Compare revisions

Ziqi Zhou · Ziqi Zhou · Sai Sardesai · Xiao Pan · Xiao Pan · Mathias Kellerer
--- a/.gitignore
+++ b/.gitignore
+__pycache__
+.devcontainer
 .dll
+.env
+.pytest_cache
 .so
+.venv
 .vscode
-.pytest_cache
-__pycache__
-generator.log
-*.orig
 *.bkp
-.devcontainer
\ No newline at end of file
+*.orig
+build
+deps
+generator.log
+MODULE.*
--- a/NOTICE.md
+++ b/NOTICE.md
@@ -78,6 +78,12 @@ Yase
 units_nhh
 * License: MIT

+nlohmann (JSON for Modern C++)
+ * License: MIT License
+ * Homepage: https://nlohmann.github.io/json/
+ * Repository: https://github.com/nlohmann/json
+ * Version: 3.9.1
+
 MantleAPI
 * License: EPL 2.0


--- a/README.md
+++ b/README.md
@@ -113,8 +113,9 @@ The following Actions and Conditions of [ASAM OpenSCENARIO XML](https://publicat
 | ByEntityCondition | [RelativeDistanceCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/RelativeDistanceCondition.html) | Supports only `RelativeDistanceType::kLongitudinal && CoordinateSystem::kEntity`                             |
 | ByEntityCondition | [RelativeSpeedCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/RelativeSpeedCondition.html)       | ✔️ Complete                                                                                                   |
 | ByEntityCondition | [SpeedCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/SpeedCondition.html)       | ✔️ Without direction                                                                                                   |
-| ByEntityCondition | [TimeHeadwayCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TimeHeadwayCondition.html)           | Supports only `DistanceType::kEuclidean` and `CoordinateSystem::kEntity` or `CoordinateSystem::kLane`                             |
+| ByEntityCondition | [TimeHeadwayCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TimeHeadwayCondition.html)           | Supports only `DistanceType::kEuclidean` and `CoordinateSystem::kEntity` or `CoordinateSystem::kLane` or `CoordinateSystem::kRoad(freespace=false)`                             |
 | ByEntityCondition | [TimeToCollisionCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TimeToCollisionCondition.html)   | In clarification: [Issue #7](https://gitlab.eclipse.org/eclipse/openopass/openscenario1_engine/-/issues/7) |
+| ByEntityCondition  | [TraveledDistanceCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TraveledDistanceCondition.html)     | ✔️ Complete |
 | ByValueCondition  | [SimulationTimeCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/SimulationTimeCondition.html)     | ✔️ Complete |
 | ByValueCondition  | [UserDefinedValueCondition](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/UserDefinedValueCondition.html)     | ✔️ Complete |

@@ -135,7 +136,7 @@ The following Actions and Conditions of [ASAM OpenSCENARIO XML](https://publicat
 | _none_              | [VisibilityAction](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/VisibilityAction.html)       | ✔️ Complete   |
 | MotionControlAction | [FollowTrajectoryAction](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/FollowTrajectoryAction.html)     | 🚧 Supports trajectory shapes polyline and clothoid spline + (Possibility for optimization in the base class)     |
 | MotionControlAction | [LaneChangeAction](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/LaneChangeAction.html)                 | ✔️ Complete    |
-| MotionControlAction | [LaneOffsetAction](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/LaneOffsetAction.html)                 | 🚧  Supports only AbsoluteTargetLaneOffset. In addition, LaneOffsetActionDynamics and continuous are ignored at the moment    |
+| MotionControlAction | [LaneOffsetAction](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/LaneOffsetAction.html)                 | ✔️ Complete    |
 | MotionControlAction | [LateralDistanceAction](https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.1.1_Model_Documentation/modelDocumentation/content/LateralDistanceAction.html)       |  ✔️ Does not interpret `DynamicConstraints` and restricted by conversion: see [Conversions::Coordinate System](#coordinate-system) and [Conversions::Continuous](#continuous)    |
 | MotionControlAction | [LongitudinalDistanceAction](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/LongitudinalDistanceAction.html) | ❌  Not yet implemented     |
 | MotionControlAction | [SpeedAction](https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/SpeedAction.html)                           | 🚧 Supports shapes linear and cubic, latter using linear shape coefficients (see [MR74](https://gitlab.eclipse.org/eclipse/openopass/openscenario1_engine/-/merge_requests/74)) |
@@ -250,17 +251,29 @@ Converts `NET_ASAM_OPENSCENARIO::v1_3::ITrajectoryRef` object type to [mantle_ap
 Converts `NET_ASAM_OPENSCENARIO::v1_3::ITransitionDynamics` object type to [mantle_api::TransitionDynamics](https://gitlab.eclipse.org/eclipse/openpass/mantle-api/-/blob/master/include/MantleAPI/Traffic/control_strategy.h)
 **Note**: Right now the property `followingMode` is not considered.

