Merge branch 'feat/support-road-coordinate-in-TimeHeadWayCondition' into 'main'

Feat: support road coordinate in time headway condition

See merge request !247

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)       | ✔️ Complete                                                                                                   |
 | ByEntityCondition | [SpeedCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/SpeedCondition.html)       | ✔️ 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)     | ✔️ Complete |
 | ByValueCondition  | [SimulationTimeCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/SimulationTimeCondition.html)     | ✔️ 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 |

engine/src/Storyboard/ByEntityCondition/TimeHeadwayCondition_impl.cpp

 /********************************************************************************
  * 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

engine/tests/Storyboard/ByEntityCondition/TimeHeadwayConditionTest.cpp

 /********************************************************************************
  * 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_);
+}

engine/third_party/mantle_api/mantle_api.bzl

 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",
     )

utils/ci/conan/conanfile.txt

 [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

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