Merge branch 'instantiate_controller_creator_in_ose_constructor' into 'main'

Instantiate ControllerCreator in OpenScenarioEngine class constructor

See merge request !177

engine/src/OpenScenarioEngine.cpp

@@ -78,7 +78,8 @@ OpenScenarioEngine::OpenScenarioEngine(const std::string& scenario_file_path,
                                        unsigned int initial_seed)
     : scenario_file_path_{scenario_file_path},
       environment_{std::move(environment)},
-      probability_service_{std::make_shared<ProbabilityService>(initial_seed)}
+      probability_service_{std::make_shared<ProbabilityService>(initial_seed)},
+      controller_creator_{std::make_shared<ControllerCreator>(*environment_)}
 {
   Logger::SetLogger(std::move(logger));
 }
@@ -91,7 +92,8 @@ void OpenScenarioEngine::Init()
   }
 
   entity_creator_ = std::make_shared<EntityCreator>(environment_);
-  controller_creator_ = std::make_shared<ControllerCreator>(*environment_);
+
+  controller_creator_->GetControllerService()->ResetControllerMappings();
 
   ParseScenarioFile();
 

engine/src/Utils/ControllerCreator.h

@@ -19,9 +19,8 @@
 
 namespace OpenScenarioEngine::v1_2
 {
-
-static constexpr const char* CONTROLLER_NAME_DEFAULT {"OpenScenarioEngine::v1_2::Default"};
-static constexpr const char* CONTROLLER_NAME_OVERRIDE {"OpenScenarioEngine::v1_2::ExternalOverride"};
+static constexpr const char* CONTROLLER_NAME_DEFAULT{"OpenScenarioEngine::v1_2::Default"};
+static constexpr const char* CONTROLLER_NAME_OVERRIDE{"OpenScenarioEngine::v1_2::ExternalOverride"};
 
 class ControllerService;
 

engine/src/Utils/ControllerService.cpp

@@ -16,7 +16,6 @@ namespace OpenScenarioEngine::v1_2
 {
 namespace detail
 {
-
 template <typename ActivationState>
 inline ActivationState invert_if_changed(ActivationState value)
 {
@@ -78,4 +77,10 @@ void ControllerService::ChangeState(
   entity_controllers.user_defined.at(controller_id)->ChangeState(lateral_state, longitudinal_state);
 }
 
+void ControllerService::ResetControllerMappings()
+{
+  controllers.clear();
+  mapping.clear();
+}
+
 }  // namespace OpenScenarioEngine::v1_2
\ No newline at end of file

engine/src/Utils/ControllerService.h

@@ -30,6 +30,8 @@ public:
       mantle_api::IController::LateralState lateral_state,
       mantle_api::IController::LongitudinalState longitudinal_state) override;
 
+  void ResetControllerMappings() override;
+
   /// Mapping between entity_ids and its controllers
   std::map<mantle_api::UniqueId, EntityControllers> controllers;
 

engine/src/Utils/IControllerService.h

@@ -22,7 +22,6 @@
 
 namespace OpenScenarioEngine::v1_2
 {
-
 /// List of user defined controllers referenced by unique_id
 using UserDefinedControllers = std::map<mantle_api::UniqueId, mantle_api::IController*>;
 
@@ -71,6 +70,11 @@ public:
       mantle_api::UniqueId controller_id,
       mantle_api::IController::LateralState lateral,
       mantle_api::IController::LongitudinalState longitudinal) = 0;
+
+  /// Resets internal state of the controller service by clearing mapping
+  /// between entity Ids and its controllers and also between controller Ids
+  /// and references.
+  virtual void ResetControllerMappings() = 0;
 };
 
 /// Pointer type of internally used housekeeping container

engine/tests/OpenScenarioEngineTest.cpp

@@ -381,3 +381,11 @@ TEST_F(OpenScenarioEngineTest, GivenScenarioWithNoSimulationTimeStopTrigger_When
 
     EXPECT_EQ(engine.GetScenarioInfo().scenario_timeout_duration, mantle_api::Time{std::numeric_limits<double>::max()});
 }
+
+TEST_F(OpenScenarioEngineTest, GivenValidScenarioFile_WhenActivateExternalHostControlIsCalledWithoutInit_ThenNoThrow)
+{
+    std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
+
+    OpenScenarioEngine::v1_2::OpenScenarioEngine engine(xosc_file_path, env_);
+    EXPECT_NO_THROW(engine.ActivateExternalHostControl());
+}
\ No newline at end of file

engine/tests/TestUtils/MockControllerService.h

@@ -31,6 +31,10 @@ public:
               ChangeState,
               (mantle_api::UniqueId, mantle_api::UniqueId, mantle_api::IController::LateralState, mantle_api::IController::LongitudinalState),
               (override));
+  MOCK_METHOD(void,
+              ResetControllerMappings,
+              (),
+              (override));
 };
 
 }  // namespace testing::OpenScenarioEngine::v1_2
\ No newline at end of file

engine/tests/Utils/ControllerCreatorTest.cpp

@@ -236,3 +236,20 @@ TEST_F(ControllerCreator, GivenScenarioObjectWithoutController_WhenCreateControl
 
   controller_creator.CreateControllers(scenario_objects);
 }
+
+TEST_F(ControllerCreator, GivenScenarioObjectWithController_WhenResetControllerMappingsIsCalled_ThenControllerServiceInternalStateIsReset)
+{
+  constexpr mantle_api::UniqueId ENTITY_ID = 1234;
+  SETUP_ENTITY("test_entity", ENTITY_ID, true, true);
+
+  ON_CALL(mockControllerRepository, Create(_)).WillByDefault(ReturnRef(mockController));
+
+  OpenScenarioEngine::v1_2::ControllerCreator controller_creator(mockEnvironment);
+  controller_creator.CreateControllers(scenario_objects);
+
+  auto controller_service = controller_creator.GetControllerService();
+  ASSERT_TRUE(controller_service->GetControllers(ENTITY_ID).has_value());
+
+  controller_service->ResetControllerMappings();
+  EXPECT_FALSE(controller_service->GetControllers(ENTITY_ID).has_value());
+}