+# Customizations w.r.t ASAM OpenSCENARIO Standard
+
+## Property Parsing
+
+The OpenSCENARIO standard does not impose strict requirements on the format of custom properties, allowing for flexibility in their definition.
+To facilitate this, the OpenScenarioEngine uses JSON to parse string-type properties into an internal object format.
+This approach enables the definition of complex properties, such as distributions, which can be used within actions.
+For example, a velocity distribution might be defined and used in a `TrafficAreaAction`.
+
+For more information on how to define these properties, refer to the documentation an provided schemas in [doc/json_properties](./doc/json_properties).
+
 # Dependencies

 | Dependency | Commit | Version | License |
 | ---------- | ------ | ------- | ------- |
-| [MantleAPI](https://gitlab.eclipse.org/eclipse/openpass/mantle-api) | ce2a378d | 11.0.0 | EPL 2.0 |
-| [OpenSCENARIO API](https://github.com/RA-Consulting-GmbH/openscenario.api.test/) | 5980e88 | 1.4.0 | Apache 2.0 |
-| [YASE](https://gitlab.eclipse.org/eclipse/openpass/yase) | d0c0e58d | | EPL 2.0 |
-| [Units](https://github.com/nholthaus/units) | e27eed9 | 2.3.4 | MIT 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 |
+| [googletest](https://github.com/google/googletest) | f8d7d77 | 1.14.0 | BSD-3-Clause License |
+| [JSON for Modern C++](https://github.com/nlohmann/json) | db78ac1 | 3.9.1 | MIT License |
+| [MantleAPI](https://gitlab.eclipse.org/eclipse/openpass/mantle-api) | 7d2ed281 | 18.0.0 | EPL 2.0 |
 | [openpass/stochastics-library](https://gitlab.eclipse.org/eclipse/openpass/stochastics-library) | 6c9dde71 | 0.11.0 | EPL 2.0 |
+| [OpenSCENARIO API](https://github.com/RA-Consulting-GmbH/openscenario.api.test/) | 5980e88 | 1.4.0 | Apache 2.0 |
+| [Units](https://github.com/nholthaus/units) | e27eed9 | 2.3.4 | MIT License |
+| [YASE](https://gitlab.eclipse.org/eclipse/openpass/yase) | d0c0e58d | | EPL 2.0 |

