef SCENARIOABSTRACT_COMMON_SPLINE_H
-#define SCENARIOABSTRACT_COMMON_SPLINE_H
+#ifndef MANTLEAPI_COMMON_SPLINE_H
+#define MANTLEAPI_COMMON_SPLINE_H
#include <MantleAPI/Common/floating_point_helper.h>
#include <MantleAPI/Common/simulation_time.h>
@@ -47,4 +47,4 @@ inline bool operator==(const SplineSection& lhs, const SplineSection& rhs) noexc
} // namespace mantle_api
-#endif // SCENARIOABSTRACT_COMMON_SPLINE_H
\ No newline at end of file
+#endif // MANTLEAPI_COMMON_SPLINE_H
diff --git a/MantleAPI/include/MantleAPI/Common/vector.h b/MantleAPI/include/MantleAPI/Common/vector.h
index 2405e5a4..d495f9dd 100644
--- a/MantleAPI/include/MantleAPI/Common/vector.h
+++ b/MantleAPI/include/MantleAPI/Common/vector.h
@@ -1,18 +1,17 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file vector.h */
//-----------------------------------------------------------------------------
-
#ifndef MANTLEAPI_COMMON_VECTOR_H
#define MANTLEAPI_COMMON_VECTOR_H
@@ -55,6 +54,11 @@ inline Vec3d operator+(const Vec3d& lhs, const Vec3d& rhs) noexcept
return {lhs.x + rhs.x, lhs.y + rhs.y, lhs.z + rhs.z};
}
+inline Vec3d operator*(const Vec3d& lhs, double d) noexcept
+{
+ return {lhs.x * d, lhs.y * d, lhs.z * d};
+}
+
} // namespace mantle_api
#endif // MANTLEAPI_COMMON_VECTOR_H
diff --git a/MantleAPI/include/MantleAPI/EnvironmentalConditions/date_time.h b/MantleAPI/include/MantleAPI/EnvironmentalConditions/date_time.h
new file mode 100644
index 00000000..f1005118
--- /dev/null
+++ b/MantleAPI/include/MantleAPI/EnvironmentalConditions/date_time.h
@@ -0,0 +1,31 @@
+/*******************************************************************************
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file date_time.h */
+//-----------------------------------------------------------------------------
+
+#ifndef MANTLEAPI_ENVIRONMENTALCONDITIONS_DATETIME_H
+#define MANTLEAPI_ENVIRONMENTALCONDITIONS_DATETIME_H
+
+#include <MantleAPI/Common/simulation_time.h>
+
+#include <chrono>
+
+namespace mantle_api
+{
+
+struct DateTime
+{
+ SimulationTime date_time_ms{0};
+};
+
+} // namespace mantle_api
+#endif // MANTLEAPI_ENVIRONMENTALCONDITIONS_DATETIME_H
diff --git a/MantleAPI/include/MantleAPI/EnvironmentalConditions/road_condition.h b/MantleAPI/include/MantleAPI/EnvironmentalConditions/road_condition.h
index fdabdd08..147ab828 100644
--- a/MantleAPI/include/MantleAPI/EnvironmentalConditions/road_condition.h
+++ b/MantleAPI/include/MantleAPI/EnvironmentalConditions/road_condition.h
@@ -1,12 +1,12 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file road_condition.h */
diff --git a/MantleAPI/include/MantleAPI/EnvironmentalConditions/weather.h b/MantleAPI/include/MantleAPI/EnvironmentalConditions/weather.h
index 955b720c..aa11aa9f 100644
--- a/MantleAPI/include/MantleAPI/EnvironmentalConditions/weather.h
+++ b/MantleAPI/include/MantleAPI/EnvironmentalConditions/weather.h
@@ -1,12 +1,12 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file weather.h */
@@ -17,8 +17,6 @@
#include <chrono>
-using Milliseconds = std::chrono::duration<int64_t, std::ratio<1, 1000>>;
-
namespace mantle_api
{
enum class Precipitation
@@ -65,14 +63,12 @@ enum class Illumination
struct Weather
{
- Fog fog{Fog::kUnknown};
- Precipitation precipitation{Precipitation::kUnknown};
- Illumination illumination{Illumination::kUnknown};
+ Fog fog{Fog::kExcellentVisibility};
+ Precipitation precipitation{Precipitation::kNone};
+ Illumination illumination{Illumination::kOther};
double humidity_percent{0.0};
double temperature_kelvin{0.0};
double atmospheric_pressure_pascal{0.0};
-
- Milliseconds date_time_ms{0}; // TODO: we should move this out of the weather...?!
