Skip to content
Snippets Groups Projects
Commit fe995aac authored by René Paris's avatar René Paris
Browse files

Merge branch 'fix/47-missing-controller-name' into 'main' 

fix: Make engine set name of controller(s)

Closes #47

See merge request !168
parents 5bc8f9a7 bd0ff61c
No related branches found
No related tags found
1 merge request!168fix: Make engine set name of controller(s)
Pipeline #31866 canceled
Stage: external
    Hide whitespace changes
    Inline Side-by-side
    Jenkinsfile
    + 6
    − 6
    View file @ fe995aac
    ......@@ -91,29 +91,29 @@ spec:
    stages {
    stage('Windows: Prepare openscenario_api dependency') {
    steps {
    bat 'subst E: %WORKSPACE%'
    dir('E:/') {
    bat 'subst W: %WORKSPACE%'
    dir('W:/') {
    bat 'C:\\msys64\\usr\\bin\\bash -lc repo/utils/ci/scripts/10_prepare_openscenario_api.sh'
    }
    }
    }
    stage('Windows: Configure build') {
    steps {
    dir('E:/') {
    dir('W:/') {
    bat 'C:\\msys64\\usr\\bin\\bash -lc repo/utils/ci/scripts/20_configure.sh'
    }
    }
    }
    stage('Windows: Build and install project') {
    steps {
    dir('E:/') {
    dir('W:/') {
    bat 'C:\\msys64\\usr\\bin\\bash -lc repo/utils/ci/scripts/30_build.sh'
    }
    }
    }
    stage('Windows: Build and run unit tests') {
    steps {
    dir('E:/') {
    dir('W:/') {
    bat 'C:\\msys64\\usr\\bin\\bash -lc repo/utils/ci/scripts/40_unit_tests.sh'
    }
    }
    ......@@ -121,7 +121,7 @@ spec:
    }
    post {
    always {
    bat 'subst E: /d'
    bat 'subst W: /d'
    }
    }
    }
    ......
    README.md
    + 2
    − 2
    View file @ fe995aac
    ......@@ -252,11 +252,11 @@ Converts `NET_ASAM_OPENSCENARIO::v1_2::ITransitionDynamics` object type to [mant
    | Dependency | Commit | Version | License |
    | ---------- | ------ | ------- | ------- |
    | [MantleAPI](https://gitlab.eclipse.org/eclipse/openpass/mantle-api) | cab24eba | | EPL 2.0 |
    | [MantleAPI](https://gitlab.eclipse.org/eclipse/openpass/mantle-api) | 9a038989 | | EPL 2.0 |
    | [OpenSCENARIO API](https://github.com/RA-Consulting-GmbH/openscenario.api.test/) | 65f8dca | 1.3.1 | Apache 2.0 |
    | [YASE](https://gitlab.eclipse.org/eclipse/openpass/yase) | e687b5c4 | | EPL 2.0 |
    | [Units](https://github.com/nholthaus/units) | ea6d126 | | MIT License |
    | [googletest](https://github.com/google/googletest) | 58d77fa | 1.12.1 | BSD-3-Clause License |
    | [googletest](https://github.com/google/googletest) | f8d7d77 | 1.14.0 | BSD-3-Clause License |
    | [CPM](https://github.com/cpm-cmake/CPM.cmake) | 03705fc | 0.36.0 | MIT License |
    # Issues
    ......
    scenario_api @ 9a038989
    Compare cab24eba...9a038989
    Subproject commit cab24ebad3b6d8d8bb85487d7bc80c91029da566
    Subproject commit 9a038989604e8da62ecddbe2094b16ce1b778be1
    engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDefinition.cpp
    + 2
    − 2
    View file @ fe995aac
    ......@@ -102,7 +102,7 @@ TrafficDefinition ConvertScenarioTrafficDefinition(const std::shared_ptr<NET_ASA
    for(const auto& vehicle_category_distribution_entry : osc_traffic_definition->GetVehicleCategoryDistribution()->GetVehicleCategoryDistributionEntries())
    {
    auto converted{detail::ConvertVehicleCategoryDistributionEntry(vehicle_category_distribution_entry)};
    vehicle_category_distribution_entries.push_back(converted);
    vehicle_category_distribution_entries.push_back(std::move(converted));
    }
    std::vector<ControllerDistribution> controller_distribution_entries;
    ......@@ -110,7 +110,7 @@ TrafficDefinition ConvertScenarioTrafficDefinition(const std::shared_ptr<NET_ASA
    for(const auto& controller_distribution_entry : osc_traffic_definition->GetControllerDistribution()->GetControllerDistributionEntries())
    {
    auto converted{detail::ConvertControllerDistributionEntry(controller_distribution_entry)};
    controller_distribution_entries.push_back(converted);
    controller_distribution_entries.push_back(std::move(converted));
    }
    return {osc_traffic_definition->GetName(), vehicle_category_distribution_entries, controller_distribution_entries};
    ......