 # Issues


--- a/doc/json_properties/exponential_distribution.json
+++ b/doc/json_properties/exponential_distribution.json
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "ExponentialDistribution",
+  "type": "object",
+  "properties": {
+      "lowerLimit": {
+          "type": "number",
+          "description": "Lower limit"
+      },
+      "upperLimit": {
+          "type": "number",
+          "description": "Upper limit"
+      },
+      "expectedValue": {
+          "type": "number",
+          "description": "Reciprocal of the rate parameter lambda"
+      }
+  },
+  "required": ["lowerLimit", "upperLimit", "expectedValue"]
+}
\ No newline at end of file
--- a/doc/json_properties/gamma_distribution.json
+++ b/doc/json_properties/gamma_distribution.json
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "GammaDistribution",
+  "type": "object",
+  "properties": {
+      "lowerLimit": {
+          "type": "number",
+          "description": "Lower limit",
+          "minimum": 0.0
+      },
+      "upperLimit": {
+          "type": "number",
+          "description": "Upper limit",
+          "minimum": 0.0
+      },
+      "expectedValue": {
+          "type": "number",
+          "description": "Expected value (mean) of the distribution, calculated as alpha / beta",
+          "minimum": 0.0
+      },
+      "variance": {
+          "type": "number",
+          "description": "Variance of the distribution, calculated as alpha / beta^2",
+          "minimum": 0.0
+      }
+  },
+  "required": ["lowerLimit", "upperLimit", "expectedValue", "variance"]
+}
\ No newline at end of file
--- a/doc/json_properties/lognormal_distribution.json
+++ b/doc/json_properties/lognormal_distribution.json
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "ExponentialDistribution",
+  "type": "object",
+  "properties": {
+      "lowerLimit": {
+          "type": "number",
+          "description": "Lower limit"
+      },
+      "upperLimit": {
+          "type": "number",
+          "description": "Upper limit"
+      },
+      "expectedValue": {
+          "type": "number",
+          "description": "Reciprocal of the rate parameter lambda"
+      }
+  },
+  "required": ["lowerLimit", "upperLimit", "expectedValue"]
+}
\ No newline at end of file
--- a/doc/json_properties/normal_distrubution.json
+++ b/doc/json_properties/normal_distrubution.json
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "NormalDistribution",
+  "type": "object",
+  "properties": {
+      "lowerLimit": {
+          "type": "number",
+          "description": "Lower limit",
+          "minimum": 0.0
+      },
+      "upperLimit": {
+          "type": "number",
+          "description": "Upper limit",
+          "minimum": 0.0
+      },
+      "expectedValue": {
+          "type": "number",
+          "description": "Expected value",
+          "minimum": 0.0
+      },
+      "variance": {
+          "type": "number",
+          "description": "Variance (square of standard deviation)",
+          "minimum": 0.0
+      }
+  },
+  "required": ["lowerLimit", "upperLimit", "expectedValue", "variance"]
+}
\ No newline at end of file
--- a/doc/json_properties/readme.md
+++ b/doc/json_properties/readme.md
+# JSON Property Strings
+
+The OpenSCENARIO standard does not impose strict requirements on the format of custom properties, allowing for flexibility in their definition.
+To facilitate this, the OpenScenarioEngine uses JSON to parse string-type properties into an internal object format.
+This approach enables the definition of complex properties, such as distributions, which can be used within actions.
+For example, a velocity distribution might be defined and used in a `TrafficAreaAction`.
+
+This folder contains JSON schemas for property strings used by the **OpenScenarioEngine**.
+While these schemas are not enforced, they serve as a reference for how to properly define properties, such as distributions, in a way that they are correctly parsed.
+
+## General Usage
+
+```xml
+ <Property name="SomeProp" value="{ 'type': 'InterpretableType', 'value': 'InterpretableString'" />
+```
+
+## Available Distribution Types
+
+- [ExponentialDistribution](./exponential_distribution.json)
+- [ǸormalDistribution](./normal_distribution.json)
+- [GammaDistribution](./gamma_distribution.json)
+- [LogNormalDistribution](./lognormal_distribution.json)
+- [UniformDistribution](./uniform_distribution.json)
+
+**Example**
+
+```xml
+ <Property
+   name="velocity"
+   value="{
+            'type': 'NormalDistribution',
+            'value':
+            {
+              'lowerLimit': 19.265,
+              'upperLimit': 43.685,
+              'expectedValue': 31.475,
+              'variance': 37.271025
+            }
+          }" />
+```
--- a/doc/json_properties/uniform_distribution.json
+++ b/doc/json_properties/uniform_distribution.json
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "UniformDistribution",
+  "type": "object",
+  "properties": {
+      "lowerLimit": {
+          "type": "number",
+          "description": "Lower limit",
+          "minimum": 0.0
+      },
+      "upperLimit": {
+          "type": "number",
+          "description": "Upper limit",
+          "minimum": 0.0
+      }
+  },
+  "required": ["lowerLimit", "upperLimit"]
+}
\ No newline at end of file
--- a/engine/.bazelversion
+++ b/engine/.bazelversion
-6.2.1
\ No newline at end of file
+7.5.0
--- a/engine/.gitignore
+++ b/engine/.gitignore
@@ -4,3 +4,4 @@
 build
 bin
 bazel-*
+external
--- a/engine/BUILD.bazel
+++ b/engine/BUILD.bazel
@@ -28,6 +28,7 @@ cc_library(
    ],
    visibility = ["//visibility:public"],
    deps = [
+        "@@//third_party/nlohmann_json",
        "@mantle_api",
        "@open_scenario_parser",
        "@stochastics_library",
@@ -36,6 +37,18 @@ cc_library(
    ],
 )