};
} // namespace mantle_api
diff --git a/MantleAPI/include/MantleAPI/Execution/i_environment.h b/MantleAPI/include/MantleAPI/Execution/i_environment.h
index 1983b4dc..337b8207 100644
--- a/MantleAPI/include/MantleAPI/Execution/i_environment.h
+++ b/MantleAPI/include/MantleAPI/Execution/i_environment.h
@@ -1,21 +1,21 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file i_environment.h */
//-----------------------------------------------------------------------------
-
#ifndef MANTLEAPI_EXECUTION_IENVIRONMENT_H
#define MANTLEAPI_EXECUTION_IENVIRONMENT_H
+#include <MantleAPI/EnvironmentalConditions/date_time.h>
#include <MantleAPI/EnvironmentalConditions/road_condition.h>
#include <MantleAPI/EnvironmentalConditions/weather.h>
#include <MantleAPI/Map/i_coord_converter.h>
@@ -41,18 +41,29 @@ class IEnvironment
/// environment.
virtual void CreateMap(const std::string& file_path, const std::vector<Position>& map_region) = 0;
- /// Creates a controller from the given config. A created controller can be assigned to multiple entities.
+ /// Creates a controller from the given config. A created controller can be assigned to multiple entities
///
- /// @param config Specifies what kind of controller shall be created. The config needs to contain an ID to
+ /// @param config Specifies what kind of controller shall be created. The config needs to contain a controller ID
/// in order to be able to assign this controller to an entity.
virtual void CreateController(std::unique_ptr<IControllerConfig> config) = 0;
- /// Assigns an entity to a copy of the specified controller. This controller needs to be created beforehand.
+ /// Assigns an entity to a copy of the specified controller. This controller needs to be created beforehand. Only
+ /// one controller can be added to an entity
///
/// @param entity The entity to be manipulated by the specified controller.
/// @param controller_id Identifies the controller to manipulate the entity.
virtual void AddEntityToController(IEntity& entity, std::uint64_t controller_id) = 0;
+ virtual void RemoveControllerFromEntity(std::uint64_t entity_id) = 0;
+
+ /// Updates the control strategies in the composite controller.
+ ///
+ /// @param controller_id Specifies the controller to be updated
+ /// @param control_strategies Specifies the desired movement behaviour for the entity
+ virtual void UpdateControlStrategies(
+ std::uint64_t controller_id,
+ std::vector<std::unique_ptr<mantle_api::ControlStrategy>>& control_strategies) = 0;
+
virtual const ILaneLocationQueryService& GetQueryService() const = 0;
virtual const ICoordConverter* GetConverter() const = 0;
@@ -60,8 +71,8 @@ class IEnvironment
virtual const IEntityRepository& GetEntityRepository() const = 0;
/// @brief DateTime in UTC (converted from RFC 3339 standard)
- virtual void SetDateTime(std::chrono::duration<std::int64_t, std::milli> date_time) = 0;
- virtual std::chrono::duration<std::int64_t, std::milli> GetDateTime() = 0;
+ virtual void SetDateTime(DateTime date_time) = 0;
+ virtual DateTime GetDateTime() = 0;
virtual void SetWeather(Weather weather) = 0;
virtual void SetRoadCondition(std::vector<FrictionPatch> friction_patches) = 0;
diff --git a/MantleAPI/include/MantleAPI/Execution/i_scenario_engine.h b/MantleAPI/include/MantleAPI/Execution/i_scenario_engine.h
index ee08f52c..a07260c3 100644
--- a/MantleAPI/include/MantleAPI/Execution/i_scenario_engine.h
+++ b/MantleAPI/include/MantleAPI/Execution/i_scenario_engine.h
@@ -1,18 +1,17 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file i_scenario_engine.h */
//-----------------------------------------------------------------------------
-
#ifndef MANTLEAPI_EXECUTION_ISCENARIOENGINE_H
#define MANTLEAPI_EXECUTION_ISCENARIOENGINE_H
@@ -42,6 +41,8 @@ class IScenarioEngine
/// Indicates whether the scenario implementation has finished processing the scenario (end of scenario is reached).
/// @return `true` if processing the scenario is complete, `false` otherwise.