    engine/src/Utils/ControllerCreator.cpp
    + 27
    − 16
    View file @ fe995aac
    ......@@ -31,18 +31,19 @@ bool IsCatalogReferenceControllableObject(
    return NET_ASAM_OPENSCENARIO::v1_2::CatalogHelper::IsVehicle(catalog_element) ||
    NET_ASAM_OPENSCENARIO::v1_2::CatalogHelper::IsPedestrian(catalog_element);
    }
    throw std::runtime_error("ControllerCreator: CatalogReference " + catalog_reference->GetEntryName() +
    throw std::runtime_error("ControllerCreator: CatalogReference \"" + catalog_reference->GetEntryName() + "\"" +
    " for entity object cannot be resolved.");
    }
    auto CreateExternalControllerConfig(
    const std::string& controller_name,
    const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_2::IController>& controller)
    {
    auto external_config = std::make_unique<mantle_api::ExternalControllerConfig>();
    if (controller)
    {
    external_config->name = controller->GetName();
    external_config->name = controller_name;
    for (const auto& property : controller->GetProperties()->GetProperties())
    {
    external_config->parameters.emplace(property->GetName(), property->GetValue());
    ......@@ -52,12 +53,11 @@ auto CreateExternalControllerConfig(
    return external_config;
    }
    auto CreateExternalControllerConfig(
    const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_2::IObjectController>& object_controller)
    std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_2::IController> Parse(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_2::IObjectController>& object_controller)
    {
    if (auto controller = object_controller->GetController())
    {
    return detail::CreateExternalControllerConfig(controller);
    return controller;
    }
    if (auto catalog_reference = object_controller->GetCatalogReference())
    {
    ......@@ -65,9 +65,9 @@ auto CreateExternalControllerConfig(
    NET_ASAM_OPENSCENARIO::v1_2::CatalogHelper::IsController(ref))
    {
    const auto& controller = NET_ASAM_OPENSCENARIO::v1_2::CatalogHelper::AsController(ref);
    return detail::CreateExternalControllerConfig(controller);
    return controller;
    }
    throw std::runtime_error("ControllerCreator: CatalogReference " + catalog_reference->GetEntryName() +
    throw std::runtime_error("ControllerCreator: CatalogReference \"" + catalog_reference->GetEntryName() + "\"" +
    " for object controller cannot be resolved.");
    }
    throw std::runtime_error(
    ......@@ -76,13 +76,20 @@ auto CreateExternalControllerConfig(
    "Please correct the scenario.");
    }
    auto CreateExternalControllerConfig(
    const std::string& controller_name,
    const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_2::IObjectController>& object_controller)
    {
    return detail::CreateExternalControllerConfig(controller_name, detail::Parse(object_controller));
    }
    bool IsNotControllable(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_2::IScenarioObject>& scenario_object)
    {
    auto entity_object = scenario_object->GetEntityObject();
    if (!entity_object)
    {
    throw std::runtime_error("ControllerCreator: EntityObject missing in ScenarioObject " + scenario_object->GetName());
    throw std::runtime_error("ControllerCreator: EntityObject missing in ScenarioObject \"" + scenario_object->GetName() + "\"");
    }
    if (entity_object->GetVehicle() || entity_object->GetPedestrian())
    ......@@ -128,14 +135,14 @@ void ControllerCreator::CreateControllers(const std::vector<std::shared_ptr<NET_
    const auto entity_name = scenario_object->GetName();
    if (detail::IsNotControllable(scenario_object))
    {
    Logger::Info("ControllerCreator: No controller created for non-vehicle and non-pedestrian type scenario object " + entity_name);