+cc_binary(
+    name = "demo",
+    srcs = glob([
+        "demo/main.cpp",
+    ]),
+    deps = [
+        ":open_scenario_engine",
+        ":open_scenario_engine_test_utils",
+        "@googletest//:gtest_main",
+    ],
+)
+
 filegroup(
    name = "scenario_environment_test_data",
    srcs = [
@@ -108,6 +121,7 @@ cc_test(
    tags = ["test"],
    deps = [
        ":open_scenario_engine",
+        ":open_scenario_engine_test_utils",
        ":test_utils",
        "@googletest//:gtest_main",
        "@mantle_api//:test_utils",
@@ -122,6 +136,7 @@ cc_test(
    tags = ["test"],
    deps = [
        ":open_scenario_engine",
+        ":open_scenario_engine_test_utils",
        "@googletest//:gtest_main",
        "@mantle_api//:test_utils",
    ],
@@ -178,9 +193,10 @@ cc_test(
    data = [":open_scenario_engine_test_data"],
    tags = ["test"],
    deps = [
-        ":test_utils",
        ":open_scenario_engine",
        ":open_scenario_engine_test_utils",
+        ":test_utils",
+        "@@//third_party/nlohmann_json",
        "@googletest//:gtest_main",
        "@mantle_api//:test_utils",
    ],

--- a/engine/CMakeLists.txt
+++ b/engine/CMakeLists.txt
@@ -23,11 +23,11 @@ if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE Release)
 endif()

-# YASE
-find_package(Yase REQUIRED)
-
-# units https://github.com/nholthaus/units (dependency of MantleAPI)
+find_package(MantleAPI REQUIRED)
+find_package(nlohmann_json REQUIRED)
+find_package(Stochastics REQUIRED)
 find_package(units REQUIRED)
+find_package(Yase REQUIRED)

 # googlemock
 include(CPM)
@@ -39,12 +39,6 @@ CPMAddPackage(
  OPTIONS "INSTALL_GTEST OFF" "gtest_force_shared_crt ON"
 )

-# MantleAPI https://gitlab.eclipse.org/eclipse/simopenpass/scenario_api
-find_package(MantleAPI REQUIRED)
-
-
-find_package(Stochastics REQUIRED)
-
 # see https://stackoverflow.com/a/58495612
 set(CMAKE_INSTALL_RPATH $ORIGIN)

@@ -70,12 +64,17 @@ target_include_directories(
            $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>
 )

-target_link_libraries(${PROJECT_NAME} PUBLIC openscenario_api::shared 
-                                             antlr4_runtime::shared 
-                                             Yase::agnostic_behavior_tree 
-                                             units::units 
-                                             MantleAPI::MantleAPI
-                                      PRIVATE Stochastics::Stochastics)
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC
+    antlr4_runtime::shared
+    MantleAPI::MantleAPI
+    units::units
+    openscenario_api::shared
+  PRIVATE
+    nlohmann_json::nlohmann_json
+    Stochastics::Stochastics
+    Yase::agnostic_behavior_tree
+)