virtual bool IsFinished() const = 0;
+
+ virtual void ActivateExternalHostControl() = 0;
};
} // namespace mantle_api
diff --git a/MantleAPI/include/MantleAPI/Execution/scenario_info.h b/MantleAPI/include/MantleAPI/Execution/scenario_info.h
index 3bf2b708..6e0dd3b4 100644
--- a/MantleAPI/include/MantleAPI/Execution/scenario_info.h
+++ b/MantleAPI/include/MantleAPI/Execution/scenario_info.h
@@ -1,22 +1,21 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file scenario_info.h */
//-----------------------------------------------------------------------------
-
#ifndef MANTLEAPI_EXECUTION_SCENARIOINFO_H
#define MANTLEAPI_EXECUTION_SCENARIOINFO_H
-#include <MantleAPI/Execution/simulation_time.h>
+#include <MantleAPI/Common/simulation_time.h>
#include <map>
#include <string>
diff --git a/MantleAPI/include/MantleAPI/Map/i_coord_converter.h b/MantleAPI/include/MantleAPI/Map/i_coord_converter.h
index ed3cdb33..87892dde 100644
--- a/MantleAPI/include/MantleAPI/Map/i_coord_converter.h
+++ b/MantleAPI/include/MantleAPI/Map/i_coord_converter.h
@@ -1,18 +1,17 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file i_coord_converter.h */
//-----------------------------------------------------------------------------
-
#ifndef MANTLEAPI_MAP_ICOORDCONVERTER_H
#define MANTLEAPI_MAP_ICOORDCONVERTER_H
diff --git a/MantleAPI/include/MantleAPI/Map/i_lane_location_query_service.h b/MantleAPI/include/MantleAPI/Map/i_lane_location_query_service.h
index c5703824..0fd41bde 100644
--- a/MantleAPI/include/MantleAPI/Map/i_lane_location_query_service.h
+++ b/MantleAPI/include/MantleAPI/Map/i_lane_location_query_service.h
@@ -1,21 +1,23 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file i_lane_location_query_service.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_MAP_IQUERYSERVICE_H
-#define MANTLEAPI_MAP_IQUERYSERVICE_H
+#ifndef MANTLEAPI_MAP_ILANELOCATIONQUERYSERVICE_H
+#define MANTLEAPI_MAP_ILANELOCATIONQUERYSERVICE_H
#include <MantleAPI/Common/i_identifiable.h>
+#include <MantleAPI/Common/orientation.h>
+#include <MantleAPI/Common/vector.h>
namespace mantle_api
{
@@ -32,7 +34,11 @@ class ILaneLocationQueryService
/// We need to think about proper interface functions we want to define here (GetLaneLocation? GetLanes? But this
/// would add a rat-tail of more interfaces we need to define (ILaneLocation, ILane, ...?)
// virtual const IIdentifiable& GetMapObjectById(UniqueId id) = 0;
+
+ virtual Orientation3d GetLaneOrientation(const Vec3d& position) const = 0;
+ virtual Vec3d GetUpwardsShiftedLanePosition(const Vec3d& position, double upwards_shift) const = 0;
+ virtual bool IsPositionOnLane(const Vec3d& position) const = 0;
};
} // namespace mantle_api
-#endif // MANTLEAPI_MAP_IQUERYSERVICE_H
+#endif // MANTLEAPI_MAP_ILANELOCATIONQUERYSERVICE_H
diff --git a/MantleAPI/include/MantleAPI/Map/i_route.h b/MantleAPI/include/MantleAPI/Map/i_route.h
index e13adac7..8079861f 100644
--- a/MantleAPI/include/MantleAPI/Map/i_route.h
+++ b/MantleAPI/include/MantleAPI/Map/i_route.h
@@ -1,18 +1,17 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file i_route.h */
//-----------------------------------------------------------------------------
-
#ifndef MANTLEAPI_MAP_IROUTE_H
#define MANTLEAPI_MAP_IROUTE_H
diff --git a/MantleAPI/include/MantleAPI/Traffic/control_strategy.h b/MantleAPI/include/MantleAPI/Traffic/control_strategy.h
new file mode 100644
index 00000000..68252a16
--- /dev/null
+++ b/MantleAPI/include/MantleAPI/Traffic/control_strategy.h
@@ -0,0 +1,128 @@
+/*******************************************************************************
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** @file control_strategy.h */
+//-----------------------------------------------------------------------------
+
+#ifndef MANTLEAPI_TRAFFIC_CONTROLSTRATEGY_H
+#define MANTLEAPI_TRAFFIC_CONTROLSTRATEGY_H
+
+#include <MantleAPI/Common/spline.h>
+#include <MantleAPI/Common/vector.h>
+
+#include <vector>
+
+namespace mantle_api
+{
+
+enum class MovementDomain
+{
+ undefined = 0,
+ lateral,
+ longitudinal,
+ both
+};
+
+struct ControlStrategy
+{
+ virtual ~ControlStrategy() = default;
+
+ // TODO: extend by bool use_dynamic_constraints when needed (false assumed at the moment)
+
+ MovementDomain movement_domain{MovementDomain::undefined};
+};
+
+inline bool operator==(const ControlStrategy& lhs, const ControlStrategy& rhs) noexcept
+{
+ return lhs.movement_domain == rhs.movement_domain;
+}
+