    Logger::Info("ControllerCreator: No controller created for non-vehicle and non-pedestrian type scenario object \"" + entity_name + "\"");
    return;
    }
    const auto entity = environment_.GetEntityRepository().Get(entity_name);
    if (!entity.has_value())
    {
    throw std::runtime_error("ControllerCreator: Trying to create controller for unavailable entity " + entity_name);
    throw std::runtime_error("ControllerCreator: Trying to create controller for unavailable entity \"" + entity_name + "\"");
    }
    auto& controller_repository = environment_.GetControllerRepository();
    ......@@ -170,11 +177,12 @@ ControllerRegistrar::ControllerRegistrar(
    void ControllerRegistrar::CreateDefaultController()
    {
    Logger::Info("ControllerCreator: Setting up internal controller for entity " + entity_name_);
    Logger::Info("ControllerCreator: Setting up internal controller for entity \"" + entity_name_ + "\"");
    auto default_config = std::make_unique<mantle_api::InternalControllerConfig>();
    default_config->control_strategies.push_back(std::make_unique<mantle_api::KeepVelocityControlStrategy>());
    default_config->control_strategies.push_back(std::make_unique<mantle_api::KeepLaneOffsetControlStrategy>());
    default_config->name = CONTROLLER_NAME_DEFAULT;
    auto& controller = controller_repository_.Create(std::move(default_config));
    RegisterDefaultController(controller);
    }
    ......@@ -185,9 +193,11 @@ void ControllerRegistrar::CreateUserDefinedControllers(bool control_override)
    {
    if (control_override && IsDrivingFunctionControlledEntity(entity_name_))
    {
    // Empty external controller, as control override is active
    auto& controller = controller_repository_.Create(
    std::make_unique<mantle_api::ExternalControllerConfig>());
    auto external_config = std::make_unique<mantle_api::ExternalControllerConfig>();
    external_config->name = CONTROLLER_NAME_OVERRIDE;
    Logger::Info("ControllerRegistrar: Setting up external controller \"" + external_config->name + "\" for entity \"" + entity_name_ + "\"");
    auto& controller = controller_repository_.Create(std::move(external_config));
    RegisterUserDefinedController(controller);
    }
    }
    ......@@ -195,9 +205,10 @@ void ControllerRegistrar::CreateUserDefinedControllers(bool control_override)
    {
    for (const auto& object_controller : object_controllers_)
    {
    Logger::Info("ControllerRegistrar: Setting up external controller for entity " + entity_name_);
    auto controller_name = detail::Parse(object_controller)->GetName();
    auto external_config = detail::CreateExternalControllerConfig(controller_name, object_controller);
    auto external_config = detail::CreateExternalControllerConfig(object_controller);
    Logger::Info("ControllerRegistrar: Setting up external controller \"" + external_config->name + "\" for entity \"" + entity_name_ + "\"");
    auto& controller = controller_repository_.Create(std::move(external_config));
    RegisterUserDefinedController(controller);
    }
    ......
    engine/src/Utils/ControllerCreator.h
    + 5
    − 1
    View file @ fe995aac
    ......@@ -19,6 +19,10 @@
    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"};
    class ControllerService;
    class ControllerCreator
    ......@@ -56,9 +60,9 @@ public:
    void CreateUserDefinedControllers(bool control_override);
    private:
    void RegisterController(mantle_api::IController& controller, bool is_default);
    void RegisterDefaultController(mantle_api::IController& controller);
    void RegisterUserDefinedController(mantle_api::IController& controller);
    void RegisterController(mantle_api::IController& controller, bool is_default);
    const std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_2::IObjectController>> object_controllers_;
    const std::string& entity_name_;
    ......