 if(USE_CCACHE)
  find_program(CCACHE_FOUND ccache)
@@ -177,6 +176,9 @@ target_sources(
          ${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioTimeToCollisionConditionTargetTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioTrafficDefinitionTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioTrajectoryRefTest.cpp
+          ${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioLaneOffsetActionDynamicsTest.cpp
+          ${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioLaneOffsetTargetTest.cpp
+          ${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioShapeTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Node/AnyTriggeringEntityNodeTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Node/ByEntityConditionNodeTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Node/ConditionGroupsNodeTest.cpp
@@ -195,6 +197,7 @@ target_sources(
          ${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/ByEntityCondition/SpeedConditionTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/ByEntityCondition/TimeHeadwayConditionTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/ByEntityCondition/TimeToCollisionConditionTest.cpp
+          ${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/ByEntityCondition/TraveledDistanceConditionTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/ByValueCondition/SimulationTimeConditionTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/ByValueCondition/UserDefinedValueConditionTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/GenericAction/AcquirePositionActionTest.cpp
@@ -220,9 +223,12 @@ target_sources(
          ${CMAKE_CURRENT_LIST_DIR}/tests/TrafficSignalParsing/TreeGenerationTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Utils/ConstantsTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Utils/ControllerCreatorTest.cpp
+          ${CMAKE_CURRENT_LIST_DIR}/tests/Utils/DistributionTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Utils/EllipseTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Utils/EntityCreatorTest.cpp
          ${CMAKE_CURRENT_LIST_DIR}/tests/Utils/EntityUtilsTest.cpp
+          ${CMAKE_CURRENT_LIST_DIR}/tests/Utils/JsonParsingTest.cpp
+          ${CMAKE_CURRENT_LIST_DIR}/tests/Utils/PropertyInterpreterTest.cpp
 )

 add_custom_command(TARGET ${PROJECT_NAME}Test
@@ -246,11 +252,14 @@ target_include_directories(

 target_link_libraries(
  ${PROJECT_NAME}Test
-  PRIVATE ${PROJECT_NAME}
-          Stochastics::Stochastics
-          antlr4_runtime::shared
-          GTest::gmock_main
-          pthread
+  PRIVATE
+    ${PROJECT_NAME}
+    antlr4_runtime::shared
+    GTest::gmock_main
+    nlohmann_json::nlohmann_json
+    pthread
+    Stochastics::Stochastics
+    Yase::agnostic_behavior_tree
 )

 add_test(NAME ${PROJECT_NAME}Test COMMAND ${PROJECT_NAME}Test)

--- a/engine/WORKSPACE
+++ b/engine/WORKSPACE
-load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
-load("//third_party:deps.bzl", "osc_engine_deps")
+workspace(name = "open_scenario_engine")

-http_archive(
-    name = "googletest",
-    sha256 = "81964fe578e9bd7c94dfdb09c8e4d6e6759e19967e397dbea48d1c10e45d0df2",
-    strip_prefix = "googletest-release-1.12.1",
-    url = "https://github.com/google/googletest/archive/refs/tags/release-1.12.1.tar.gz",
-)
+load("//third_party:dependencies.bzl", "third_party_deps")

-osc_engine_deps()
+third_party_deps()
--- a/engine/cmake/generated_files.cmake
+++ b/engine/cmake/generated_files.cmake
@@ -111,7 +111,6 @@ list(APPEND ${PROJECT_NAME}_SOURCES
    gen/Storyboard/ByEntityCondition/RelativeAngleCondition_impl.cpp
    gen/Storyboard/ByEntityCondition/RelativeClearanceCondition_impl.cpp
    gen/Storyboard/ByEntityCondition/StandStillCondition_impl.cpp
-    gen/Storyboard/ByEntityCondition/TraveledDistanceCondition_impl.cpp
    gen/Storyboard/ByValueCondition/ParameterCondition_impl.cpp
    gen/Storyboard/ByValueCondition/StoryboardElementStateCondition_impl.cpp
    gen/Storyboard/ByValueCondition/TimeOfDayCondition_impl.cpp
@@ -168,6 +167,9 @@ list(APPEND ${PROJECT_NAME}_SOURCES
    src/Conversion/OscToMantle/ConvertScenarioTrafficSignalController.cpp
    src/Conversion/OscToMantle/ConvertScenarioTrajectoryRef.cpp
    src/Conversion/OscToMantle/ConvertScenarioTransitionDynamics.cpp
+    src/Conversion/OscToMantle/ConvertScenarioLaneOffsetActionDynamics.cpp
+    src/Conversion/OscToMantle/ConvertScenarioLaneOffsetTarget.cpp
+    src/Conversion/OscToMantle/ConvertScenarioShape.cpp
    src/Conversion/OscToNode/ParseAct.cpp
    src/Conversion/OscToNode/ParseAction.cpp
    src/Conversion/OscToNode/ParseByEntityCondition.cpp
@@ -207,6 +209,7 @@ list(APPEND ${PROJECT_NAME}_SOURCES
    src/Storyboard/ByEntityCondition/SpeedCondition_impl.cpp
    src/Storyboard/ByEntityCondition/TimeHeadwayCondition_impl.cpp
    src/Storyboard/ByEntityCondition/TimeToCollisionCondition_impl.cpp
+    src/Storyboard/ByEntityCondition/TraveledDistanceCondition_impl.cpp
    src/Storyboard/ByValueCondition/SimulationTimeCondition_impl.cpp
    src/Storyboard/ByValueCondition/UserDefinedValueCondition_impl.cpp
    src/Storyboard/GenericAction/AcquirePositionAction_impl.cpp
@@ -239,6 +242,9 @@ list(APPEND ${PROJECT_NAME}_SOURCES
    src/Utils/EntityUtils.cpp
    src/Utils/EventPrioritizer.cpp
    src/Utils/Logger.cpp
+    src/Utils/PropertyInterpretation/DistributionInterpreter.cpp
+    src/Utils/PropertyInterpreter.cpp
+    src/Utils/JsonParsing.cpp
    src/Utils/TrafficSignalBuilder.cpp
 )

