diff --git a/README.md b/README.md
index 80dfe3cec357998a30373b7c3fe742e4334ad15f..10e0b17dab4a4129338dd7c34c39ae18359df831 100644
--- a/README.md
+++ b/README.md
@@ -247,14 +247,14 @@ Converts `NET_ASAM_OPENSCENARIO::v1_3::ITrajectoryRef` object type to [mantle_ap
| CatalogReference | âœ”ï¸ |
### Transition Dynamics
-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)
+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.
# Dependencies
| Dependency | Commit | Version | License |
| ---------- | ------ | ------- | ------- |
-| [MantleAPI](https://gitlab.eclipse.org/eclipse/openpass/mantle-api) | a5530013 | 6.0.0 | EPL 2.0 |
+| [MantleAPI](https://gitlab.eclipse.org/eclipse/openpass/mantle-api) | 18eadd8a | 8.0.0 | 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) | b04d436 | 2.3.3 | MIT License |
diff --git a/engine/BUILD.bazel b/engine/BUILD.bazel
index 6d6f78d835fe98f0b0fcb961e697eca84a832778..1143206ab9845afaf5d2154ccfc29060b36571d5 100644
--- a/engine/BUILD.bazel
+++ b/engine/BUILD.bazel
@@ -37,19 +37,22 @@ cc_library(
filegroup(
name = "scenario_environment_test_data",
- srcs = ["tests/data/Scenarios/OSC_1_2_test_EnvironmentCatalog.xosc",
- "tests/data/Scenarios/Catalogs/Environment/EnvironmentCatalog.xosc"],
+ srcs = [
+ "tests/data/Scenarios/Catalogs/Environment/EnvironmentCatalog.xosc",
+ "tests/data/Scenarios/OSC_1_2_test_EnvironmentCatalog.xosc",
+ ],
)
cc_test(
name = "convert_osc_to_mantle_tests",
timeout = "short",
srcs = glob(["tests/Conversion/**/*.cpp"]),
+ data = [":scenario_environment_test_data"],
tags = ["test"],
- data = [":scenario_environment_test_data",],
deps = [
":open_scenario_engine",
":open_scenario_engine_test_utils",
+ ":test_utils",
"@googletest//:gtest_main",
"@mantle_api//:test_utils",
],
@@ -201,6 +204,7 @@ cc_test(
cc_library(
name = "test_utils",
+ srcs = glob(["tests/TestUtils/**/*.cpp"]),
hdrs = glob(["tests/TestUtils/**/*.h"]),
includes = ["tests"],
deps = [
diff --git a/engine/CMakeLists.txt b/engine/CMakeLists.txt
index b59bfa842bd2b993fe26d3aa0607ba9a3ce3b30b..316f366f19bfdf7b45d0b460b2f8278a401f7b1f 100644
--- a/engine/CMakeLists.txt
+++ b/engine/CMakeLists.txt
@@ -1,5 +1,5 @@
# *****************************************************************************
-# Copyright (c) 2021-2023 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
@@ -54,7 +54,7 @@ find_package(Antlr4Runtime REQUIRED MODULE)
include(cmake/generated_files.cmake)
target_sources(
- ${PROJECT_NAME} PRIVATE ${${PROJECT_NAME}_SOURCES}
+ ${PROJECT_NAME} PRIVATE ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS}
${CMAKE_CURRENT_LIST_DIR}/include/OpenScenarioEngine/OpenScenarioEngine.h
)
@@ -62,14 +62,14 @@ target_sources(
target_include_directories(
${PROJECT_NAME}
PUBLIC $<INSTALL_INTERFACE:include>
- PRIVATE gen src
+ PRIVATE gen src
$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>
)
-target_link_libraries(${PROJECT_NAME} PUBLIC openscenario_api::shared
- antlr4_runtime::shared
- Yase::agnostic_behavior_tree
- units::units
+target_link_libraries(${PROJECT_NAME} PUBLIC openscenario_api::shared
+ antlr4_runtime::shared
+ Yase::agnostic_behavior_tree
+ units::units
MantleAPI::MantleAPI)
if(USE_CCACHE)
@@ -151,12 +151,13 @@ add_executable(${PROJECT_NAME}Test "")
target_sources(
${PROJECT_NAME}Test
- PRIVATE
+ PRIVATE
${CMAKE_CURRENT_LIST_DIR}/tests/builders/ActionBuilder.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/builders/condition_builder.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/builders/PositionBuilder.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioAbsoluteTargetLaneTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioCentralSwarmObjectTest.cpp
+ ${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioClothoidSplineTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioCoordinateSystemTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioEnvironmentTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Conversion/OscToMantle/ConvertScenarioLateralDisplacementTest.cpp
@@ -207,6 +208,7 @@ target_sources(
${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/MotionControlAction/LongitudinalDistanceActionTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/MotionControlAction/MotionControlActionTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/MotionControlAction/SpeedActionTest.cpp
+ ${CMAKE_CURRENT_LIST_DIR}/tests/TestUtils/ClothoidSplineUtils.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/TrafficSignalParsing/TrafficPhaseNodeTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/TrafficSignalParsing/TreeGenerationTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Utils/ConstantsTest.cpp
diff --git a/engine/bazel/deps.bzl b/engine/bazel/deps.bzl
index d5bc97eafd5a48d25038d2168b746bf1e3ee2c7a..efc8bf15c5f896262bb7a987943f953de9b60844 100644
--- a/engine/bazel/deps.bzl
+++ b/engine/bazel/deps.bzl
@@ -3,7 +3,7 @@ load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
ECLIPSE_GITLAB = "https://gitlab.eclipse.org/eclipse"
-MANTLE_API_TAG = "v6.0.0"
+MANTLE_API_TAG = "v8.0.0"
UNITS_TAG = "2.3.3"
YASE_TAG = "v0.0.1"
@@ -13,7 +13,7 @@ def osc_engine_deps():
http_archive,
name = "mantle_api",
url = ECLIPSE_GITLAB + "/openpass/mantle-api/-/archive/{tag}/mantle-api-{tag}.tar.gz".format(tag = MANTLE_API_TAG),
- sha256 = "d6365096eceefd6848f7429382279b337e9cb8292a984ef54137dbdebd4ce599",
+ sha256 = "abb18f7180da012c02bda874752a7efd9ceab1da31e616174790f07a17c4fa3f",
strip_prefix = "mantle-api-{tag}".format(tag = MANTLE_API_TAG),
)
diff --git a/engine/cmake/generated_files.cmake b/engine/cmake/generated_files.cmake
index e6d2a3319d069ddca2a9713a1c33c7feeac49437..a0e7d28d4ca0f1fbdae041ffcfc0d5fc7bbf5c46 100644
--- a/engine/cmake/generated_files.cmake
+++ b/engine/cmake/generated_files.cmake
@@ -1,5 +1,5 @@
################################################################################
-# Copyright (c) 2022-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+# Copyright (c) 2022-2025 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
@@ -142,6 +142,7 @@ list(APPEND ${PROJECT_NAME}_SOURCES
gen/Storyboard/MotionControlAction/SynchronizeAction_impl.cpp
src/Conversion/OscToMantle/ConvertScenarioAbsoluteTargetLane.cpp
src/Conversion/OscToMantle/ConvertScenarioCentralSwarmObject.cpp
+ src/Conversion/OscToMantle/ConvertScenarioClothoidSpline.cpp
src/Conversion/OscToMantle/ConvertScenarioConditionEdge.cpp
src/Conversion/OscToMantle/ConvertScenarioController.cpp
src/Conversion/OscToMantle/ConvertScenarioCoordinateSystem.cpp
@@ -496,6 +497,7 @@ list(APPEND ${PROJECT_NAME}_HEADERS
src/Conversion/OscToMantle/ConvertScenarioAngleType.h
src/Conversion/OscToMantle/ConvertScenarioByObjectType.h
src/Conversion/OscToMantle/ConvertScenarioCentralSwarmObject.h
+ src/Conversion/OscToMantle/ConvertScenarioClothoidSpline.h
src/Conversion/OscToMantle/ConvertScenarioConditionEdge.h
src/Conversion/OscToMantle/ConvertScenarioController.h
src/Conversion/OscToMantle/ConvertScenarioCoordinateSystem.h
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioClothoidSpline.cpp b/engine/src/Conversion/OscToMantle/ConvertScenarioClothoidSpline.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2738666c9315e39c2f01832cc022484fde787851
--- /dev/null
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioClothoidSpline.cpp
@@ -0,0 +1,100 @@
+/********************************************************************************
+ * Copyright (c) 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
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#include "Conversion/OscToMantle/ConvertScenarioClothoidSpline.h"
+
+#include <MantleAPI/Common/pose.h>
+#include <MantleAPI/Common/unit_definitions.h>
+#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
+
+#include <memory>
+#include <optional>
+#include <stdexcept>
+
+namespace OpenScenarioEngine::v1_3::detail
+{
+
+using units::literals::operator""_rad;
+using units::literals::operator""_m;
+
+std::optional<mantle_api::Pose> ConvertWorldPosition(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IClothoidSplineSegment>& clothoid_spline_segment)
+{
+ if (clothoid_spline_segment->IsSetPositionStart())
+ {
+ const auto position_start = clothoid_spline_segment->GetPositionStart();
+
+ if (!position_start->IsSetWorldPosition())
+ {
+ throw std::runtime_error("ConvertWorldPosition: World position is not set");
+ }
+
+ const auto world_position = position_start->GetWorldPosition();
+
+ return std::make_optional<mantle_api::Pose>(
+ {{units::length::meter_t(world_position->GetX()),
+ units::length::meter_t(world_position->GetY()),
+ world_position->IsSetZ() ? units::length::meter_t(world_position->GetZ()) : 0_m},
+ {world_position->IsSetH() ? units::angle::radian_t(world_position->GetH()) : 0_rad,
+ world_position->IsSetP() ? units::angle::radian_t(world_position->GetP()) : 0_rad,
+ world_position->IsSetR() ? units::angle::radian_t(world_position->GetR()) : 0_rad}});
+ }
+ else
+ {
+ return std::nullopt;
+ }
+}
+
+mantle_api::ClothoidSplineSegment ConvertClothoidSplineSegment(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IClothoidSplineSegment>& clothoid_spline_segment)