+inline bool operator!=(const ControlStrategy& lhs, const ControlStrategy& rhs) noexcept
+{
+ return !(lhs == rhs);
+}
+
+struct KeepVelocityControlStrategy : public ControlStrategy
+{
+ KeepVelocityControlStrategy() { movement_domain = MovementDomain::longitudinal; }
+ // Doesn`t need configuration attributes. Controller keeps current velocity on adding entity or update
+};
+
+struct KeepLaneOffsetControlStrategy : public ControlStrategy
+{
+ KeepLaneOffsetControlStrategy() { movement_domain = MovementDomain::lateral; }
+ // Doesn`t need configuration attributes. Controller keeps current lane offset on adding entity or update
+};
+
+// Control strategy which sets the respective value y (heading/velocity) as a polynomial function y = P(x) of simulation
+// time x
+struct FollowSplineControlStrategy : public ControlStrategy
+{
+ // movement_domain has to be set when used! Lat=heading, Lon=velocity
+ FollowSplineControlStrategy() {}
+
+ std::vector<mantle_api::SplineSection> splines;
+ double default_value{0}; // when no spline section is defined for a certain simulation time
+};
+
+// TODO: Create new control strategy for following 3D trajectories with shapes NURBS, polyline, clothoid
+
+struct FollowRouteControlStrategy : public ControlStrategy
+{
+ FollowRouteControlStrategy() { movement_domain = MovementDomain::lateral; }
+
+ std::vector<mantle_api::Vec3d> waypoints;
+};
+
+enum class Dimension
+{
+ undefined = 0,
+ distance,
+ rate,
+ time
+};
+
+enum class Shape
+{
+ undefined = 0,
+ cubic,
+ linear,
+ sinusoidal
+};
+
+struct TransitionDynamics
+{
+ Dimension dimension{Dimension::undefined};
+ Shape shape{Shape::undefined};
+ double value{0};
+};
+
+struct AcquireVelocityControlStrategy : public ControlStrategy
+{
+ AcquireVelocityControlStrategy() { movement_domain = MovementDomain::longitudinal; }
+
+ double velocity_target;
+ TransitionDynamics transition_dynamics;
+};
+
+struct AcquireLaneOffsetControlStrategy : public ControlStrategy
+{
+ AcquireLaneOffsetControlStrategy() { movement_domain = MovementDomain::lateral; }
+
+ int road_id;
+ int lane_id;
+ double offset;
+ TransitionDynamics transition_dynamics;
+};
+
+} // namespace mantle_api
+
+#endif // MANTLEAPI_TRAFFIC_CONTROLSTRATEGY_H
diff --git a/MantleAPI/include/MantleAPI/Traffic/entity_properties.h b/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
index 5800b3d4..7e37ccb5 100644
--- a/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
+++ b/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
@@ -1,22 +1,21 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file entity_properties.h */
//-----------------------------------------------------------------------------
-
#ifndef MANTLEAPI_TRAFFIC_ENTITYPROPERTIES_H
#define MANTLEAPI_TRAFFIC_ENTITYPROPERTIES_H
-#include <MantleAPI/Common/dimension.h>
+#include <MantleAPI/Common/bounding_box.h>
#include <MantleAPI/Common/floating_point_helper.h>
#include <MantleAPI/Common/vector.h>
@@ -41,14 +40,14 @@ struct EntityProperties
{
virtual ~EntityProperties() = default;
- Dimension3d dimension{0.0, 0.0, 0.0};
+ BoundingBox bounding_box{Vec3d{}, Dimension3d{}};
EntityType type{EntityType::kOther};
std::string model{};
};
inline bool operator==(const EntityProperties& lhs, const EntityProperties& rhs) noexcept
{
- return lhs.dimension == rhs.dimension && lhs.type == rhs.type && lhs.model == rhs.model;
+ return lhs.bounding_box == rhs.bounding_box && lhs.type == rhs.type && lhs.model == rhs.model;
}
enum class VehicleClass
@@ -107,6 +106,14 @@ enum class IndicatorState
kWarning = 5
};
+enum class ExternalControlState
+{
+ kOff = 0,
+ kFull = 1,
+ kLateralOnly = 2,
+ kLongitudinalOnly = 3
+};
+
struct VehicleProperties : public EntityProperties
{
VehicleClass classification{VehicleClass::kOther};
@@ -119,7 +126,7 @@ struct VehicleProperties : public EntityProperties
inline bool operator==(const VehicleProperties& lhs, const VehicleProperties& rhs) noexcept
{
- return lhs.dimension == rhs.dimension && lhs.type == rhs.type && lhs.model == rhs.model &&
+ return lhs.bounding_box == rhs.bounding_box && lhs.type == rhs.type && lhs.model == rhs.model &&
lhs.classification == rhs.classification && lhs.bb_center_to_front == rhs.bb_center_to_front &&
lhs.bb_center_to_rear == rhs.bb_center_to_rear &&
IsEqual(lhs.front_wheel_diameter, rhs.front_wheel_diameter) &&
diff --git a/MantleAPI/include/MantleAPI/Traffic/i_controller_config.h b/MantleAPI/include/MantleAPI/Traffic/i_controller_config.h