@@ -378,7 +384,6 @@ list(APPEND ${PROJECT_NAME}_HEADERS
    gen/Storyboard/ByEntityCondition/TimeHeadwayCondition_impl.h
    gen/Storyboard/ByEntityCondition/TimeToCollisionCondition.h
    gen/Storyboard/ByEntityCondition/TraveledDistanceCondition.h
-    gen/Storyboard/ByEntityCondition/TraveledDistanceCondition_impl.h
    gen/Storyboard/ByValueCondition/ParameterCondition.h
    gen/Storyboard/ByValueCondition/ParameterCondition_impl.h
    gen/Storyboard/ByValueCondition/SimulationTimeCondition.h
@@ -545,6 +550,7 @@ list(APPEND ${PROJECT_NAME}_HEADERS
    src/Conversion/OscToMantle/ConvertScenarioTrajectoryFollowingMode.h
    src/Conversion/OscToMantle/ConvertScenarioTrajectoryRef.h
    src/Conversion/OscToMantle/ConvertScenarioTransitionDynamics.h
+    src/Conversion/OscToMantle/ConvertScenarioShape.h
    src/Conversion/OscToNode/ParseAction.h
    src/Conversion/OscToNode/ParseByEntityCondition.h
    src/Conversion/OscToNode/ParseEntityRefs.h
@@ -571,6 +577,7 @@ list(APPEND ${PROJECT_NAME}_HEADERS
    src/Node/TrafficSignalPhaseNode.h
    src/Node/TriggerableCompositeNode.h
    src/Storyboard/ByEntityCondition/TimeToCollisionCondition_impl.h
+    src/Storyboard/ByEntityCondition/TraveledDistanceCondition_impl.h
    src/Storyboard/ByValueCondition/UserDefinedValueCondition_impl.h
    src/Storyboard/GenericAction/ActivateControllerAction.h
    src/Storyboard/GenericAction/ActivateControllerAction_base.h
@@ -606,5 +613,17 @@ list(APPEND ${PROJECT_NAME}_HEADERS
    src/Utils/IControllerService.h
    src/Utils/IEventPrioritizer.h
    src/Utils/Logger.h
+    src/Utils/PropertyInterpretation/DistributionInterpreter.h
+    src/Utils/PropertyInterpretation/Distributions.h
+    src/Utils/PropertyInterpretation/Distributions/ExponentialDistribution.h
+    src/Utils/PropertyInterpretation/Distributions/GammaDistribution.h
+    src/Utils/PropertyInterpretation/Distributions/LogNormalDistribution.h
+    src/Utils/PropertyInterpretation/Distributions/NormalDistribution.h
+    src/Utils/PropertyInterpretation/Distributions/UniformDistribution.h
+    src/Utils/PropertyInterpretation/Interpreter.h
+    src/Utils/PropertyInterpretation/JsonInterpreter.h
+    src/Utils/PropertyInterpretation/RawValueRelay.h
+    src/Utils/PropertyInterpreter.h
+    src/Utils/JsonParsing.h
    src/Utils/TrafficSignalBuilder.h
 )
--- a/engine/demo/main.cpp
+++ b/engine/demo/main.cpp
 /********************************************************************************
- * Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2021-2025 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
 *
 * This program and the accompanying materials are made available under the
 * terms of the Eclipse Public License 2.0 which is available at
@@ -9,8 +9,6 @@
 ********************************************************************************/