    engine/tests/OpenScenarioEngineTest.cpp
    + 49
    − 11
    View file @ fe995aac
    ......@@ -29,6 +29,7 @@ using testing::_;
    using testing::Return;
    using testing::ReturnRef;
    using testing::Pointee;
    using testing::SaveArgPointee;
    using namespace units::literals;
    using namespace std::string_literals;
    ......@@ -36,7 +37,7 @@ using namespace std::string_literals;
    class OpenScenarioEngineTest : public OpenScenarioEngineTestBase
    {
    protected:
    void SetUp() override {
    void SetUp() override {
    OpenScenarioEngineTestBase::SetUp();
    ON_CALL(controller_, GetName()).WillByDefault(ReturnRef(controller_name));
    ON_CALL(controller_, GetUniqueId()).WillByDefault(Return(1234));
    ......@@ -256,26 +257,63 @@ TEST_F(OpenScenarioEngineTest, GivenScenarioWithEntities_WhenInitScenario_ThenCr
    EXPECT_NO_THROW(engine.Init());
    }
    TEST_F(OpenScenarioEngineTest,
    GivenScenarioWithExternallyControlledEntity_WhenInit_ThenControllerWithExternalConfigIsCreatedAndAssigned)
    {
    std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
    OpenScenarioEngine::v1_2::OpenScenarioEngine engine(xosc_file_path, env_);
    mantle_api::InternalControllerConfig internal_controller_config{};
    internal_controller_config.control_strategies = {
    std::make_unique<mantle_api::KeepVelocityControlStrategy>(),
    std::make_unique<mantle_api::KeepLaneOffsetControlStrategy>()};
    mantle_api::MockController mock_default_controller;
    const mantle_api::UniqueId DEFAULT_CONTROLLER_ID {1234};
    const std::string DEFAULT_CONTROLLER_NAME {"TestDefaultController"};
    ON_CALL(mock_default_controller, GetUniqueId()).WillByDefault(Return(DEFAULT_CONTROLLER_ID));
    ON_CALL(mock_default_controller, GetName()).WillByDefault(ReturnRef(DEFAULT_CONTROLLER_NAME));
    mantle_api::MockController mock_user_defined_controller;
    const mantle_api::UniqueId USER_DEFINED_CONTROLLER_ID {5678};
    const std::string USER_DEFINED_CONTROLLER_NAME {"TestUserDefinedController"};
    ON_CALL(mock_user_defined_controller, GetUniqueId()).WillByDefault(Return(USER_DEFINED_CONTROLLER_ID));
    ON_CALL(mock_user_defined_controller, GetName()).WillByDefault(ReturnRef(USER_DEFINED_CONTROLLER_NAME));
    mantle_api::InternalControllerConfig internal_config_actual;
    mantle_api::ExternalControllerConfig external_config_actual;
    ON_CALL(env_->GetControllerRepository(), Create(_))
    .WillByDefault(::testing::Invoke([&](std::unique_ptr<mantle_api::IControllerConfig> received_controller) -> mantle_api::IController&
    {
    if (auto internal = dynamic_cast<mantle_api::InternalControllerConfig*>(received_controller.get()))
    {
    internal_config_actual = *internal; // copy assignment, as we drop the unique_ptr
    return mock_default_controller;
    }
    mantle_api::ExternalControllerConfig external_controller_config{};
    external_controller_config.name = "ALKSController",
    external_controller_config.parameters.emplace("controller_property", "3");
    if (auto external = dynamic_cast<mantle_api::ExternalControllerConfig*>(received_controller.get()))
    {
    external_config_actual = *external; // copy assignment, as we drop the unique_ptr
    return mock_user_defined_controller;
    }
    throw std::runtime_error("Untested ControllerConfigType");
    }));
    EXPECT_CALL(env_->GetControllerRepository(), Create(Pointee(internal_controller_config)));
    EXPECT_CALL(env_->GetControllerRepository(), Create(Pointee(external_controller_config)));
    EXPECT_CALL(*env_, AddEntityToController(_, 1234)).Times(2);
    EXPECT_CALL(*env_, AddEntityToController(_, DEFAULT_CONTROLLER_ID));
    EXPECT_CALL(*env_, AddEntityToController(_, USER_DEFINED_CONTROLLER_ID));
    EXPECT_NO_THROW(engine.Init());
    mantle_api::InternalControllerConfig internal_config_expected{};
    internal_config_expected.name = OpenScenarioEngine::v1_2::CONTROLLER_NAME_DEFAULT;
    internal_config_expected.control_strategies = {
    std::make_shared<mantle_api::KeepVelocityControlStrategy>(),
    std::make_shared<mantle_api::KeepLaneOffsetControlStrategy>()};
    mantle_api::ExternalControllerConfig external_config_expected{};
    external_config_expected.name = "ALKSController",
    external_config_expected.parameters.emplace("controller_property", "3");
    EXPECT_EQ(internal_config_expected, internal_config_actual);
    EXPECT_EQ(external_config_expected, external_config_actual);
    }
    TEST_F(OpenScenarioEngineTest, GivenScenarioWithInitTeleportAction_WhenInitAndStepEngine_ThenSetPositionIsCalled)
    ......
    0% or .
    You are about to add 0 people to the discussion. Proceed with caution.
    Finish editing this message first!
    Please register or to comment

    Copyright © Eclipse Foundation, Inc. All Rights Reserved.     Privacy Policy | Terms of Use | Copyright Agent