index 6e4ca6d2..81d0ef00 100644
--- a/MantleAPI/include/MantleAPI/Traffic/i_controller_config.h
+++ b/MantleAPI/include/MantleAPI/Traffic/i_controller_config.h
@@ -1,24 +1,27 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file i_controller_config.h */
//-----------------------------------------------------------------------------
-
#ifndef MANTLEAPI_TRAFFIC_ICONTROLLERCONFIG_H
#define MANTLEAPI_TRAFFIC_ICONTROLLERCONFIG_H
+#include "control_strategy.h"
+
#include <MantleAPI/Common/spline.h>
+#include <MantleAPI/Common/vector.h>
#include <MantleAPI/Map/i_lane_location_query_service.h>
+#include <memory>
#include <vector>
namespace mantle_api
@@ -28,25 +31,73 @@ struct IControllerConfig
{
virtual ~IControllerConfig() = default;
+ // TODO: Remove copy constructor and then remove config as member of NoOpController and RouteController
+ IControllerConfig() {}
+ IControllerConfig(const IControllerConfig& controller_config)
+ : map_query_service(controller_config.map_query_service), id(controller_config.id)
+ {
+ for (const auto& control_strategy : controller_config.control_strategies)
+ {
+ control_strategies.push_back(std::make_unique<mantle_api::ControlStrategy>(*control_strategy));
+ }
+ }
+
+ // TODO: Check why map_query_service is part of the interface because it is not set from engine side but only in the
+ // environment on calling AddController()
ILaneLocationQueryService* map_query_service{nullptr};
std::uint64_t id{0};
+ std::vector<std::unique_ptr<mantle_api::ControlStrategy>> control_strategies;
};
-struct NoOpControllerConfig : public IControllerConfig
+inline bool operator==(const IControllerConfig& lhs, const IControllerConfig& rhs) noexcept
{
-};
+ bool control_strategies_equal = true;
+ if (lhs.control_strategies.size() != rhs.control_strategies.size())
+ {
+ control_strategies_equal = false;
+ }
+ else
+ {
+ for (unsigned int i = 0; i < lhs.control_strategies.size(); i++)
+ {
+ if (*(lhs.control_strategies[i]) != *(rhs.control_strategies[i]))
+ {
+ control_strategies_equal = false;
+ break;
+ }
+ }
+ }
+ return lhs.id == rhs.id && control_strategies_equal;
+}
+// TODO: Remove and use FollowRoute (lat) and FollowSpline (lon) control strategy instead
struct PathControllerConfig : public IControllerConfig
{
- std::vector<mantle_api::Vec3d> waypoints{};
+ std::vector<mantle_api::Vec3d> waypoints;
+ std::vector<mantle_api::SplineSection> velocity_splines;
+ double default_velocity;
};
+// TODO: Remove and use FollowSpline (lat) and FollowSpline (lon) control strategy instead
struct TrajectoryControllerConfig : public IControllerConfig
{
std::vector<mantle_api::SplineSection> heading_splines;
std::vector<mantle_api::SplineSection> velocity_splines;
};
+struct NoOpControllerConfig : public IControllerConfig
+{
+};
+
+struct InternalControllerConfig : public IControllerConfig
+{
+};
+
+struct ExternalControllerConfig : public IControllerConfig
+{
+ std::string name;
+};
+
} // namespace mantle_api
#endif // MANTLEAPI_TRAFFIC_ICONTROLLERCONFIG_H
diff --git a/MantleAPI/include/MantleAPI/Traffic/i_entity.h b/MantleAPI/include/MantleAPI/Traffic/i_entity.h
index ba688c17..1d25f1bd 100644
--- a/MantleAPI/include/MantleAPI/Traffic/i_entity.h
+++ b/MantleAPI/include/MantleAPI/Traffic/i_entity.h
@@ -1,18 +1,17 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file i_entity.h */
//-----------------------------------------------------------------------------
-
#ifndef MANTLEAPI_TRAFFIC_IENTITY_H
#define MANTLEAPI_TRAFFIC_IENTITY_H
@@ -34,22 +33,25 @@ class IEntity : public IIdentifiable
virtual void SetPosition(const Vec3d& inert_pos) = 0;
virtual Vec3d GetPosition() const = 0;
- virtual void SetOrientation(const Orientation3d& orientation) = 0;
- virtual Orientation3d GetOrientation() const = 0;
-
- virtual void SetBoundingBox(const BoundingBox& bounding_box) = 0;
- virtual BoundingBox GetBoundingBox() const = 0;
-
virtual void SetVelocity(const Vec3d& velocity) = 0;
virtual Vec3d GetVelocity() const = 0;
virtual void SetAcceleration(const Vec3d& acceleration) = 0;
virtual Vec3d GetAcceleration() const = 0;
+ virtual void SetOrientation(const Orientation3d& orientation) = 0;
+ virtual Orientation3d GetOrientation() const = 0;
+
+ virtual void SetOrientationRate(const Orientation3d& orientation_rate) = 0;
+ virtual Orientation3d GetOrientationRate() const = 0;
+
+ virtual void SetOrientationAcceleration(const Orientation3d& orientation_acceleration) = 0;
