diff --git a/README.md b/README.md
index 3061b72d72cb22a6f2ff5ef3c310927107a57fe3..d511aa968bd560ccc1be53376aea9d6884a7b052 100644
--- a/README.md
+++ b/README.md
@@ -113,7 +113,7 @@ The following Actions and Conditions of [ASAM OpenSCENARIO XML](https://publicat
| ByEntityCondition | [RelativeDistanceCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/RelativeDistanceCondition.html) | Supports only `RelativeDistanceType::kLongitudinal && CoordinateSystem::kEntity` |
| ByEntityCondition | [RelativeSpeedCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/RelativeSpeedCondition.html) | âœ”ï¸ Complete |
| ByEntityCondition | [SpeedCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/SpeedCondition.html) | âœ”ï¸ Without direction |
-| ByEntityCondition | [TimeHeadwayCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TimeHeadwayCondition.html) | Supports only `DistanceType::kEuclidean` and `CoordinateSystem::kEntity` or `CoordinateSystem::kLane` |
+| ByEntityCondition | [TimeHeadwayCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TimeHeadwayCondition.html) | Supports only `DistanceType::kEuclidean` and `CoordinateSystem::kEntity` or `CoordinateSystem::kLane` or `CoordinateSystem::kRoad(freespace=false)` |
| ByEntityCondition | [TimeToCollisionCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TimeToCollisionCondition.html) | In clarification: [Issue #7](https://gitlab.eclipse.org/eclipse/openopass/openscenario1_engine/-/issues/7) |
| ByEntityCondition | [TraveledDistanceCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TraveledDistanceCondition.html) | âœ”ï¸ Complete |
| ByValueCondition | [SimulationTimeCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/SimulationTimeCondition.html) | âœ”ï¸ Complete |
@@ -269,7 +269,7 @@ For more information on how to define these properties, refer to the documentati
| [CPM](https://github.com/cpm-cmake/CPM.cmake) | 03705fc | 0.36.0 | MIT License |
| [googletest](https://github.com/google/googletest) | f8d7d77 | 1.14.0 | BSD-3-Clause License |
| [JSON for Modern C++](https://github.com/nlohmann/json) | db78ac1 | 3.9.1 | MIT License |
-| [MantleAPI](https://gitlab.eclipse.org/eclipse/openpass/mantle-api) | fa2c771a | 17.0.0 | EPL 2.0 |
+| [MantleAPI](https://gitlab.eclipse.org/eclipse/openpass/mantle-api) | 7d2ed281 | 18.0.0 | EPL 2.0 |
| [openpass/stochastics-library](https://gitlab.eclipse.org/eclipse/openpass/stochastics-library) | 6c9dde71 | 0.11.0 | EPL 2.0 |
| [OpenSCENARIO API](https://github.com/RA-Consulting-GmbH/openscenario.api.test/) | 5980e88 | 1.4.0 | Apache 2.0 |
| [Units](https://github.com/nholthaus/units) | e27eed9 | 2.3.4 | MIT License |
diff --git a/engine/src/Storyboard/ByEntityCondition/TimeHeadwayCondition_impl.cpp b/engine/src/Storyboard/ByEntityCondition/TimeHeadwayCondition_impl.cpp
index 24b9bfbfa458083e09d4d58129941dc5ae27d513..d2f70a55c1a434acb8d6843b000224f787a1b63c 100644
--- a/engine/src/Storyboard/ByEntityCondition/TimeHeadwayCondition_impl.cpp
+++ b/engine/src/Storyboard/ByEntityCondition/TimeHeadwayCondition_impl.cpp
@@ -1,6 +1,6 @@
/********************************************************************************
* Copyright (c) 2021-2025 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- * Copyright (c) 2023 Ansys, Inc.
+ * Copyright (c) 2023-2025 Ansys, Inc.
