From 143f35b19deb435e5adf1fa65685ca9a338e8a48 Mon Sep 17 00:00:00 2001
From: Andreas Rauschert <andreas.rb.rauschert@bmw.de>
Date: Fri, 10 Nov 2023 16:12:02 +0000
Subject: [PATCH] fix: set environment defaults before initializing environment
and don't stop creating controllers on non-controllable entities
---
engine/src/OpenScenarioEngine.cpp | 7 ++++---
engine/src/Utils/ControllerCreator.cpp | 2 +-
engine/tests/OpenScenarioEngineTest.cpp | 8 ++++++--
engine/tests/Utils/ControllerCreatorTest.cpp | 11 +++++++++++
4 files changed, 22 insertions(+), 6 deletions(-)
diff --git a/engine/src/OpenScenarioEngine.cpp b/engine/src/OpenScenarioEngine.cpp
index fd160301..b1ffd41a 100644
--- a/engine/src/OpenScenarioEngine.cpp
+++ b/engine/src/OpenScenarioEngine.cpp
@@ -95,6 +95,8 @@ void OpenScenarioEngine::Init()
controller_creator_->GetControllerService()->ResetControllerMappings();
+ SetEnvironmentDefaults();
+
ParseScenarioFile();
LoadRoadNetwork();
@@ -104,8 +106,6 @@ void OpenScenarioEngine::Init()
CreateControllers();
CreateAndInitStoryboard();
-
- SetEnvironmentDefaults();
}
mantle_api::ScenarioInfo OpenScenarioEngine::GetScenarioInfo() const
@@ -333,7 +333,8 @@ mantle_api::Time OpenScenarioEngine::GetDuration() const
for (const auto& condition_group : condition_groups)
{
auto conditions = condition_group->GetConditions();
- std::for_each(conditions.begin(), conditions.end(), [&durations](const auto& condition) {
+ std::for_each(conditions.begin(), conditions.end(), [&durations](const auto& condition)
+ {
if (const auto& by_val_condition = condition->GetByValueCondition())
{
if (const auto& sim_time_condition = by_val_condition->GetSimulationTimeCondition())
diff --git a/engine/src/Utils/ControllerCreator.cpp b/engine/src/Utils/ControllerCreator.cpp
index 1b013312..540dc1e2 100644
--- a/engine/src/Utils/ControllerCreator.cpp
+++ b/engine/src/Utils/ControllerCreator.cpp
@@ -136,7 +136,7 @@ void ControllerCreator::CreateControllers(const std::vector<std::shared_ptr<NET_
if (detail::IsNotControllable(scenario_object))
{
Logger::Info("ControllerCreator: No controller created for non-vehicle and non-pedestrian type scenario object \"" + entity_name + "\"");
- return;
+ continue;
}
const auto entity = environment_.GetEntityRepository().Get(entity_name);
diff --git a/engine/tests/OpenScenarioEngineTest.cpp b/engine/tests/OpenScenarioEngineTest.cpp
index b28445c3..baa8fdfa 100644
--- a/engine/tests/OpenScenarioEngineTest.cpp
+++ b/engine/tests/OpenScenarioEngineTest.cpp
@@ -46,11 +46,15 @@ class OpenScenarioEngineTest : public OpenScenarioEngineTestBase
std::string controller_name {"TestController"s};
};
-TEST_F(OpenScenarioEngineTest, GivenValidScenarioFile_WhenInitialized_ThenDefaultRoutingBehaviourIsSetToRandom)
+TEST_F(OpenScenarioEngineTest, GivenValidScenarioFile_WhenInitialized_ThenDefaultRoutingBehaviourIsSetBeforeControllersAreCreated)
{
std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
- EXPECT_CALL(*env_, SetDefaultRoutingBehavior(mantle_api::DefaultRoutingBehavior::kRandomRoute)).Times(1);
+ {
+ testing::InSequence s;
+ EXPECT_CALL(*env_, SetDefaultRoutingBehavior(mantle_api::DefaultRoutingBehavior::kRandomRoute)).Times(1);
+ EXPECT_CALL(env_->GetControllerRepository(), Create(_)).Times(2);
+ }
OpenScenarioEngine::v1_2::OpenScenarioEngine engine(xosc_file_path, env_);
diff --git a/engine/tests/Utils/ControllerCreatorTest.cpp b/engine/tests/Utils/ControllerCreatorTest.cpp
index b56659c9..3273dee9 100644
--- a/engine/tests/Utils/ControllerCreatorTest.cpp
+++ b/engine/tests/Utils/ControllerCreatorTest.cpp
@@ -144,6 +144,17 @@ TEST_F(ControllerCreator, GivenUncontrollableScenarioObject_WhenCreateIsCalled_T
EXPECT_THAT(LOGGER->LastLogMessage(), HasSubstr("test_entity"));
}
+TEST_F(ControllerCreator, GivenUncontrollableAndControllableScenarioObject_WhenCreateIsCalled_ThenControllerOnlyForControllableObjectIsCreated)
+{
+ SETUP_ENTITY("uncontrollable_entity", 1234, false, false);
+ SETUP_ENTITY("entity_2", 5678, true, false);
+
+ EXPECT_CALL(mockControllerRepository, Create(_)).Times(1).WillOnce(ReturnRef(mockController));
+ OpenScenarioEngine::v1_2::ControllerCreator controller_creator(mockEnvironment);
+
+ controller_creator.CreateControllers(scenario_objects);
+}
+
TEST_F(ControllerCreator, GivenScenarioObjectWithController_WhenCreateIsCalled_ThenCreatesDefaultAndUserDefinedController)
{
SETUP_ENTITY("test_entity", 1234, true, true);
--
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