+ virtual Orientation3d GetOrientationAcceleration() const = 0;
+
virtual void SetProperties(std::unique_ptr<mantle_api::EntityProperties> properties) = 0;
virtual EntityProperties* GetProperties() const = 0;
- // TODO: evaluate if this will be part of the final interface or if this for simulator only (= defined in Vehicle entity)
+ // TODO: evaluate if this will be part of the final interface
virtual void SetAssignedLaneIds(const std::vector<std::uint64_t>& assigned_lane_ids) = 0;
virtual std::vector<std::uint64_t> GetAssignedLaneIds() const = 0;
};
diff --git a/MantleAPI/include/MantleAPI/Traffic/i_entity_repository.h b/MantleAPI/include/MantleAPI/Traffic/i_entity_repository.h
index c547f80e..38e865e3 100644
--- a/MantleAPI/include/MantleAPI/Traffic/i_entity_repository.h
+++ b/MantleAPI/include/MantleAPI/Traffic/i_entity_repository.h
@@ -1,18 +1,17 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file i_entity_repository.h */
//-----------------------------------------------------------------------------
-
#ifndef MANTLEAPI_TRAFFIC_IENTITYREPOSITORY_H
#define MANTLEAPI_TRAFFIC_IENTITYREPOSITORY_H
diff --git a/MantleAPI/test/MantleAPI/Test/test_utils.h b/MantleAPI/test/MantleAPI/Test/test_utils.h
index 36eb1d81..a72d175a 100644
--- a/MantleAPI/test/MantleAPI/Test/test_utils.h
+++ b/MantleAPI/test/MantleAPI/Test/test_utils.h
@@ -1,12 +1,12 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file test_utils.h */
@@ -34,11 +34,7 @@ namespace mantle_api
class MockConverter : public mantle_api::ICoordConverter
{
public:
- mantle_api::Vec3d Convert(mantle_api::Position position) const override
- {
- std::ignore = position;
- return mantle_api::Vec3d();
- }
+ MOCK_METHOD(mantle_api::Vec3d, Convert, (mantle_api::Position position), (const override));
mantle_api::Position Convert(mantle_api::Vec3d vec) const override
{
@@ -55,23 +51,29 @@ class MockVehicle : public mantle_api::IVehicle
void SetName(const std::string& name) override { name_ = name; }
const std::string& GetName() const override { return name_; }
- void SetPosition(const mantle_api::Vec3d& inert_pos) override { std::ignore = inert_pos; }
- mantle_api::Vec3d GetPosition() const override { return mantle_api::Vec3d(); }
+ MOCK_METHOD(void, SetPosition, (const mantle_api::Vec3d& inert_pos), (override));
+ MOCK_METHOD(mantle_api::Vec3d, GetPosition, (), (const, override));
- void SetOrientation(const mantle_api::Orientation3d& orientation) override { std::ignore = orientation; }
- mantle_api::Orientation3d GetOrientation() const override { return mantle_api::Orientation3d(); }
+ MOCK_METHOD(void, SetVelocity, (const mantle_api::Vec3d& velocity), (override));
+ MOCK_METHOD(mantle_api::Vec3d, GetVelocity, (), (const, override));
- void SetBoundingBox(const mantle_api::BoundingBox& bounding_box) override { std::ignore = bounding_box; }
- mantle_api::BoundingBox GetBoundingBox() const override { return mantle_api::BoundingBox(); }
+ MOCK_METHOD(void, SetAcceleration, (const mantle_api::Vec3d& acceleration), (override));
+ MOCK_METHOD(mantle_api::Vec3d, GetAcceleration, (), (const, override));
- void SetVelocity(const mantle_api::Vec3d& velocity) override { std::ignore = velocity; }
- mantle_api::Vec3d GetVelocity() const override { return {}; }
+ MOCK_METHOD(void, SetOrientation, (const mantle_api::Orientation3d& orientation), (override));
+ MOCK_METHOD(mantle_api::Orientation3d, GetOrientation, (), (const, override));
- void SetAcceleration(const mantle_api::Vec3d& acceleration) override { std::ignore = acceleration; }
- mantle_api::Vec3d GetAcceleration() const override { return {}; }
+ MOCK_METHOD(void, SetOrientationRate, (const mantle_api::Orientation3d& orientation_rate), (override));
+ MOCK_METHOD(mantle_api::Orientation3d, GetOrientationRate, (), (const, override));
- void SetAssignedLaneIds(const std::vector<std::uint64_t>& ids) override { std::ignore = ids; }
- std::vector<std::uint64_t> GetAssignedLaneIds() const override { return {}; }
+ MOCK_METHOD(void,
+ SetOrientationAcceleration,
+ (const mantle_api::Orientation3d& orientation_acceleration),
+ (override));
+ MOCK_METHOD(mantle_api::Orientation3d, GetOrientationAcceleration, (), (const, override));
+
+ MOCK_METHOD(void, SetAssignedLaneIds, (const std::vector<std::uint64_t>& ids), (override));
+ MOCK_METHOD(std::vector<std::uint64_t>, GetAssignedLaneIds, (), (const, override));