+{
+ if (!clothoid_spline_segment)
+ {
+ throw std::invalid_argument("ConvertClothoidSplineSegment: clothoid_spline_segment is not initialized");
+ }
+
+ mantle_api::ClothoidSplineSegment converted_clothoid_spline_segment;
+
+ converted_clothoid_spline_segment.curvature_end = units::curve::curvature_t(clothoid_spline_segment->GetCurvatureEnd());
+ converted_clothoid_spline_segment.curvature_start = units::curve::curvature_t(clothoid_spline_segment->GetCurvatureStart());
+
+ if (clothoid_spline_segment->IsSetHOffset())
+ {
+ converted_clothoid_spline_segment.h_offset = units::angle::radian_t(clothoid_spline_segment->GetHOffset());
+ }
+ else
+ {
+ converted_clothoid_spline_segment.h_offset = 0.0_rad;
+ }
+
+ converted_clothoid_spline_segment.length = units::length::meter_t(clothoid_spline_segment->GetLength());
+
+ converted_clothoid_spline_segment.position_start = ConvertWorldPosition(clothoid_spline_segment);
+
+ return converted_clothoid_spline_segment;
+}
+} // namespace OpenScenarioEngine::v1_3::detail
+
+namespace OpenScenarioEngine::v1_3
+{
+mantle_api::ClothoidSpline ConvertClothoidSpline(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IClothoidSpline>& clothoid_spline)
+{
+ if (!clothoid_spline)
+ {
+ throw std::invalid_argument("ConvertClothoidSpline: clothoid_spline is not initialized");
+ }
+
+ mantle_api::ClothoidSpline converted_clothoid_spline;
+ for (const auto& segment : clothoid_spline->GetSegments())
+ {
+ converted_clothoid_spline.segments.push_back(detail::ConvertClothoidSplineSegment(segment));
+ }
+ return converted_clothoid_spline;
+}
+
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioClothoidSpline.h b/engine/src/Conversion/OscToMantle/ConvertScenarioClothoidSpline.h
new file mode 100644
index 0000000000000000000000000000000000000000..a07d2af4ec323c08ce1ece8df25fcde6ee3cc0da
--- /dev/null
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioClothoidSpline.h
@@ -0,0 +1,23 @@
+/********************************************************************************
+ * Copyright (c) 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
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#pragma once
+
+#include <MantleAPI/Common/clothoid_spline.h>
+#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
+
+#include <memory>
+
+namespace OpenScenarioEngine::v1_3
+{
+
+mantle_api::ClothoidSpline ConvertClothoidSpline(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IClothoidSpline>& clothoid_spline);
+
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrajectoryRef.cpp b/engine/src/Conversion/OscToMantle/ConvertScenarioTrajectoryRef.cpp
index 961f9aecec5bf1d70cc0450b1efa641aafabcbf0..25ec2da833e8a7d309146902391bd27d3653ea44 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrajectoryRef.cpp
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrajectoryRef.cpp
@@ -1,6 +1,6 @@
/********************************************************************************
- * 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
@@ -11,8 +11,13 @@
#include "Conversion/OscToMantle/ConvertScenarioTrajectoryRef.h"
+#include <MantleAPI/Common/clothoid_spline.h>
+
+#include <memory>
+#include <unordered_map>
#include <utility>
+#include "Conversion/OscToMantle/ConvertScenarioClothoidSpline.h"
#include "Conversion/OscToMantle/ConvertScenarioPosition.h"
namespace OpenScenarioEngine::v1_3
@@ -43,63 +48,112 @@ std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrajectory> OpenScenarioToMantle(c
}
throw std::runtime_error("convertScenarioRoute: Either trajectorReference or catalogReference must be set");
}
+
+mantle_api::TrajectoryReferencePoint ParseTrajectoryReferencePoint(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrajectory>& follow_trajectory_action_trajectory)
+{
+ mantle_api::TrajectoryReferencePoint reference_point{mantle_api::TrajectoryReferencePoint::kUndefined};
+
+ for (const auto& parameter : follow_trajectory_action_trajectory->GetParameterDeclarations())
+ {
+ if (parameter->GetName() == "reference")
+ {
+ const std::unordered_map<std::string, mantle_api::TrajectoryReferencePoint> string_to_reference_point{
+ {"rear_axle", mantle_api::TrajectoryReferencePoint::kRearAxle},
+ {"front_axle", mantle_api::TrajectoryReferencePoint::kFrontAxle},
+ {"center_of_mass", mantle_api::TrajectoryReferencePoint::kCenterOfMass},
+ {"bounding_box_center", mantle_api::TrajectoryReferencePoint::kBoundingBoxCenter}};
+ const auto value_it = string_to_reference_point.find(parameter->GetValue());
+ if (value_it == string_to_reference_point.end())
+ {
+ throw std::runtime_error("ConvertScenarioTrajectoryRef: Invalid value of Trajectory Parameter \"reference\"");
+ }
+ else
+ {
+ reference_point = value_it->second;
+ }
+ }
+ }
+ return reference_point;
+}
+
+mantle_api::Trajectory ConvertClothoidShape(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrajectory>& follow_trajectory_action_trajectory)
+{
+ mantle_api::Trajectory trajectory{follow_trajectory_action_trajectory->GetName()};
+
+ std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IShape> follow_trajectory_action_trajectory_shape = follow_trajectory_action_trajectory->GetShape();
+ const auto clothoid_spline = follow_trajectory_action_trajectory_shape->GetClothoidSpline();
+ const auto converted_clothoid_spline = ConvertClothoidSpline(clothoid_spline);
+
+ trajectory.type = converted_clothoid_spline;
+ trajectory.reference = ParseTrajectoryReferencePoint(follow_trajectory_action_trajectory);
+
+ return trajectory;
+}
+
+mantle_api::Trajectory ConvertPolyline(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrajectory>& follow_trajectory_action_trajectory, const std::shared_ptr<mantle_api::IEnvironment>& environment)
+{
+ mantle_api::Trajectory trajectory{follow_trajectory_action_trajectory->GetName()};
+ std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IShape> follow_trajectory_action_trajectory_shape = follow_trajectory_action_trajectory->GetShape();
+ mantle_api::PolyLine poly_line;
+
+ for (const auto& poly_line_vertex : follow_trajectory_action_trajectory_shape->GetPolyline()->GetVertices())
+ {
+ mantle_api::PolyLinePoint poly_line_point;
+
+ // TODO CK Separate method to parse position, which can be used anywhere in the openScenarioEngine
+ auto poly_line_vertex_position = poly_line_vertex->GetPosition();
+ auto pose = ConvertScenarioPosition(environment, poly_line_vertex_position);
+ poly_line_point.pose = pose.value();
+ // if (poly_line_vertex_position->GetWorldPosition())
+ // {
+ // auto world_position = poly_line_vertex_position->GetWorldPosition();
+
+ // mantle_api::Vec3<units::length::meter_t> position;
+ // position.x = units::length::meter_t(world_position->GetX());
+ // position.y = units::length::meter_t(world_position->GetY());
+ // position.z = units::length::meter_t(world_position->GetZ());
+
+ // mantle_api::Orientation3<units::angle::radian_t> orientation;
+ // orientation.yaw = units::angle::radian_t(world_position->GetH());
+ // orientation.pitch = units::angle::radian_t(world_position->GetP());
+ // orientation.roll = units::angle::radian_t(world_position->GetR());
+
+ // poly_line_point.pose = {position, orientation};
+ // }
+ // else
+ // {
+ // Logger::Warning("FollowTrajectoryAction currently does not support other Position types than "
+ // "WorldPosition in Polyline shape");
+ // }
+
+ poly_line_point.time = poly_line_vertex->IsSetTime() ? std::make_optional<units::time::second_t>(poly_line_vertex->GetTime()) : std::nullopt;
+
+ poly_line.push_back(poly_line_point);
+ }
+
+ trajectory.type = poly_line;
+ return trajectory;
+}
+
} // namespace detail
TrajectoryRef ConvertScenarioTrajectoryRef(const std::shared_ptr<mantle_api::IEnvironment>& environment,
const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrajectoryRef>& trajectoryRef,
const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogReference>& catalogReference)
{
- mantle_api::Trajectory trajectory{};
-
auto follow_trajectory_action_trajectory = detail::OpenScenarioToMantle(trajectoryRef, catalogReference);
- trajectory.name = follow_trajectory_action_trajectory->GetName();
-
auto follow_trajectory_action_trajectory_shape = follow_trajectory_action_trajectory->GetShape();
if (follow_trajectory_action_trajectory_shape->GetPolyline())
{
- mantle_api::PolyLine poly_line;
-
- for (const auto& poly_line_vertex : follow_trajectory_action_trajectory_shape->GetPolyline()->GetVertices())
- {
- mantle_api::PolyLinePoint poly_line_point;
-
- // TODO CK Separate method to parse position, which can be used anywhere in the openScenarioEngine
- auto poly_line_vertex_position = poly_line_vertex->GetPosition();
- auto pose = ConvertScenarioPosition(environment, poly_line_vertex_position);
- poly_line_point.pose = pose.value();
- // if (poly_line_vertex_position->GetWorldPosition())
- // {
- // auto world_position = poly_line_vertex_position->GetWorldPosition();
-
- // mantle_api::Vec3<units::length::meter_t> position;
- // position.x = units::length::meter_t(world_position->GetX());
- // position.y = units::length::meter_t(world_position->GetY());