 #include <MantleAPI/Common/i_logger.h>
-#include <MantleAPI/Common/log_utils.h>
-#include <MantleAPI/Test/test_utils.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>

@@ -19,6 +17,7 @@
 #include <string>

 #include "OpenScenarioEngine/OpenScenarioEngine.h"
+#include "tests/TestUtils.h"

 using namespace units::literals;

@@ -62,42 +61,45 @@ int main(int argc, char* argv[])
    return -1;
  }

-  auto mockEnvironment = std::make_shared<mantle_api::MockEnvironment>();
+  auto fake_environment = std::make_shared<testing::OpenScenarioEngine::v1_3::FakeEnvironment>();

-  auto& mockEntityRepository = static_cast<mantle_api::MockEntityRepository&>(mockEnvironment->GetEntityRepository());
+  auto& mockEntityRepository = static_cast<mantle_api::MockEntityRepository&>(fake_environment->GetEntityRepository());

-  mantle_api::MockVehicle mockVehicle1;
-  ON_CALL(mockEntityRepository, Create("Vehicle1", A<const mantle_api::VehicleProperties&>())).WillByDefault(ReturnRef(mockVehicle1));
+  auto mock_vehicle_1 = std::make_shared<mantle_api::MockVehicle>();
+  ON_CALL(mockEntityRepository, Create("Vehicle1", A<const mantle_api::VehicleProperties&>())).WillByDefault(Return(mock_vehicle_1));

-  mantle_api::MockVehicle mockVehicle2;
-  ON_CALL(mockEntityRepository, Create("Vehicle2", A<const mantle_api::VehicleProperties&>())).WillByDefault(ReturnRef(mockVehicle2));
+  auto mock_vehicle_2 = std::make_shared<mantle_api::MockVehicle>();
+  ON_CALL(mockEntityRepository, Create("Vehicle2", A<const mantle_api::VehicleProperties&>())).WillByDefault(Return(mock_vehicle_2));

-  auto& mockControllerRepository = mockEnvironment->GetControllerRepository();
+  auto& mockControllerRepository = fake_environment->GetControllerRepository();

-  mantle_api::MockController mockController;
+  auto mockController = std::make_shared<mantle_api::MockController>();
  auto controller_name("demo_controller"s);
-  ON_CALL(mockControllerRepository, Create(_)).WillByDefault(ReturnRef(mockController));
-  ON_CALL(mockController, GetName()).WillByDefault(ReturnRef(controller_name));
-  ON_CALL(mockController, GetUniqueId()).WillByDefault(Return(1234));
+  ON_CALL(mockControllerRepository, Create(_)).WillByDefault(Return(mockController));
+  ON_CALL(*mockController, GetName()).WillByDefault(ReturnRef(controller_name));
+  ON_CALL(*mockController, GetUniqueId()).WillByDefault(Return(mantle_api::UniqueId(1234)));

-  OpenScenarioEngine::v1_3::OpenScenarioEngine openScenarioEngine(scenario_file.string(), mockEnvironment, consoleLogger);
+  OpenScenarioEngine::v1_3::OpenScenarioEngine openScenarioEngine(scenario_file.string(), fake_environment, consoleLogger);

  mantle_api::Time current_time{0_s};
-  ON_CALL(*mockEnvironment, GetSimulationTime())
-      .WillByDefault(Invoke([&current_time]() { return current_time; }));
-  ON_CALL(*mockEnvironment, HasControlStrategyGoalBeenReached(_, mantle_api::ControlStrategyType::kFollowVelocitySpline))
-      .WillByDefault(Invoke([&current_time]() -> bool { return current_time > 5.5_s; }));
+  ON_CALL(*fake_environment, GetSimulationTime())
+      .WillByDefault(Invoke([&current_time]()
+                            { return current_time; }));
+  ON_CALL(*fake_environment, HasControlStrategyGoalBeenReached(_, mantle_api::ControlStrategyType::kFollowVelocitySpline))
+      .WillByDefault(Invoke([&current_time]() -> bool
+                            { return current_time > 5.5_s; }));