void SetProperties(std::unique_ptr<mantle_api::EntityProperties> properties) override { std::ignore = properties; }
mantle_api::VehicleProperties* GetProperties() const override
@@ -90,11 +92,22 @@ class MockVehicle : public mantle_api::IVehicle
class MockQueryService : public mantle_api::ILaneLocationQueryService
{
public:
- /// TODO: cleanup once the IQueryService interface is properly defined
- const mantle_api::IIdentifiable& GetMapObjectById(mantle_api::UniqueId id)
+ Orientation3d GetLaneOrientation(const Vec3d& position) const override
{
- std::ignore = id;
- return test_vehicle_;
+ std::ignore = position;
+ return {};
+ }
+
+ Vec3d GetUpwardsShiftedLanePosition(const Vec3d& position, double upwards_shift) const override
+ {
+ std::ignore = position;
+ std::ignore = upwards_shift;
+ return mantle_api::Vec3d();
+ }
+ bool IsPositionOnLane(const Vec3d& position) const override
+ {
+ std::ignore = position;
+ return false;
}
private:
@@ -109,23 +122,29 @@ class MockPedestrian : public mantle_api::IPedestrian
void SetName(const std::string& name) override { name_ = name; }
const std::string& GetName() const override { return name_; }
- void SetPosition(const mantle_api::Vec3d& inert_pos) override { std::ignore = inert_pos; }
- mantle_api::Vec3d GetPosition() const override { return mantle_api::Vec3d(); }
+ MOCK_METHOD(void, SetPosition, (const mantle_api::Vec3d& inert_pos), (override));
+ MOCK_METHOD(mantle_api::Vec3d, GetPosition, (), (const, override));
+
+ MOCK_METHOD(void, SetVelocity, (const mantle_api::Vec3d& velocity), (override));
+ MOCK_METHOD(mantle_api::Vec3d, GetVelocity, (), (const, override));
- void SetOrientation(const mantle_api::Orientation3d& orientation) override { std::ignore = orientation; }
- mantle_api::Orientation3d GetOrientation() const override { return mantle_api::Orientation3d(); }
+ MOCK_METHOD(void, SetAcceleration, (const mantle_api::Vec3d& acceleration), (override));
+ MOCK_METHOD(mantle_api::Vec3d, GetAcceleration, (), (const, override));
- void SetBoundingBox(const mantle_api::BoundingBox& bounding_box) override { std::ignore = bounding_box; }
- mantle_api::BoundingBox GetBoundingBox() const override { return mantle_api::BoundingBox(); }
+ MOCK_METHOD(void, SetOrientation, (const mantle_api::Orientation3d& orientation), (override));
+ MOCK_METHOD(mantle_api::Orientation3d, GetOrientation, (), (const, override));
- void SetVelocity(const mantle_api::Vec3d& velocity) override { std::ignore = velocity; }
- mantle_api::Vec3d GetVelocity() const override { return {}; }
+ MOCK_METHOD(void, SetOrientationRate, (const mantle_api::Orientation3d& orientation_rate), (override));
+ MOCK_METHOD(mantle_api::Orientation3d, GetOrientationRate, (), (const, override));
- void SetAcceleration(const mantle_api::Vec3d& acceleration) override { std::ignore = acceleration; }
- mantle_api::Vec3d GetAcceleration() const override { return {}; }
+ MOCK_METHOD(void,
+ SetOrientationAcceleration,
+ (const mantle_api::Orientation3d& orientation_acceleration),
+ (override));
+ MOCK_METHOD(mantle_api::Orientation3d, GetOrientationAcceleration, (), (const, override));
- void SetAssignedLaneIds(const std::vector<std::uint64_t>& ids) override { std::ignore = ids; }
- std::vector<std::uint64_t> GetAssignedLaneIds() const override { return {}; }
+ MOCK_METHOD(void, SetAssignedLaneIds, (const std::vector<std::uint64_t>& ids), (override));
+ MOCK_METHOD(std::vector<std::uint64_t>, GetAssignedLaneIds, (), (const, override));
void SetProperties(std::unique_ptr<mantle_api::EntityProperties> properties) override { std::ignore = properties; }
mantle_api::PedestrianProperties* GetProperties() const override
@@ -146,23 +165,29 @@ class MockStaticObject : public mantle_api::IStaticObject
void SetName(const std::string& name) override { name_ = name; }
const std::string& GetName() const override { return name_; }
- void SetPosition(const mantle_api::Vec3d& inert_pos) override { std::ignore = inert_pos; }
- mantle_api::Vec3d GetPosition() const override { return mantle_api::Vec3d(); }
+ MOCK_METHOD(void, SetPosition, (const mantle_api::Vec3d& inert_pos), (override));
+ MOCK_METHOD(mantle_api::Vec3d, GetPosition, (), (const, override));
- void SetOrientation(const mantle_api::Orientation3d& orientation) override { std::ignore = orientation; }
- mantle_api::Orientation3d GetOrientation() const override { return mantle_api::Orientation3d(); }
+ MOCK_METHOD(void, SetVelocity, (const mantle_api::Vec3d& velocity), (override));