- // position.z = units::length::meter_t(world_position->GetZ());
-
- // mantle_api::Orientation3<units::angle::radian_t> orientation;
- // orientation.yaw = units::angle::radian_t(world_position->GetH());
- // orientation.pitch = units::angle::radian_t(world_position->GetP());
- // orientation.roll = units::angle::radian_t(world_position->GetR());
-
- // poly_line_point.pose = {position, orientation};
- // }
- // else
- // {
- // Logger::Warning("FollowTrajectoryAction currently does not support other Position types than "
- // "WorldPosition in Polyline shape");
- // }
-
- poly_line_point.time = poly_line_vertex->IsSetTime() ? std::make_optional<units::time::second_t>(poly_line_vertex->GetTime()): std::nullopt;
-
- poly_line.push_back(poly_line_point);
- }
-
- trajectory.type = poly_line;
- return trajectory;
+ return detail::ConvertPolyline(follow_trajectory_action_trajectory, environment);
+ }
+ else if (follow_trajectory_action_trajectory_shape->GetClothoidSpline())
+ {
+ return detail::ConvertClothoidShape(follow_trajectory_action_trajectory);
}
return std::nullopt;
}
-} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/tests/Conversion/OscToMantle/ConvertScenarioClothoidSplineTest.cpp b/engine/tests/Conversion/OscToMantle/ConvertScenarioClothoidSplineTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a230b266bd3f65f845f2ea3de84eaf7847c9e486
--- /dev/null
+++ b/engine/tests/Conversion/OscToMantle/ConvertScenarioClothoidSplineTest.cpp
@@ -0,0 +1,161 @@
+/********************************************************************************
+ * Copyright (c) 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
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#include <MantleAPI/Common/clothoid_spline.h>
+#include <MantleAPI/Common/pose.h>
+#include <gtest/gtest.h>
+#include <openScenarioLib/generated/v1_3/api/writer/ApiClassWriterInterfacesV1_3.h>
+#include <openScenarioLib/generated/v1_3/impl/ApiClassImplV1_3.h>
+
+#include <functional>
+#include <memory>
+#include <optional>
+
+#include "Conversion/OscToMantle/ConvertScenarioClothoidSpline.h"
+#include "TestUtils/ClothoidSplineUtils.h"
+
+namespace
+{
+
+using units::literals::operator""_m;
+using units::literals::operator""_rad;
+using units::literals::operator""_curv;
+
+using ClothoidSplineSegmentWriter = NET_ASAM_OPENSCENARIO::v1_3::IClothoidSplineSegmentWriter;
+using ClothoidSplineSegmentWriterSharedPtr = std::shared_ptr<ClothoidSplineSegmentWriter>;
+class ConvertClothoidSplineTestFixture : public ::testing::Test
+{
+protected:
+ ConvertClothoidSplineTestFixture()
+ {
+ expected_converted_clothoid_spline_.segments.push_back({-6.8_curv,
+ 9.4_curv,
+ 2.3_rad,
+ 1.5_m,
+ mantle_api::Pose{{6.1_m, -1.5_m, 3.9_m}, {1.4_rad, 2.0_rad, -1.4_rad}}});
+
+ clothoid_spline_ = std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::ClothoidSplineImpl>();
+ }
+ void SetUpClothoid()
+ {
+ std::vector<ClothoidSplineSegmentWriterSharedPtr> segments;
+
+ for (auto& segment : expected_converted_clothoid_spline_.segments)
+ {
+ segments.push_back(testing::OpenScenarioEngine::v1_3::CreateClothoidSegment(segment));
+ }
+
+ clothoid_spline_->SetSegments(segments);
+ }
+
+ std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IClothoidSplineWriter> clothoid_spline_;
+ mantle_api::ClothoidSpline expected_converted_clothoid_spline_;
+};
+
+TEST_F(ConvertClothoidSplineTestFixture, GivenNotInitializedClothoidSpline_ThenException)
+{
+ clothoid_spline_.reset();
+ EXPECT_THROW(OpenScenarioEngine::v1_3::ConvertClothoidSpline(clothoid_spline_), std::invalid_argument);
+}
+
+TEST_F(ConvertClothoidSplineTestFixture, GivenNotInitializedClothoidSplineSegment_ThenException)
+{
+ ClothoidSplineSegmentWriterSharedPtr segment;
+ std::vector<ClothoidSplineSegmentWriterSharedPtr> segments;
+
+ segments.push_back(segment);
+ clothoid_spline_->SetSegments(segments);
+
+ EXPECT_THROW(OpenScenarioEngine::v1_3::ConvertClothoidSpline(clothoid_spline_), std::invalid_argument);
+}
+
+TEST_F(ConvertClothoidSplineTestFixture, GivenClothoidSplineSegment_WhenWorldPositionNotSet_ThenException)
+{
+ auto osc_position_start = std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::PositionImpl>();
+ auto geo_position = std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::GeoPositionImpl>();
+ osc_position_start->SetGeoPosition(geo_position);
+
+ SetUpClothoid();
+
+ ClothoidSplineSegmentWriterSharedPtr segment = std::dynamic_pointer_cast<ClothoidSplineSegmentWriter>(clothoid_spline_->GetSegmentsAtIndex(0));
+ segment->SetPositionStart(osc_position_start);
+
+ EXPECT_THROW(OpenScenarioEngine::v1_3::ConvertClothoidSpline(clothoid_spline_), std::runtime_error);
+}
+
+using ResetParam = std::function<void(ClothoidSplineSegmentWriterSharedPtr&, mantle_api::ClothoidSplineSegment&)>;
+
+void ResetHOffset(ClothoidSplineSegmentWriterSharedPtr& segment, mantle_api::ClothoidSplineSegment& expected_converted_clothoid_spline_segment)
+{
+ expected_converted_clothoid_spline_segment.h_offset = 0.0_rad;
+ segment->ResetHOffset();
+}
+
+void ResetPoseZ(ClothoidSplineSegmentWriterSharedPtr& segment, mantle_api::ClothoidSplineSegment& expected_converted_clothoid_spline_segment)
+{
+ expected_converted_clothoid_spline_segment.position_start->position.z = 0.0_m;
+ std::dynamic_pointer_cast<NET_ASAM_OPENSCENARIO::v1_3::IWorldPositionWriter>(segment->GetPositionStart()->GetWorldPosition())
+ ->ResetZ();
+}
+
+void ResetPoseH(ClothoidSplineSegmentWriterSharedPtr& segment, mantle_api::ClothoidSplineSegment& expected_converted_clothoid_spline_segment)
+{
+ expected_converted_clothoid_spline_segment.position_start->orientation.yaw = 0.0_rad;
+ std::dynamic_pointer_cast<NET_ASAM_OPENSCENARIO::v1_3::IWorldPositionWriter>(segment->GetPositionStart()->GetWorldPosition())
+ ->ResetH();
+}
+
+void ResetPoseP(ClothoidSplineSegmentWriterSharedPtr& segment, mantle_api::ClothoidSplineSegment& expected_converted_clothoid_spline_segment)
+{
+ expected_converted_clothoid_spline_segment.position_start->orientation.pitch = 0.0_rad;
+ std::dynamic_pointer_cast<NET_ASAM_OPENSCENARIO::v1_3::IWorldPositionWriter>(segment->GetPositionStart()->GetWorldPosition())
+ ->ResetP();
+}
+
+void ResetPoseR(ClothoidSplineSegmentWriterSharedPtr& segment, mantle_api::ClothoidSplineSegment& expected_converted_clothoid_spline_segment)
+{
+ expected_converted_clothoid_spline_segment.position_start->orientation.roll = 0.0_rad;
+ std::dynamic_pointer_cast<NET_ASAM_OPENSCENARIO::v1_3::IWorldPositionWriter>(segment->GetPositionStart()->GetWorldPosition())
+ ->ResetR();
+}
+class ConvertClothoidSplineTestParamFixture : public ::testing::WithParamInterface<ResetParam>, public ConvertClothoidSplineTestFixture
+{
+};
+
+INSTANTIATE_TEST_SUITE_P(ConvertClothoidSplineTestInstParamFixture, ConvertClothoidSplineTestParamFixture, ::testing::Values(ResetHOffset, ResetPoseZ, ResetPoseH, ResetPoseP, ResetPoseR));
+
+TEST_P(ConvertClothoidSplineTestParamFixture, GivenClothoidSplineSegment_WhenNotRequiredParametersNotSet_ThenConvertedClothoidSplineSegmentHasNotRequiredParametersEqualToZero)
+{
+ SetUpClothoid();
+
+ ClothoidSplineSegmentWriterSharedPtr segment = std::dynamic_pointer_cast<ClothoidSplineSegmentWriter>(clothoid_spline_->GetSegmentsAtIndex(0));
+
+ GetParam()(segment, expected_converted_clothoid_spline_.segments.front());
+
+ mantle_api::ClothoidSpline actual_converted_clothoid_spline = OpenScenarioEngine::v1_3::ConvertClothoidSpline(clothoid_spline_);
+
+ EXPECT_EQ(expected_converted_clothoid_spline_.segments, actual_converted_clothoid_spline.segments);
+}
+
+TEST_F(ConvertClothoidSplineTestFixture, GivenClothoidSpline_ThenConvertedClotoidSplineHasEqualParameters)
+{
+ expected_converted_clothoid_spline_.segments.push_back({2.0_curv,
+ 1.5_curv,
+ 1.5_rad,
+ 1.8_m,
+ std::nullopt});
+ SetUpClothoid();
+
+ mantle_api::ClothoidSpline actual_converted_clothoid_spline = OpenScenarioEngine::v1_3::ConvertClothoidSpline(clothoid_spline_);
+
+ EXPECT_EQ(expected_converted_clothoid_spline_, actual_converted_clothoid_spline);
+}
+
+} // namespace
diff --git a/engine/tests/Conversion/OscToMantle/ConvertScenarioTrajectoryRefTest.cpp b/engine/tests/Conversion/OscToMantle/ConvertScenarioTrajectoryRefTest.cpp
index c280f57ef1f27a0c5e46529c31fc8260dab9a51a..7dbb6fe6884b5f61967bfdadd1aae138a6986f57 100644
--- a/engine/tests/Conversion/OscToMantle/ConvertScenarioTrajectoryRefTest.cpp
+++ b/engine/tests/Conversion/OscToMantle/ConvertScenarioTrajectoryRefTest.cpp
@@ -1,5 +1,5 @@
/********************************************************************************
- * 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
@@ -13,15 +13,53 @@
#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
#include <openScenarioLib/generated/v1_3/impl/ApiClassImplV1_3.h>
+#include <optional>
+#include <stdexcept>
+#include <tuple>
#include <vector>
#include "Conversion/OscToMantle/ConvertScenarioTrajectoryRef.h"
+#include "TestUtils/ClothoidSplineUtils.h"
+
+namespace
+{
using namespace units::literals;
class ConvertScenarioTrajectoryRefTest : public ::testing::Test
{
protected:
+ void SetTrajectoryWithClothoidSpline()
+ {
+ expected_clothoid_spline.segments.push_back({
+ 2.0_curv,
+ 1.5_curv,
+ 1.5_rad,
+ 1.8_m,
+ std::nullopt,
+ });
+
+ expected_clothoid_spline.segments.push_back({-6.8_curv,
+ 9.4_curv,
+ 2.3_rad,
+ 1.5_m,
+ mantle_api::Pose{{6.1_m, -1.5_m, 3.9_m}, {1.4_rad, 2.0_rad, -1.4_rad}}});
+
+ for (const auto& segment : expected_clothoid_spline.segments)
+ {
+ clothoid_spline_segments.push_back(testing::OpenScenarioEngine::v1_3::CreateClothoidSegment(segment));
+ }
+
+ auto clothoid_spline = std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::ClothoidSplineImpl>();
+ clothoid_spline->SetSegments(clothoid_spline_segments);
+ trajectory_shape->SetClothoidSpline(clothoid_spline);
+
+ trajectory->SetShape(trajectory_shape);
+ trajectory->SetName("Trajectory1");
+
+ trajectory_ref->SetTrajectory(trajectory);
+ }
+
std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::PositionImpl> SetWorldPosition(double x, double y, double z, double h, double p, double r)
{
auto world_pos = std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::WorldPositionImpl>();
@@ -53,12 +91,22 @@ protected:
mantle_api::Vec3<units::length::meter_t> position3{1.2_m, 2.2_m, 0.0_m};
mantle_api::Orientation3<units::angle::radian_t> orientation3{0.3_rad, 0.0_rad, 0.0_rad};
- std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::PolylineImpl> polyLine{std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::PolylineImpl>()};
- std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ShapeImpl> trajectoryShape{std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::ShapeImpl>()};
+ std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::PolylineImpl>
+ polyline{std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::PolylineImpl>()};
+
+ std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ShapeImpl> trajectory_shape{std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::ShapeImpl>()};
+
std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::TrajectoryImpl> trajectory{std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::TrajectoryImpl>()};
- const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::TrajectoryRefImpl> trajectoryRef{std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::TrajectoryRefImpl>()};
+
+ const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::TrajectoryRefImpl> trajectory_ref{std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::TrajectoryRefImpl>()};
const std::shared_ptr<mantle_api::MockEnvironment> mockEnvironment{std::make_shared<mantle_api::MockEnvironment>()};
+
+ std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IClothoidSplineSegmentWriter>> clothoid_spline_segments;
+
+ std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IParameterDeclarationWriter>> parameter_declarations;
+
+ mantle_api::ClothoidSpline expected_clothoid_spline;
};
TEST_F(ConvertScenarioTrajectoryRefTest, GivenPolyLine_ReturnMantleAPITrajectoryType)
@@ -68,19 +116,21 @@ TEST_F(ConvertScenarioTrajectoryRefTest, GivenPolyLine_ReturnMantleAPITrajectory
vertices.push_back(SetVertex(position2.x.value(), position2.y.value(), position2.z.value(), orientation2.yaw.value(), orientation2.pitch.value(), orientation2.roll.value()));
vertices.push_back(SetVertex(position3.x.value(), position3.y.value(), position3.z.value(), orientation3.yaw.value(), orientation3.pitch.value(), orientation3.roll.value()));
- polyLine->SetVertices(vertices);
- trajectoryShape->SetPolyline(polyLine);
- trajectory->SetShape(trajectoryShape);
+ polyline->SetVertices(vertices);
+ trajectory_shape->SetPolyline(polyline);
+
+ trajectory->SetShape(trajectory_shape);
trajectory->SetName("Trajectory1");
- trajectoryRef->SetTrajectory(trajectory);
- auto convertedTrajectoryRef = OpenScenarioEngine::v1_3::ConvertScenarioTrajectoryRef(mockEnvironment, trajectoryRef, nullptr);
+ trajectory_ref->SetTrajectory(trajectory);
+
+ auto converted_trajectory_ref = OpenScenarioEngine::v1_3::ConvertScenarioTrajectoryRef(mockEnvironment, trajectory_ref, nullptr);
mantle_api::Pose expected_pose1{position1, orientation1};
mantle_api::Pose expected_pose2{position2, orientation2};
mantle_api::Pose expected_pose3{position3, orientation3};
- auto& polyline = std::get<mantle_api::PolyLine>(convertedTrajectoryRef->type);
+ auto& polyline = std::get<mantle_api::PolyLine>(converted_trajectory_ref->type);
EXPECT_THAT(polyline, testing::SizeIs(3));
EXPECT_EQ(polyline.at(0).time, 5.0_s);
EXPECT_EQ(polyline.at(0).pose, expected_pose1);
@@ -90,17 +140,67 @@ TEST_F(ConvertScenarioTrajectoryRefTest, GivenPolyLine_ReturnMantleAPITrajectory
EXPECT_EQ(polyline.at(2).pose, expected_pose3);
}
-TEST_F(ConvertScenarioTrajectoryRefTest, GivenNoPolyLine_ReturnNullPtr)
+class ConvertScenarioTrajectoryRefTestParam : public ConvertScenarioTrajectoryRefTest, public ::testing::WithParamInterface<std::tuple<std::optional<std::string>, mantle_api::TrajectoryReferencePoint>>
{
- trajectory->SetShape(trajectoryShape);
- trajectory->SetName("Trajectory1");
- trajectoryRef->SetTrajectory(trajectory);
+};
- // TrajectoryRef ConvertScenarioTrajectoryRef(std::shared_ptr<mantle_api::IEnvironment> environment,
- // std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrajectoryRef> trajectoryRef,
- // std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogReference> catalogReference)
+INSTANTIATE_TEST_CASE_P(
+ ConvertScenarioTrajectoryRefTestInstParam,
+ ConvertScenarioTrajectoryRefTestParam,
+ ::testing::Values(
+ std::tuple<std::optional<std::string>, mantle_api::TrajectoryReferencePoint>{"rear_axle", mantle_api::TrajectoryReferencePoint::kRearAxle},
+ std::tuple<std::optional<std::string>, mantle_api::TrajectoryReferencePoint>{"front_axle", mantle_api::TrajectoryReferencePoint::kFrontAxle},
+ std::tuple<std::optional<std::string>, mantle_api::TrajectoryReferencePoint>{"center_of_mass", mantle_api::TrajectoryReferencePoint::kCenterOfMass},
+ std::tuple<std::optional<std::string>, mantle_api::TrajectoryReferencePoint>{"bounding_box_center", mantle_api::TrajectoryReferencePoint::kBoundingBoxCenter},
+ std::tuple<std::optional<std::string>, mantle_api::TrajectoryReferencePoint>{std::nullopt, mantle_api::TrajectoryReferencePoint::kUndefined}));
+
+TEST_P(ConvertScenarioTrajectoryRefTestParam, GivenTrajectoryWithClothoidSpline_ThenConvertedTrajectoryIsCorrect)
+{
+ SetTrajectoryWithClothoidSpline();
+
+ parameter_declarations.push_back(std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::ParameterDeclarationImpl>());
+ if (std::get<0>(GetParam()))
+ {
+ parameter_declarations.back()->SetName("reference");
+ parameter_declarations.back()->SetValue(std::get<0>(GetParam()).value());
+ }
- auto convertedTrajectoryRef = OpenScenarioEngine::v1_3::ConvertScenarioTrajectoryRef(mockEnvironment, trajectoryRef, nullptr);
+ trajectory->SetParameterDeclarations(parameter_declarations);
- EXPECT_EQ(std::nullopt, convertedTrajectoryRef);
-}
\ No newline at end of file
+ auto converted_trajectory_ref = OpenScenarioEngine::v1_3::ConvertScenarioTrajectoryRef(mockEnvironment, trajectory_ref, nullptr);
+
+ mantle_api::ClothoidSpline converted_shape;
+
+ ASSERT_NO_THROW(converted_shape = std::get<mantle_api::ClothoidSpline>(converted_trajectory_ref->type);) << "Expect trajectory type ClothoidSpline, throw exception";
+
+ EXPECT_EQ(converted_trajectory_ref->name, trajectory->GetName());
+
+ EXPECT_EQ(converted_trajectory_ref->reference, std::get<1>(GetParam()));
+
+ EXPECT_EQ(converted_shape, expected_clothoid_spline);
+}
+
+TEST_F(ConvertScenarioTrajectoryRefTest, GivenTrajectoryWithClothoidSpline_WhenInvalidReferenceIsProvided_ThenException)
+{
+ SetTrajectoryWithClothoidSpline();
+
+ parameter_declarations.push_back(std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::ParameterDeclarationImpl>());
+ parameter_declarations.back()->SetName("reference");
+ parameter_declarations.back()->SetValue("invalid_value");
+
+ trajectory->SetParameterDeclarations(parameter_declarations);
+
+ EXPECT_THROW(OpenScenarioEngine::v1_3::ConvertScenarioTrajectoryRef(mockEnvironment, trajectory_ref, nullptr), std::runtime_error);
+}
+
+TEST_F(ConvertScenarioTrajectoryRefTest, GivenNoPolyLineAndNoClothoidSpline_ReturnNullPtr)
+{
+ trajectory->SetShape(trajectory_shape);
+ trajectory->SetName("Trajectory1");
+ trajectory_ref->SetTrajectory(trajectory);
+
+ auto converted_trajectory_ref = OpenScenarioEngine::v1_3::ConvertScenarioTrajectoryRef(mockEnvironment, trajectory_ref, nullptr);
+
+ EXPECT_EQ(std::nullopt, converted_trajectory_ref);
+}
+} // namespace
diff --git a/engine/tests/OpenScenarioEngineTest.cpp b/engine/tests/OpenScenarioEngineTest.cpp
index 529f8af9452df859f597324006f6c6fef239c85b..0735928cd878208366b8851806a58f48671b6b40 100644
--- a/engine/tests/OpenScenarioEngineTest.cpp
+++ b/engine/tests/OpenScenarioEngineTest.cpp
@@ -1,5 +1,5 @@
/*******************************************************************************
- * Copyright (c) 2023-2024, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2023-2025, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
* Copyright (c) 2023 Ansys, Inc.
