feat: support ds

engine/src/Conversion/OscToMantle/ConvertScenarioPosition.cpp

@@ -125,47 +125,64 @@ mantle_api::Pose ConvertRelativeLanePosition(
     const NET_ASAM_OPENSCENARIO::v1_3::IRelativeLanePosition& relative_lane_position)
 {
   mantle_api::Pose pose{};
-  if (relative_lane_position.IsSetDs())
+  bool has_ds = relative_lane_position.IsSetDs();
+  bool has_ds_lane = relative_lane_position.IsSetDsLane();
+
+  if (has_ds && has_ds_lane)
   {
-    Logger::Error("ConvertRelativeLanePosition: \"ds\" is not implemented for RelativeLanePosition.");
+    Logger::Error(R"(ConvertRelativeLanePosition: "ds" and "dsLane" are mutually exclusive. Only one should be set.)");
     return pose;
   }
 
-  if (!relative_lane_position.IsSetDsLane())
+  if (!has_ds && !has_ds_lane)
   {
-    Logger::Error("ConvertRelativeLanePosition: \"dsLane\" is not set, required for RelativeLanePosition.");
+    Logger::Error(R"(ConvertRelativeLanePosition: Either "ds" or "dsLane" must be set for RelativeLanePosition.)");
     return pose;
   }
 
   const auto ref_entity_name = relative_lane_position.GetEntityRef()->GetNameRef();
+  const auto ref_entity = environment.GetEntityRepository().Get(ref_entity_name);
 
-  if (const auto ref_entity = environment.GetEntityRepository().Get(ref_entity_name))
+  if (!ref_entity)
   {
-    const auto d_lane = relative_lane_position.GetDLane();
-    const auto ds_lane = relative_lane_position.GetDsLane();
-    const auto offset = relative_lane_position.GetOffset();
+    Logger::Error("ConvertRelativeLanePosition: Entity with name = \"" + ref_entity_name +
+                  "\" for RelativeLanePosition does not exist. Please adjust the scenario.");
+    return pose;
+  }
 
-    const mantle_api::Pose pose_ref{environment.GetGeometryHelper()->TranslateGlobalPositionLocally(
-                                        ref_entity->GetPosition(),
-                                        ref_entity->GetOrientation(),
-                                        -ref_entity->GetProperties()->bounding_box.geometric_center),
-                                    ref_entity->GetOrientation()};
+  const mantle_api::Pose pose_ref{
+      environment.GetGeometryHelper()->TranslateGlobalPositionLocally(
+          ref_entity->GetPosition(),
+          ref_entity->GetOrientation(),
+          -ref_entity->GetProperties()->bounding_box.geometric_center),
+      ref_entity->GetOrientation()};
 
-    const auto calculated_pose = environment.GetQueryService().FindRelativeLanePoseAtDistanceFrom(
-        pose_ref, d_lane, units::length::meter_t(ds_lane), units::length::meter_t(offset));
-    if (calculated_pose.has_value())
-    {
-      pose.position = calculated_pose.value().position;
-      detail::FillOrientation(environment, relative_lane_position.GetOrientation(), pose.position, pose);
-      return pose;
-    }
+  const auto d_lane = relative_lane_position.GetDLane();
+  const auto offset = units::length::meter_t(relative_lane_position.GetOffset());
 
-    Logger::Error("ConvertRelativeLanePosition: Conversion from RelativeLanePosition is not possible. Please check the scenario.");
+  std::optional<mantle_api::Pose> calculated_pose;
+  if (has_ds)
+  {
+    const auto d_s = units::length::meter_t(relative_lane_position.GetDs());
+    calculated_pose = environment.GetQueryService().FindRelativeLanePoseAtReferenceLineOffsetFrom(
+        pose_ref, d_lane, d_s, offset);
   }
   else
   {
-    Logger::Error("ConvertRelativeLanePosition: Entity with name = \"" + ref_entity_name + "\" for RelativeLanePosition does not exist. Please adjust the scenario.");
+    const auto ds_lane = units::length::meter_t(relative_lane_position.GetDsLane());
+    calculated_pose = environment.GetQueryService().FindRelativeLanePoseAtDistanceFrom(
+        pose_ref, d_lane, ds_lane, offset);
   }
+
+  if (!calculated_pose.has_value())
+  {
+    Logger::Error("ConvertRelativeLanePosition: Conversion from RelativeLanePosition is not possible. Please check the scenario.");
+    return pose;
+  }
+
+  pose.position = calculated_pose->position;
+  detail::FillOrientation(environment, relative_lane_position.GetOrientation(), pose.position, pose);
+
   return pose;
 }
 

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 = "v21.0.0"
+_TAG = "4680104fdb9f3494cbe46171ddd58de49f1216fb"
 
 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 = "68465d0e9d7f9c082781e33b06da24c4dbae218160899de34c5a8f1764de0eeb",
+        sha256 = "d71596e98db0b0c6846c79c8afe7020322075449fe8e3fac551f3f4cc5bdce41",
         strip_prefix = "mantle-api-{tag}".format(tag = _TAG),
         type = "tar.gz",
     )