feat(World): Add support for traffic lights

Signed-off-by: Weiss David david.weiss@in-tech.com

Closes #22 (closed)

sim/contrib/examples/Configurations/TrafficLight/Scenario.xosc

+<?xml version="1.0"?>
+<OpenSCENARIO>
+  <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS default scenario" author="in-tech GmbH"/>
+  <ParameterDeclarations>
+    <ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
+  </ParameterDeclarations>
+  <CatalogLocations>
+    <VehicleCatalog>
+      <Directory path="VehicleModelsCatalog.xosc"/>
+    </VehicleCatalog>
+    <PedestrianCatalog>
+      <Directory path="PedestrianModelsCatalog.xosc"/>
+    </PedestrianCatalog>
+    <ControllerCatalog>
+      <Directory path=""/>
+    </ControllerCatalog>
+    <ManeuverCatalog>
+      <Directory path=""/>
+    </ManeuverCatalog>
+    <MiscObjectCatalog>
+      <Directory path=""/>
+    </MiscObjectCatalog>
+    <EnvironmentCatalog>
+      <Directory path=""/>
+    </EnvironmentCatalog>
+    <TrajectoryCatalog>
+      <Directory path=""/>
+    </TrajectoryCatalog>
+    <RouteCatalog>
+      <Directory path=""/>
+    </RouteCatalog>
+  </CatalogLocations>
+  <RoadNetwork>
+    <LogicFile filepath="SceneryConfiguration.xodr"/>
+    <SceneGraphFile filepath=""/>
+    <TrafficSignals>
+      <TrafficSignalController name="">
+        <Phase duration="20" name="Phase1">
+          <TrafficSignalState state="green" trafficSignalId="1" />
+        </Phase>
+        <Phase duration="3" name="Phase2">
+          <TrafficSignalState state="yellow" trafficSignalId="1" />
+        </Phase>
+        <Phase duration="20" name="Phase3">
+          <TrafficSignalState state="red" trafficSignalId="1" />
+        </Phase>
+        <Phase duration="3" name="Phase4">
+          <TrafficSignalState state="red yellow" trafficSignalId="1" />
+        </Phase>
+      </TrafficSignalController>
+    </TrafficSignals>
+  </RoadNetwork>
+  <Entities>
+    <ScenarioObject name="Ego">
+      <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+    </ScenarioObject>
+    <EntitySelection name="ScenarioAgents">
+      <Members/>
+    </EntitySelection>
+  </Entities>
+  <Storyboard>
+    <Init>
+      <Actions>
+        <Private entityRef="Ego">
+          <PrivateAction>
+            <TeleportAction>
+              <Position>
+                <LanePosition roadId="1" laneId="-1" offset="0.0" s="0.0"/>
+              </Position>
+            </TeleportAction>
+          </PrivateAction>
+          <PrivateAction>
+            <LongitudinalAction>
+              <SpeedAction>
+                <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+                <SpeedActionTarget>
+                  <AbsoluteTargetSpeed value="43.5"/>
+                </SpeedActionTarget>
+              </SpeedAction>
+            </LongitudinalAction>
+          </PrivateAction>
+        </Private>
+      </Actions>
+    </Init>
+    <Story/>
+    <StopTrigger>
+      <ConditionGroup>
+        <Condition name="EndTime" delay="0" conditionEdge="rising">
+          <ByValueCondition>
+            <SimulationTimeCondition value="30.0" rule="greaterThan"/>
+          </ByValueCondition>
+        </Condition>
+      </ConditionGroup>
+    </StopTrigger>
+  </Storyboard>
+</OpenSCENARIO>