*
* This program and the accompanying materials are made
@@ -21,14 +21,14 @@
#include "TestUtils.h"
#include "Utils/Constants.h"
-using testing::OpenScenarioEngine::v1_3::OpenScenarioEngineTestBase;
using OpenScenarioEngine::v1_3::GetDefaultWeather;
using testing::OpenScenarioEngine::v1_3::GetScenariosPath;
+using testing::OpenScenarioEngine::v1_3::OpenScenarioEngineTestBase;
using testing::_;
+using testing::Pointee;
using testing::Return;
using testing::ReturnRef;
-using testing::Pointee;
using testing::SaveArgPointee;
using namespace units::literals;
@@ -36,282 +36,283 @@ using namespace std::string_literals;
class OpenScenarioEngineTest : public OpenScenarioEngineTestBase
{
- protected:
- void SetUp() override {
- OpenScenarioEngineTestBase::SetUp();
- ON_CALL(controller_, GetName()).WillByDefault(ReturnRef(controller_name));
- ON_CALL(controller_, GetUniqueId()).WillByDefault(Return(1234));
- }
-
- std::string controller_name {"TestController"s};
+protected:
+ void SetUp() override
+ {
+ OpenScenarioEngineTestBase::SetUp();
+ ON_CALL(controller_, GetName()).WillByDefault(ReturnRef(controller_name));
+ ON_CALL(controller_, GetUniqueId()).WillByDefault(Return(1234));
+ }
+
+ std::string controller_name{"TestController"s};
};
TEST_F(OpenScenarioEngineTest, GivenValidScenarioFile_WhenInitialized_ThenDefaultRoutingBehaviourIsSetBeforeControllersAreCreated)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
- {
- testing::InSequence s;
- EXPECT_CALL(*env_, SetDefaultRoutingBehavior(mantle_api::DefaultRoutingBehavior::kRandomRoute)).Times(1);
- EXPECT_CALL(env_->GetControllerRepository(), Create(_)).Times(2);
- }
+ {
+ testing::InSequence s;
+ EXPECT_CALL(*env_, SetDefaultRoutingBehavior(mantle_api::DefaultRoutingBehavior::kRandomRoute)).Times(1);
+ EXPECT_CALL(env_->GetControllerRepository(), Create(_)).Times(2);
+ }
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
- engine.SetupDynamicContent();
+ EXPECT_NO_THROW(engine.Init());
+ engine.SetupDynamicContent();
}
TEST_F(OpenScenarioEngineTest, GivenValidScenarioFile_WhenInitializedAndSteppedOnce_ThenNoThrow)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
- engine.SetupDynamicContent();
- EXPECT_NO_THROW(engine.Step(1_ms));
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_NO_THROW(engine.Init());
+ engine.SetupDynamicContent();
+ EXPECT_NO_THROW(engine.Step(1_ms));
}
MATCHER_P(EqualWeather, expected_weather, "The Weather does not match the default Weather")
{
- return arg.fog == expected_weather.fog && arg.precipitation == expected_weather.precipitation &&
- arg.illumination == expected_weather.illumination && arg.humidity == expected_weather.humidity &&
- arg.temperature == expected_weather.temperature &&
- arg.atmospheric_pressure == expected_weather.atmospheric_pressure;
+ return arg.fog == expected_weather.fog && arg.precipitation == expected_weather.precipitation &&
+ arg.illumination == expected_weather.illumination && arg.humidity == expected_weather.humidity &&
+ arg.temperature == expected_weather.temperature &&
+ arg.atmospheric_pressure == expected_weather.atmospheric_pressure;
}
TEST_F(OpenScenarioEngineTest, GivenValidScenarioFile_WhenEnvironmentDefaultInitialized_ThenVerifyDefaultWeatherSet)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_CALL(*env_, SetWeather(EqualWeather(GetDefaultWeather()))).Times(1);
- EXPECT_NO_THROW(engine.Init());
- engine.SetupDynamicContent();
+ EXPECT_CALL(*env_, SetWeather(EqualWeather(GetDefaultWeather()))).Times(1);
+ EXPECT_NO_THROW(engine.Init());
+ engine.SetupDynamicContent();
}
TEST_F(OpenScenarioEngineTest, GivenOscVersion1_1ScenarioFile_WhenParsingScenario_ThenScenarioContainsNewFeature)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test.xosc"};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test.xosc"};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_NO_THROW(engine.Init());
- OpenScenarioEngine::v1_3::OpenScenarioEngine::OpenScenarioPtr scenario_ptr = engine.GetScenario();
+ OpenScenarioEngine::v1_3::OpenScenarioEngine::OpenScenarioPtr scenario_ptr = engine.GetScenario();
- ASSERT_TRUE(scenario_ptr != nullptr);
- auto file_header = scenario_ptr->GetFileHeader();
- ASSERT_TRUE(file_header != nullptr);
- auto license = file_header->GetLicense();
- ASSERT_TRUE(license != nullptr);
+ ASSERT_TRUE(scenario_ptr != nullptr);
+ auto file_header = scenario_ptr->GetFileHeader();
+ ASSERT_TRUE(file_header != nullptr);
+ auto license = file_header->GetLicense();
+ ASSERT_TRUE(license != nullptr);
- EXPECT_EQ("GLWTPL", license->GetSpdxId());
+ EXPECT_EQ("GLWTPL", license->GetSpdxId());
}
TEST_F(OpenScenarioEngineTest, GivenOscVersion1_1ScenarioFile_WhenParsingScenario_ThenExpressionsAreResolved)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test.xosc"};
-
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
-
- OpenScenarioEngine::v1_3::OpenScenarioEngine::OpenScenarioPtr scenario_ptr = engine.GetScenario();
-
- ASSERT_TRUE(scenario_ptr != nullptr);
- auto open_scenario_category = scenario_ptr->GetOpenScenarioCategory();
- ASSERT_TRUE(open_scenario_category != nullptr);
- auto scenario_definition = open_scenario_category->GetScenarioDefinition();
- ASSERT_TRUE(scenario_definition != nullptr);
-
- // Expression in parameter declaration
- double value_parametrized = scenario_definition->GetStoryboard()
- ->GetInit()
- ->GetActions()
- ->GetPrivates()[0]
- ->GetPrivateActions()[1]
- ->GetLongitudinalAction()
- ->GetSpeedAction()
- ->GetSpeedActionTarget()
- ->GetAbsoluteTargetSpeed()
- ->GetValue();
- EXPECT_EQ(20.0, value_parametrized);
-
- // Expression in storyboard element
- auto value = scenario_definition->GetStoryboard()
- ->GetStopTrigger()
- ->GetConditionGroupsAtIndex(0)
- ->GetConditionsAtIndex(0)
- ->GetByValueCondition()
- ->GetSimulationTimeCondition()
- ->GetValue();
- EXPECT_EQ(300.0, value);
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test.xosc"};
+
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_NO_THROW(engine.Init());
+
+ OpenScenarioEngine::v1_3::OpenScenarioEngine::OpenScenarioPtr scenario_ptr = engine.GetScenario();
+
+ ASSERT_TRUE(scenario_ptr != nullptr);
+ auto open_scenario_category = scenario_ptr->GetOpenScenarioCategory();
+ ASSERT_TRUE(open_scenario_category != nullptr);
+ auto scenario_definition = open_scenario_category->GetScenarioDefinition();
+ ASSERT_TRUE(scenario_definition != nullptr);
+
+ // Expression in parameter declaration
+ double value_parametrized = scenario_definition->GetStoryboard()
+ ->GetInit()
+ ->GetActions()
+ ->GetPrivates()[0]
+ ->GetPrivateActions()[1]
+ ->GetLongitudinalAction()
+ ->GetSpeedAction()
+ ->GetSpeedActionTarget()
+ ->GetAbsoluteTargetSpeed()
+ ->GetValue();
+ EXPECT_EQ(20.0, value_parametrized);
+
+ // Expression in storyboard element
+ auto value = scenario_definition->GetStoryboard()
+ ->GetStopTrigger()
+ ->GetConditionGroupsAtIndex(0)
+ ->GetConditionsAtIndex(0)
+ ->GetByValueCondition()
+ ->GetSimulationTimeCondition()
+ ->GetValue();
+ EXPECT_EQ(300.0, value);
}
TEST_F(OpenScenarioEngineTest, GivenInvalidOscVersion1_3ScenarioFile_WhenParsingScenario_ThenThrow)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_3_test_invalid.xosc"};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_3_test_invalid.xosc"};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_ANY_THROW(engine.Init());
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_ANY_THROW(engine.Init());
}
TEST_F(OpenScenarioEngineTest, GivenValidOscVersion1_3ScenarioFile_WhenParsingScenario_ThenScenarioContainsNewFeature)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_3_test.xosc"};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_3_test.xosc"};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_NO_THROW(engine.Init());
- OpenScenarioEngine::v1_3::OpenScenarioEngine::OpenScenarioPtr scenario_ptr = engine.GetScenario();
+ OpenScenarioEngine::v1_3::OpenScenarioEngine::OpenScenarioPtr scenario_ptr = engine.GetScenario();
- ASSERT_TRUE(scenario_ptr != nullptr);
- auto scenario_objects = scenario_ptr->GetOpenScenarioCategory()->GetScenarioDefinition()->GetEntities()->GetScenarioObjects();
- ASSERT_NE(scenario_objects.size(), 0);
- auto trailer_coupler = scenario_objects[0]->GetEntityObject()->GetVehicle()->GetTrailerCoupler();
- ASSERT_TRUE(trailer_coupler != nullptr);
+ ASSERT_TRUE(scenario_ptr != nullptr);
+ auto scenario_objects = scenario_ptr->GetOpenScenarioCategory()->GetScenarioDefinition()->GetEntities()->GetScenarioObjects();
+ ASSERT_NE(scenario_objects.size(), 0);
+ auto trailer_coupler = scenario_objects[0]->GetEntityObject()->GetVehicle()->GetTrailerCoupler();
+ ASSERT_TRUE(trailer_coupler != nullptr);
- EXPECT_EQ(trailer_coupler->GetDx(), -1.1);