  try
  {
    openScenarioEngine.Init();
+    openScenarioEngine.Step(0_ms);
    while (!openScenarioEngine.IsFinished())
    {
-      openScenarioEngine.Step();
+      openScenarioEngine.Step(500_ms);
      current_time += 500_ms;
    }
  }
-  catch(const std::runtime_error& e)
+  catch (const std::runtime_error& e)
  {
    consoleLogger->Log(mantle_api::LogLevel::kError, e.what());
  }

--- a/engine/gen/Storyboard/MotionControlAction/LaneChangeAction_base.h
+++ b/engine/gen/Storyboard/MotionControlAction/LaneChangeAction_base.h
 /********************************************************************************
- * Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2021-2025 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
 *
 * This program and the accompanying materials are made available under the
 * terms of the Eclipse Public License 2.0 which is available at
@@ -27,7 +27,7 @@ public:
    Entities entities;
    double targetLaneOffset;
    TransitionDynamics laneChangeActionDynamics;
-    std::function<mantle_api::UniqueId()> GetLaneChangeTarget;
+    std::function<mantle_api::LaneId()> GetLaneChangeTarget;
  };
  struct Interfaces
  {
@@ -48,4 +48,4 @@ protected:
  Interfaces mantle;
 };

-}  // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
+}  // namespace OpenScenarioEngine::v1_3
--- a/engine/gen/Storyboard/MotionControlAction/LaneOffsetAction.h
+++ b/engine/gen/Storyboard/MotionControlAction/LaneOffsetAction.h
 /********************************************************************************
 * Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- *
+ * Copyright (c) 2025 Ansys, Inc.
 * This program and the accompanying materials are made available under the
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
@@ -14,7 +14,6 @@
 #include <agnostic_behavior_tree/action_node.h>

 #include <cassert>
-#include <utility>

 #include "Storyboard/MotionControlAction/LaneOffsetAction_impl.h"
 #include "Storyboard/MotionControlAction/MotionControlAction.h"
@@ -51,8 +50,7 @@ private:
            entityBroker->GetEntities(),
            laneOffsetAction_->GetContinuous(),
            ConvertScenarioLaneOffsetActionDynamics(laneOffsetAction_->GetLaneOffsetActionDynamics()),
-            [=]()
-            { return ConvertScenarioLaneOffsetTarget(laneOffsetAction_->GetLaneOffsetTarget()); }},
+            [=](const Entity& actor) { return ConvertScenarioLaneOffsetTarget(environment, laneOffsetAction_->GetLaneOffsetTarget(), actor); }},
        OpenScenarioEngine::v1_3::LaneOffsetAction::Interfaces{
            environment});
  }

--- a/engine/gen/Storyboard/MotionControlAction/LaneOffsetAction_base.h
+++ b/engine/gen/Storyboard/MotionControlAction/LaneOffsetAction_base.h
@@ -18,7 +18,6 @@

 namespace OpenScenarioEngine::v1_3
 {
-
 class LaneOffsetActionBase
 {
 public:
@@ -27,7 +26,7 @@ public:
    Entities entities;
    bool continuous;
    LaneOffsetActionDynamics laneOffsetActionDynamics;
-    std::function<LaneOffsetTarget()> GetLaneOffsetTarget;
+    std::function<LaneOffsetTarget(const Entity&)> GetLaneOffsetTarget;
  };
  struct Interfaces
  {

--- a/engine/include/OpenScenarioEngine/OpenScenarioEngine.h
+++ b/engine/include/OpenScenarioEngine/OpenScenarioEngine.h
@@ -155,6 +155,9 @@ private:
  ///   be used instead
  void ResetStochastics();

+  /// Reset all routes in route repository
+  void ResetRoutes();
+
  /// Reset all entities and create new according to scenario description
  void ResetAndCreateEntities();
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