From 84ee2634f5776bdf174aabbea09eacaaad6a1aef Mon Sep 17 00:00:00 2001
From: Etienne Pellan <etienne.pellan@external.crf.it>
Date: Mon, 10 Jul 2023 11:09:14 +0000
Subject: [PATCH] feat: Implement new objects for XOSC TrafficSwarmAction
---
include/MantleAPI/Execution/i_environment.h | 9 ++++
.../Traffic/i_traffic_swarm_service.h | 48 +++++++++++++++++++
test/MantleAPI/Test/test_utils.h | 38 ++++++++++++++-
3 files changed, 94 insertions(+), 1 deletion(-)
create mode 100644 include/MantleAPI/Traffic/i_traffic_swarm_service.h
mode change 100644 => 100755 test/MantleAPI/Test/test_utils.h
diff --git a/include/MantleAPI/Execution/i_environment.h b/include/MantleAPI/Execution/i_environment.h
index 9e9279f0..7618dbd1 100644
--- a/include/MantleAPI/Execution/i_environment.h
+++ b/include/MantleAPI/Execution/i_environment.h
@@ -26,6 +26,7 @@
#include <MantleAPI/Traffic/default_routing_behavior.h>
#include <MantleAPI/Traffic/i_controller_repository.h>
#include <MantleAPI/Traffic/i_entity_repository.h>
+#include <MantleAPI/Traffic/i_traffic_swarm_service.h>
#include <optional>
#include <string>
@@ -119,6 +120,14 @@ public:
/// @param entity_id specifies the entity
/// @param route_definition specifies how the route shall be constructed
virtual void AssignRoute(mantle_api::UniqueId entity_id, mantle_api::RouteDefinition route_definition) = 0;
+
+ /// @brief Initializes the traffic swarm service with the scenario parameters
+ ///
+ /// @param parameters The traffic swarm parameters
+ virtual void InitTrafficSwarmService(const TrafficSwarmParameters& parameters) = 0;
+
+ /// @brief Returns the traffic swarm service
+ [[nodiscard]] virtual ITrafficSwarmService& GetTrafficSwarmService() = 0;
};
} // namespace mantle_api
diff --git a/include/MantleAPI/Traffic/i_traffic_swarm_service.h b/include/MantleAPI/Traffic/i_traffic_swarm_service.h
new file mode 100644
index 00000000..f6089f8e
--- /dev/null
+++ b/include/MantleAPI/Traffic/i_traffic_swarm_service.h
@@ -0,0 +1,48 @@
+/*******************************************************************************
+ * Copyright (c) 2023, 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_traffic_swarm_service.h */
+//-----------------------------------------------------------------------------
+
+#ifndef MANTLEAPI_TRAFFIC_I_TRAFFIC_SWARM_CONTROLLER_H
+#define MANTLEAPI_TRAFFIC_I_TRAFFIC_SWARM_CONTROLLER_H
+
+#include <vector>
+#include <MantleAPI/Common/vector.h>
+#include <MantleAPI/Common/pose.h>
+#include <units.h>
+
+namespace mantle_api
+{
+
+struct TrafficSwarmParameters
+{
+ std::string central_entity_name;
+ size_t maximum_number_of_vehicles;
+ units::velocity::meters_per_second_t vehicle_velocity;
+ units::length::meter_t exclusion_radius;
+ units::length::meter_t semi_minor_spawning_radius;
+ units::length::meter_t semi_major_spawning_radius;
+ units::length::meter_t spawning_area_longitudinal_offset;
+};
+
+class ITrafficSwarmService
+{
+public:
+ virtual std::vector<mantle_api::Pose> GetAvailableSpawningPoses() const = 0;
+ virtual mantle_api::VehicleProperties GetVehicleProperties(mantle_api::VehicleClass vehicle_class) const = 0;
+ virtual void UpdateControllerParameters(std::unique_ptr<mantle_api::ExternalControllerConfig>& config) = 0;
+ virtual void SetSwarmEntitiesCount(size_t count) = 0;
+};
+
+} // namespace mantle_api
+
+#endif // MANTLEAPI_TRAFFIC_I_TRAFFIC_SWARM_CONTROLLER_H
diff --git a/test/MantleAPI/Test/test_utils.h b/test/MantleAPI/Test/test_utils.h
old mode 100644
new mode 100755
index 309dfacb..414eef24
--- a/test/MantleAPI/Test/test_utils.h
+++ b/test/MantleAPI/Test/test_utils.h
@@ -28,6 +28,7 @@
#include <MantleAPI/Traffic/i_controller_repository.h>
#include <MantleAPI/Traffic/i_entity.h>
#include <MantleAPI/Traffic/i_entity_repository.h>
+#include <MantleAPI/Traffic/i_traffic_swarm_service.h>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
@@ -384,7 +385,10 @@ public:
mantle_api::IVehicle& GetHost() override { return test_vehicle_; }
- const std::vector<std::unique_ptr<mantle_api::IEntity>>& GetEntities() const override { return entities_; }
+ MOCK_METHOD(std::vector<std::unique_ptr<mantle_api::IEntity>>&,
+ GetEntities,
+ (),
+ (const, override));
bool Contains(UniqueId id) const override
{
@@ -474,6 +478,30 @@ public:
(override));
};
+class MockTrafficSwarmService : public mantle_api::ITrafficSwarmService
+{
+ public:
+ MOCK_METHOD(std::vector<mantle_api::Pose>,
+ GetAvailableSpawningPoses,
+ (),
+ (const, override));
+
+ MOCK_METHOD(mantle_api::VehicleProperties,
+ GetVehicleProperties,
+ (mantle_api::VehicleClass),
+ (const, override));
+
+ MOCK_METHOD(void,
+ UpdateControllerParameters,
+ (std::unique_ptr<mantle_api::ExternalControllerConfig>&),
+ (override));
+
+ MOCK_METHOD(void,
+ SetSwarmEntitiesCount,
+ (size_t),
+ (override));
+};
+
class MockEnvironment : public mantle_api::IEnvironment
{
public:
@@ -561,12 +589,20 @@ public:
(mantle_api::UniqueId entity_id, mantle_api::RouteDefinition route_definition),
(override));
+ MOCK_METHOD(void,
+ InitTrafficSwarmService,
+ (const mantle_api::TrafficSwarmParameters& parameters),
+ (override));
+
+ MockTrafficSwarmService& GetTrafficSwarmService() override { return traffic_swarm_service_; }
+
private:
MockQueryService query_service_{};
MockEntityRepository entity_repository_{};
MockControllerRepository controller_repository_{};
MockConverter converter_{};
MockGeometryHelper geometry_helper_{};
+ MockTrafficSwarmService traffic_swarm_service_{};
};
} // namespace mantle_api
--
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