- EXPECT_EQ(trailer_coupler->GetDz(), 0.3);
+ EXPECT_EQ(trailer_coupler->GetDx(), -1.1);
+ EXPECT_EQ(trailer_coupler->GetDz(), 0.3);
}
TEST_F(OpenScenarioEngineTest, GivenValidScenarioFile_WhenParsingScenario_ThenScenarioContainsHost)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_NO_THROW(engine.Init());
- OpenScenarioEngine::v1_3::OpenScenarioEngine::OpenScenarioPtr scenario_ptr = engine.GetScenario();
+ OpenScenarioEngine::v1_3::OpenScenarioEngine::OpenScenarioPtr scenario_ptr = engine.GetScenario();
- ASSERT_TRUE(scenario_ptr != nullptr);
- const auto& scenario_objects =
- scenario_ptr->GetOpenScenarioCategory()->GetScenarioDefinition()->GetEntities()->GetScenarioObjects();
+ ASSERT_TRUE(scenario_ptr != nullptr);
+ const auto& scenario_objects =
+ scenario_ptr->GetOpenScenarioCategory()->GetScenarioDefinition()->GetEntities()->GetScenarioObjects();
- ASSERT_EQ(1, scenario_objects.size());
- EXPECT_EQ("Ego", scenario_objects.front()->GetName());
+ ASSERT_EQ(1, scenario_objects.size());
+ EXPECT_EQ("Ego", scenario_objects.front()->GetName());
- auto catalogue_ref = scenario_objects.front()->GetEntityObject()->GetCatalogReference();
- ASSERT_TRUE(catalogue_ref != nullptr);
+ auto catalogue_ref = scenario_objects.front()->GetEntityObject()->GetCatalogReference();
+ ASSERT_TRUE(catalogue_ref != nullptr);
- EXPECT_EQ("car_ego", catalogue_ref->GetEntryName());
+ EXPECT_EQ("car_ego", catalogue_ref->GetEntryName());
- auto the_ref = catalogue_ref->GetRef();
+ auto the_ref = catalogue_ref->GetRef();
- ASSERT_TRUE(the_ref != nullptr);
- ASSERT_TRUE(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsVehicle(the_ref));
+ ASSERT_TRUE(the_ref != nullptr);
+ ASSERT_TRUE(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsVehicle(the_ref));
}
TEST_F(OpenScenarioEngineTest, GivenScenarioWithLogicFileReference_WhenInitScenario_ThenCreateMapIsCalled)
{
- const std::string relative_odr_file_path_{"../../Maps/xodr/ALKS_Road_Different_Curvatures.xodr"};
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ const std::string relative_odr_file_path_{"../../Maps/xodr/ALKS_Road_Different_Curvatures.xodr"};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
- auto scenario_info = engine.GetScenarioInfo();
- EXPECT_NE("", scenario_info.full_map_path);
+ EXPECT_NO_THROW(engine.Init());
+ auto scenario_info = engine.GetScenarioInfo();
+ EXPECT_NE("", scenario_info.full_map_path);
}
bool IsMapDetailsWithLatLon(mantle_api::MapDetails& actual_map_details)
{
- const auto& map_region = actual_map_details.map_region;
- if (map_region.size() != 2)
+ const auto& map_region = actual_map_details.map_region;
+ if (map_region.size() != 2)
+ {
+ return false;
+ }
+
+ if (const auto* lat_lon_position = std::get_if<mantle_api::LatLonPosition>(&map_region.front()))
+ {
+ if (*lat_lon_position != mantle_api::LatLonPosition{48.298065_deg, 11.583095_deg})
{
- return false;
+ return false;
}
+ }
- if (const auto* lat_lon_position = std::get_if<mantle_api::LatLonPosition>(&map_region.front()))
+ if (const auto* lat_lon_position = std::get_if<mantle_api::LatLonPosition>(&map_region.back()))
+ {
+ if (*lat_lon_position != mantle_api::LatLonPosition{48.346524_deg, 11.720233_deg})
{
- if (*lat_lon_position != mantle_api::LatLonPosition{48.298065_deg, 11.583095_deg})
- {
- return false;
- }
+ return false;
}
+ }
- if (const auto* lat_lon_position = std::get_if<mantle_api::LatLonPosition>(&map_region.back()))
- {
- if (*lat_lon_position != mantle_api::LatLonPosition{48.346524_deg, 11.720233_deg})
- {
- return false;
- }
- }
-
- return true;
+ return true;
}
TEST_F(OpenScenarioEngineTest, GivenScenarioWithUsedArea_WhenCallInit_ThenMapDetailsAreContainedInScenarioInfo)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) +
- "AutomatedLaneKeepingSystemScenarios/ALKS_Scenario_4.1_1_FreeDriving_UsedArea_TEMPLATE.xosc"};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) +
+ "AutomatedLaneKeepingSystemScenarios/ALKS_Scenario_4.1_1_FreeDriving_UsedArea_TEMPLATE.xosc"};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
- auto scenario_info = engine.GetScenarioInfo();
- EXPECT_TRUE(IsMapDetailsWithLatLon(*scenario_info.map_details));
+ EXPECT_NO_THROW(engine.Init());
+ auto scenario_info = engine.GetScenarioInfo();
+ EXPECT_TRUE(IsMapDetailsWithLatLon(*scenario_info.map_details));
}
TEST_F(OpenScenarioEngineTest, GivenScenarioWithEntities_WhenInitScenario_ThenCreateIsCalledInEnvironmentForEveryEntity)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
-
- mantle_api::MockVehicle mock_vehicle{};
-
- mantle_api::VehicleProperties ego_properties{};
- ego_properties.type = mantle_api::EntityType::kVehicle;
- ego_properties.classification = mantle_api::VehicleClass::kMedium_car;
- ego_properties.model = "medium_car";
- ego_properties.bounding_box.dimension.length = 5.0_m;
- ego_properties.bounding_box.dimension.width = 2.0_m;
- ego_properties.bounding_box.dimension.height = 1.8_m;
- ego_properties.bounding_box.geometric_center.x = 1.4_m;
- ego_properties.bounding_box.geometric_center.y = 0.0_m;
- ego_properties.bounding_box.geometric_center.z = 0.9_m;
- ego_properties.performance.max_acceleration = 10_mps_sq;
- ego_properties.performance.max_deceleration = 10_mps_sq;
- ego_properties.performance.max_speed = 70_mps;
- ego_properties.front_axle.bb_center_to_axle_center = {1.58_m, 0.0_m, -0.5_m};
- ego_properties.front_axle.max_steering = 0.5_rad;
- ego_properties.front_axle.track_width = 1.68_m;
- ego_properties.front_axle.wheel_diameter = 0.8_m;
- ego_properties.rear_axle.bb_center_to_axle_center = {-1.4_m, 0.0_m, -0.5_m};
- ego_properties.rear_axle.max_steering = 0_rad;
- ego_properties.rear_axle.track_width = 1.68_m;
- ego_properties.rear_axle.wheel_diameter = 0.8_m;
- ego_properties.is_host = true;
-
- EXPECT_CALL(dynamic_cast<mantle_api::MockEntityRepository&>(env_->GetEntityRepository()),
- Create(std::string("Ego"), ego_properties))
- .Times(1)
- .WillRepeatedly(ReturnRef(mock_vehicle));
-
- EXPECT_NO_THROW(engine.Init());
- engine.SetupDynamicContent();
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+
+ mantle_api::MockVehicle mock_vehicle{};
+
+ mantle_api::VehicleProperties ego_properties{};
+ ego_properties.type = mantle_api::EntityType::kVehicle;
+ ego_properties.classification = mantle_api::VehicleClass::kMedium_car;
+ ego_properties.model = "medium_car";
+ ego_properties.bounding_box.dimension.length = 5.0_m;
+ ego_properties.bounding_box.dimension.width = 2.0_m;
+ ego_properties.bounding_box.dimension.height = 1.8_m;
+ ego_properties.bounding_box.geometric_center.x = 1.4_m;
+ ego_properties.bounding_box.geometric_center.y = 0.0_m;
+ ego_properties.bounding_box.geometric_center.z = 0.9_m;
+ ego_properties.performance.max_acceleration = 10_mps_sq;
+ ego_properties.performance.max_deceleration = 10_mps_sq;
+ ego_properties.performance.max_speed = 70_mps;
+ ego_properties.front_axle.bb_center_to_axle_center = {1.58_m, 0.0_m, -0.5_m};
+ ego_properties.front_axle.max_steering = 0.5_rad;
+ ego_properties.front_axle.track_width = 1.68_m;
+ ego_properties.front_axle.wheel_diameter = 0.8_m;
+ ego_properties.rear_axle.bb_center_to_axle_center = {-1.4_m, 0.0_m, -0.5_m};
+ ego_properties.rear_axle.max_steering = 0_rad;
+ ego_properties.rear_axle.track_width = 1.68_m;
+ ego_properties.rear_axle.wheel_diameter = 0.8_m;
+ ego_properties.is_host = true;
+
+ EXPECT_CALL(dynamic_cast<mantle_api::MockEntityRepository&>(env_->GetEntityRepository()),
+ Create(std::string("Ego"), ego_properties))
+ .Times(1)
+ .WillRepeatedly(ReturnRef(mock_vehicle));
+
+ EXPECT_NO_THROW(engine.Init());
+ engine.SetupDynamicContent();
}
TEST_F(OpenScenarioEngineTest,
GivenScenarioWithExternallyControlledEntity_WhenInit_ThenControllerWithExternalConfigIsCreatedAndAssigned)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
-
- 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&
- {
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+
+ 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
@@ -324,103 +325,102 @@ TEST_F(OpenScenarioEngineTest,
return mock_user_defined_controller;
}
- throw std::runtime_error("Untested ControllerConfigType");
- }));
+ throw std::runtime_error("Untested ControllerConfigType"); }));
- EXPECT_CALL(*env_, AddEntityToController(_, DEFAULT_CONTROLLER_ID));
- EXPECT_CALL(*env_, AddEntityToController(_, USER_DEFINED_CONTROLLER_ID));
+ EXPECT_CALL(*env_, AddEntityToController(_, DEFAULT_CONTROLLER_ID));
+ EXPECT_CALL(*env_, AddEntityToController(_, USER_DEFINED_CONTROLLER_ID));
- EXPECT_NO_THROW(engine.Init());
- engine.SetupDynamicContent();
+ EXPECT_NO_THROW(engine.Init());
+ engine.SetupDynamicContent();
- mantle_api::InternalControllerConfig internal_config_expected{};
