feat: support road in TimeHeadway condition

engine/src/Storyboard/ByEntityCondition/TimeHeadwayCondition_impl.cpp

@@ -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)
+  {
+    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();
+
+    if (values.freespace)
+    {
+      Logger::Error(R"(TimeHeadwayCondition: The "road" coordinate system does not support freespace. Assuming freespace is false.)");
+    }
+  }
   else
   {
     // should never happen, as pre-conditions are already checked in the beginning

engine/third_party/mantle_api/mantle_api.bzl

@@ -2,13 +2,16 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
 
 _TAG = "v12.0.0"
+_TAG_TEST = "e740a459ce5442dc7ba36ec2f266931a7a6c91b4"
+
+# dc712b5495e1928bf63a4334e8fbd084b67f1625c8d397d010d58a550bc99783
 
 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 = "dc712b5495e1928bf63a4334e8fbd084b67f1625c8d397d010d58a550bc99783",
-        strip_prefix = "mantle-api-{tag}".format(tag = _TAG),
+        url = "https://gitlab.eclipse.org/eclipse/openpass/mantle-api/-/archive/{tag}/mantle-api-{tag}.tar.gz".format(tag = _TAG_TEST),
+        sha256 = "7ca4f46b468b5be91c46a847a2fb4875ee97c0feb5cac9e9a3fdaf405794a706",
+        strip_prefix = "mantle-api-{tag}".format(tag = _TAG_TEST),
         type = "tar.gz",
     )