Merge branch 'feature/assign-route' into 'master'

Move responsibilty for route assignment

See merge request eclipse/simopenpass/scenario_api!64

MantleAPI/include/MantleAPI/Common/route_definition.h

+/*******************************************************************************
+ * Copyright (c) 2022, 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  route_definition.h */
+//-----------------------------------------------------------------------------
+
+#ifndef MANTLEAPI_COMMON_ROUTE_DEFINITION_H
+#define MANTLEAPI_COMMON_ROUTE_DEFINITION_H
+
+#include <MantleAPI/Common/vector.h>
+#include <units.h>
+#include <vector>
+
+namespace mantle_api
+{
+/// Defines how a route should be calculated
+enum class RouteStrategy
+{
+  kUndefined = 0,
+  kFastest,
+  kLeastIntersections,
+  kShortest
+};
+
+/// Groups a Waypoint with a RouteStrategy
+struct RouteWaypoint
+{
+  mantle_api::Vec3<units::length::meter_t> waypoint{};
+  RouteStrategy route_strategy{RouteStrategy::kUndefined};
+};
+
+/// Serves as a raw set of global coordinates and information for
+/// linking them, from which the actual route can be calculated
+struct RouteDefinition
+{
+  std::vector<mantle_api::RouteWaypoint> waypoints{};
+};
+
+}  // namespace mantle_api
+#endif  // MANTLEAPI_COMMON_ROUTE_DEFINITION_H

MantleAPI/include/MantleAPI/Execution/i_environment.h

@@ -16,6 +16,7 @@
 #define MANTLEAPI_EXECUTION_IENVIRONMENT_H
 
 #include <MantleAPI/Common/i_geometry_helper.h>
+#include <MantleAPI/Common/route_definition.h>
 #include <MantleAPI/Common/time_utils.h>
 #include <MantleAPI/EnvironmentalConditions/road_condition.h>
 #include <MantleAPI/EnvironmentalConditions/weather.h>
@@ -107,6 +108,12 @@ public:
   ///
   /// @param default_routing_behavior   selects the behavior
   virtual void SetDefaultRoutingBehavior(mantle_api::DefaultRoutingBehavior default_routing_behavior) = 0;
+
+  /// Assigns a route to an entity
+  ///
+  /// @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;
 };
 }  // namespace mantle_api
 

MantleAPI/include/MantleAPI/Traffic/control_strategy.h

@@ -43,30 +43,12 @@ enum class ControlStrategyType
   kFollowHeadingSpline,
   kFollowLateralOffsetSpline,
   kFollowVelocitySpline,
-  kFollowRoute,
   kAcquireLaneOffset,
   kFollowTrajectory,
   kUpdateTrafficLightStates,
   kPerformLaneChange
 };
 
-/// @brief Defines how a route should be calculated
-enum class RouteStrategy
-{
-  kUndefined = 0,
-  kFastest,
-  kLeastIntersections,
-  kShortest
-};
-
-/// @brief Groups a Waypoint with a RouteStrategy
-///        for the \ref FollowRouteControlStrategy
-struct RouteWaypoint
-{
-  mantle_api::Vec3<units::length::meter_t> waypoint{};
-  RouteStrategy route_strategy{RouteStrategy::kUndefined};
-};
-
 struct ControlStrategy
 {
   virtual ~ControlStrategy() = default;
@@ -154,17 +136,6 @@ struct FollowLateralOffsetSplineControlStrategy : public ControlStrategy
   std::vector<mantle_api::SplineSection<units::length::meter>> lateral_offset_splines;
 };
 
-struct FollowRouteControlStrategy : public ControlStrategy
-{
-  FollowRouteControlStrategy()
-  {
-    movement_domain = MovementDomain::kLateral;
-    type = ControlStrategyType::kFollowRoute;
-  }
-
-  std::vector<RouteWaypoint> route_waypoints;
-};
-
 enum class Dimension
 {
   kUndefined = 0,

MantleAPI/test/MantleAPI/Test/test_utils.h

@@ -483,6 +483,11 @@ public:
               (mantle_api::DefaultRoutingBehavior default_routing_behavior),
               (override));
 
+  MOCK_METHOD(void,
+              AssignRoute,
+              (mantle_api::UniqueId entity_id, mantle_api::RouteDefinition route_definition),
+              (override));
+
 private:
   MockQueryService query_service_{};
   MockEntityRepository entity_repository_{};