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -25,9 +25,11 @@ bool TimeHeadwayCondition::IsSatisfied() const
return false;
}
- if (!(values.coordinateSystem == CoordinateSystem::kEntity || values.coordinateSystem == CoordinateSystem::kLane))
+ if ((values.coordinateSystem != CoordinateSystem::kEntity &&
+ values.coordinateSystem != CoordinateSystem::kLane &&
+ values.coordinateSystem != CoordinateSystem::kRoad))
{
- Logger::Error(R"(TimeHeadwayCondition: The given CoordinateSystem is not supported. Only "entity" and "lane" coordinate systems are supported for now. Returning false.)");
+ Logger::Error(R"(TimeHeadwayCondition: The given CoordinateSystem is not supported. Only "entity", "lane" and "road" coordinate systems are supported for now. Returning false.)");
return false;
}
@@ -74,6 +76,24 @@ bool TimeHeadwayCondition::IsSatisfied() const
units::math::abs(ref_entity_corners_along_lane.back().x));
}
}
+ else if (values.coordinateSystem == CoordinateSystem::kRoad)
+ {
+ if (values.freespace)
+ {
+ Logger::Error(R"(TimeHeadwayCondition: The "road" coordinate system does not support freespace for now. Returning false.)");
+ return false;
+ }
+ const auto longitudinal_lane_distance =
+ mantle.environment->GetQueryService().GetLongitudinalRoadDistanceBetweenPositions(trigger_entity->GetPosition(),
+ ref_entity->GetPosition());
+ if (!longitudinal_lane_distance.has_value())
+ {
+ throw std::runtime_error(
+ "TimeHeadwayCondition: CoordinateSystem is set to \"ROAD\", but can not get the longitudinal distance "
+ "of the reference and the triggering entities along the Road Refenrence line. Please adjust scenario.");
+ }
+ distance = longitudinal_lane_distance.value();
+ }
else
{
// should never happen, as pre-conditions are already checked in the beginning
diff --git a/engine/tests/Storyboard/ByEntityCondition/TimeHeadwayConditionTest.cpp b/engine/tests/Storyboard/ByEntityCondition/TimeHeadwayConditionTest.cpp
index 9eac6d977d2e66e3dc6f5b7c8dbfa5438781171a..1ff79ff2e4ca5d27951cd03a34ac0f3af4edfed7 100644
--- a/engine/tests/Storyboard/ByEntityCondition/TimeHeadwayConditionTest.cpp
+++ b/engine/tests/Storyboard/ByEntityCondition/TimeHeadwayConditionTest.cpp
@@ -1,6 +1,6 @@
/********************************************************************************
* Copyright (c) 2021-2025 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- * Copyright (c) 2023 Ansys, Inc.
+ * Copyright (c) 2023-2025 Ansys, Inc.
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -86,16 +86,34 @@ TEST_F(TimeHeadwayConditionTestFixture,
}
TEST_F(TimeHeadwayConditionTestFixture,
- GivenConditionWithUnsupportedCoordinateSystemRoad_WhenEvaluate_ThenReturnsFalse)
+ GivenConditionWithCoordinateSystemRoadAndFreespaceTrue_WhenEvaluate_ThenReturnsFalse)
{
condition_values_.coordinateSystem = OpenScenarioEngine::v1_3::CoordinateSystem::kRoad;
+ condition_values_.freespace = true;
auto time_headway_condition = OpenScenarioEngine::v1_3::TimeHeadwayCondition(condition_values_,
{fake_environment_});
EXPECT_FALSE(time_headway_condition.IsSatisfied());
EXPECT_THAT(LOGGER->LastLogLevel(), mantle_api::LogLevel::kError);
- EXPECT_THAT(LOGGER->LastLogMessage(), HasSubstr("CoordinateSystem is not supported"));
+ EXPECT_THAT(LOGGER->LastLogMessage(), HasSubstr("does not support freespace"));
+}
+
+TEST_F(TimeHeadwayConditionTestFixture,
+ GivenConditionWithCoordinateSystemRoadButCanNotCalculateDistance_WhenEvaluate_ThenThrowRuntimeError)
+{
+ condition_values_.coordinateSystem = OpenScenarioEngine::v1_3::CoordinateSystem::kRoad;
+
+ auto& mocked_query_service = dynamic_cast<const mantle_api::MockLaneLocationQueryService&>(fake_environment_->GetQueryService());