- internal_config_expected.name = OpenScenarioEngine::v1_3::CONTROLLER_NAME_DEFAULT;
- internal_config_expected.control_strategies = {
- std::make_shared<mantle_api::KeepVelocityControlStrategy>(),
- std::make_shared<mantle_api::KeepLaneOffsetControlStrategy>()};
+ mantle_api::InternalControllerConfig internal_config_expected{};
+ internal_config_expected.name = OpenScenarioEngine::v1_3::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");
+ 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);
+ EXPECT_EQ(internal_config_expected, internal_config_actual);
+ EXPECT_EQ(external_config_expected, external_config_actual);
}
TEST_F(OpenScenarioEngineTest, GivenScenarioWithInitTeleportAction_WhenInitAndStepEngine_ThenSetPositionIsCalled)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_CALL(dynamic_cast<mantle_api::MockVehicle&>(env_->GetEntityRepository().Get("").value().get()),
- SetPosition(_))
- .Times(1);
+ EXPECT_CALL(dynamic_cast<mantle_api::MockVehicle&>(env_->GetEntityRepository().Get("").value().get()),
+ SetPosition(_))
+ .Times(1);
- EXPECT_NO_THROW(engine.Init());
- engine.SetupDynamicContent();
- EXPECT_NO_THROW(engine.Step(1_ms));
+ EXPECT_NO_THROW(engine.Init());
+ engine.SetupDynamicContent();
+ EXPECT_NO_THROW(engine.Step(1_ms));
}
TEST_F(OpenScenarioEngineTest, GivenExistingScenarioFileWithWrongCatalog_WhenValidateScenario_ThenReturnsNumberofErrors)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "scenario_with_wrong_catalog_path.xosc"};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_EQ(3, engine.ValidateScenario());
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "scenario_with_wrong_catalog_path.xosc"};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_EQ(3, engine.ValidateScenario());
}
TEST_F(OpenScenarioEngineTest, GivenExistingScenarioFileWithWrongCatalog_WhenValidateScenario_ThenReturnsZero)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_EQ(0, engine.ValidateScenario());
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_EQ(0, engine.ValidateScenario());
}
TEST_F(OpenScenarioEngineTest, GivenScenarioWithOneSimulationTimeStopTrigger_WhenGetDuration_ThenReturnsDuration)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test.xosc"};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test.xosc"};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_NO_THROW(engine.Init());
- EXPECT_EQ(engine.GetScenarioInfo().scenario_timeout_duration, units::time::second_t(300.0));
+ EXPECT_EQ(engine.GetScenarioInfo().scenario_timeout_duration, units::time::second_t(300.0));
}
TEST_F(OpenScenarioEngineTest, GivenScenarioWithTwoSimulationTimeStopTrigger_WhenGetDuration_ThenReturnsMaxDuration)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test_TwoSimulationTimeConditions.xosc"};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test_TwoSimulationTimeConditions.xosc"};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_NO_THROW(engine.Init());
- EXPECT_EQ(engine.GetScenarioInfo().scenario_timeout_duration, units::time::second_t(300.0));
+ EXPECT_EQ(engine.GetScenarioInfo().scenario_timeout_duration, units::time::second_t(300.0));
}
TEST_F(OpenScenarioEngineTest, GivenScenarioWithNoSimulationTimeStopTrigger_WhenGetDuration_ThenReturnsMaxDouble)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test_NoSimulationTimeCondition.xosc"};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test_NoSimulationTimeCondition.xosc"};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_NO_THROW(engine.Init());
- EXPECT_EQ(engine.GetScenarioInfo().scenario_timeout_duration, mantle_api::Time{std::numeric_limits<double>::max()});
+ 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_};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + default_xosc_scenario_};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.ActivateExternalHostControl());
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_NO_THROW(engine.ActivateExternalHostControl());
}
TEST_F(OpenScenarioEngineTest, GivenScenarioWithSceneGraphFile_WhenParsingScenario_ThenSceneGraphFileRead)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test.xosc"};
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "OSC_1_1_test.xosc"};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ EXPECT_NO_THROW(engine.Init());
- EXPECT_EQ(engine.GetScenarioInfo().map_model_reference, "/File/Path/To/Unexisted/3D/ModelFile");
+ EXPECT_EQ(engine.GetScenarioInfo().map_model_reference, "/File/Path/To/Unexisted/3D/ModelFile");
}
class MapRegionTypeParamFixture : public ::testing::WithParamInterface<std::tuple<std::string, mantle_api::MapRegionType>>,
@@ -430,13 +430,13 @@ class MapRegionTypeParamFixture : public ::testing::WithParamInterface<std::tupl
TEST_P(MapRegionTypeParamFixture, GivenScenarioWithUsedAreaType_WhenCallGetScenarioInfo_ThenCorrectMapRegionType)
{
- const auto [scenario, map_region_type] = GetParam();
- std::string xosc_file_path{GetScenariosPath(testing::UnitTest::GetInstance()->current_test_info()->file()) + scenario};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ const auto [scenario, map_region_type] = GetParam();
+ std::string xosc_file_path{GetScenariosPath(testing::UnitTest::GetInstance()->current_test_info()->file()) + scenario};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
- EXPECT_NO_THROW(engine.Init());
- auto scenario_info = engine.GetScenarioInfo();
- EXPECT_EQ(scenario_info.map_details->map_region_type, map_region_type);
+ EXPECT_NO_THROW(engine.Init());
+ auto scenario_info = engine.GetScenarioInfo();
+ EXPECT_EQ(scenario_info.map_details->map_region_type, map_region_type);
}
INSTANTIATE_TEST_SUITE_P(MapRegionTypeTests,
@@ -448,10 +448,64 @@ INSTANTIATE_TEST_SUITE_P(MapRegionTypeTests,
TEST_F(OpenScenarioEngineTest, GivenScenarioWithWrongUsedAreaType_WhenCallGetScenarioInfo_ThenThrowError)
{
- std::string xosc_file_path{GetScenariosPath(test_info_->file()) +
- "wrong_used_area_type.xosc"};
- OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) +
+ "wrong_used_area_type.xosc"};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+
+ EXPECT_NO_THROW(engine.Init());
+ EXPECT_THROW(engine.GetScenarioInfo(), std::runtime_error);
+}
- EXPECT_NO_THROW(engine.Init());
- EXPECT_THROW(engine.GetScenarioInfo(), std::runtime_error);
+TEST_F(OpenScenarioEngineTest, GivenScenarioWithTrajectoryReference_ThenTrajectoryReferenceIsCorrect)
+{
+ std::string xosc_file_path{GetScenariosPath(testing::UnitTest::GetInstance()->current_test_info()->file()) + "trajectory_shape.xosc"};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ ASSERT_NO_THROW(engine.Init());
+ auto scenario = engine.GetScenario();
+
+ auto trajectory = scenario->GetOpenScenarioCategory()
+ ->GetScenarioDefinition()
+ ->GetStoryboard()
+ ->GetStories()[0]
+ ->GetActs()[0]
+ ->GetManeuverGroups()[0]
+ ->GetManeuvers()[0]
+ ->GetEvents()[0]
+ ->GetActions()[0]
+ ->GetPrivateAction()
+ ->GetRoutingAction()
+ ->GetFollowTrajectoryAction()
+ ->GetTrajectoryRef()
+ ->GetTrajectory();
+
+ ASSERT_EQ(trajectory->GetParameterDeclarationsSize(), 1);
+ EXPECT_EQ(trajectory->GetParameterDeclarations()[0]->GetName(), "reference");
+ EXPECT_EQ(trajectory->GetParameterDeclarations()[0]->GetValue(), "rear_axle");
+
+ ASSERT_TRUE(trajectory->GetShape()->IsSetClothoidSpline());
+
+ auto clothoid_spline = trajectory->GetShape()->GetClothoidSpline();
+ ASSERT_EQ(clothoid_spline->GetSegmentsSize(), 2);
+
+ EXPECT_EQ(clothoid_spline->GetSegments()[0]->GetCurvatureEnd(), 0.1);
+ EXPECT_EQ(clothoid_spline->GetSegments()[0]->GetCurvatureStart(), 2.2);
+ EXPECT_FALSE(clothoid_spline->GetSegments()[0]->IsSetHOffset());
+ EXPECT_EQ(clothoid_spline->GetSegments()[0]->GetLength(), 1.6);
+ ASSERT_TRUE(clothoid_spline->GetSegments()[0]->IsSetPositionStart());
+ EXPECT_TRUE(clothoid_spline->GetSegments()[0]->GetPositionStart()->IsSetWorldPosition());
+ EXPECT_EQ(clothoid_spline->GetSegments()[0]->GetPositionStart()->GetWorldPosition()->GetX(), 4.4);
+ EXPECT_EQ(clothoid_spline->GetSegments()[0]->GetPositionStart()->GetWorldPosition()->GetY(), 1.4);
+ EXPECT_EQ(clothoid_spline->GetSegments()[0]->GetPositionStart()->GetWorldPosition()->GetZ(), 3.9);
+ EXPECT_EQ(clothoid_spline->GetSegments()[0]->GetPositionStart()->GetWorldPosition()->GetH(), 5.9);
+ EXPECT_EQ(clothoid_spline->GetSegments()[0]->GetPositionStart()->GetWorldPosition()->GetP(), 9.1);
+ EXPECT_EQ(clothoid_spline->GetSegments()[0]->GetPositionStart()->GetWorldPosition()->GetR(), 0.3);
+
+ EXPECT_EQ(clothoid_spline->GetSegments()[1]->GetCurvatureEnd(), 6.2);
+ EXPECT_EQ(clothoid_spline->GetSegments()[1]->GetCurvatureStart(), 5.4);
+ ASSERT_TRUE(clothoid_spline->GetSegments()[1]->IsSetHOffset());
+ EXPECT_EQ(clothoid_spline->GetSegments()[1]->GetHOffset(), 0.2);
