Merge remote-tracking branch 'origin/activate-light-state-via-fmu' into develop (3772c5c9) · Commits · Eclipse Projects / Eclipse openpass / opSimulation

doc/source/advanced_topics/simulator/scenario_actions.rst

+44 −24

Original line number	Diff line number	Diff line
		@@ -12,7 +12,7 @@
		.. _mapping_scenario_actions:

		Mapping of OpenSCENARIO Actions
		================================
		===============================

		.. table::
		:class: tight-table
		@@ -27,7 +27,7 @@ Mapping of OpenSCENARIO Actions
		=================== =============

		AcquirePositionAction
		----------------------
		---------------------

		.. table::
		:class: tight-table
		@@ -53,7 +53,7 @@ AcquirePositionAction
		+--------------+-------------------------------------------------------------------------------------------------------+

		AssignRouteAction
		------------------
		-----------------

		.. table::
		:class: tight-table
		@@ -72,7 +72,7 @@ AssignRouteAction
		+--------------+-------------------------------------------------------------------------------------------------------+

		CustomCommandAction
		--------------------
		-------------------

		.. table::
		:class: tight-table
		@@ -95,7 +95,7 @@ CustomCommandAction
		+--------------+-------------------------------------------------------------------------------------------------------+

		FollowTrajectoryAction
		-----------------------
		----------------------

		.. table::
		:class: tight-table
		@@ -165,8 +165,28 @@ LaneChangeAction
		\| osi3 \| x -- not implemented \|
		+--------------+-------------------------------------------------------------------------------------------------------+

		LightStateAction
		----------------

		.. table::
		:class: tight-table

		+--------------+-------------------------------------------------------------------------------------------------------+
		\| API/Datatype \| Used Methods/Classes/API \|
		+==============+=======================================================================================================+
		\| OpenSCENARIO \| LightStateAction \|
		+--------------+-------------------------------------------------------------------------------------------------------+
		\| mantle_api \| UpdateControlStrategies(FollowVelocitySplineControlStrategy) \|
		+--------------+-------------------------------------------------------------------------------------------------------+
		\| openPASS \| SetStrategies(std::vector<std::shared_ptr<mantle_api::ControlStrategy>>) \|
		+--------------+-------------------------------------------------------------------------------------------------------+
		\| osi3 \| osi3::TrafficAction::CustomAction \|
		\| \| CustomAction::command_type("UpdateLightState <LightType>") \|
		\| \| CustomAction::command("<LightState>") \|
		+--------------+-------------------------------------------------------------------------------------------------------+

		SpeedAction
		---------------
		-----------

		.. table::
		:class: tight-table
		@@ -192,7 +212,7 @@ SpeedAction
		+--------------+-------------------------------------------------------------------------------------------------------+

		TeleportAction
		---------------
		--------------

		.. table::
		:class: tight-table
		@@ -218,7 +238,7 @@ TeleportAction
		+--------------+-------------------------------------------------------------------------------------------------------+

		TrafficSignalAction
		--------------------
		-------------------

		.. table::
		:class: tight-table
		@@ -242,7 +262,7 @@ TrafficSignalAction
		+--------------+-------------------------------------------------------------------------------------------------------+

		TrafficSignalStateAction
		-------------------------
		------------------------

		.. table::
		:class: tight-table
		@@ -266,7 +286,7 @@ TrafficSignalStateAction
		+--------------+-------------------------------------------------------------------------------------------------------+

		TrafficSinkAction
		--------------------
		-----------------

		.. table::
		:class: tight-table

sim/contrib/examples/Common/systemConfigBlueprint.xml

+51 −0

Original line number	Diff line number	Diff line
		@@ -332,6 +332,24 @@
		<unit/>
		<value>0</value>
		</parameter>
		<parameter>
		<id>1</id>
		<type>int</type>
		<unit/>
		<value>1</value>
		</parameter>
		<parameter>
		<id>2</id>
		<type>int</type>
		<unit/>
		<value>2</value>
		</parameter>
		<parameter>
		<id>3</id>
		<type>int</type>
		<unit/>
		<value>3</value>
		</parameter>
		</parameters>
		</component>
		<component>
		@@ -748,6 +766,17 @@
		<input>0</input>
		</target>
		</connection>
		<connection>
		<id>7119</id>
		<source>
		<component>FMU1</component>
		<output>5</output>
		</source>
		<target>
		<component>PrioritizerTurningIndicator</component>
		<input>1</input>
		</target>
		</connection>
		<connection>
		<id>7201</id>
		<source>
		@@ -781,6 +810,17 @@
		<input>1</input>
		</target>
		</connection>
		<connection>
		<id>7219</id>
		<source>
		<component>FMU2</component>
		<output>5</output>
		</source>
		<target>
		<component>PrioritizerTurningIndicator</component>
		<input>2</input>
		</target>
		</connection>
		<connection>
		<id>7301</id>
		<source>
		@@ -814,6 +854,17 @@
		<input>2</input>
		</target>
		</connection>
		<connection>
		<id>7319</id>
		<source>
		<component>FMU3</component>
		<output>5</output>
		</source>
		<target>
		<component>PrioritizerTurningIndicator</component>
		<input>3</input>
		</target>
		</connection>
		<connection>
		<id>7401</id>
		<source>

sim/contrib/fmus/CMakeLists.txt

+1 −0

Original line number	Diff line number	Diff line
		@@ -14,6 +14,7 @@ set(DUMMY_FMUS
		DummyFmuObjectsList
		DummyFmuOutputTest
		DummyFmuParameter
		DummyFmuSecondaryDriverTasksSignal
		DummyFmuSSPTest
		DummyFmuStaticActuator
		)

sim/contrib/fmus/DummyFmuOutputTest/FMI1.in.xml

+7 −10

Original line number	Diff line number	Diff line
		@@ -24,7 +24,6 @@
		<DefaultExperiment startTime="0" stopTime="3"/>

		<ModelVariables>

		<ScalarVariable name="output_1" valueReference="0" variability="discrete" causality="output">
		<Enumeration declaredType="ComponentState" />
		</ScalarVariable>
		@@ -61,7 +60,6 @@
		<ScalarVariable name="output_12" valueReference="1" variability="discrete" causality="output">
		<Integer />
		</ScalarVariable>

		</ModelVariables>

		<Implementation>
		@@ -69,5 +67,4 @@
		<Capabilities canHandleVariableCommunicationStepSize="true" canHandleEvents="true"/>
		</CoSimulation_StandAlone>
		</Implementation>

		</fmiModelDescription>

sim/contrib/fmus/DummyFmuOutputTest/model.c

+0 −1

Original line number	Diff line number	Diff line
		@@ -53,7 +53,6 @@ by QTronic, both released under the 2-Clause BSD License.
		#define V_MIN (0.1)
		#define EVENT_EPSILON (1e-10)


		void setStartValues(ModelInstance *comp) {
		UNUSED(comp);
		}