+
+ EXPECT_CALL(mocked_query_service, GetLongitudinalRoadDistanceBetweenPositions(_, _))
+ .Times(1)
+ .WillRepeatedly(Return(std::nullopt));
+
+ auto time_headway_condition = OpenScenarioEngine::v1_3::TimeHeadwayCondition(condition_values_,
+ {fake_environment_});
+
+ EXPECT_THROW(time_headway_condition.IsSatisfied(), std::runtime_error);
}
TEST_F(TimeHeadwayConditionTestFixture,
@@ -286,3 +304,24 @@ TEST_P(TimeHeadwayConditionTestForCoordinateSystemWithFreespaceFalse,
EXPECT_EQ(time_headway_condition.IsSatisfied(), expected_satisfied_status_);
}
+
+TEST_P(TimeHeadwayConditionTestForCoordinateSystemWithFreespaceFalse,
+ GivenCoordinateSystemIsRoadWithTestInputsAndFreespaceFalse_WhenEvaluate_ThenExpectCorrectSatisfiedStatus)
+{
+ auto rule = OpenScenarioEngine::v1_3::Rule(NET_ASAM_OPENSCENARIO::v1_3::Rule::RuleEnum::EQUAL_TO, condition_value_);
+ condition_values_.rule = rule;
+ condition_values_.coordinateSystem = OpenScenarioEngine::v1_3::CoordinateSystem::kRoad;
+
+ auto& mocked_query_service = dynamic_cast<const mantle_api::MockLaneLocationQueryService&>(fake_environment_->GetQueryService());
+ auto& mocked_entity = dynamic_cast<mantle_api::MockVehicle&>(*fake_environment_->GetEntityRepository().Get(""));
+
+ EXPECT_CALL(mocked_entity, GetVelocity()).WillOnce(Return(triggering_entity_velocity_));
+
+ EXPECT_CALL(mocked_query_service, GetLongitudinalRoadDistanceBetweenPositions(_, _))
+ .WillOnce(Return(relative_distance_));
+
+ auto time_headway_condition = OpenScenarioEngine::v1_3::TimeHeadwayCondition(condition_values_,
+ {fake_environment_});
+
+ EXPECT_EQ(time_headway_condition.IsSatisfied(), expected_satisfied_status_);
+}
diff --git a/engine/third_party/mantle_api/mantle_api.bzl b/engine/third_party/mantle_api/mantle_api.bzl
index ad52ffe6dd865db3d77464166aa2722f667f9e94..270c21bcea3c10d28b6ced1aa7caa5e88854fb22 100644
--- a/engine/third_party/mantle_api/mantle_api.bzl
+++ b/engine/third_party/mantle_api/mantle_api.bzl
@@ -1,14 +1,14 @@
load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
-_TAG = "v17.0.0"
+_TAG = "v18.0.0"
def mantle_api():
maybe(
http_archive,
name = "mantle_api",
url = "https://gitlab.eclipse.org/eclipse/openpass/mantle-api/-/archive/{tag}/mantle-api-{tag}.tar.gz".format(tag = _TAG),
- sha256 = "b13786605d9a1e459dc4c65ab0ce4c3c40ddfd859266f1d876622fa578ffc5f9",
+ sha256 = "4c413e3bd035531f232c5b54aeaa329b82c9e80926f44cd6364d6892034e87d5",
strip_prefix = "mantle-api-{tag}".format(tag = _TAG),
type = "tar.gz",
)
diff --git a/utils/ci/conan/conanfile.txt b/utils/ci/conan/conanfile.txt
index 2942ecce528a108ef80651a5863adba9c972d3bd..4f986fd063a6514d025192216362d5b6728db469 100644
--- a/utils/ci/conan/conanfile.txt
+++ b/utils/ci/conan/conanfile.txt
@@ -1,5 +1,5 @@
[requires]
-mantleapi/v17.0.0@openscenarioengine/testing
+mantleapi/v18.0.0@openscenarioengine/testing
nlohmann_json/v3.9.1@openscenarioengine/testing
openscenario_api/v1.4.0@openscenarioengine/testing
stochastics/0.11.0@openscenarioengine/testing
diff --git a/utils/ci/conan/recipe/mantleapi/all/conandata.yml b/utils/ci/conan/recipe/mantleapi/all/conandata.yml
index 81269171254a1107bfd21634d3494ed9618d7a30..81018803ef8b87d8af9aa9086d3395b067ac0c16 100644
--- a/utils/ci/conan/recipe/mantleapi/all/conandata.yml
+++ b/utils/ci/conan/recipe/mantleapi/all/conandata.yml
@@ -65,5 +65,9 @@ sources:
url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git
sha256: "fa2c771a62d8f7f0a5dca119f3b310439f06f825"
+ "18.0.0":
+ url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git
+ sha256: "7d2ed281116d59d7270d4b8e01811e64a7dc665c"
+
"default":
url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git