+ EXPECT_EQ(clothoid_spline->GetSegments()[1]->GetLength(), 2.6);
+ ASSERT_FALSE(clothoid_spline->GetSegments()[1]->IsSetPositionStart());
+
+ EXPECT_NO_THROW(engine.SetupDynamicContent());
}
diff --git a/engine/tests/TestUtils/ClothoidSplineUtils.cpp b/engine/tests/TestUtils/ClothoidSplineUtils.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..957510ee82142892db199af2fe4eb10961d326e1
--- /dev/null
+++ b/engine/tests/TestUtils/ClothoidSplineUtils.cpp
@@ -0,0 +1,52 @@
+/********************************************************************************
+ * Copyright (c) 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
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#include "TestUtils/ClothoidSplineUtils.h"
+
+#include <MantleAPI/Common/pose.h>
+#include <openScenarioLib/generated/v1_3/impl/ApiClassImplV1_3.h>
+
+namespace testing::OpenScenarioEngine::v1_3::detail
+{
+// Create WorldPosition
+std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IWorldPositionWriter> CreateWorldPosition(const mantle_api::Pose& world_position)
+{
+ auto position = std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::WorldPositionImpl>();
+ position->SetX(world_position.position.x.value());
+ position->SetY(world_position.position.y.value());
+ position->SetZ(world_position.position.z.value());
+ position->SetH(world_position.orientation.yaw.value());
+ position->SetP(world_position.orientation.pitch.value());
+ position->SetR(world_position.orientation.roll.value());
+ return position;
+}
+} // namespace testing::OpenScenarioEngine::v1_3::detail
+
+namespace testing::OpenScenarioEngine::v1_3
+{
+
+std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IClothoidSplineSegmentWriter> CreateClothoidSegment(const mantle_api::ClothoidSplineSegment& clothoid_spline_segment)
+{
+ auto segment = std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::ClothoidSplineSegmentImpl>();
+
+ segment->SetCurvatureEnd(clothoid_spline_segment.curvature_end.value());
+ segment->SetCurvatureStart(clothoid_spline_segment.curvature_start.value());
+ segment->SetHOffset(clothoid_spline_segment.h_offset.value());
+ segment->SetLength(clothoid_spline_segment.length.value());
+ if (clothoid_spline_segment.position_start.has_value())
+ {
+ auto world_position = detail::CreateWorldPosition(clothoid_spline_segment.position_start.value());
+ auto osc_position_start = std::make_shared<NET_ASAM_OPENSCENARIO::v1_3::PositionImpl>();
+ osc_position_start->SetWorldPosition(world_position);
+ segment->SetPositionStart(osc_position_start);
+ }
+ return segment;
+}
+} // namespace testing::OpenScenarioEngine::v1_3
diff --git a/engine/tests/TestUtils/ClothoidSplineUtils.h b/engine/tests/TestUtils/ClothoidSplineUtils.h
new file mode 100644
index 0000000000000000000000000000000000000000..6f455fe3e380d03c4f8477ed5171fe21b6e173eb
--- /dev/null
+++ b/engine/tests/TestUtils/ClothoidSplineUtils.h
@@ -0,0 +1,21 @@
+/********************************************************************************
+ * Copyright (c) 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
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#pragma once
+
+#include <MantleAPI/Common/clothoid_spline.h>
+#include <openScenarioLib/generated/v1_3/api/writer/ApiClassWriterInterfacesV1_3.h>
+
+#include <memory>
+
+namespace testing::OpenScenarioEngine::v1_3
+{
+std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IClothoidSplineSegmentWriter> CreateClothoidSegment(const mantle_api::ClothoidSplineSegment& clothoid_spline_segment);
+} // namespace testing::OpenScenarioEngine::v1_3
diff --git a/engine/tests/data/Scenarios/trajectory_shape.xosc b/engine/tests/data/Scenarios/trajectory_shape.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..fa857e6434579d2c94cf4ebfcf684d914db55421
--- /dev/null
+++ b/engine/tests/data/Scenarios/trajectory_shape.xosc
@@ -0,0 +1,116 @@
+<?xml version="1.0" encoding="utf-8"?>
+<OpenSCENARIO>
+ <FileHeader revMajor="1" revMinor="3" date="2025-01-21T10:00:00"
+ description="Scenario for testing clothoid spline trajectory shape" author="BMW AG" />
+ <ParameterDeclarations>
+ <!-- The ParameterDeclarations section is needed for easy variation. -->
+ <ParameterDeclaration name="Ego_InitPosition_LaneId" parameterType="string"
+ value="-4" />
+ <ParameterDeclaration name="Ego_InitSpeed_Ve0" parameterType="double"
+ value="16.66666667" />
+ <ParameterDeclaration name="Duration" parameterType="double" value="40" />
+ value="1.57" /> </ParameterDeclarations>
+ <CatalogLocations>
+ <VehicleCatalog>
+ <Directory path="Catalogs/Vehicles" />
+ </VehicleCatalog>
+ </CatalogLocations>
+ <RoadNetwork>
+ <LogicFile filepath="../Maps/xodr/ALKS_Road.xodr" />
+ </RoadNetwork>
+ <Entities>
+ <ScenarioObject name="Ego">
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_ego">
+ </CatalogReference>
+ </ScenarioObject>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ <Private entityRef="Ego">
+ <PrivateAction>
+ <TeleportAction>
+ <Position>
+ <LanePosition roadId="0" laneId="$Ego_InitPosition_LaneId" offset="0.0" s="0.0">
+ </LanePosition>
+ </Position>
+ </TeleportAction>
+ </PrivateAction>
+ <PrivateAction>
+ <LongitudinalAction>
+ <SpeedAction>
+ <SpeedActionDynamics dynamicsShape="step" dynamicsDimension="time" value="0" />
+ <SpeedActionTarget>
+ <AbsoluteTargetSpeed value="$Ego_InitSpeed_Ve0" />
+ </SpeedActionTarget>
+ </SpeedAction>
+ </LongitudinalAction>
+ </PrivateAction>
+ </Private>
+ </Actions>
+ </Init>
+ <Story name="MovementStory">
+ <Act name="MovementAct">
+ <ManeuverGroup maximumExecutionCount="1" name="MovementSequence">
+ <Actors selectTriggeringEntities="false">
+ <EntityRef entityRef="Ego" />
+ </Actors>
+ <Maneuver name="MovementManeuver">
+ <Event name="MovementEvent" priority="overwrite">
+ <Action name="MovementAction">
+ <PrivateAction>
+ <RoutingAction>
+ <FollowTrajectoryAction>
+ <TrajectoryRef>
+ <Trajectory name="MovementTrajectory" closed="false">
+ <ParameterDeclarations>
+ <ParameterDeclaration name="reference" value="rear_axle"
+ parameterType="string" />
+ </ParameterDeclarations>
+ <Shape>
+ <ClothoidSpline>
+ <ClothoidSplineSegment curvatureEnd="0.1" curvatureStart="2.2"
+ length="1.6">
+ <PositionStart>
+ <WorldPosition x="4.4" y="1.4" z="3.9" h="5.9" p="9.1" r="0.3" />
+ </PositionStart>
+ </ClothoidSplineSegment>
+ <ClothoidSplineSegment curvatureEnd="6.2" curvatureStart="5.4"
+ hOffset="0.2" length="2.6" />
+ </ClothoidSpline>
+ </Shape>
+ </Trajectory>
+ </TrajectoryRef>
+ <TimeReference>
+ <None />
+ </TimeReference>
+ <TrajectoryFollowingMode followingMode="position" />
+ </FollowTrajectoryAction>
+ </RoutingAction>
+ </PrivateAction>
+ </Action>
+ </Event>
+ </Maneuver>
+ </ManeuverGroup>
+ <StartTrigger>
+ <ConditionGroup>
+ <Condition name="MovementActStart" delay="0" conditionEdge="rising">
+ <ByValueCondition>
+ <SimulationTimeCondition value="0" rule="greaterThan" />
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StartTrigger>
+ </Act>
+ </Story>
+ <StopTrigger>
+ <ConditionGroup>
+ <Condition name="End" delay="0" conditionEdge="rising">
+ <ByValueCondition>
+ <SimulationTimeCondition value="$Duration" rule="greaterThan" />
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StopTrigger>
+ </Storyboard>
+</OpenSCENARIO>
diff --git a/utils/ci/conan/conanfile.txt b/utils/ci/conan/conanfile.txt
index 2a441ba35ce37b88f1ce4209146e527a91d551ea..f733534bc497fc8ef06feeda479bdc65a2268baf 100644
--- a/utils/ci/conan/conanfile.txt
+++ b/utils/ci/conan/conanfile.txt
@@ -1,6 +1,6 @@
[requires]
units/2.3.3@openscenarioengine/testing
-mantleapi/v6.0.0@openscenarioengine/testing
+mantleapi/v8.0.0@openscenarioengine/testing
yase/d0c0e58d17358044cc9018c74308b45f6097ecfb@openscenarioengine/testing
openscenario_api/v1.4.0@openscenarioengine/testing
diff --git a/utils/ci/conan/recipe/mantleapi/all/conandata.yml b/utils/ci/conan/recipe/mantleapi/all/conandata.yml
index e336543c99e7a2e3aaaab6fea068c5166f28d25b..2cd2f925448662842259e731b7e671b2c6858630 100644
--- a/utils/ci/conan/recipe/mantleapi/all/conandata.yml
+++ b/utils/ci/conan/recipe/mantleapi/all/conandata.yml
@@ -1,5 +1,5 @@
################################################################################
-# Copyright (c) 2023-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+# Copyright (c) 2023-2025 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
@@ -41,5 +41,9 @@ sources:
url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git
sha256: "a5530013edcd2028ce48d1dcd7e90a512c158f27"
+ "8.0.0":
+ url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git
+ sha256: "18eadd8ad4f3ddd78c955ce3d4d637a8ff912091"
+
"default":
url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git