+ MOCK_METHOD(mantle_api::Vec3d, GetVelocity, (), (const, override));
- void SetBoundingBox(const mantle_api::BoundingBox& bounding_box) override { std::ignore = bounding_box; }
- mantle_api::BoundingBox GetBoundingBox() const override { return mantle_api::BoundingBox(); }
+ MOCK_METHOD(void, SetAcceleration, (const mantle_api::Vec3d& acceleration), (override));
+ MOCK_METHOD(mantle_api::Vec3d, GetAcceleration, (), (const, override));
- void SetVelocity(const mantle_api::Vec3d& velocity) override { std::ignore = velocity; }
- mantle_api::Vec3d GetVelocity() const override { return {}; }
+ MOCK_METHOD(void, SetOrientation, (const mantle_api::Orientation3d& orientation), (override));
+ MOCK_METHOD(mantle_api::Orientation3d, GetOrientation, (), (const, override));
- void SetAcceleration(const mantle_api::Vec3d& acceleration) override { std::ignore = acceleration; }
- mantle_api::Vec3d GetAcceleration() const override { return {}; }
+ MOCK_METHOD(void, SetOrientationRate, (const mantle_api::Orientation3d& orientation_rate), (override));
+ MOCK_METHOD(mantle_api::Orientation3d, GetOrientationRate, (), (const, override));
- void SetAssignedLaneIds(const std::vector<std::uint64_t>& ids) override { std::ignore = ids; }
- std::vector<std::uint64_t> GetAssignedLaneIds() const override { return {}; }
+ MOCK_METHOD(void,
+ SetOrientationAcceleration,
+ (const mantle_api::Orientation3d& orientation_acceleration),
+ (override));
+ MOCK_METHOD(mantle_api::Orientation3d, GetOrientationAcceleration, (), (const, override));
+
+ MOCK_METHOD(void, SetAssignedLaneIds, (const std::vector<std::uint64_t>& ids), (override));
+ MOCK_METHOD(std::vector<std::uint64_t>, GetAssignedLaneIds, (), (const, override));
void SetProperties(std::unique_ptr<mantle_api::EntityProperties> properties) override { std::ignore = properties; }
mantle_api::StaticObjectProperties* GetProperties() const override
@@ -240,7 +265,11 @@ class MockEntityRepository : public mantle_api::IEntityRepository
const std::vector<std::unique_ptr<mantle_api::IEntity>>& GetEntities() const override { return entities_; }
void Delete(const std::string& name) override { std::ignore = name; }
- bool Contains(UniqueId id) const override { return false; }
+ bool Contains(UniqueId id) const override
+ {
+ std::ignore = id;
+ return false;
+ }
void Delete(UniqueId id) override { std::ignore = id; }
// const std::vector<mantle_api::IEntity>& GetEntities() const override { return <#initializer #>{}; }
@@ -275,6 +304,14 @@ class MockEnvironment : public mantle_api::IEnvironment
);
+ MOCK_METHOD(void, RemoveControllerFromEntity, (std::uint64_t entity_id), (override));
+
+ MOCK_METHOD(void,
+ UpdateControlStrategies,
+ (std::uint64_t controller_id,
+ std::vector<std::unique_ptr<mantle_api::ControlStrategy>>& control_strategies),
+ (override));
+
const mantle_api::ILaneLocationQueryService& GetQueryService() const override { return query_service_; }
const mantle_api::ICoordConverter* GetConverter() const override { return &converter_; }
@@ -290,12 +327,9 @@ class MockEnvironment : public mantle_api::IEnvironment
std::ignore = friction_patches;
}
- void SetDateTime(std::chrono::duration<std::int64_t, std::milli> date_time) override { std::ignore = date_time; }
+ void SetDateTime(mantle_api::DateTime date_time) override { std::ignore = date_time; }
- std::chrono::duration<std::int64_t, std::milli> GetDateTime() override
- {
- return std::chrono::duration<std::int64_t, std::milli>();
- }
+ mantle_api::DateTime GetDateTime() override { return mantle_api::DateTime(); }
private:
MockQueryService query_service_{};
diff --git a/MantleAPI/test/interface_test.cpp b/MantleAPI/test/interface_test.cpp
index c98b7083..c3e51cf4 100644
--- a/MantleAPI/test/interface_test.cpp
+++ b/MantleAPI/test/interface_test.cpp
@@ -1,19 +1,18 @@
/*******************************************************************************
-* Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
+ * Copyright (c) 2021, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************/
//-----------------------------------------------------------------------------
/** @file interface_test.cpp */
//-----------------------------------------------------------------------------
-
-#include <MantleAPI/Test/test_utils.h>
+#include "MantleAPI/Test/test_utils.h"
TEST(InterfaceTest, GivenTeleportAction_When_ThenHostVehicleIsPlaced)
{
--
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